Operator'S Manual: Robot M-900+B /360/360E/280L/280/330L
Uploaded by
Roysten DsilvaOperator'S Manual: Robot M-900+B /360/360E/280L/280/330L
Uploaded by
Roysten Dsilva< Robot M-900+B
/360/360E/280L/280/330L
MECHANICAL UNIT
OPERATOR'S MANUAL
B-83684EN/07
© FANUC CORPORATION, 2014
• 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.
• The appearance and specifications of this product 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-83684EN/07 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.
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
s-1
SAFETY PRECAUTIONS B-83684EN/07
Programmer or Maintenance
Operator
Teaching operator technician
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-83684EN/07 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. 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-83684EN/07
In case of releasing J2-axis motor brake In case of releasing J3-axis motor brake
Fall down
Fall down Fall down
Method of supporting Robot Arm
Eyebolt (M10) 4 pcs
4 slings
(*) This figure is example of floor mount.
The direction of fall is different
according to the installation angle, so
please support robot appropriately in
consideration of the influence of gravity.
Fig. 3 (a) Arm operation by the release of J2, J3-axis motor brake and measures
s-4
B-83684EN/07 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.
NOTE
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-83684EN/07
(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
<650kg x4
>3000kg
>1000kg x4
>630kg x4
Fig. 4 (d) Transportation label
Description
When transporting the robot, observe the instructions indicated on this label. The above label indicates
the following:
(a) Using a forklift
• Use a forklift having a load capacity of 3000 kg or greater.
• Keep the total mass of the robot to be transported to within 2600 kg, because the allowable
load of the forklift bracket (option) is 6370 N (650 kgf).
(b) Using a crane
• Use a crane having a load capacity of 3000 kg or greater.
• Use at least four slings each having a load capacity of 1000 kg or greater.
• Use at least four eyebolts each having a allowable load of 6174 N (630 kgf) or greater.
CAUTION
Transportation labels are model-specific. Before transporting the robot, see the
transportation label affixed to the J2 base side.
See Subsection 1.1 TRANSPORTATION for explanations about the posture a
specific model should take when it is transported.
s-6
B-83684EN/07 SAFETY PRECAUTIONS
(5) Operating space and payload label
(When CE specification is specified)
The following label is added:
+185DEG.
0DEG.
-185DEG.
J5-axis rotation center
J5轴旋转中心
A
Operating space
of J5-axis
rotation center
J5轴旋转中心
动作范围
C D
B
A B C D MAX. PAYLOAD
(mm) (mm) (mm) (mm) (kg)
M-900iB/360/360E 3146 162 844 2655 360
M-900iB/280L 3587 613 844 3103 280
M-900iB/280 3146 162 844 2655 280
M-900iB/330L 2926 613 - 3203 330
Fig. 4 (e) Operating space and payload label
(6) Transportation caution label
ア イボ ルトを横引
しないこと
Do not pull eyebolt
sideways
禁止横向拉拽吊环螺钉
Fig. 4 (f) Transportation caution label (for eyebolt option)
Description
Do not pull eyebolts sideways when transporting the robot.
s-7
SAFETY PRECAUTIONS B-83684EN/07
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 prohibitive label (for transport equipment option)
Description
Keep the following in mind when transporting the robot.
(a) Do not pull eyebolts sideways.
(b) Prevent the forks of the forklift from having impact on a transport equipment.
(c) Do not thread a chain or the like through a transport equipment.
(7) Mastering caution label
マスタリング中は動作範囲の設定が一時的に
無効になります。J1軸で±185°を超えて軸を
送り続けるとケーブルを断線させてしまう恐れ
があるので、注意してください。
The motion limits are temporarily invalid during
mastering. Cables may be damaged if the J1-
axis exceeds ±185°.
泵行零点标定时动作范围限定的设置会暂时
处于无效状态。请注意J1轴的旋转角度。如
果J1轴的角度超过了±185°，有可能导致电
缆的断线。
Fig. 4 (h) Mastering caution label
Description
Keep the following in mind when performing the mastering.
The motion limits are temporarily invalid during mastering. Cables may be damaged if the J1-axis
exceeds ±185º.
s-8
B-83684EN/07 PREFACE
PREFACE
This manual explains the operation procedures for the mechanical units of the following robots:
Model name Mechanical unit specification No. Maximum load
FANUC Robot M-900iB/360 A05B-1335-B201 360kg
FANUC Robot M-900iB/360E A05B-1335-B202 360kg
FANUC Robot M-900iB/280L A05B-1335-B203 280kg
FANUC Robot M-900iB/280 A05B-1335-B205 280kg
FANUC Robot M-900iB/330L A05B-1335-B213 330kg
The label stating the mechanical unit specification number is affixed in the following position. Before
reading this manual, verify the specification number of the mechanical unit.
(1)
TYPE (2)
NO. (3)
DATE (4)
WEIGHT (5) kg
Position of label indicating mechanical unit specification number
TABLE 1
(1) (2) (3) (4) (5)
WEIGHT kg
CONTENTS MODEL NAME TYPE No. DATE
(Without controller)
FANUC Robot
A05B-1335-B201 1540
M-900iB/360
FANUC Robot
A05B-1335-B202 1540
M-900iB/360E PRODUCTION
FANUC Robot SERIAL NO. YEAR AND
LETTERS A05B-1335-B203 1600
M-900iB/280L IS PRINTED MONTH
FANUC Robot ARE PRINTED
A05B-1335-B205 1700
M-900iB/280
FANUC Robot
A05B-1335-B213 1780
M-900iB/330L
p-1
PREFACE B-83684EN/07
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, OPERATOR'S MANUAL Intended readers :
R-30iB Plus (Basic Operation) Operator, programmer, Teaching operator,
controller B-83284EN Maintenance technician, System designer
OPERATOR'S MANUAL Topics :
(Alarm Code List) Robot functions, Operations, Programming, Setup,
B-83284EN-1 Interfaces, Alarms
Optional Function Use :
OPERATOR'S MANUAL Robot operation, Teaching, System design
B-83284EN-2
Spot Welding Function
OPERATOR’S MANUAL
B-83284EN-4
Dispense Function
OPERATOR’S MANUAL
B-83284EN-5
Servo Gun Function
OPERATOR’S MANUAL
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-83684EN/07 CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1
PREFACE ....................................................................................................p-1
1 TRANSPORTATION AND INSTALLATION ........................................... 1
1.1 TRANSPORTATION...................................................................................... 1
1.1.1 Transportation with an End Effector Attached ......................................................... 9
1.2 INSTALLATION ........................................................................................... 10
1.2.1 Actual Installation Example ................................................................................... 11
1.2.2 Angle of Mounting Surface Setting ........................................................................ 16
1.2.3 J1-axis Fixed Mechanical Stopper (option) (fixed side swing stopper) in Case of
Upside-Down Mount .............................................................................................. 18
1.3 MAINTENANCE AREA ................................................................................ 19
1.4 INSTALLATION CONDITIONS .................................................................... 19
2 CONNECTION WITH THE CONTROLLER .......................................... 20
3 BASIC SPECIFICATIONS .................................................................... 21
3.1 ROBOT CONFIGURATION ......................................................................... 21
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND OPERATING
SPACE ........................................................................................................ 26
3.3 ZERO POINT POSITION AND MOTION LIMIT ........................................... 30
3.4 WRIST LOAD CONDITIONS ....................................................................... 35
3.5 LOAD CONDITION ON J2 BASE AND J3 ARM .......................................... 45
3.6 OPERATING SPACE RESTRICTION AT WALL OR ANGLE MOUNTING . 47
4 EQUIPMENT INSTALLATION TO THE ROBOT .................................. 60
4.1 END EFFECTOR INSTALLATION TO WRIST ............................................ 60
4.2 EQUIPMENT MOUNTING FACE ................................................................ 61
4.3 LOAD SETTING .......................................................................................... 70
4.4 INERTIA LOAD SETTING ........................................................................... 72
5 PIPING AND WIRING TO THE END EFFECTOR ................................ 73
5.1 AIR SUPPLY (OPTION) .............................................................................. 74
5.2 AIR PIPING (OPTION) ................................................................................ 75
5.3 INTERFACE FOR OPTION CABLE (OPTION) ........................................... 77
6 AXIS LIMITS SETUP............................................................................. 92
6.1 CHANGE AXIS LIMIT BY DCS (OPTION) ................................................... 92
6.2 ADJUSTABLE MECHANICAL STOPPER AND LIMIT SWITCH SETTING
(OPTION) .................................................................................................... 96
6.2.1 Installing adjustable mechanical stopper option..................................................... 97
6.2.2 Changing the parameter setting ............................................................................ 101
6.2.3 The maximum stopping distance (position) of adjustable mechanical stopper .... 102
6.3 CHANGING THE MOTION RANGE BY THE LIMIT SWITCH (OPTION) .. 104
c-1
CONTENTS B-83684EN/07
6.4 ADJUSTING LIMIT SWITCH (OPTION) .................................................... 106
7 CHECKS AND MAINTENANCE ......................................................... 107
7.1 CHECKS AND MAINTENANCE ................................................................ 107
7.1.1 Daily Checks ........................................................................................................ 107
7.1.2 Periodic Checks and Maintenance........................................................................ 108
7.2 CHECK POINTS ........................................................................................ 110
7.2.1 Confirmation of Oil Seepage ................................................................................ 110
7.2.2 Confirmation of the Air Control Set (option) ....................................................... 111
7.2.3 Check the Mechanical Unit Cables and Connectors ............................................ 112
7.2.4 Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper .......... 114
7.3 MAINTENANCE......................................................................................... 115
7.3.1 Replacing the Batteries (1.5 year check Periodic Maintenance) .......................... 115
7.3.2 Greasing of J2/J3-axis Connection Part Bearing
(3 years check (11520 hours) Periodic Maintenance) .......................................... 116
7.3.3 Replacing the Grease of the Drive Mechanism
(3 years check (11520 hours) Periodic Maintenance) .......................................... 118
7.3.4 Procedure for Releasing Remaining Pressure from the Grease Bath ................... 121
7.4 STORAGE ................................................................................................. 121
8 MASTERING ....................................................................................... 122
8.1 OVERVIEW ............................................................................................... 122
8.2 RESETTING ALARMS AND PREPARING FOR MASTERING ................. 123
8.3 ZERO POSITION MASTERING ................................................................ 124
8.4 QUICK MASTERING ................................................................................. 127
8.5 QUICK MASTERING FOR SINGLE AXIS ................................................. 130
8.6 SINGLE AXIS MASTERING ...................................................................... 133
8.7 MASTERING DATA ENTRY ...................................................................... 136
8.8 VERIFYING MASTERING ......................................................................... 138
9 TROUBLESHOOTING ........................................................................ 139
9.1 TROUBLESHOOTING............................................................................... 139
10 SEVERE DUST/LIQUID PROTECTION PACKAGE ........................... 147
10.1 SEVERE DUST/LIQUID PROTECTION PACKAGE(OPTION) .................. 147
10.2 CONFIGURATION OF THE SEVERE DUST/LIQUID PROTECTION
PACKAGE ................................................................................................. 147
11 PRESS HANDLING PACKAGE (OPTION) ........................................ 149
APPENDIX
A PERIODIC MAINTENANCE TABLE ................................................... 153
B STRENGTH OF BOLT AND BOLT TORQUE LIST............................ 156
c-2
1. TRANSPORTATION
B-83684EN/07 AND 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.
6-M16 depth 28 (both side)
6-M16 タップ深さ28 (両側)
(for transport equpiment)
(輸送部材用)
.
313 313 M20 through
M20タップ 貫通
(for eyebolts)
(アイボルト用)
Use outside taps for eyebolts.
アイボルトを使用する場合は
外側のタップを使用してください。
278
A A
450
Front
正面
278
M20 through
M20タップ 貫通
(for eyebolts)
(アイボルト用)
32 32 SectionA-A
断面 A-A Use outside taps for eyebolts.
アイボルトを使用する場合は
32 32 外側のタップを使用してください。
33
308 (M-900iB/360/360E/280L/280)
408 (M-900iB/330L)
Fig. 1.1 (a) Position of the eyebolts and transportation equipment
(1) Transportation using a crane (Fig. 1.1 (b) to (e))
Fasten the M20 eyebolts at the four points 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 (f) to (i))
The robot is transported with the specific transport equipment attached.
-1-
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
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 the floor plate before transporting the robot. If the
robot must necessarily be transported with the floor plate or end effectors
attached, take the following precautions:
The entire position of center of gravity is changed by installing the tool and
the floor plate. Please note the balance enough.
The tool swings by the vibration etc. when transported, and there is a
possibility that an excessive load acts on the robot. Secure the end effector
firmly according to Subsection 1.1.1.
When you lift robot with the floor plate installed, please lift up not the robot
but the floor plate.
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 forklift transport equipment, check and tighten
any loose bolts on the forklift transport equipment.
4 When J2/J3-axis motor covers (option) are installed, be sure to remove them
before transporting robot with a crane.
-2-
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
Robotロボット輸送姿勢
posture on transportation
Note) J1 J1 0°または±180°
0º or ±180º
注)
1. Robot mechanical unit 1540ｋｇ．
1.ロボット機構部質量 weight : 1540kg J2 J2 -57º
-57°
2.アイボルトは JISwith
2. Eyebolt complied B 1168 準拠品を使用のこと．
JIS B 1168. J3 0º
3.アイボルト4個、スリング4本を使用すること．
3. Quantity eyebolt 4 pcs J4
J3 0°
0º
sling 4 pcs J5 J4 0°
-90º
J6 J5 -0º
-90°
J6 0°
クレーン
Crane
可搬質量 : 3トン
Load capacity.: 以上
3 ton or more
Sling
スリング
Load capacity.
可搬質量 : 1トン: 1 ton/sling
/ 本 以上
Eyebolt
アイボルト
Allowable load. : 630kgf/each
許容荷重
or more
: 630kgf / 個以上
1839
1815
ロボット重心
Center of gravity
Eyebolt
M20 M20アイボルト
535 348 JB-BEY-20
JB-BEY-20 (4) (4)
Install to the outside taps
外側のタップに取付けること
Spread bar
スプレッドバー
ロボット重心
Center of gravity
Fig. 1.1 (b) Transportation using a crane (M-900iB/360/360E)
-3-
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
Robot posture on transportation
ロボット輸送姿勢
Note) J1J1 0°または±180°
0º or ±180º
注) J2 -66º
1. Robot mechanical unit1600ｋｇ
1.ロボット機構部質量 weight : 1600kg J2 -66°
2. Eyebolt complied
2.アイボルトは JIS with JIS B準拠品を使用のこと．
B 1168 1168. J3 0º
3.アイボルト4個、スリング4本を使用すること．
3. Quantity eyebolt 4 pcs J4
J3 0°
0º
sling 4 pcs J5J4 0°
-90º
J6 -0º
J5 -90°
J6 0°
Crane
Load
クレーンcapacity.: 3 ton or more
可搬質量 : 3トン 以上
Sling
Load
スリング capacity. : 1 ton/sling
可搬質量 : 1トン / 本 以上
Eyebolt
Allowable load. : 630kgf/each or more
アイボルト
許容荷重 : 630kgf / 個以上
2294
1670
Center
ロボット重心of gravity
Eyebolt
M20 アイボルト M20
535 348 JB-BEY-20 (4) (4)
JB-BEY-20
Install to the outside taps
外側のタップに取付けること
Spread bar
スプレッドバー
Center of gravity
ロボット重心
Fig. 1.1 (c) Transportation using a crane (M-900iB/280L)
-4-
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
Robot posture on transportation
ロボット輸送姿勢
Note)
J1 J1 0°または±180°
0º or ±180º 1. 注)
Robot mechanical unit weight : 1700kg
J2 J2 -57º
-57° 2. 1.ロボット機構部質量 1700ｋｇ．
Eyebolt complied with JIS B 1168.
2.アイボルトは JIS B 1168 準拠品を使用のこと．
J3 0º 3. 3.アイボルト4個、スリング4本を使用すること．
Quantity eyebolt 4 pcs
J3 0°
J4 0º sling 4 pcs
J4 0°
J5 -90º
J6 J5 -90°
-0º
J6 0°
Crane
クレーン3 ton or more
Load capacity.:
可搬質量 : 3トン 以上
Sling
スリング: 1 ton/sling
Load capacity.
可搬質量 : 1トン / 本 以上
Eyebolt
アイボルト
Allowable load. : 630kgf/each
許容荷重 or more
: 630kgf / 個以上
1875
1780
Center
ロボット重心of gravity
Eyebolt M20
M20 アイボルト
JB-BEY-20 (4)
535 348 JB-BEY-20 (4)
Install to the outside taps
外側のタップに取付けること
Spread bar
スプレッドバー
Center of gravity
ロボット重心
Fig. 1.1 (d) Transportation using a crane (M-900iB/280)
-5-
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
Robot posture on transportation
ロボット輸送姿勢
Note) J1 0°または±180°
J1 0º or ±180º
1. Robot
注) mechanical unit weight : 1780kg
J2
J2 -66°
-66º
1.ロボット機構部質量 1780kg
2. Eyebolt complied
2.アイボルトは JISwith JIS 準拠品を使用のこと．
B 1168 B 1168. J3 J3 0º0°
3.アイボルト4個、スリング4本を使用すること．
3. Quantity eyebolt 4 pcs J4
J4 0º0°
sling 4 pcs
J5 J5 -90°
-90º
J6 J6 -0º0°
Crane
クレーン 3 ton or more
Load capacity.:
可搬質量 : 3トン 以上
Sling スリング
Load capacity.
可搬質量 :: 11トン
ton/sling
/ 本 以上
アイボルト
Eyebolt
許容荷重
Allowable load. :: 630kgf/each
630kgf / 個以上
or more
2294
1670
Center
ロボット重心of gravity
Eyebolt
M20 アイボルトM20
535 348 JB-BEY-20
JB-BEY-20(4) (4)
Install to the outside taps
外側のタップに取付けること
スプレッドバー
Spread bar
Center of gravity
ロボット重心
Fig. 1.1 (e) Transportation using a crane (M-900iB/330L)
-6-
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
Robot posture on transportation
ロボット輸送姿勢
Note) J1 Arbitrary任意
注) 1.ロボット機構部質量 1540ｋｇ． J1
1. Robot mechanical unit weight : 1540kg
J2 J2 -57º-57°
J3 0º
J4
J3 0º
0°
J5 J4 -90º 0°
J6 J5 -0º -90°
J6 0°
Center
ロボット重心of gravity
172
82
Transport equipment
輸送部材
(option)
(オプション) Forklift
396 404 フォークリフト
Load capacity : 3 ton or more
可搬質量 3トン以上
Fig. 1.1 (f) Transportation using a forklift (M-900iB/360/360E)
ロボット輸送姿勢
Robot posture on transportation
J1 任意
J1 Arbitrary
J2 -66°
J2 -66º
Note) J3 J3 0º0°
1. Robot mechanical unit weight : 1600kg J4 J4 0º0°
注) 1.ロボット機構部質量 1600ｋ J5 -90º
J5 -90°
J6 -0º
J6 0°
172 Center
ロボット重心 of gravity
82
Transport
輸送部材 equipment
(オプション)
(option)
Forklift
フォークリフト
396 404 Load可搬質量
capacity :3トン以上
3 ton or more
Fig. 1.1 (g) Transportation using a forklift (M-900iB/280L)
CAUTION
Be careful not to strike the transport equipment with the forklift forks.
-7-
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
Robot posture on transportation
ロボット輸送姿勢
Note)
J1 任意
1. Robot注) 1.ロボット機構部質量
mechanical 1700ｋｇ．
unit weight : 1700kg J1 Arbitrary
J2
J2 -57°
-57º
J3 J3 0º 0°
J4 J4 0º 0°
J5 J5 -90º-90°
J6 -0º
J6 0°
ロボッofト重心
Center gravity
172
82
Transport
輸送部 材 equipment
396 404 (option)ョン)
(オプシ
Forklift フォー クリフト
可搬質
Load capacity 量 3ト
: 3 ton or ン以上
more
Fig. 1.1 (h) Transportation using a forklift (M-900iB/280)
Robot posture on transportation
ロボット輸送姿勢
Note) J1 任意
注記) 1.ロボット機構部質量 1780ｋｇ． J1 Arbitrary
1. Robot mechanical unit weight : 1780kg J2 -66°
J2 -66º
J3 J30º 0°
J4 J40º 0°
J5 J5
-90º -90°
J6 J6-0º 0°
172 Center of gravity
ロボット重心
82
Transport equipment
396 404 輸送部材
(option)
(オプション) Forklift
フォークリフト
Load capacity可搬質量
: 3 ton or more
3トン以上
Fig. 1.1 (i) Transportation using a forklift (M-900iB/330L)
CAUTION
Be careful not to strike the transport equipment with the forklift forks.
-8-
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
1.1.1 Transportation with an End Effector Attached
When transporting a robot with an end effector such as a welding gun or hand attached, secure the arm with
wood. If the arm is not secured, the end effector may oscillate for a cause such as vibration during
transportation, as a result, a large impact load, imposes on the reducer of the robot, cause premature failure
of the reducer.
Woods
Woods
Pallet
Fig. 1.1.1 (a) Example of securing the arm during transportation when an end effector is attached
-9-
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
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 (Shaded portion).
8-M20 through
8-M20 貫通
(for eyebolts)
(アイボルト用)
(No placing object area )
(障害物不可範囲)
2080
348
(Locating
(突き当て面)surface) (Locating surface)
(突き当て面)
8-φ24 through 50 268 268 50
8-O24 貫通
φ42 O counter bore depth
42 ザグリ深さ 5 5
(for fixing the robot)
(ロボット固定用)
310 ±0.1
surface)
(突き当て面)
45
(Locating
305
278
J1-axis
205 ±0.1
J1軸回転中心
230
540
460
rotation center
205 ±0.1
Robot
ロボット正面front
230
230
270
278
surface)
A
(突き当て面)
(Locating
45
A 2-O16 H7 ( +0.018 ) through: Till Jul. 2015 manufactured
貫通: 2015年7月製造分まで
230 0
0
30 5 2-O20 H7 ( +0.021
0 ) through: From Aug. 2015 manufactured
貫通: 2015年8月製造分から
460
270
540
35 278 278 35
Section
断面 A-A A-A
Fig. 1.2 (a) Dimension of robot base
- 10 -
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
1.2.1 Actual Installation Example
- Installation example I 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 65 bolts
(Tensile strength 1200N/mm2 or more). Next, position the robot, and weld the base plate to the floor
plate. (Floor length is 10 to 15mm.) (The base plate is prepared as the option.)
- Installation example II Fig. 1.2.1 (b)
The floor plate is not imbedded in concrete. The floor plate is fastened at the twelve points with M20
chemical anchors (Tensile strength 400N/mm2 or more) and the inclination of the floor plate is
adjusted with the four fixing screws. The robot is positioned with the robot base pushed against the
three φ20 parallel pins inserted into the floor plate and the robot base is fastened on the floor plate
with eight M20 x 65 bolts (Tensile strength 1200N/mm2 or more).
- Installation example III Fig. 1.2.1 (c)
The installation method is generally the same as described above except that the parallel pins for
pushing the robot base are not used.
The following parts are required to install the robot.
(○ : Parts needs to be prepared.)
Required parts Remarks Example I Example II Example III
Robot mounting M20 x 65 (Tensile strength 1200N/mm2 or more)
○ ○ ○
bolts 8 pcs
For M20 (HRC 35 or more, thickness between 4
Plain washers ○ ○ ○
and 5 mm) 8 pcs
Chemical anchors M20 (tensile strength 400N/mm2 or more) 12 pcs ○ ○ ○
Floor plate Thickness 32t 1 pc ○ ○ ○
Base plates Thickness 32t 4 pcs ○
Fixing screws M20 4 pcs ○ ○
Nuts M20 4 pcs ○ ○
Parallel pins φ20 3 pcs ○
NOTE
- Arrangements for installation work (such as welding and anchoring) need to be
made by customers.
- 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.
- 11 -
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
1500
705 705 8-M20 through
140 235 235 12-φ24 through
Connector area
705
235
540
460
1500
230
235
270
Robot front
705
Welding
part
230
460 Base plate
Floor plate
270
540
Robot mounting bolts
M20X65 (8 pcs)
Tensile strength 1200N/mm2 or more
Base plate Plain washer
Chemical anchor for M20 (8 pcs)
M20 (12 pcs) HRC35 or more , thicknes between
Tensile strength 400N/mm2 or more Welding after positioning 4mm and 5mm
Tightening torque 10～15 Tightening torque 529.2Nm
186.2Nm
32
(54kgfm)
(19kgfm)
32
(Depth)
200
Floor plate
(Note) Bury the floor plate in concrete.
Fig. 1.2.1 (a) Actual installation exampleⅠ
- 12 -
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
8-M20 through
1500
705 705
358
3- O 20 H8 +0.033
0 through
290
140 235 235
Connector area
705
450
315
250
235
540
460
1500
B B
230
235
250
270
Robot front
450
705
A A
230
460 12-O24 through
270
Floor plate
540 4-M20 through
450 450 Robot mounting bolts
M20 x 65 (8 pcs)
Chemical anchor 2
Tensile strength 1200N/mm or more
M20 (12 pcs) Mounting nut Plain washer
Tensile strength 400N/mm 2or more Nut for M20 (8 pcs)
Tightening torque M20 (each 4 pcs) HRC35 or more , thicknes between
186.2Nm 4mm and 5mm
(19kgfm) Tightening torque 529.2Nm
(28)
(54kgfm)
35
32（Depth)
Straight pin
200
h7O20X60 (3 pcs)
Section A-A Section B-B
Fig. 1.2.1 (b) Actual installation exampleⅡ
- 13 -
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
1500
8-M20 through
705 705
140 235 235 12-O24 through
Connector area
705
450
235
540
460
1500
B B
230
235
270
Robot front
450
705
A A
230
460 4-M20 through
270
Floor plate 540 Robot mounting bolts
M20 x 65 (8 pcs)
450 450 Tensile strength 1200N/mm2 or more
Plain washer
Chemical anchor for M20 (8 pcs)
M20 (12 pcs) Mounting nut HRC35 or more , thicknes between
Tensile strength 400N/mm 2or more Nut 4mm and 5mm
Tightening torque M20 (each 4 pcs) Tightening torque 529.2Nm
186.2Nm (54kgfm)
(19kgfm)
32（Depth)
200
Section A-A Section B-B
Fig. 1.2.1 (c) Actual installation exampleⅢ
- 14 -
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
Table 1.2.1 (a) and Fig. 1.2.1 (d) indicate the force and moment applied to the base plate at the time of
Power-off stop of the robot. Table 1.2.1 (b) to (d) indicate the stopping distance and time of the J1 to J3
axis until the robot stops by Power-Off stop or Smooth 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 1.2.1 (b) to (d) 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 1.2.1 (b) 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 1.2.1 (a) Force and moment during Power-Off stop
Force in vertical Force in horizontal
Vertical moment Horizontal moment
Model direction direction
MV [kNm(kgfm)] MH [kNm(kgfm)]
FV [kN(kgf)] FH [kN(kgf)]
M-900iB/360/280 114.66 (11700) 59.78 (6100) 33.32 (3400) 45.08 (4600)
M-900iB/360E 116.62 (11900) 59.78 (6100) 34.30 (3500) 45.08 (4600)
M-900iB/280L 119.56 (12200) 57.82 (5900) 34.30 (3500) 44.10 (4500)
M-900iB/330L 119.56 (12200) 54.88 (5600) 37.24 (3800) 38.22 (3900)
Table 1.2.1 (b) Stopping time and distance until the robot stopping
by Power-Off stop after input of stop signal
Models J1-axis J2-axis J3-axis
Stopping time [ms] 730 227 250
M-900iB/360
Stopping distance [deg] (rad) 38.4 (0.67) 11.9 (0.21) 11.8 (0.21)
Stopping time [ms] 752 240 250
M-900iB/360E
Stopping distance [deg] (rad) 38.4 (0.67) 11.9 (0.21) 11.8 (0.21)
Stopping time [ms] 772 216 362
M-900iB/280L
Stopping distance [deg] (rad) 39.6 (0.69) 10.7 (0.19) 17.9 (0.31)
Stopping time [ms] 687 250 226
M-900iB/280
Stopping distance [deg] (rad) 36.3 (0.63) 12.9 (0.23) 11.4 (0.20)
Stopping time [ms] 778 220 342
M-900iB/330L
Stopping distance [deg] (rad) 36.5 (0.64) 9.2 (0.16) 15.9 (0.28)
Table 1.2.1 (c) Stopping time and distance until the robot stopping
by Smooth stop after input of stop signal
Models J1-axis J2-axis J3-axis
Stopping time [ms] 844 574 540
M-900iB/360
Stopping distance [deg] (rad) 45.5 (0.79) 28.5 (0.50) 25.6 (0.45)
Stopping time [ms] 845 590 590
M-900iB/360E
Stopping distance [deg] (rad) 45.5 (0.79) 30.1 (0.53) 28.1 (0.49)
Stopping time [ms] 1018 490 830
M-900iB/280L
Stopping distance [deg] (rad) 55.2 (0.96) 24.7 (0.43) 38.1 (0.66)
Stopping time [ms] 788 586 544
M-900iB/280
Stopping distance [deg] (rad) 42.1 (0.73) 29.5 (0.51) 26.1 (0.66)
Stopping time [ms] 1052 1034 730
M-900iB/330L
Stopping distance [deg] (rad) 52.0 (0.91) 41.6 (0.73) 29.8 (0.52)
- 15 -
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
Table 1.2.1 (d) Stopping time and distance until the robot stopping by Controlled stop after input of stop signal
Models J1-axis J2-axis J3-axis
Stopping time [ms] 1028 1020 1020
M-900iB/360
Stopping distance [deg] (rad) 60.1 (1.05) 55.6 (0.97) 53.9 (0.94)
Stopping time [ms] 1032 1024 1024
M-900iB/360E
Stopping distance [deg] (rad) 60.1 (1.05) 55.6 (0.97) 53.9 (0.94)
Stopping time [ms] 1020 1020 1020
M-900iB/280L
Stopping distance [deg] (rad) 60.1 (1.05) 56.5 (0.99) 53.1 (0.93)
Stopping time [ms] 1028 1020 1020
M-900iB/280
Stopping distance [deg] (rad) 60.1 (1.05) 55.6 (0.97) 53.9 (0.94)
Stopping time [ms] 1152 1152 1170
M-900iB/330L
Stopping distance [deg] (rad) 58.9 (1.03) 48.1 (0.84) 49.1 (0.86)
MV
FH
FV
MH
Fig. 1.2.1 (d) Force and moment during Power-Off stop
1.2.2 Angle of Mounting Surface Setting
For all robot mounts except floor mount, be sure to set the mounting angle referring to the procedure below.
Refer to Section 3.1 for installation specifications.
*M-900iB/330L does not support angle mount setting.
1 Turn on the controller with [PREV] and [NEXT] key pressed. Then select [3 Controlled start].
2 Press the [MENU] key and select [9 MAINTENANCE].
3 Select the robot for which you want to set the mount angle, and press the [ENTER] key.
ROBOT MAINTENANCE CTRL START MANU
Setup Robot System Variables
Group Robot Library/Option Ext Axes
1 M-900iB/360 0
[TYPE]ORD NO AUTO MANUAL
- 16 -
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
4 Press [F4] key.
5 Press the [ENTER] key until screen below is displayed.
*******Group 1 Initialization************
*************M-900iB/360*****************
--- MOUNT ANGLE SETTING ---
0 [deg] : floor mount type
90 [deg] : wall mount type
180 [deg] : upside-down mount type
Set mount_angle (0-180[deg])->
Default value = 0
6 Input the mount angle referring to Fig. 1.2.2 (a).
angle of
mounting surface
Fig. 1.2.2 (a) Mounting angle
7 Press the [ENTER] key until screen below is displayed again.
ROBOT MAINTENANCE CTRL START MANU
Setup Robot System Variables
Group Robot Library/Option Ext Axes
1 M-900iB/360 0
[TYPE]ORD NO AUTO MANUAL
8 Press the [FCTN] key and select [1 START (COLD)].
- 17 -
1. TRANSPORTATION
AND INSTALLATION B-83684EN/07
1.2.3 J1-axis Fixed Mechanical Stopper (option) (fixed side swing
stopper) in Case of Upside-Down Mount
In case of upside-down mount, install J1-axis fixed mechanical stopper (option) (fixed side swing stopper)
upside-down as shown in Fig. 1.2.3(a).
Refer to Section 3.3 about fixed mechanical stopper.
*M-900iB/330L does not support upside-down mount setting.
Bolt
ボルト M24 M24X80
x 80
Tightening
締付けトルク torque 128Nm
128Nm (13.1kgfm)
(13.1kgfm)
J1-axis fixed mechanical stopper (option)
振り子ストッパ
(fixed side swing stopper)
Install J1-axis fixed mechanical
振り子ストッパを反転させて
stopper (option) (fixed side swing
取り付けて下さい。
stopper) upside-down.
床置設置時
Floor mount 天吊設置時
Upside-down mount
Fig. 1.2.3 (a) J1-axis fixed mechanical stopper (option) (fixed side swing stopper)
- 18 -
1. TRANSPORTATION
B-83684EN/07 AND INSTALLATION
1.3 MAINTENANCE AREA
Fig. 1.3 (a) shows the maintenance area of the mechanical unit. Be sure to leave enough room for the robot
to be mastered. See Chapter 8 for fixture position mastering information.
370 (M-900iB/360/360E/280L/280)
470 (M-900iB/330L)
Maintenance area
保守エリア(機構部)
(mechanical unit) 1710 (M-900iB/360/360E/280)
2170 (M-900iB/280L/330L)
500
634
500
500
626
Mastering
マスタリング領域 area
500
500 482 500
619 (M-900iB/360/360E/280L/280)
719 (M-900iB/330L)
Fig. 1.3 (a) Maintenance area
1.4 INSTALLATION CONDITIONS
Refer to specifications 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.
- 19 -
2. CONNECTION WITH THE CONTROLLER B-83684EN/07
2 CONNECTION WITH THE CONTROLLER
The robot is connected with the controller via the power and signal cable and 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 robot mechanical unit and
controller with the earth line. Otherwise, there is the risk of electrical shock.
CAUTION
1 Before connecting the cables, be sure to turn off the controller power.
2 Do not use 10m or longer coiled cable without untying. The long coiled cable will
heat and damage itself.
Robot mechanical 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)
Air
エア
Connector
動力線用
for power line
コネクタ
Earth terminal
Connector
信号線用 アース端子
(M8)
for signal
コネクタ (M8)
Option
オプション
Fig. 2 (a) Cable connection
- 20 -
B-83684EN/07 3. BASIC SPECIFICATIONS
3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
End effector
mounting face
AC servo motor Ｊ3 arm
for J6-axis （Ｍ6） Wrist unit
AC servo motor
for J5-axis （Ｍ5） AC servo motor
for J4-axis （Ｍ4）
J2 arm
AC servo motor AC servo motor
for J3-axis （Ｍ3） for J2-axis （Ｍ2）
J2 unit
J1 unit
AC servo motor
for J1-axis （Ｍ1）
Fig. 3.1 (a) Mechanical unit configuration (M-900iB/360/360E/280L)
End effector
mounting face
AC servo motor Ｊ3 arm
for J6-axis （Ｍ6） Wrist unit
AC servo motor
for J5-axis （Ｍ5） AC servo motor
for J4-axis （Ｍ4）
J2 arm
AC servo motor AC servo motor
for J3-axis （Ｍ3） for J2-axis （Ｍ2）
J2 unit
J1 unit
AC servo motor
for J1-axis （Ｍ1）
Fig. 3.1 (b) Mechanical unit configuration (M-900iB/280)
- 21 -
3. BASIC SPECIFICATIONS B-83684EN/07
End effector mounting face
エンドエフェクタ取付面
AC servo motor (M6)
Ｊ6軸用ＡＣサーボモータ（Ｍ6） J3 arm
Ｊ3アーム
for J6-axis Wrist unit
手首ユニット
AC servo motor (M5)
Ｊ5軸用ＡＣサーボモータ（Ｍ5）
for J5-axis AC servo motor (M4)
Ｊ4軸用ＡＣサーボモータ（Ｍ4）
for J4-axis
AC servo motor (M2)
Ｊ2軸用ＡＣサーボモータ（Ｍ2） J2 arm
for J2-axis
J2アーム
AC servo motor (M3)
Ｊ3軸用ＡＣサーボモータ（Ｍ3）
for J3-axis
J2 unit
J2ユニット
J1J1ユニット
unit
AC servo motor (M1)
Ｊ1軸用ACサーボモータ（Ｍ1）
for J1-axis
Fig. 3.1 (c) Mechanical unit configuration (M-900iB/330L)
+ X
J4
+ J6
- + J5
- - +
Z
J3 Y
-
J2
-
+
+ (*) All axes are 0°at this posture.
- J1
Fig. 3.1 (d) Each axis coordinates and mechanical interface coordinates
NOTE
The end effector mounting face center is 0, 0, 0 of the mechanical interface
coordinates.
- 22 -
B-83684EN/07 3. BASIC SPECIFICATIONS
Specifications (1/2) (NOTE 1)
Model M-900iB/360/280 M-900iB/360E M-900iB/280L
Type Articulated type
Controlled axes 6 axes(J1, J2, J3, J4, J5, J6)
Installation Floor mount, Upside-down (Angle mount) (NOTE 2)
Upper limit 185° ( 3.23rad) 185° ( 3.23rad)
J1-axis
Lower limit -185° (-3.23rad) -185° (-3.23rad)
Upper limit 76° ( 1.33rad) 76° ( 1.33rad)
J2-axis
Lower limit -75° (-1.31rad) -75° (-1.31rad)
Upper limit 90° ( 1.57rad) 90° ( 1.57rad)
J3-axis
Lower limit -133.7° (-2.33rad) -133.7° (-2.33rad)
Motion range
Upper limit 360° ( 6.28rad) 360° ( 6.28rad)
J4-axis
Lower limit -360° (-6.28rad) -360° (-6.28rad)
Upper limit 125° ( 2.18rad) 125° ( 2.18rad)
J5-axis
Lower limit -125° (-2.18rad) -125° (-2.18rad)
Upper limit 360° ( 6.28rad) 360° ( 6.28rad)
J6-axis
Lower limit -360° (-6.28rad) -360° (-6.28rad)
J1-axis 110°/s (1.92rad/s) 110°/s (1.92rad/s)
J2-axis 105°/s (1.83rad/s) 105°/s (1.83rad/s)
Maximum speed J3-axis 100°/s (1.75rad/s) 100°/s (1.75rad/s)
(NOTE 3) J4-axis 110°/s (1.92rad/s) 125°/s (2.18rad/s)
J5-axis 110°/s (1.92rad/s) 125°/s (2.18rad/s)
J6-axis 180°/s (3.14rad/s) 205°/s (3.58rad/s)
360 kg (M-900iB/360/360E)
At the wrist 280 kg
280 kg (M-900iB/280)
Maximum load On the J3 arm
50 kg 50 kg
Capacity (NOTE 4)
On the J2 base
550 kg 550 kg
(NOTE 4)
J4-axis 1960 Nm (200 kgfm) 2330 Nm (238 kgfm) 1700 Nm (174 kgfm)
Allowable load
J5-axis 1960 Nm(200 kgfm) 2330 Nm (238 kgfm) 1700 Nm (174 kgfm)
moment at wrist
J6-axis 1050 Nm (107 kgfm) 1280 Nm (131 kgfm) 950 Nm ( 97 kgfm)
(NOTE 5) 260 kgm2 (NOTE5) 215 kgm2
(2653 kgfcms2) 500 kgm2 (2194 kgfcms2)
J4-axis
(NOTE 5) 460 kgm2 (5102 kgfcms2) (NOTE 5) 340 kgm2
(4694 kgfcms2) (3470 kgfcms2)
(NOTE 5) 260 kgm2 (NOTE 5) 215 kgm2
Allowable load
(2653 kgfcms2) 500 kgm2 (2194 kgfcms2)
inertia at wrist J5-axis
(NOTE 5) 460 kgm2 (5102 kgfcms2) (NOTE 5) 340 kgm2
(NOTE 5)
(4694 kgfcms2) (3470 kgfcms2)
(NOTE 5) 160 kgm2 (NOTE 5) 140 kgm2
(1633 kgfcms2) 360 kgm2 (1429 kgfcms2)
J6-axis
(NOTE 5) 360 kgm2 (3673 kgfcms2) (NOTE 5) 260 kgm2
(3673 kgfcms2) (2654 kgfcms2)
Drive method Electric servo drive by AC servo motor
Repeatability ±0.1mm (NOTE 6)
1540 kg (M-900iB/360/360E)
Mass(NOTE 7) 1600 kg
1700 kg (M-900iB/280)
Acoustic noise
73.9dB (NOTE 8)
level
Ambient temperature: 0 to 45℃ (NOTE 9)
Ambient humidity: Normally 75%RH or less (No condensation allowed.)
Installation Short time (Within 1 month) 95%RH or less (No condensation allowed.)
environment Permitted altitude: Up to 1000 m above sea level.
Vibration acceleration: 4.9 m/s2 (0.5G) or less
Free of corrosive gases (NOTE 10)
(NOTE 1) Even if the robot is used according to the defined specifications, motion programs might shorten reducer life or cause the robot to overheat. Use
ROBOGUIDE (system design support tool by FANUC) for further evaluation before running production.
(NOTE 2) The operation range of the J1-axis and J2-axis are limited to the installation condition. Please refer to Section 3.6 for details. For angle of mounting surface,
refer to Subsection 1.2.2.
(NOTE 3) During short distance motions, the axis speed may not reach the maximum value stated.
(NOTE 4) Please refer to Section 3.5 for load condition of the J3 arm and the J2 base.
(NOTE 5) The allowable load in standard inertia mode is shown in upper half and the allowable load in high inertia mode in lower half. For details, see Section 4.4.
(NOTE 6) Compliant with ISO 9283.
(NOTE 7) Without controller
(NOTE 8) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured with the following
conditions.
- Maximum load and speed
- Operating mode is AUTO
(NOTE 9) When robot is used in low temperature environment that is near to 0ºC, or 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 10) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe vibrations, heavy dust,
water, water vapor, cutting oil, cleaning fluid splash and or other contamination.
- 23 -
3. BASIC SPECIFICATIONS B-83684EN/07
Specifications (2/2) (NOTE 1)
Model M-900iB/330L
Type Articulated type
Controlled axes 6 axes(J1, J2, J3, J4, J5, J6)
Installation Floor mount
Upper limit 185° ( 3.23rad)
J1-axis
Lower limit -185° (-3.23rad)
Upper limit 76° ( 1.33rad)
J2-axis
Lower limit -75° (-1.31rad)
Upper limit 30° ( 0.52rad)
J3-axis
Lower limit -133.7° (-2.33rad)
Motion range
Upper limit 360° ( 6.28rad)
J4-axis
Lower limit -360° (-6.28rad)
Upper limit 125° ( 2.18rad)
J5-axis
Lower limit -125° (-2.18rad)
Upper limit 360° ( 6.28rad)
J6-axis
Lower limit -360° (-6.28rad)
J1-axis 100°/s (1.75rad/s)
J2-axis 85°/s (1.48rad/s)
Maximum
J3-axis 85°/s (1.48rad/s)
speed
J4-axis 90°/s (1.57rad/s)
(NOTE 2)
J5-axis 85°/s (1.48rad/s)
J6-axis 165°/s (2.88rad/s)
At the wrist 330 kg
Maximum load
On the J3 arm (NOTE 3) 50 kg
Capacity
On the J2 base (NOTE 3) 550 kg
Allowable load J4-axis 2205 Nm (225 kgfm)
moment at J5-axis 2205 Nm (225 kgfm)
wrist J6-axis 1200 Nm (122 kgfm)
J4-axis 340 kgm2 (3470 kgfcms2)
Allowable load
J5-axis 340 kgm2 (3470 kgfcms2)
inertia at wrist
J6-axis 220 kgm2 (2245 kgfcms2)
Drive method Electric servo drive by AC servo motor
Repeatability ±0.1mm (NOTE 4)
Mass (NOTE 5) 1780 kg
Acoustic noise level 73.9dB (NOTE 6)
Ambient temperature: 0 to 45℃ (NOTE 7)
Ambient humidity: Normally 75%RH or less(No condensation allowed.)
Short time (Within 1 month) 95%RH or less
Installation environment (No condensation allowed.)
Permitted altitude: Up to 1000 m above sea level.
Vibration acceleration: 4.9 m/s2 (0.5G) or less
Free of corrosive gases (NOTE 8)
(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) During short distance motions, the axis speed may not reach the maximum value stated.
(NOTE 3) Please refer to Section 3.5 for load condition of the J3 arm and the J2 base.
(NOTE 4) Compliant with ISO 9283.
(NOTE 5) Without controller
(NOTE 6) 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 7) 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 8) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe vibrations, heavy dust,
water, water vapor, cutting oil, cleaning fluid splash and or other contaminations.
- 24 -
B-83684EN/07 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 54
54 (*)
(*) J3 arm + Wrist : IP 67
J3アーム+手首部：IP 67 Main body : IP5656
本体部：IP J3 arm + Wrist : IP 6767
J3アーム+手首部：IP
Standard
標準 Severe 防塵防滴強化パッケージ(オプション)
dust/liquid protection package (option)
Fig. 3.1 (e) 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.
- 25 -
3. BASIC SPECIFICATIONS B-83684EN/07
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND
OPERATING SPACE
Fig. 3.2 (a) to (d) show the robot operating space. When installing peripheral devices, be careful not to
interfere with the robot and its operating space.
3
75
R
+185v
306.5
0v
-185v
R 265
5
370 1250 260
200
J5-axis
J5軸回転中心
rotation center
3146
1182
1050
75° 76
10°
Rear side .7 °
後部干渉領域 133
Interference area
Opearting space of
J5-axis rotation
J5軸回転中心動作範囲
850
center
162
844 2655
Fig. 3.2 (a) Operating space (M-900iB/360/360E)
- 26 -
B-83684EN/07 3. BASIC SPECIFICATIONS
3
75
R
+185v
306.5
0v
R 310
-185v 3
370 1705 260
200
3587
1182 J5-axis
1050
rotation center
J5軸回転中心
76
10°
°
75 °
°
Rear side
後部干渉領域 3.7
13
Interference area
Operating space of
850
J5-axis rotation
center
613
844 3103
Fig. 3.2 (b) Operating space (M-900iB/280L)
- 27 -
3. BASIC SPECIFICATIONS B-83684EN/07
3
75
R
+185v
306.5
0v
-185v
R 2655
370 1250 260
200
J5-axis
J5軸回転中心
3146
1162
rotation center
1050
° 76
75
10°
°
Rear side .7°
133
後部干渉領域
Interference area
Operating space
850
ofJ5軸回転中心
J5-axis
動作範囲
rotation center
844 2655 162
Fig. 3.2 (c) Operating space (M-900iB/280)
- 28 -
B-83684EN/07 3. BASIC SPECIFICATIONS
7
81
R
+185v
306.5
0v
R 3203
-185v
470 1705 260
200
J5-axis
J5軸回転中心
1079
rotation center
1050
2926
30°
76
10°
° °
75
°
3.7
13
Rear後部干渉領域
side Operating
J5軸回転中心 space
Interference area of動作領域
J5-axis
850
rotation center
613
3203
Fig. 3.2 (d) Operating space (M-900iB/330L)
- 29 -
3. BASIC SPECIFICATIONS B-83684EN/07
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 fixed
mechanical stopper or limit switch is also prepared to improve safety.
Fig. 3.3 (a) shows the position of fixed mechanical stopper.
Only in case of J1, robot stops by transforming fixed mechanical stopper (option).
Be sure to replace transformed stopper to new one. Do not reconstruct the fixed mechanical stopper. There
is a possibility that the robot doesn't stop normally. Tighten bolts with regulated torque referring to
Appendix B [STRENGTH OF BOLT ANDBOLT TORQUE LIST].
Replace mechanical stopper of J1-axis referring to Section 6.2.
In case of upside-down mount, install J1-axis mechanical stopper (option) (fixed side swing stopper)
upside-down referring to Subsection 1.2.3.
WARNING
Do not reconstruct the fixed mechanical stopper. There is a possibility that the
robot doesn't stop normally.
J5-axis mechanical stopper
(Movable side)
(Upper and lower 2 locations)
J5-axis mechanical stopper
(Fixed side)
(Upper and lower 2 locations)
J2/J3-axis interference angle
mechanical stopper
J2/J3-axis interference angle
mechanical stopper
J2-axis mechanical stopper
(Movable side)
J2-axis mechanical stopper
(Movable side)
J3-axis mechanical stopper
(Movable side) J2-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Fixed side)
J3-axis mechanical stopper
(Fixed side)
J1-axis mechanical stopper (option) (Fixed side swing stopper)
J1-axis mechanical stopper (option)(Movable side)
Fig. 3.3 (a) Position of mechanical stopper
- 30 -
B-83684EN/07 3. BASIC SPECIFICATIONS
Fig. 3.3 (b) to 3.3 (i) show the zero point and motion limit, limit switch detection position, and maximum
stopping distance (stopping distance in condition of maximum speed and maximum 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".
-185v
+185º Stroke end (Upper limit)
+185°ストロークエンド（上限)
5°
0°
5°
-185º Stroke end (Lowper limit)
-185°ストロークエンド(下限)
+185v
Fig. 3.3 (b) J1-axis motion limit (When mechanical stopper is not specified)
-180°
+201°The maximum stopping distance
(position)
21°
+180.5°Limit switch detect position
0° u180°Stroke end
21°
-180.5°Limit switch detect position
-201°The maximum stopping distance
(position)
+180°
(Note) J1-axis fixed mechanical stopper and limit switch are option.
Fig. 3.3 (c) J1-axis motion limit (When mechanical stopper is specified)
- 31 -
3. BASIC SPECIFICATIONS B-83684EN/07
0°
75 -75v
° ° Stroke end (Lower limit)
76
+76v Stroke end (Upper limit)
+80v
The maximum stopping distance
(position) -79v
The maximum stopping distance
(position)
(Note) There is no limit switch for J2-axis.
Motion limit is restricted by the position of the J3-axis.
Fig. 3.3 (d) J2-axis motion limit
4°
J3=+90°
° Stroke end (Upper limit)
90
J3=+94°
The maximum stopping distance
(position)
0°
0°
133.7°
°
J3=-133.7°
3 .8
Stroke end (Lower limit)
J3=-137.5°
The maximum stopping distance
(position)
(Note) There is no limit switch for J3-axis.
Motion limit is restricted by the position of the J2-axis.
Fig. 3.3 (e) J3-axis motion limit (M-900iB/360/360E/280L/280)
- 32 -
B-83684EN/07 3. BASIC SPECIFICATIONS
J3=+30 °
J3=+30°
Stroke end (Upper limit)
ストロークエンド(上限)
J3=+34°
J3=+34°
4°
最大停止距離 (位置)
The maximum stopping
distance (position)
30°
0°
133
.7°
J3=-133.7 °
J3=-133.7°
Stroke end (Lower
ストロークエンド limit)
(下限) 4°
J3=-137.7°
TheJ3=-137.7°
maximum stopping
distance (position)
最大停止距離 (位置)
(Note) There is no limit switch for J3-axis
(注) J3軸にリミットスイッチはありません。
Motion limit is restricted by the positon of the J2-axis.
J2軸の位置によって動作範囲に制限を受けます。
Fig. 3.3 (f) J3-axis motion limit (M-900iB/330L)
Software restriction
+360°Stroke end (Upper limit)
+360°
-360°Stroke end (Lower limit)
0°
-360°
(Note） There is no limit switch and stopper for J4-axis
Fig. 3.3 (g) J4-axis motion limit
- 33 -
3. BASIC SPECIFICATIONS B-83684EN/07
° 2° +125v Stroke end (Upper limit)
125
+127v
The maximum stopping distance
(position)
0°
2°
125
° -127v
The maximum stopping distance
(position)
-125v Stroke end (Lower limit)
(Note） There is no limit switch for J5-axis
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 limit switch and stopper for J6-axis
Fig. 3.3 (i) J6-axis motion limit
- 34 -
B-83684EN/07 3. BASIC SPECIFICATIONS
3.4 WRIST LOAD CONDITIONS
Fig. 3.4 (a) to (k) 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]
80
70 200kg
64.6
60
250kg
50
49.7 300kg
40
39.1
30
29.6 360kg
20
10
50.3
20 30 40 50 60
29.8 X,Y [cm]
26.0
35.1 41.3
Fig. 3.4 (a) Wrist load diagram (ISO flange)
(M-900iB/360)
- 35 -
3. BASIC SPECIFICATIONS B-83684EN/07
Z [cm]
80
70 200kg
63.6
60
250kg
50
48.7 300kg
40
38.1
30
28.6 360kg
20
10
50.3
20 30 40 50 60
29.8 X,Y [cm]
27.0
35.1 41.3
Fig. 3.4 (b) Wrist load diagram (Insulated ISO flange)
(M-900iB/360)
- 36 -
B-83684EN/07 3. BASIC SPECIFICATIONS
Fig. 3.4 (c) Wrist load diagram (ISO flange)
(M-900iB/360E)
- 37 -
3. BASIC SPECIFICATIONS B-83684EN/07
Fig. 3.4 (d) Wrist load diagram (Insulated ISO flange)
(M-900iB/360E)
- 38 -
B-83684EN/07 3. BASIC SPECIFICATIONS
Z [cm]
150kg
80
75.6
70
200kg
60
55.3 50
250kg
42.0
40
36.0
30
280kg
20
10
59.4
20 30 40 50 60
34.6 X,Y [cm]
26.0
38.3
46.5
Fig. 3.4 (e) Wrist load diagram (ISO flange)
(M-900iB/280L)
- 39 -
3. BASIC SPECIFICATIONS B-83684EN/07
Z [cm]
150kg
80
74.6
70
200kg
60
54.3
50
250kg
41.0
40
35.0
30
280kg
20
10
59.4
20 30 40 50 60
34.6 X,Y [cm]
27.0
38.3
46.5
Fig. 3.4 (f) Wrist load diagram (Insulated ISO flange)
(M-900iB/280L)
- 40 -
B-83684EN/07 3. BASIC SPECIFICATIONS
Z [cm]
80
70 200kg
64.6
60
49.7 250kg
50
45.4
40
280kg
30
20
10
50.3
20 30 40 50 60
X,Y [cm]
26.0
38.3 41.3
Fig. 3.4 (g) Wrist load diagram (ISO flange)
(M-900iB/280)
- 41 -
3. BASIC SPECIFICATIONS B-83684EN/07
Z [cm]
80
70
200kg
63.6
60
48.7 250kg
50
44.4
40 280kg
30
20
10
50.3
20 30 40 50 60
X,Y [cm]
27.0
38.3 41.3
Fig. 3.4 (h) Wrist load diagram (Insulated ISO flange)
(M-900iB/280)
- 42 -
B-83684EN/07 3. BASIC SPECIFICATIONS
Z [cm]
200kg
80
77.0
70
60.0
250kg
60
300kg
50
47.9
42.2
40
330kg
30
20
10
57.8
20 30 40 50 60
X,Y [cm]
40.4
26.0
37.1 47.5
Fig. 3.4 (i) Wrist load diagram (ISO flange)
(M-900iB/330L)
- 43 -
3. BASIC SPECIFICATIONS B-83684EN/07
Z [cm]
200kg
80
76.0
70
250kg
60
59.0 300kg
50
46.9
40
330kg
41.2
30
20
10
57.8
20 30 40 50 60
X,Y [cm]
40.4
27.0
37.1 47.5
Fig. 3.4 (j) Wrist load diagram (Insulated ISO flange)
(M-900iB/330L)
- 44 -
B-83684EN/07 3. BASIC SPECIFICATIONS
3.5 LOAD CONDITION ON J2 BASE AND J3 ARM
Fig. 3.5 (a), (b) and Table 3.5 (a) show J2 base and J3 arm load condition.
0
50
R
Center
Centerofofgravity
gravity
385 Center
Centerofofgravity
gravity
Loadon
Load 1 on
thethe
J3 J3 arm
arm 1 10
Loadon2 the
Load on the
J3 J3
armarm
2
150
174
Load
Load capacity
capacity on on
thethe
Ｊ2J2 base
base : 550kg
: 550ｋｇ
(Welding transformer
(Welding or the
transformer like)
or the like)
Fig. 3.5 (a) J2 base / J3 arm load condition (M-900iB/360/360E/280L/330L)
- 45 -
3. BASIC SPECIFICATIONS B-83684EN/07
0
50
R
Center
重心位置 of gravity
Center
重心位置 of gravity
385
Load 1 on the J3 arm
J3アーム上の負荷1 10
Load 2 on the J3 arm
J3アーム上の負荷2
210
210
Load J2ベース上可搬質量
capacity on the J2 base : 550kg
: 550ｋｇ
(Welding transformer or the like)
(溶接トランス等)
Fig. 3.5 (b) J2 base / J3 arm load condition (M-900iB/280)
Table 3.5 (a) J2 base / J3 arm load condition
Mounting position Load capacity Condition
The center of gravity must lie within a radius of 500 mm from the rotation
J2 base 550kg
center of the J1-axis
J3 arm 50kg The total weight of the load 1 and the load 2 is less than 50kg.
- 46 -
B-83684EN/07 3. BASIC SPECIFICATIONS
3.6 OPERATING SPACE RESTRICTION AT WALL OR ANGLE
MOUNTING
When M-900iB/360/360E/280L/280 are mounted on wall or inclined surface, the operating space has
restriction depending on its mounted angle.
Wall mount and inclination installation is enable against only the front direction and the back direction.
Against side direction is impossible.
Connector
分線 盤
panel
Installation
設置角度
angle
Correct
正 しい例 example 間違 った例
Incorrect example
Incline
ロボット正面 against the方向
robot に傾
front direction
斜 Incline
ロボagainst
ット側面方 the robot
向に傾side direction
斜
All図ではロボ
axes are 0ºットは全
at the 軸0°です
figure.
Fig.3.6 (a) Direction of robot wall mount and inclination installation
The following Fig. 3.6 (b) to (m) shows the operating space restriction on these conditions.
Robot can’t keep its posture in the hatching area on Fig. 3.6 (b) to (m).
- 47 -
3. BASIC SPECIFICATIONS B-83684EN/07
5° 175°
-5° -175°
No restriction
動作領域制限無し
Fig. 3.6 (b) Operating space of mount angle range (1)
(-180º≦φ≦-175º, -5º≦φ≦5º, 175º≦φ≦180º)
(M-900iB/360/360E)
- 48 -
B-83684EN/07 3. BASIC SPECIFICATIONS
O
25° 155°
5° 175°
-5° -175°
-25° -155°
30°
No restriction
動作領域制限無し
1163 1399
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (c) Operating space of mount angle range (2)
(-175°<φ≦-155°, -25°≦φ<-5°, 5°<φ≦25°, 155°≦φ<175°)
(M-900iB/360/360E)
NOTE
Robot can not stop in shaded area.
- 49 -
3. BASIC SPECIFICATIONS B-83684EN/07
135°
45°
O 25° 155°
-25° -155°
-45° -135°
18°
533 692 1462
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (d) Operating space of mount angle range (3)
(-155°<φ≦-135°, -45°≦φ<25°, 25°<φ≦45°, 135°≦φ<155°)
(M-900iB/360/360E)
NOTE
Robot can not stop in shaded area.
- 50 -
B-83684EN/07 3. BASIC SPECIFICATIONS
135°
45°
-45° -135°
12°
119 278 927
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (e) Operating space of mount angle range (4)
(-135°<φ<-45°, 45°<φ<135°)
(M-900iB/360/360E)
NOTE
Robot can not stop in shaded area.
- 51 -
3. BASIC SPECIFICATIONS B-83684EN/07
5° 175°
-5° -175°
No restriction
動作領域制限無し
Fig. 3.6 (f) Operating space of mount angle range (1)
(-180º≦φ≦-175º, -5º≦φ≦5º, 175º≦φ≦180º)
(M-900iB/280L)
- 52 -
B-83684EN/07 3. BASIC SPECIFICATIONS
25°
155°
O
5° 175°
-5° -175°
-25° -155°
29°
1468 1712 3056
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (g) Operating space of mount angle range (2)
(-175°<φ≦-155°, -25°≦φ<-5°, 5°<φ≦25°, 135°≦φ<155°)
(M-900iB/280L)
NOTE
Robot can not stop in shaded area.
- 53 -
3. BASIC SPECIFICATIONS B-83684EN/07
45° 135°
25° 155°
O
-25° -155°
-45° -135°
17°
708 946 1776
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (h) Operating space of mount angle range (3)
(-155°<φ≦-135°, -45°≦φ<25°, 25°<φ≦45°, 135°≦φ<155°)
(M-900iB/280L)
NOTE
Robot can not stop in shaded area.
- 54 -
B-83684EN/07 3. BASIC SPECIFICATIONS
135°
45°
-45° -135°
12°
232 412 1225
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (i) Operating space of mount angle range (4)
(-135°<φ<-45°, 45°<φ<135°)
(M-900iB/280L)
NOTE
Robot can not stop in shaded area.
- 55 -
3. BASIC SPECIFICATIONS B-83684EN/07
5° 175°
O
-5° -175°
No restriction
動作領域制限無し
Fig. 3.6 (j) Operating space of mount angle range (1)
(-180º≦φ≦-175º, -5º≦φ≦5º, 175º≦φ≦180º)
(M-900iB/280)
- 56 -
B-83684EN/07 3. BASIC SPECIFICATIONS
O 25° 155°
5° 175°
-5° -175°
-25° -155°
30°
No motion limits
動作領域制限無し
1220 1446
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (k) Operating space of mount angle range (2)
(-175°<φ≦-155°, -25°≦φ<-5°, 5°<φ≦25°, 155°≦φ<175°)
(M-900iB/280)
NOTE
Robot can not stop in shaded area.
- 57 -
3. BASIC SPECIFICATIONS B-83684EN/07
135v
45°
25° 155°
O
-25° -155°
-45° -135°
18°
626 763 1507
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (l) Operating space of mount angle range (3)
(-155°<φ≦-135°, -45°≦φ<25°, 25°<φ≦45°, 135°≦φ<155°)
(M-900iB/280)
NOTE
Robot can not stop in shaded area.
- 58 -
B-83684EN/07 3. BASIC SPECIFICATIONS
135v
45°
-45° -135°
12°
224 391 992
J1=90deg J1=60deg J1=30deg
Fig. 3.6 (m) Operating space of mount angle range (4)
(-135°<φ<-45°, 45°<φ<135°)
(M-900iB/280)
NOTE
Robot can not stop in shaded area.
- 59 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
4 EQUIPMENT INSTALLATION TO THE
ROBOT
4.1 END EFFECTOR INSTALLATION TO WRIST
Fig. 4.1 (a) and 4.1 (b) show the figures for installing end effectors on the wrist. To fasten the end effector,
first position it by using fitting [A] or [B], two pin holes at [C], then lock it using screws at [D]. 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 of bolts for fixing end effector.
128.4±6.4Nm (1310±65kgfcm)
CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.
+0.018
2- O 12 H7 0 depth 12 [C]
O2
R
20 6-M12 tap depth 20 [D]
00
8（MIN.) 0
8(MIN.)
60°
125
[A]
[B]
+0.040
-0.072
200 ±0.05
0
0
O 125 H7
O 250 h8
125
60°
260
176.5 130
Fig. 4.1 (a) End effector interface (ISO flange)
+0.018
2- O 12 H7 0 depth 12 [C]
R
O2
20 6-M12 tap depth 20 [D]
0
00
8(MIN.)
8(MIN.)
60°
125
[A]
[B]
+0.040
-0.072
200 ±0.05
0
0
O 125 H7
O 250 h8
125
60°
270
176.5 130
Fig. 4.1 (b) End effector interface (Insulated ISO flange)
- 60 -
4. EQUIPMENT INSTALLATION
B-83684EN/07 TO THE ROBOT
4.2 EQUIPMENT MOUNTING FACE
As shown in Fig. 4.2 (a) to (h), 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 When using a user tap shown in Fig. 4.2 (a) to (h), please keep the center of
gravity position of the equipment according to Section 3.5.
3 Equipment should be installed on robot in a way it does not interfere with the
mechanical unit cables. If equipment interferes, the mechanical unit cable might
be disconnected, and unexpected troubles might occur.
4 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.
- 61 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
300 170 170
4-M12
4-M12tap depth 18
タップ深さ 18
282.5
60
282.5
45
6-M10
6-M10 tap depth 15
タップ深さ 15
30 424
4-M10
4-M10 tap depth 15
タップ深さ
20
60
10 50 2-M10
2-M10tap depth 15
タップ深さ 15
2-M12 tap depth 10
2-M12 タップ深さ 10
35
175
70 200
0° 10 4-M12
4-M12tap depth 18
タップ深さ 18
2
12
102
42
3-M12
3-M12 tap depth 19
タップ深さ 19
0
31
15°15
°
R
725
2°
°
45
45
6-M12
6-M12 tap depth 20
タップ深さ
°
22.5°
22.5°
67.5°
67
.5°
450
O
37
5
2-M12
2-M12tap depth 18
タップ深さ 18
6-M16
6-M16tap depth 28
タップ深さ 28
60
79
32 32 32 32
33 308
430
Fig. 4.2 (a) Equipment mounting faces
(M-900iB/360/360E (1/2))
- 62 -
4. EQUIPMENT INSTALLATION
B-83684EN/07 TO THE ROBOT
2-M10 tap depth15
15 50 10
2-M10 タップ深さ
2-M12
2-M12tap depth 20 20
タップ深さ
50
175
270 30
2-M8
2-M8tap depth 10 10
タップ深さ
70
20
665
°
45
6-M12
6-M12tap depth 20 20
45
タップ深さ
°
22.5°
22.5°
5°
67.
67.
5°
450
5
37
O
2-M12
2-M12tap depth 18 18
タップ深さ
6-M16タップ深さ
6-M16 tap depth28
28
60
32 32 32 32
79
308 33
430
Fig. 4.2 (b) Equipment mounting faces
(M-900iB/360/360E (2/2))
- 63 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
300 170 170 381.5 150
4-M12
4-M12tap depth 18
タップ深さ 18
282.5
60
282.5
45
10-M10
10-M10 tap depth 15
タップ深さ 15
30 424
4-M10
4-M10 tap depth 15
タップ深さ 15
20
60
10 50 2-M10
2-M10 tap depth 15
タップ深さ 15
2-M12 tap depth10
2-M12 タップ深さ 10
35
175
70 200
° 102
120 4-M12
4-M12 tap depth 18
タップ深さ 18
102
42
0
31
3-M12
3-M12 tap depth19
タップ深さ 19 15° 1
R
5°
725
2°
6-M12
6-M12 tap depth20
タップ深さ 20
45
°
°
45
22.5°
° 22.5°
67.5
67
. 5°
450
O
37
5
2-M12
2-M12 tap depth 18
タップ深さ 18 6-M16
6-M16tap depth 28
タップ深さ 28
60
32 32 32 32
79
33 308
430
Fig. 4.2 (c) Equipment mounting faces
(M-900iB/280L (1/2))
- 64 -
4. EQUIPMENT INSTALLATION
B-83684EN/07 TO THE ROBOT
2-M10 tap depth15
15 50 10
2-M10 タップ深さ
2-M12
2-M12tap depth 20 20
タップ深さ
50
175
270 30
2-M8
2-M8tap depth 10 10
タップ深さ
70
20
665
°
45
45
6-M12
6-M12tap depth 20 20
タップ深さ
°
22.5°
22.5°
5°
67.
67.
5°
450
5
37
O
2-M12
2-M12tap depth 18 18
タップ深さ
6-M16タップ深さ
6-M16 tap depth28
28
60
32 32 32 32
79
308 33
430
Fig. 4.2 (d) Equipment mounting faces (M-900iB/280L (2/2))
- 65 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
300 170 170
4-M12
4-M12tap depth 18
タップ深さ 18
282.5
45
60
282.5
6-M10
6-M10 tap depth1515
タップ深さ
30 424 4-M10 tap depth1515
4-M10 タップ深さ
20
60
10 50 2-M10 tap depth1515
2-M10 タップ深さ
M12
M12 tap depth1010
タップ深さ
10
175
280
10 2 4-M12 tap depth 18
0° 4-M12 タップ深さ 18
12
102
42
3-M12
3-M12 tap depth19
タップ深さ 19
0
31
15°15
°
R
725
2°
°
45
45
6-M12
6-M12tap depth 20
タップ深さ 20
°
22.5°
° 22.5 °
67.5
67
.5°
450
O
37
5
2-M12
2-M12tap depth 18
タップ深さ 18
6-M16 tap depth2828
6-M16 タップ深さ
60
79
32 32 32 32
33 308
430
Fig. 4.2 (e) Equipment mounting faces
(M-900iB/280 (1/2))
- 66 -
4. EQUIPMENT INSTALLATION
B-83684EN/07 TO THE ROBOT
2-M10
2-M10 tap depth
タップ深さ 15 15 50 10
2-M12
2-M12tap depth 2020
タップ深さ
50
175
270 30 2-M8
2-M8tapタップ深さ
depth 10 10
70
20
665
45
°
°
6-M12
6-M12tap depth 2020
45
タップ深さ
22 .5°
22.5°
°
6 7.
5
67.
5°
450
5
37
O
2-M12
2-M12 tap depth 1818
タップ深さ
6-M16
6-M16 tap depth
タップ深さ 2828
60
79
32 32 32 32
308 33
430
Fig. 4.2 (f) Equipment mounting faces
(M-900iB/280 (2/2))
- 67 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
300 170 170 115 170 170
283.51 4-M12 tap depth
4-M12 タップ深さ 1818
60
281.49
45
12-M10 tap depth
12-M10 タップ深さ 15 15
30 424
4-M10 tap depth1515
4-M10 タップ深さ
20
60
2-M10 tap depth
2-M10 タップ深さ 1515
2-M12
2-M12tap depth 10
タップ深さ 10
35
175
10
2 4-M12 tap depth
0° 4-M12タップ深さ 18 18
12
3-M12 tap depth 19
102
3-M12 タップ深さ 19 42
2°
725
6-M12 tap depth 20
6-M12タップ深さ 20 15° 1
5°
°
45
45
°
°
22.5°
22.567.5
°
67.5
°
450
O
37
5
2-M12
2-M12tap depth 18
タップ深さ 18 6-M16 tap depth
6-M16タップ深さ 28 28
60
32 32 32 32
79
33 408
430
Fig. 4.2 (g) Equipment mounting faces
(M-900iB/330L (1/2))
- 68 -
4. EQUIPMENT INSTALLATION
B-83684EN/07 TO THE ROBOT
2-M102-M10 tap depth15
タップ深さ 15
2-M12 tap depth 20
2-M12 タップ深さ 20
50
270 30
2-M8 tap depth 10
2-M8タップ深さ 10
20
70
45 6-M12 tap depth 20
° 6-M12 タップ深さ 20
665
°
45
22.5°
°
22.5
67
.5°
450
5
37
°
.5
O
67
6-M16
6-M16 tap depth 28
タップ深さ 28 2-M12 tap depth 18
2-M12 タップ深さ 18
60
32 32
79
32 32
408 33
430
Fig. 4.2 (h) Equipment mounting faces
(M-900iB/330L (2/2))
- 69 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
4.3 LOAD SETTING
CAUTION
1 Set load condition parameter before operating the robot. Do not operate the
robot in over payload reduction. Do not 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 R-30iB/R-30iB Mate/R-30iB
Plus/R-30iB Mate Plus 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
1 360.00 [ ]
2 0.00 [ ]
3 0.00 [ ]
4 0.00 [ ]
5 0.00 [ ]
6 0.00 [ ]
7 0.00 [ ]
8 0.00 [ ]
9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number =0
[ TYPE] GROUP DETAIL ARMLOAD SETIND >
5 Ten different pieces of payload information can be set using condition No. 1 to 10 on this screen. Place
the cursor on one of the numbers, and press F3 [DETAIL]. The MOTION PAYLOAD SET screen
appears.
MOTION PAYLOAD SET JOINT 10%
Group 1
1 Schedule No[ 1]:[Comment ]
2 PAYLOAD [kg] 360.00
3 PAYLOAD CENTER X [cm] -3.00
4 PAYLOAD CENTER Y [cm] 0.00
5 PAYLOAD CENTER Z [cm] 27.78
6 PAYLOAD INERTIA X [kgfcms^2] 560.84
7 PAYLOAD INERTIA Y [kgfcms^2] 590.39
8 PAYLOAD INERTIA Z [kgfcms^2] 150.10
[TYPE] GROUP NUMBER DEFAULT HELP
- 70 -
4. EQUIPMENT INSTALLATION
B-83684EN/07 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 appears: “Path and Cycletime will change. Set it?” Respond to the message
with F4 [YES] or F5 [NO].
7 Pressing F3 [NUMBER] will bring you to the MOTION PAYLOAD SET screen for another condition
number. For a multigroup system, pressing F2 [GROUP] will bring you to the MOTION PAYLOAD
SET screen for another group
8 Press the [PREV] key to return to the MOTION PERFORMANCE screen. Press F5 [SETIND], and
enter the desired payload setting condition number.
9 On the MOTION PERFORMANCE screen, press F4 [ARMLOAD] to display the MOTION
ARMLOAD SET screen.
MOTION ARMLOAD SET JOINT 100%
Group 1
1 J2 BASE LOAD [kg] 550.00
2 J3 ARM 1 LOAD [kg] 25.00
3 J3 ARM 2 LOAD [kg] 10.00
[ TYPE ] GROUP DEFAULT HELP
10 Specify the weight of the load on the J2 base and J3 arm as follows:
J2 BASE LOAD [kg] : Weight of the load on the J2 base
J3 ARM 1 LOAD [kg] : Weight of the load on the J3 arm (wrist side)
J3 ARM 2 LOAD [kg] : Weight of the load on the J3 arm (wrist-axis motors side)
The following message appears: “Path and Cycletime will change. Set it?” Respond to the message
with F4 [YES] or F5 [NO]. Once the loads are set up, the settings are completed by cycling power of
the controller.
- 71 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83684EN/07
4.4 INERTIA LOAD SETTING
High inertia mode is provided for the M-900iB/360/280L/280. The inertia mode is automatically set
according to the load value set in Section 4.3. Table 4.4 (a) shows allowable load moment at wrist of
standard inertia mode and high inertia mode.
Table 4.4 (a) Inertia load setting
Standard inertia mode High inertia mode
/360/280 260kgm2 460kgm2
(2653kgfcms2) (4694kgfcms2)
J4-axis
/280L 215kgm2 340kgm2
(2194kgfcms2) (3470kgfcms2)
/360/280 260kgm2 460kgm2
Wrist unit (2653kgfcms2) (4694kgfcms2)
J5-axis
allowable load inertia
/280L 215kgm2 340kgm2
(2194kgfcms2) (3470kgfcms2)
/360/280 160kgm2 360kgm2
(1633kgfcms2) (3673kgfcms2)
J6-axis
/280L 140kgm2 260kgm2
(1429kgfcms2) (2654kgfcms2)
- 72 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
5 PIPING AND WIRING TO THE END
EFFECTOR
WARNING
• Only use appropriately-specified mechanical unit cables.
• Do not add user cables or hoses inside of the mechanical unit.
• Please do not obstruct the movement of the mechanical unit when cables are
added to 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
- 73 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
5.1 AIR SUPPLY (OPTION)
Robot has air inlet and air outlet on the back of the J1 base and the J3 arm back or side used to supply air
pressure to the end effector. The connector is an Rc1/2 female. Because coupling are not supplied, it will
be necessary to prepare couplings which suit to the tube size.
Dual air line：panel union x 2
Rc1/2 female (Air outlet side)
Air tube x 2
Outside diameter 12ｍｍ
Inside diameter 8ｍｍ
Dual air line：panel union x 2
Rc1/2 female (Air inlet side)
Fig. 5.1 (a) Air supply (option)
- 74 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
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. Mount the air control set using the
information in Fig. 5.2 (b). This is outside FANUC delivery scope.
Elbow nipple R3/8 Straight nipple R1/2
エルボニップル R3/8 ストレートニップル R1/2
R3/8
Air tube
エアチューブ
All length 3m
Outer
全長3m 12mm外径12mm
Inside 8mm内径8mm
エア3点セット
Air control set
Spec.:A05B-1311-J011
仕様 : A05B-1311-J011
In dotted line
Optional parts
破線内：オプション添付品
Fig. 5.2 (a) Air piping (option)
- 75 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
Air control set
For the lubricator of air control set, fill in turbine oil #90 to #140 to the specified level. The machine tool
builder is required to prepare mounting bolts.
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.
Supply air pressure 0.49 to 0.69MPa (5 to 7kgf/cm2)， Setting: 0.49MPa (5kgf/cm2)
Air pressure
Amount of consumption Maximum instantaneous amount 150Nl/min(0.15Nm3/min)
- 76 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
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) shows the option cable
interface.
EE interface (RI/RO), user cable (signal lines, signal line usable to force sensor and 3D Laser Vision sensor,
power lines), DeviceNet cable (signal), DeviceNet cable (power), additional axis motor cable (Pulsecoder),
additional axis motor cable (power, brake), camera cable, Ethernet cable are prepared as options.
NOTE
Each option cable is written as shown below on the connector panel.
EE interface (RI/RO) : EE
User cable (signal) : AS
User cable (signal usable to force sensor and 3D Laser Vision sensor) : ASi
User cable (power) : AP
DeviceNet cable (signal) : DS
DeviceNet cable (power) : DP
Additional axis motor cable (Pulsecoder) : ARP
Additional axis motor cable (power, brake) : ARM
Camera cable : CAM
Ethernet cable : ES
J3 arm
J3アーム分線板
connector plate
J1 base
connector
J1ベース分線板 plate
Fig. 5.3 (a) Interface for option cable (option)
- 77 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
ユーザケーブル(信号線/動力線)付きの場合
With user cable (signal line/power line)
User cable (power line)
ユーザケーブル(動力線)
interface
インタフェース
ケーブル仕様
Cable : A05B-1335-H201(/360/360E/280L),
spec. : A05B-1335-H201 H261(/280),
(/360/360E/280L), H261(/280), H241(/330L)
H241(/330L)
EE interface (RI/RO)
EEインタフェース(RI/RO) User cable (signal line)
ユーザケーブル(信号線)
(Air inlet) インタフェース
interface
(エア入口)
User cable (power line)
ユーザケーブル(動力線)
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
(Air outlet)
(エア出口) (Air outlet)
(エア出口)
(/360/360E/280L/330L) (/280)
J1J1ベース分線板(入力側)
base connector plate (input side)
J3アーム分線板(出力側)
J3 arm connector plate (output side)
デバイスネットケーブル(信号線/動力線)付きの場合
With DeviceNet cable (signal line/power line) DeviceNet cable (power line) interface
デバイスネットケーブル
(動力線)インタフェース
ケーブル仕様 : A05B-1335-H202(/360/360E/280L),
Cable spec. : A05B-1335-H202 H262(/280),
(/360/360E/280L), H262(/280), H242(/330L)
H242(/330L) DeviceNet cable (signal line) interface
デバイスネットケーブル
(信号線)インタフェース
(Air inlet)
(エア入口)
EE interface (RI/RO)
EEインタフェース(RI/RO)
DeviceNet cable (power line)
デバイスネットケーブル(動力線)
インタフェース
interface
EE interface (RI/RO)
EEインタフェース(RI/RO)
DeviceNet cable (signal line)
デバイスネットケーブル(信号線)
インタフェース
interface
(Air outlet)
(エア出口) (Air outlet)
(エア出口)
(/360/360E/280L/330L) (/280)
J1 base connector plate (input side)
J1ベース分線板(入力側)
J3J3アーム分線板(出力側)
arm connector plate (output side)
With user cable (signal line usable to force sensor and 3D Laser Vision sensor) and camera cable
ユーザケーブル(力センサ・立体センサ対応信号線)、カメラケーブル付きの場合
User cable (signal line usable to force
Cable
ケーブル仕様spec. : A05B-1335-H203 (/360/360E/280L), H263(/280),H243(/330L)
: A05B-1335-H203(/360/360E/280L), H263(/280), H243(/330L)
ユーザケーブル
sensor and 3D Laser Vision sensor ) interface
(力センサ・立体センサ対応信号線)
インタフェース
(Air inlet)
(エア入口) EE interface (RI/RO)
EEインタフェース(RI/RO)
Camera cable interface
カメラケーブルインタフェース
Camera cable interface
カメラケーブルインタフェース
ユーザケーブル
User cable (signal line usable
(力センサ・立体センサ対応信号線)
toインタフェース
force sensor and 3D Laser
Vision sensor ) interface Camera cable
カメラケーブルインタフェース
(エア出口)
(Air outlet) (Air outlet)
(エア出口) interface
(/360/360E/280L/330L) (/280)
J1 base connector plate (input side)
J1ベース分線板(入力側)
J3アーム分線板(出力側)
J3 arm connector plate (output side)
Fig. 5.3 (b) Interface for option cables (1/2)
- 78 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
付加軸用モータケーブル(パルスコーダ線、パワー、ブレーキ線)付きの場合
With additional axis motor cable (Pulsecoder/power, brake)
Additional axis motor cable (power, brake)
Cable
ケーブル仕様spec. : A05B-1335-H204 (/360/360E/280L), H264(/280),H244(/330L)
: A05B-1335-H204(/360/360E/280L), H264(/280), H244(/330L) 付加軸用モータケーブル(パワー、ブレーキ線)
interface
インタフェース
(Air inlet)
(エア入口) Additional axis motor cable
付加軸用モータケーブル(パルスコーダ線)
(Pulsecoder)
インタフェース interface
EE interface (RI/RO)
EEインタフェース(RI/RO) EE interface (RI/RO)
EEインタフェース(RI/RO)
Additional
付加軸用モータケーブルaxis motor cable
(power, brake) interface
(パワー、ブレーキ線)
インタフェース
3
(Air outlet)
(エア出口) (Air outlet)
(エア出口)
Additional axis motor cable
付加軸用モータケーブル
(Pulsecoder)
(パルスコーダ線) interface (/360/360E/280L/330L) (/280)
インタフェース
J1ベース分線板(入力側)
J1 base connector plate (input side) J3 armJ3アーム分線板(出力側)
connector plate (output side)
With user cable (signal line usable to force sensor and 3D Laser 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(信号線)付きの場合
Cable spec. : A05B-1335-H205 (/360/360E/280L) User cable (signal line usable
ケーブル仕様 : A05B-1335-H205(/360/360E/280L) ユーザケーブル
to(力センサ・立体センサ対応信号線)
force sensor and 3D Laser
Ethernet (signal line)
イーサネットケーブル interface
(信号線)
インタフェース
インタフェース Vision sensor ) interface
(Air inlet)
(エア入口) EE interface (RI/RO)
EEインタフェース(RI/RO)
Camera cable interface
カメラケーブルインタフェース
Camera cable interface
カメラケーブルインタフェース
Ethernet (signal line) interface
イーサネットケーブル (信号線)
インタフェース
User cable (signal line usable (Air outlet)
(エア出口)
to force sensor and 3D Laser
ユーザケーブル
Vision sensor ) interface
(力センサ・立体センサ対応信号線) (/360/360E/280L)
インタフェース
J1ベース分線板(入力側)
J1 base connector plate (input side) J3 armJ3アーム分線板(出力側)
connector plate (output side)
付加軸用モータケーブル(パルスコーダ線、パワー、ブレーキ線)、カメラケーブル、
With additional axis motor cable (Pulsecoder/power, brake), camera cable
ユーザケーブル(力センサ・立体センサ対応信号線)付きの場合
and user cable (signal line usable to force sensor and 3D Laser Vision sensor)
Cable
ケーブル仕様spec. : A05B-1335-H208 (/360/360E/280L)
: A05B-1335-H208(/360/360E/280L)
Additional axis motor cable
付加軸用モータケーブル
User cable (signal line usable to force sensor
ユーザケーブル (Pulsecoder) interface
(パルスコーダ線)
(力センサ・立体センサ対応信号線)インタフェース インタフェース
and 3D Laser Vision sensor ) interface
User cable (signal line usable
ユーザケーブル
(Air inlet) to force sensor and 3D Laser
(力センサ・立体センサ対応信号線)
(エア入口) インタフェース
Vision sensor ) interface
Additional axis motor cable
付加軸用モータケーブル
(Pulsecoder) interface
(パルスコーダ線)インタフェース
Camera cable interface
カメラケーブルインタフェース
Additional axis Additional axis motor cable
付加軸用モータケーブル
motor cable 付加軸用モータケーブル
(パワー、ブレーキ線) EE EEインタフェース(RI/RO)
interface (RI/RO) (power, brake) interface
(パワー、ブレーキ線)
(power, brake) interface
インタフェース インタフェース
(エア出口)
(Air outlet)
Camera cable interface
カメラケーブルインタフェース
(/360/360E/280L)
J1 base connector plate (input side)
J1ベース分線板(入力側) J3 arm connector plate (output side)
J3アーム分線板(出力側)
Without option cables
オプションケーブル無しの場合
There is no option cables.
Cable spec. : A05B-1335-H301
ケーブル仕様 (/360/360E/280L), H361(/280)
: A05B-1335-H301(/360/360E/280L), H361(/280) オプションケーブルのインタフェースはありません。
There is no option cables.
オプションケーブルのインタフェースはありません。
(/360/360E/280L) (/280)
J1 J1ベース分線板(入力側)
base connector plate (input side)
J3 armJ3アーム分線板(出力側)
connector plate (output side)
Fig. 5.3 (c) Interface for option cables (2/2)
- 79 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
ユーザケーブル(信号線/動力線)付きの場合
With user cable (signal line/power line)
Cable spec. : A05B-1335-H801
ケーブル仕様 (/360/360E/280L)
: A05B-1335-H801(/360/360E/280L)
User cable (power line)
ユーザケーブル(動力線)
(Air inlet)
(エア入口) EE interface (RI/RO) interface
インタフェース
EEインタフェース(RI/RO)
User cable (signal line)
ユーザケーブル(信号線)
インタフェース
interface
User cable (power line)
ユーザケーブル(動力線)
interface
インタフェース
ユーザケーブル(信号線)
User cable (signal line)
インタフェース
interface
(Air outlet)
(エア出口)
J1J1ベース分線板(入力側)
base connector plate (input side) J3 arm connector plate (output side)
J3アーム分線板(出力側)
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の場合
With and user cable (signal line usable to force sensor and 3D Laser Vision sensor)
and camera cable User cable (signal line usable
ユーザケーブル
ケーブル仕様
Cable : A05B-1335-H803(/360/360E/280L)
spec. : A05B-1335-H803 (/360/360E/280L) to force sensor and 3D Laser
(力センサ・立体センサ対応信号線)
インタフェース
Vision sensor ) interface
(Air inlet)
(エア入口)
EE interface (RI/RO)
EEインタフェース(RI/RO)
Camera cable interface
カメラケーブルインタフェース
Camera cable interface
カメラケーブルインタフェース
ユーザケーブル
User cable (signal line usable
(力センサ・立体センサ対応信号線)
to force sensor and 3D Laser
インタフェース
Vision sensor ) interface
(エア出口)
(Air outlet)
J1J1ベース分線板(入力側)
base connector plate (input side) J3 arm connector plate (output side)
J3アーム分線板(出力側)
付加軸用モータケーブル(パルスコーダ線、パワー、ブレーキ線)付きの場合
With additional axis motor cable (Pulsecoder/power, brake)
Cable
ケーブル仕様spec. : A05B-1335-H804 (/360/360E/280L)
: A05B-1335-H804(/360/360E/280L) Additional axis motor cable
付加軸用モータケーブル(パワー、ブレーキ線)
(power,
インタフェース brake) interface
EE interface (RI/RO)
EEインタフェース(RI/RO)
(Air inlet)
(エア入口) Additional axis motor cable
付加軸用モータケーブル(パルスコーダ線)
(Pulsecoder) interface
インタフェース
Additional axis motor cable
付加軸用モータケーブル(パワー、ブレーキ線)
(power, brake) interface
インタフェース
(Air outlet)
(エア出口)
Additional axis motor cable
付加軸用モータケーブル(パルスコーダ線)
(Pulsecoder)
インタフェース interface
J1ベース分線板(入力側)
J1 base connector plate (input side) J3アーム分線板(出力側)
J3 arm connector plate (output side)
With Ethernet cable user cable and (signal line usable to force sensor
イーサネットケーブル(信号線)、ユーザケーブル(力センサ・立体センサ対応信号線)、
and 3D Laser Vision sensor), camera cable and
カメラケーブル付きの場合 User cable (signal line usable
ユーザケーブル
to force sensor and 3D Laser
Cable spec. : A05B-1335-H805
ケーブル仕様 (/360/360E/280L)
: A05B-1335-H805(/360/360E/280L) (力センサ・立体センサ対応信号線)
Vision sensor ) interface
インタフェース
Ethernet (signal line) interface
イーサネットケーブル(信号線)インタフェース EE interface (RI/RO)
EEインタフェース(RI/RO)
(エア入口)
(Air inlet)
Camera cable interface
カメラケーブルインタフェース
Camera cable interface
カメラケーブルインタフェース
ユーザケーブル
User cable (signal line usable
(力センサ・立体センサ対応信号線)
to force sensor and 3D Laser
インタフェース
Vision sensor ) interface
Ethernet (signal line) interface
イーサネットケーブル(信号線)インタフェース
(Air outlet)
(エア出口)
J1J1ベース分線板(入力側)
base connector plate (input side) J3 arm connector plate (output side)
J3アーム分線板(出力側)
Fig. 5.3 (d) Interface for option cables
(When severe dust/liquid protection package is specified)
- 80 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
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 End
RI1 0V(A1) XHBK RO6 RO5
エンド
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
お客様にてご用意ください。
Outside FANUC delivery scope
XHBKXHBK
: Hand:ハンド破断検出信号
broken
Controller
制御装置 XPPABN : Pneumatic pressure
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
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。
Outside FANUC delivery scope
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)
NOTE
For wiring of the peripheral device to the EE interface, refer to the PERIPHERAL
DEVICE, ARC WELDING, AND END EE INTERFACES Chapter of
CONTROLLER MAINTENANCE MANUAL, too.
- 81 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
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 code pins
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
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 delivery scope
User cable (signal) interface (input)
M TYPE Han 24DD (HARTING K.K.)
G
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 for user cable (signal line) (AS) interface and code pin layout (option)
- 82 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
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 cable (signal usable to force sensor and 3D Laser Vision sensor)
/User cable (signal usable to force 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 delivery scope
User cable (signal usable to force sensor and 3D Laser Vision sensor)
/User cable (signal usable to force sensor) interface (input)
M 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 0.5mm2 18 pcs
4 8 12 16 20 24
0.4mm2 6 pcs (◥part)
S4 S8 S12 S16 S20 S24
Outside FANUC delivery scope
Code pin
No.1 pin
No.1 pin
Code pin
User cable (signal usable to force sensor and 3D Laser Vision sensor)
User cable (signal usable to force sensor and 3D Laser Vision sensor)
/User cable (signal usable to force sensor) interface output
/User cable (signal usable to force sensor) interface input
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)
- 83 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
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 code pins
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)
M 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
No.A1 pin
No.A1 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)
- 84 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
5 DeviceNet cable (signal line) (DS) interface (option)
Fig. 5.3 (j) shows the pin layout for the DeviceNet cable (signal line) interface.
DeviceNet cable (signal) interface (output)
デバイスネットケーブル(信号線)インタフェース(出力側)
5PIN FEMALE RECEPTACLE （藤倉商事㈱）
5PIN FEMALE RECEPTACLE (Fujikura.Ltd)
エンドエフェクタなど
End effector etc.
5 CAN L 1 DRAIN WIRE
4 CAN H 2 V+
3 V-
Outsideお客様にてご用意ください。
FANUC delivery scope
DeviceNet cable (signal) interface (input)
デバイスネットケーブル(信号線)インタフェース(入力側)
5PIN MALE RECEPTACLE （藤倉商事㈱） ワイヤサイズ
Wire size
5PIN MALE RECEPTACLE (Fujikura.Ltd) 2
2,31.0mm
2,3 1.0mm
2x 2
X2
0.5mmx2X
4,5 2
1 DRAIN WIRE 5 CAN L 4,50.5mm 1 pair
1 Pair
2 V+ 4 CAN H
3 V-
Fig. 5.3 (j) Pin layout for DeviceNet cable (signal) (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.
DeviceNet cable (power) interface (output)
デバイスネットケーブル(動力線)インタフェース(出力側)
4PIN FEMALE RECEPTACLE （㈱フジクラ）
4PIN FEMALE RECEPTACLE (Fujikura.Ltd)
End effector etc.
エンドエフェクタなど
4 NM 1 COM(A1)
3 OUTP 2 COM(A2)
Outside FANUC delivery scope
お客様にてご用意ください。
DeviceNet cable (power) interface (input)
デバイスネットケーブル(動力線)インタフェース(入力側)
MM TYPEHan
TYPE Han 10EE
10EE （ハーティング ㈱）
(HARTING.K.K.)
2
1.0mm
0.5mm×4
2 4 pcs
G FG
1 NM 8
4 COM(A2) 6
2 OUTP 9
5 7
3 COM(A1) 10
G
Fig. 5.3 (k) Pin layout for DeviceNet cable (power line) (DP) interface (option)
- 85 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
7 Additional axis motor cable (Pulsecoder) (ARP) interface (option)
Fig. 5.3 (l) shows the pin layout of the additional axis motor cable (Pulsecoder) interface.
The connector has code pins for preventing improper insertion.
Additional axis motor cable (Pulsecoder) interface (output)
F TYPE Han24DD (HARTING K.K.)
Additional
G FG
21 5V(J8A1) 17 0V(J8A1) 13 SPDJ8 9 5V(J7A1) 5 0V(J7A1) 1 SPDJ7
axis 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)
M TYPE Han24DD (HARTING K.K.)
Controller G FG
1 SPDJ7 5 0V(J7A1) 9 5V(J7A1) 13 SPDJ8 17 0V(J8A1) 21 5V(J8A1) 6V(BT7,BT8)
2
3
XSPDJ7
PRQJ7
6
7
0V(J7A2) 10 5V(J7A2)
11
14 XSPDJ8
15 PRQJ8
18 0V(J8A1) 22 5V(J8A2)
19 23 0V(BT7,BT8) Battery box
4 XPRQJ7 8 12 16 XPRQJ8 20 24
Code pin
No.1 pin
No.1 pin
Code pin
Additional axis motor cable (Pulsecoder) interface Additional axis motor cable (Pulsecoder) interface
input output
Fig. 5.3 (l) Pin layout of the additional axis motor cable (Pulsecoder) (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
- 86 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
8 Additional axis motor cable (power, brake) (ARM) interface (option)
Fig. 5.3 (m) shows the pin layout of the additional axis motor cable (power, brake) interface.
The connector has code pins for preventing improper insertion.
Additional axis motor cable(power,brake) interface (output)
F TYPE Han15D (HARTING K.K.)
C1 J8U1 B1 BK(J7) A1 J7U1 Additional axis
C2
C3
J8V1
J8W1
B2 BKC(J7) A2
B3 BK(J8) A3
J7V1
J7W1
motor
C4 J8G1 B4 BKC(J8) A4 J7G1
C5 B5 A5
G FG
Additional axis motor cable(power,brake) interface (input)
M TYPE Han15D (HARTING K.K.)
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 FG
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
input output
Fig. 5.3 (m) Pin layout of the additional axis motor cable (power, brake) (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.
イーサネットケーブル(信号線)インタフェース(出力側)
Ethernet cable (signal line) interface (output)
FF
TYPE
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+ TX- etc.
など
1 4
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
D-coded((HARTING
ハーティング㈱ K.K.)) 22
0.11mm×4
0.11mm 4 pcs
2 3
RX+ TX-
または 2
or
0.15mm x 4
1 4
TX+ RX- 0.15mm2 4 pcs
Outside FANUC delivery scope
お客様にてご用意ください。
Fig. 5.3 (y) Pin layout for Ethernet cable (signal line) (ES) interface (option)
- 87 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
Connector specifications
Table 5.3 (b) Connector specifications (Mechanical unit side)
Maker Maker
Cable Input side (J1 base) Output side (J3 arm)
/dealer /dealer
Fujikura
EE (RI/RO) ─── ─ JMWR2524F
Ltd.
EE (RI/RO) Housing 09 30 006 0301
(When severe Insert 09 16 024 3101
dust/liquid ─── ─ Contact 09 15 000 6204
protection
package is Guide pin 09 33 000 9908
specified) Bush 09 33 000 9909
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 6101 Contact 09 15 000 6201
HARTING
Code pin 09 30 000 9901 Code pin 09 30 000 9901
K.K.
Housing 09 30 006 0301 Housing 09 30 006 0301
Insert 09 16 024 3001 HARTING Insert 09 16 024 3101
ARP Contact 09 15 000 6103 K.K. Contact 09 15 000 6203
Contact 09 15 000 6104 Contact 09 15 000 6204
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
ARM Contact 09 15 000 6101 Contact 09 15 000 6201
Contact 09 15 000 6106 Contact 09 15 000 6206
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
Fujikura
DS CM03A-R5P-S-2 CM03A-PR5S-S-2
Ltd.
Fujikura
Housing 09 30 006 0301
HARTING Ltd.
DP Insert 09 32 010 3001 CM03A-PR4S-S-2
K.K.
Contact 09 33 000 6105
- 88 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
Table 5.3 (c) Connector specifications (User side) (1/3)
Maker
Cable Input side (J1 base) Output side (J3 arm)
/dealer
JMSP2524M (*1) Straight
EE (RI/RO) ─── Fujikura Ltd.
JMLP2524M Angle
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)
09 15 000 6104 (*4) AWG 26-22
EE (RI/RO)
(When severe 6103 AWG 20
dust/liquid Contact 6105 AWG 18 HARTING
───
protection (24 pcs) 6102 AWG 18 K.K.
package is 6101 AWG 16
specified)
6106 AWG 14
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)
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
- 89 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-83684EN/07
Table 5.3 (d) Connector specifications (User side) (2/3)
Cabl Maker
Input side (J1 base) Output side (J3 arm)
e /dealer
09 30 006 1540 Side entry
1541
0542
Hood 0543
Hood ← Same as left
(NOTE 2) 1440 Top entry
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
ASi
Contact 6205 AWG 18 Contact 6105 AWG 18
(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
5090 Clamp ← Same as left
(NOTE 2)
5094 etc.
Many other types are available
Code pin 09 30 000 9901 Code pin 09 30 000 9901
09 20 010 1541 Side entry
HARTING
0540
K.K.
Hood 0541
Hood ← Same as left
(NOTE 2) 1440 Top entry
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
AP
Contact 6205 AWG 18 Contact 6105 AWG 18
(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
5090 Clamp ← Same as left
(NOTE 2)
5094 etc.
Many other types are available
Code pin 09 30 000 9901 Code pin 09 30 000 9901
Connector 21 03 882 1415 Connector ← Same as left
09 67 000 7576 AWG 28-24
ES Contact 5576 AWG 26-22
Contact ← Same as left
(NOTE 2) 8576 AWG 24-20
3576 AWG 22-18
- 90 -
5. PIPING AND WIRING TO
B-83684EN/07 THE END EFFECTOR
Table 5.3 (e) Connector specifications (User side) (3/3)
Maker Output side Maker
Cable Input side (J1 base)
/dealer (J3 arm) /dealer
MINI connector for use on the device net MINI connector for use on
Fujikura
DS 5-pin, FEMALE the device net 5-pin, MALE
Ltd.
CM03-P5S CM03-J5P
09 30 006 1540 Side entry
1541
0542
Hood 0543
(NOTE 2) 1440 Top entry
1441
0442
0443
Fujikura
Insert 09 32 010 3101
MINI connector for use on Ltd.
09 33 000 6220 AWG20 HARTING
DP the device net 4-pin, MALE
6214 AWG18 K.K.
CM03-J4P
Contact 6205 AWG18
(NOTE 2) 6204 AWG16
6202 AWG14
6207 AWG12
09 00 000 5083
5086
Clamp
5090
(NOTE 2)
5094
Many other types are available.
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.
- 91 -
6. AXIS LIMITS SETUP B-83684EN/07
6 AXIS LIMITS 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 equipment 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 adjustable mechanical stopper and switches (J1-axis (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.
- 92 -
B-83684EN/07 6. AXIS LIMITS SETUP
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.
- 93 -
6. AXIS LIMITS SETUP B-83684EN/07
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].
- 94 -
B-83684EN/07 6. AXIS LIMITS SETUP
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.
- 95 -
6. AXIS LIMITS SETUP B-83684EN/07
6.2 ADJUSTABLE MECHANICAL STOPPER AND LIMIT
SWITCH SETTING (OPTION)
For the J1, J2, and J3-axis, adjustable mechanical stopper (option) can be installed. It is possible to re-
position adjustable mechanical stoppers. Change the position of the adjustable mechanical stoppers
according to the desired movable range. For the J1-axis, the limit switch-based movable range can also be
changed. Refer to Section 6.3 and 6.4 for details.
Table 6.2 (a) Adjustable mechanical stopper and limit switch
Item M-900iB/360/360E/280L/280/330L
J1-axis adjustable Upper limit Settable in steps of 5° in a range of –110° to +180°.
mechanical Lower limit Settable in steps of 5° in a range of -180° to +110°.
stopper Space between the A space of 70° or more is required.
and limit switch upper and lower limit
J2-axis adjustable Upper limit Settable in steps of 15° in a range of -60° to +60°.
mechanical A mechanical stopper is also provided at the upper limit +76° of the
stopper standard movable range.
Lower limit Settable in steps of 15° in a range of -60° to +60°.
A mechanical stopper is also provided at the upper limit -75° of the
standard movable range.
Space between the A space of 15° or more is required.
upper and lower limit
J3-axis adjustable Upper limit (M-900iB/360/360E/280L/280)
mechanical stopper Settable in steps of 15° in a range of –120° to +75°.
A mechanical stopper is also provided at the upper limit +90° of the
standard movable range.
(M-900iB/330L)
Settable in steps of 15° in a range of –120° to +15°.
A mechanical stopper is also provided at the upper limit +30° of the
standard movable range.
Lower limit (M-900iB/360/360E/280L/280)
Settable in steps of 15° in a range of -120° to +75°.
A mechanical stopper is also provided at the upper limit
-133.7° of the standard movable range.
(M-900iB/330L)
Settable in steps of 15° in a range of -120° to +15°.
A mechanical stopper is also provided at the upper limit
-133.7° of the standard movable range.
Space between the A space of 15° 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 position mastering so that 0ºis included.
- 96 -
B-83684EN/07 6. AXIS LIMITS SETUP
6.2.1 Installing adjustable mechanical stopper option
Attach adjustable mechanical stoppers referring to Fig. 6.2.1 (a) to (f).
Stopper J1
ストッパ J1
A290-7335-X215
A290-7335-X215
Fig. 6.2.1 (a) J1-axis adjustable mechanical stopper (option)
Stopper unit
ストッパユニット
A290-7335-V012#X213
A290-7335-V012#X213
Collar
カラー
A290-7324-X214
A290-7324-X214
Stopper
ストッパ
A290-7335-X215
A290-7335-X215
Bolt
ボルト
M16 x 40 (4)
M16X40 (4)
Washer
ワッシャ (4)(4)
Bolt
ボルト
M24 x 80
M24X80
Tightening
締付トルクtorque 128Nm
128 Nm (13.1kgfm)
(13.1 kgfm)
ロックタイト243塗布のこと
Apply LOCTITE 243
ワッシャ
Washer
Fig. 6.2.1 (b) Adjustable mechanical stopper locations of J1-axis (1/2)
- 97 -
6. AXIS LIMITS SETUP B-83684EN/07
Installing pattern A or B Installing pattern C
Limit angle 15v×N (N=0,u1,u2,…) Limit angle 5v+15v×N (N=0,u1,u2,…)
Swing stopper position at -0°
+90°
+75° (A:18,19,20,21) +80° +95°
(A:17,18,19,20) (B:17,18,19,20) (17,18,19,20) (18,19,20,21)
(B:16,17,18,19) +105° +65° +110°
(A:19,20,21,22) (16,17,18,19) (19,20,21,22)
+60° (B:18,19,20,21) +50°
(A:16,17,18,19) +120° +125°
(A:20,21,22,23) (15,16,17,18)
+45° (B:15,16,17,18) (20,21,22,23)
(A:15,16,17,18) (B:19,20,21,22) +35°
(B:14,15,16,17) (14,15,16,17)
+135° +140°
(A:21,22,23,24) (21,22,23,24)
+30°
(A:14,15,16,17) (B:20,21,22,23)
(B:13,14,15,16) +20°
+150° +155°
(13,14,15,16) (1,22,23,24)
(A:1,22,23,24)
(B:21,22,23,24)
+15°
(A:13,14,15,16) +165° +170°
+5° (1,2,23,24)
(B:12,13,14,15) (A:1,2,23,24) (12,13,14,15)
(B:1,22,23,24)
±0° -175° Front
±180°
(A:12,13,14,15)
(A:1,2,3,24) Front -10°
(1,2,3,24)
(B:11,12,13,14) (11,12,13,14)
(B:1,2,23,24)
-160°
-15° -165° (1,2,3,4)
(A:11,12,13,14) (A:1,2,3,4)
(B:10,11,12,13) (B:1,2,3,24) -25°
(10,11,12,13)
-145°
-150° (2,3,4,5)
-30° (A:2,3,4,5) -40°
(A:10,11,12,13) (B:1,2,3,4) (9,10,11,12) -130°
(B:9,10,11,12) -55° (3,4,5,6)
-135°
-45° (A:3,4,5,6) (8,9,10,11) -115° Limit angle
(A:9,10,11,12) (B:2,3,4,5) -70° (4,5,6,7)
(B:8,9,10,11) (7,8,9,10) -85° -100°
-60°
-120° Limit angle (6,7,8,9) (5,6,7,8) Stopper mounting tap No.
(A:4,5,6,7)
(A:8,9,10,11) (B:3,4,5,6)
(B:7,8,9,10)
-75°
(A:7,8,9,10) -90°
-105° Stopper mounting tap No.
(A:5,6,7,8)
(B:6,7,8,9) (A:6,7,8,9) (B:4,5,6,7) (for stopper ass'y A)
(B:5,6,7,8)
Stopper mounting tap No.
Swing stopper position at +0° (for stopper ass'y B)
Installing pattern D
Limit angle 10v+15v×N (N=0,u1,u2,…)
Stopper setting example (In case of u145v)
+85° +100°
+70° (17,18,19,20)
(16,17,18,19)
(18,19,20,21)
18 19 20
+115°
+55° (19,20,21,22) 17 21
(15,16,17,18) 16
+40° +130° 22
(20,21,22,23)
(14,15,16,17) 15
23
+25° +145°
(13,14,15,16) (21,22,23,24)
14 Stopper
Stopper mounting tap No.
+160° 24
A290-7335-X215
+10°
(1,22,23,24) Bolts
(12,13,14,15) 13 M16X40 (4)
1
+175° Washers (4)
(1,2,23,24)
-5°
(11,12,13,14) Front
-170° 12 2
(1,2,3,24)
Stopper
-20° 3 A290-7335-X215
(10,11,12,13) -155°
(1,2,3,4)
Bolts
11 M16X40 (4)
4 Washers (4)
-140°
-35° (2,3,4,5) 10 5
(9,10,11,12) 6
9
Limit angle
8 7
-125°
-50° (3,4,5,6)
(8,9,10,11) -65° -80° -95° -110°
(7,8,9,10) (6,7,8,9) (5,6,7,8) (4,5,6,7) Stopper mounting tap No.
Note)
1) Minimum angle between the stoppers is 70°.
2) Mounting face of A290-7335-X215 is differs due to limit angle.
Mounting face X Mounting face Y
Stopper mounting tap No.
Installing pattern A Installing pattern B
H1
H2
H3 Bolts
H4 When using hole H1,H3,H5,H7
H5
H6
H7
H8
Installing pattern C Installing pattern D
When using hole H2,H4,H6,H8
Mounting face Y
Mounting face X
Fig. 6.2.1 (c) Adjustable mechanical stopper locations of J1-axis (2/2)
Stopper J23A Stopper J23B
A290-7335-X361 A290-7335-X362
Fig. 6.2.1 (d) J2/J3-axis adjustable mechanical stopper (option)
- 98 -
B-83684EN/07 6. AXIS LIMITS SETUP
Front Front
-60v
+60v -45v
+45v
-30v
-15v
+30v
+15v
+15v
-45v -15v 0v +45v
-60v 0v
+30v +60v
-30v
J2-axis plus side stopper installing figure J2-axis minus side stopper installing figure
Stopper J23A
A290-7335-X361
Bolts
M12X25 (3)
Washers (3)
Stopper J23B
A290-7335-X362
Bolts
M12X25 (3)
Washers (3)
J2-axis stopper setting example
（-60v - +60v）
(No et )Mi nimum ang el be w
t een t he p us
l s ot ppe r and t he mi nus s ot ppe r si 15°.
Fig. 6.2.1 (e) Adjustable mechanical stopper locations of J2-axis
- 99 -
6. AXIS LIMITS SETUP B-83684EN/07
-105v -30v -60v
-75v -120v -45v -90v
-90v 0v -15v -75v
Front
正 -60v Front正 -105v
面 面 +15v
-45v -120v
+30v (*)
-30v
+45v (*)
-15v
0v +60v (*)
+75v (*)
+30v (*)
+15v
+60v (*) (*) Except M-900iB/330L
(*) M-900iB/330L以外
+45v (*) +75v (*)
J3-axis plus side J3軸プラス側ストッパ取付図
stopper installing figure J3-axis minus side stopper installing figure
J3軸マイナス側ストッパ取付図
Stopper J23A Stopper J23B
A290-7335-X361
ストッパ J23A A290-7335-X362
ストッパ J23B
Bolt A290-7335-X361 Bolt
A290-7335-X362
M12ボルトx 25 (3)
M12X25 (3)
M12
ボルトx 25 (3)
M12X25 (3)
Washer
ワッシャ(3) (3) Washer
ワッシャ (3)(3)
J3-axis stopper setting example (-120º to +30º)
J3軸ストッパ実装例（-120v～+30v）
(Note) Minimum angle between the plus side stopper and the minus side stopper is 15º.
(注) プラス側ストッパとマイナス側ストッパの間には15°以上の間隔が必要です。
Fig. 6.2.1 (f) Adjustable mechanical stopper locations of J3-axis
- 100 -
B-83684EN/07 6. AXIS LIMITS SETUP
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 -185.00 185.00 deg
2 1 -75.00 76.00 deg
3 1 -133.70 90.00 deg
4 1 -360.00 360.00 deg
5 1 -125.00 125.00 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]
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 -75.00 76.00 deg
[ TYPE]
6 Cycle power of the controller 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.
- 101 -
6. AXIS LIMITS SETUP B-83684EN/07
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 6.2.3 (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 movable mechanical stopper
Plus side Minus side
J1-axis +21° -21°
J2-axis +8° -8°
J3-axis +9° -11°
21°
The maximum stopping distance
Specified motion range (position)
21°
The maximum stopping distance
(position)
Fig. 6.2.3 (a) The maximum stopping distance of movable mechanical stopper of J1-axis
- 102 -
B-83684EN/07 6. AXIS LIMITS SETUP
Specified motion range
The maximum stopping
distance (position)
8°
8°
The maximum stopping
distance (position)
Fig. 6.2.3 (b) The maximum stopping distance of movable mechanical stopper of J2-axis
Specified motion range
The maximum stopping
9°
distance (position)
11
°
The maximum stopping
distance (position)
Fig. 6.2.3 (c) The maximum stopping distance of movable mechanical stopper of J3-axis
- 103 -
6. AXIS LIMITS SETUP B-83684EN/07
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-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 of the J1-axis is placed in the same position as with the mechanical stopper.
- 104 -
B-83684EN/07 6. AXIS LIMITS SETUP
M6X16 (2 pcs)
Limit angle 15v×N (N=0,u1,u2,…) Limit angle 5v+15v×N (N=0,u1,u2,…)
+75° +90° +105° +80° +95°
+60° +65° +110°
+120°
+45°
+50° +125°
+135° +35°
+30° +140°
+150°
+20° +155°
+15°
+165°
+170°
Front +5°
±0° ±180° Front
-175°
-10°
-165°
-15° -160°
-150° -25°
-145°
-30°
-135° -40° -130°
-45°
-120° Limit angle -55° Limit angle
-60° -70° -115°
-75° -105° -85° -100°
-90°
Limit angle 10v+15v×N (N=0,u1,u2,…)
+70° +85°
+100°
+55° +115°
+40° +130°
+145°
+25°
+160°
+10° Front
+175°
-5°
-170°
-20° -15
5°
-140°
-35°
-125°
-50°
-65° -80° -95° Limit angle
-110°
Dog setting example (In case of u95v)
Dog
A290-7313-X220
Plate
A290-7329-X218
Bolt M6X16 (2)
Shoulder bolt M8X10
Shoulder bolt
M8X10
Plate
A290-7329-X218 Dog
A290-7313-X220
Bolt
M6X16 (2)
View A
Note) The dog is placed in the same position with the mechanical stopper.
A Dog
A290-7313-X220
Plate
A290-7329-X218
Bolt M6X16 (2)
Shoulder bolt M8X10
Fig. 6.3 (a) J1-axis dog position and motion range (option)
- 105 -
6. AXIS LIMITS SETUP B-83684EN/07
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
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 [SHIFT] key and press [RESET] key.
Then, while holding on [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 controller power, then turn it on again to restart the controller.
max 1.5 mm
(PT)
Limit switch
LIMIT SWITCH ・Position before
Dog contacting the dog
・Position when the
switch is operated.
min 3 mm
・Pushed position
after the switch
(OT)
A is operated
DETAIL A
M8 x 12
(Adjusting vertical direction)
M4 x 25
(Adjusting horizontal direction)
PT : Pre-travel (Moving before operation)
OT : Over-travel (Moving over operation)
(NOTE) Figure is top view of the J1 base back side.
Fig. 6.4 (a) Adjusting J1-axis limit switch (option)
- 106 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
7 CHECKS AND MAINTENANCE
Optimum performance of the robot can be maintained by performing the checks and maintenance
procedures presented in this chapter. (See the APPENDIX A PERIODIC MAINTENANCE TABLE.)
NOTE
The periodic maintenance procedures described in this chapter assume that the
FANUC robot is used for up to 3840 hours a year. In cases where robot use
exceeds 3840 hours/year, adjust the given maintenance frequencies
accordingly. The ratio of actual operating time/year vs. the 3840 hours/year
should be used to calculate the new (higher) frequencies. For example, when
using the robot 7680 hours a year 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 0.2 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:
⇒”CONTROLLER OPERATOR’S MANUAL (Alarm Code List)(B-83284EN-1)”
- 107 -
7. CHECKS AND MAINTENANCE B-83684EN/07
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.
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
of the cable damage is found, replace the cable protective
protective sleeve. If the cable protective sleeve is damaged 2
sleeves due to interference with peripheral devices,
eliminate the cause.
⇒”7.2.3 Check the Mechanical Unit Cables
and Connectors”
○ Check the wear Check whether wear debris has accumulated on
debris of the the J1-axis swing stopper rotation part.
3
J1-axis swing If serious wear is evident on the part that
stopper generated the wear debris, replace the part.
○ Check for Check whether the robot is subjected to water or
water 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
to the teach
1st
pendant cable, twisted or damaged. If damage is found, replace
check the operation box the damaged cables. 24
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 whether the cables are excessively bent or 5
check unit cable unevenly twisted.
(movable 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
1st ⇒”7.2.3 Check the Mechanical Unit Cables 7
and other
check exposed and Connectors”
connectors
- 108 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
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 Retighten the end effector mounting bolts.
Only the end Refer to the following section for tightening torque
1st effector information: 8
check mounting bolts ⇒”4.1 END EFFECTOR INSTALLATION TO
WRIST”
○ ○ Retightening Retighten the bolts which are installed, removed
Only the external in the inspection, and exposed. Refer to the
1st main bolts recommended bolt tightening torque guidelines at
check the end of the manual. Some bolts are attached
with adhesive. If the bolts are tightened with
9
greater than the recommended torque, the
adhesive might be removed.
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 motor) Check whether the cooling fans are
12
1st the 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 ⇒”7.3.1 Replacing the Batteries”
○ Supply grease Supply grease to J2/J3-axis connection part
to J2/J3-axis bearing
⇒”7.3.2 Greasing of J2/J3-axis Connection 14
connection part
bearing Part Bearing”
○ Replacing the Replace the grease of each axis reducer and
grease of drive gearbox 15 to 21
mechanism ⇒”7.3.3 Replacing the Grease of the Drive
Mechanism”
○ Replacing the Replace the mechanical unit cable
mechanical Contact your local FANUC representative for 22
unit cable information regarding replacing the cable.
○ Replacing the Replace the controller batteries. Regardless of
controller operating time, replace batteries at 4 years.
batteries ⇒Chapter 7 Replacing batteries of 25
CONTROLLER MAINTENANCE MANUAL (B-
83195EN)”
- 109 -
7. CHECKS AND MAINTENANCE B-83684EN/07
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 changes to a state of liquid, the oil might spill depending on the axis
movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis components
before you operate the robot.
- Also, drive mechanisms might become hot and the internal pressure of the grease bath might rise by
frequent repetitive movement and 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)
- 110 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
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 control set 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
specified value (1 drop/10-20 sec), adjust it using the handle for lubricator
2 Lubricator oil mist quantity
adjustment. 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)
- 111 -
7. CHECKS AND MAINTENANCE B-83684EN/07
7.2.3 Check the Mechanical Unit Cables and Connectors
Check points of the mechanical unit cables
J1, J2, and J3 movable parts and fixed part cables can interfere with the peripheral devices
* For the J1-axis, inspect the cables from above the J2 base and from the side by removing the metal
plate on the side of the J1 base.
Remove
カバーを外す 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
- 112 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
＜Cables＞
- Check that there is no wear or damage on the cable jacket.
- If the inside wire strands are exposed due to wear or damage, replace the cables.
Open the jackets Check the jacket
If the jacket 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
- 113 -
7. CHECKS AND MAINTENANCE B-83684EN/07
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. (Fig. 7.2.4 (a))
- 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
マイナス側ストッパ
Bolt M24 x 80
Tightening torque
ボルト M24X80
128Nm (13.1kgfm)
締付けトルク 128Nm (13.1kgfm)
Plus side stopper
プラス側ストッパ
Swing stopper
振り子ストッパ
J3軸機械式可変ストッパ(オプション)
J3-axis adjustable mechanical stopper Bolts
ボルト M12 x 25
M12X25
J1-axis stopper (option)
J1軸ストッパ
Bolts M16 x 40
ボルト M16X40
Minus side stopper
マイナス側ストッパ
J1-axis fixed mechanical stopper (option)
J1軸機械式固定ストッパ(オプション)
J1-axis adjustable mechanical stopper (option)
J1軸機械式可変ストッパ(オプション) Plus side
プラス側ストッパ
stopper
J2軸機械式可変ストッパ(オプション)
J2-axis adjustable mechanical stopper (option)
Fig. 7.2.4 (a) Check of fixed mechanical stopper and adjustable mechanical stopper
- 114 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
7.3 MAINTENANCE
7.3.1 Replacing the Batteries
(1.5 year check Periodic Maintenance)
The position data of each axis is preserved by the backup batteries. The batteries need to be replaced every
1.5 year. Also use the following procedure to replace when the backup battery voltage drop alarm occurs.
Procedure of replacing the battery
1 Press the EMERGENCY STOP button to stop the 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. 7.3.1 (a))
3 Take out the old batteries from the battery case.
4 Insert new batteries into the battery case while observing their correct orientation.
5 Close 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. 7.3.1 (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.
電池の交換（１年に１回）は，ＮＣの
電源を入れた状態で行なって下さい．
交換用電池にはアルカリ－マンガン
乾電池（ＡＭ１）を使用して下さい．
When replacing batteries(once a year)
be sure that the control power is on.
Only the alkaline mangnese dioxide
batteries(AM1) should be used.
Battery
Battery case
case CaseCase
cap cap
Battery spec.:A98L-0031-0005
Battery spec : A98L-0031-0005
(1.5V -Volt D LR20
（1.5V Alkaline
D battery Batteries
(alkali) 4 pcs)
4 pcs.）
Fig. 7.3.1 (a) Replacing the battery
- 115 -
7. CHECKS AND MAINTENANCE B-83684EN/07
Gasket
ガスケット
Gasket
A290-7125-X820
A290-7125-X820
A290-7125-X820
(This
isisattached
attachedtotothe
(プレートに貼り付けられています)
(This theplate.)
plate.)
Plate
Plate
プレート
Bolt
Bolt
ボルト
M4M4X10SUS
x 10SUS (6(6pcs)
M4X10SUS pcs)
(6個)
Fig. 7.3.1 (b) Removing the battery cover plate (When severe dust/liquid protection is specified)
7.3.2 Greasing of J2/J3-axis Connection Part Bearing
(3 years check (11520 hours) Periodic Maintenance)
Be sure to supply grease to J2/J3-axis connection part bearing specified in Table 7.3.2 (a) and 7.3.2 (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. 7.3.2 (a) shows greasing points of J2/J3-axis connection part bearing.
Table 7.3.2 (a) Greasing J2/J3-axis connection part bearing
Recommended grease Amount of grease Greasing interval
Shell Lubricants
20 ml for each 3 years or every 11520 hours of
Alvania grease S2 Specification:
(two points) accumulated operation
A98L-0004-0602#CTG
Table 7.3.2 (b) Grease alternative to Alvania GREASE S2
Maker Grease name
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
- 116 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
J2/J3-axis connection part
bearing grease inlet J2/J3-axis connection part
grease nipple bearing grease inlet
grease nipple
Fig. 7.3.2 (a) J2/J3-axis connection part bearing greasing points
Table 7.3.2 (c) Spec. of the grease nipple
Parts name Specifications
Grease nipple A97L-0218-0013#A610
- 117 -
7. CHECKS AND MAINTENANCE B-83684EN/07
7.3.3 Replacing the Grease of the Drive Mechanism
(3 years check (11520 hours) Periodic Maintenance)
According to below, replace the grease of each axis reducer and gearbox at the intervals based on every
3 years or 11520 hours, whichever comes first. See Table 7.3.3 (a) for the specified grease and the quantity.
Table 7.3.3 (a) Grease for 3-years (11520 hours) periodical replacement
Greasing Quantity Gun tip pressure Specified grease
J1-axis reducer 5950g (6620ml)
J2-axis reducer 2450g (2730ml)
J3-axis reducer 2450g (2730ml)
J4/J5/J6-axis gearbox 2400g (2670ml) 0.15MPa or less (NOTE) Spec : A98L-0040-0174
wrist 1 (J4, J5-axis reducer) 4800g (5340ml)
wrist 2 (J6-axis gearbox) 130g (140ml)
wrist 3 (J6-axis reducer) 620g (690ml)
NOTE
When a manual pump is used for greasing, the standard rate is two pumping
cycles 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.
For grease replacement or replenishment, use the posture indicated below.
Table 7.3.3 (b) Postures for greasing
Posture
Supply position
J1 J2 J3 J4 J5 J6
J1-axis reducer Arbitrary
Arbitrary
J2-axis reducer 0°
Arbitrary Arbitrary Arbitrary
J3-axis reducer Arbitrary 0° 0°
J4/J5/J6-axis gearbox 0°
Arbitrary
Wrist 0° 0° 0° 0°
- 118 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
Grease replacement procedure of the J1, J2, J3-axis reducer and
the 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 from grease outlet and ventilator hole. (Fig. 7.3.3 (a))
4 Supply new grease through the grease inlet until new grease is output from grease outlet.
5 Release remaining pressure using the procedure given in Subsection 7.3.4.
J4/J5/J6-axis gearbox ventilator hole
J4/J5/J6軸ギヤボックス空気抜き穴
seal シールボルト (M12X15)
bolt (M12 x 15)
J4/J5/J6-axis gearbox
J4/J5/J6軸ギヤボックス排脂口
grease outlet, seal
シールボルト bolt (M12 x 15)
(M12X15)
J4/J5/J6-axis gearbox
J4/J5/J6軸ギヤボックス給脂口
グリ-スニップル
grease inlet, grease nipple
M-900iB/360/360E/280L/330L M-900iB/280
J2-axis reducer
J2軸減速機給脂口
grease inlet J3-axis reducer
グリ-スニップル J3軸減速機排脂口
grease nipple grease
シールボルト outlet(M12X15)
seal bolt (M12 x 15)
J2-axisJ2軸減速機排脂口
reducer grease outlet
seal bolt (M12 x 15)(M12X15)
シールボルト
J3-axis reducer
J3軸減速機給脂口
grease inlet
グリ-スニップル
grease nipple
J1-axis reducer
J1軸減速機給脂口
grease inlet
グリ-スニップル
grease nipple
J1-axis reducer
grease outlet
J1軸減速機排脂口
シールボルト
seal bolt (M12(M12X15)
x 15)
Fig. 7.3.3 (a) Replacing grease of the J1, J2, J3-axis reducer and the J4/J5/J6-axis gearbox
- 119 -
7. CHECKS AND MAINTENANCE B-83684EN/07
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 (Fig. 7.3.3 (b)).
4 Supply new grease to the wrist grease inlet 1 until new grease outputs from wrist grease outlet 1.
5 Next, remove the taper plugs of wrist grease inlet 2 and wrist grease outlet 2.
6 Attach a grease nipple to grease inlet 2.
7 Supply new grease to the wrist grease inlet 2 until new grease is output from wrist grease outlet 2.
8 Next, remove the taper plug of wrist grease outlet 3.
9 Supply new grease to the wrist grease inlet 3 until new grease is output from wrist grease outlet 3.
10 Release remaining pressure using the procedure given in Subsection 7.3.4.
Wrist
手首排脂口2grease outlet 2
taper
テーパプラグplug R1/8R1/8
Wrist grease inlet 2
手首給脂口2 Wrist grease outlet 3
手首排脂口3
taper plug R1/8R1/8
テーパプラグ taper plug R1/8R1/8
テーパプラグ
Wrist grease inlet 3
手首給脂口3 Wrist grease outlet 1
手首排脂口1
grease nipple
グリ-スニップル taper plug R1/8R1/8
テーパプラグ
Left side
左側面図
Right side
右側面図
(Manufactured before Apr., 2019)
(2019年4月製造分まで)
Wrist grease inlet 2
手首給脂口2
taper plug R1/8 R1/8
テーパプラグ
Wrist grease outlet 2
手首排脂口2
taper plug R1/8R1/8
テーパプラグ
Wrist grease inlet 3 Wrist grease inlet 1
手首給脂口1
手首給脂口3
grease nipple grease nipple
グリ-スニップル
グリ-スニップル
Left side
左側面図 Bottom
底面図 side
(Manufactured after May, 2019)
(2019年5月製造分から)
Fig. 7.3.3 (b) Replacing grease of the wrist
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 (R1/8) A97L-0001-0436#1-1D
Grease nipple (except the wrist grease inlet 1&2) A97L-0218-0013#A610
Grease nipple (wrist grease inlet 1&2) A97L-0218-0013#A110
- 120 -
B-83684EN/07 7. CHECKS AND MAINTENANCE
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.
7.3.4 Procedure for Releasing Remaining Pressure from the
Grease Bath
Release remaining pressure as described below.
Under the grease inlets and outlets, attach bags for collecting grease so that grease does not spatter when it
comes out of the inlets or outlets.
Operating
Grease replacement position Motion angle OVR Open points
time
J1-axis reducer 80° or more 50% 20 minutes
J2-axis reducer 90° or more 50% 20 minutes
J3-axis reducer 70° or more 50% 20 minutes
J4 : 60° or more Open the grease inlets, outlets
J4/J5/J6-axis gearbox J5 : 120° or more 100% 20 minutes and the ventilator hole and
J6 : 60° or more perform continuous operation.
J4 : 60° or more
Wrist J5 : 120° or more 100% 10 minutes
J6 : 60° or more
If the above operations cannot be performed because of workcell constraints, adjust the operating time
according to the operating angle. (For example, when only half of the predetermined motion angle can be
achieved, perform an operation for a period of time twice as long as the specified time.) If you grease
multiple axes, you can exercise multiple axes at the same time. After completion of the operation, attach
the seal bolts, taper plugs and grease nipples to the grease inlets, outlets and the ventilator hole immediately.
When reusing the seal bolts and grease nipples, be sure to seal them with seal tape.
7.4 STORAGE
When storing the robot, place it on a level surface with the same posture that was used for transportation.
(See Section 1.1.)
- 121 -
8. MASTERING B-83684EN/07
8 MASTERING
Mastering is a manipulation performed associating 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
1 The motion limits are temporarily invalid during mastering. Cables may be
damaged if the J1-axis exceeds +/-185º.
2 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
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 are gone
dead. Replace the batteries in the controller and mechanical units periodically.
Alarm will alert decreasing the battery voltage.
Types of Mastering
There are following mastering methods. If 7DC2 (V8.20P) or former software is installed, "Quick
Mastering for Single Axis" has not been supported.
Table 8.1 (a) Type of mastering
Fixture position mastering Mastering performed with the mastering fixture before shipping.
Zero position mastering Mastering which performed with all axes set at the 0-degree position. A zero-
(witness mark mastering) position mark (witness mark) is attached to each robot axis. This mastering is
performed with 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 for single value is obtained from the rotation count of the Pulsecoder connected to the
axis 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.
Single axis mastering Mastering which performed for one axis at a time. The mastering position for each
axis can be specified by the user. Useful in performing mastering on a specific axis.
Mastering data entry Enter the Mastering data directly.
- 122 -
B-83684EN/07 8. MASTERING
Once mastering is performed, you must carry out positioning (calibration). Positioning is an operation in
which the controller reads the pulse count value to sense the current position of the robot.
This section describes zero-position mastering, quick mastering, quick mastering for single axis, single-
axis mastering, and mastering data entry. For more detailed mastering (fixture position mastering), contact
your local FANUC representative.
CAUTION
1 If mastering is performed incorrectly, the robot may behave unexpectedly. This is
very dangerous. For this reason, the Master/Cal screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5, ([DONE]) on the Master/Cal screen. The $MASTER_ENB
system variable is then reset to 0 automatically, and the Master/Cal screen will
disappear.
2 Before performing mastering, it is recommended that you back up the current
mastering data.
8.2 RESETTING ALARMS AND PREPARING FOR
MASTERING
Before performing mastering because a motor has been replaced, it is necessary to release the relevant alarm
and display the positioning menu.
Alarm displayed
“SRVO-062 BZAL” or “SRVO-075 Pulse not established”
Procedure
1 Display the positioning menu by following the steps 1 to 6.
1 Press the [MENU] key.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 ([TYPE]), and select [Variable] from the menu.
4 Place the cursor on $MASTER_ENB, then key in “1” and press the [ENTER] key.
5 Press F1 ([TYPE]), and select [Master/Cal] from the menu.
6 Select the desired mastering type from the [Master/Cal] menu.
2 To reset the “SRVO-062 BZAL” alarm, follow steps 1 to 5.
1 Press the [MENU] key.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 ([TYPE]), and select [Master/Cal] from the menu.
4 Press F3 ([RES_PCA]), then press F4 ([YES]).
5 Cycle power of the controller.
3 To reset the “SRVO-075 Pulse not established” alarm, follow the steps 1 to 2.
1 After cycling controller power, the message “SRVO-075 Pulse not established” appears again.
2 Move the axis for which the message mentioned above has appeared in either direction till the
alarm disappears when you press the [RESET] key.
- 123 -
8. MASTERING B-83684EN/07
8.3 ZERO POSITION MASTERING
Zero position mastering (witness mark mastering) is performed with all axes set at the 0-degree position. A
zero-position mark (witness mark) is attached to each robot axis (Fig. 8.3 (a)). This mastering is performed
with all axes set at the 0-degree position using their respective witness marks.
Zero position mastering involves a visual check, and might not be highly accurate. It should be used only
as a quick-fix method.
Zero-position Mastering Procedure
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 (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
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
- 124 -
B-83684EN/07 8. MASTERING
9 Jog the robot into a posture for mastering.
10 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
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 position marks (witness mark) aligned
Axis Position
J1-axis 0 deg
J2-axis 0 deg
J3-axis 0 deg
J4-axis 0 deg
J5-axis 0 deg
J6-axis 0 deg
- 125 -
8. MASTERING B-83684EN/07
A
J4
(Positioning mark)
(位置合わせマーク)
J2
J3
J5
J4
(Vernier mark, Scribe mark)
(バーニヤマーク、ケガキ線)
J6
VIEWAA
矢視
J1
Vernier mark
バーニヤマーク
J1 J2 J3
Positioning mark
位置合わせマーク
Scribe
ケガキ線 mark
J4 J4 J5 J6
(Vernier mark)
(バーニヤマーク) (Positioning mark)
(位置合わせマーク)
Fig. 8.3 (a) Zero-position mark (witness mark) for each axis
- 126 -
B-83684EN/07 8. MASTERING
8.4 QUICK MASTERING
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 Pulsecoder 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 (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
5 Select [6 SYSTEM].
6 Select [Master/Cal]. The positioning screen will be displayed.
- 127 -
8. MASTERING B-83684EN/07
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 (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
- 128 -
B-83684EN/07 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 [ENTER]. 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 [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.
- 129 -
8. MASTERING B-83684EN/07
8.5 QUICK MASTERING FOR SINGLE AXIS
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). 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 Pulsecoder 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 (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
5 Select [6 SYSTEM].
6 Select [Master/Cal]. The positioning screen will be displayed.
- 130 -
B-83684EN/07 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 (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
- 131 -
8. MASTERING B-83684EN/07
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.
- 132 -
B-83684EN/07 8. MASTERING
8.6 SINGLE AXIS MASTERING
Single axis mastering is performed for one axis at a time. The mastering position for each axis can be
specified by the user.
Single axis mastering can be used, if mastering data for a specific axis is lost, for example, because a low
voltage has been detected on the pulse counter backup battery or because the Pulsecoder has been replaced.
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.
Single axis mastering for interaction axis
When single axis mastering is done in interaction axis, the axis of the interaction pair is also influenced.
Therefore, mastering of these interaction axes must be done at the same time. Interaction axis depends on
the robot model. Following table shows the relation between robot model and interaction axis. For example,
the J4 motor is replaced, mastering of J5 and J6 should be done at the same time with J4. (Provided that if
7DC2 (V8.20P)/14 or later software version is installed, axis numbers which should be selected to do single
axis mastering at the same time are displayed if these are not selected. In this case, it is unnecessary to refer
to a following table.)
Table 8.6 (b) Relation between robot model and interaction axis
Robot model Interaction axis
M-900iB /360 ・ J4/J5/J6
- 133 -
8. MASTERING B-83684EN/07
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 (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
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 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
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.
- 134 -
B-83684EN/07 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.
- 135 -
8. MASTERING B-83684EN/07
8.7 MASTERING DATA ENTRY
This function enables mastering data values to be assigned directly to a system variable. It can be used if
mastering data has been lost but the pulse count is preserved.
Mastering data entry method
1 Press the [MENU] key, then press [0 NEXT] and select [6 SYSTEM].
2 Press F1 [TYPE]. Select [Variables]. The system variable screen appears.
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 ]
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 BOOLEAN
3 $OT_PLUS [9] of BOOLEAN
4 $NASTER_COUN [9] of INTEGER
5 $REF_DONE FALSE
6 $REF_POS [9] of REAL
[ TYPE ] TRUE FALSE
- 136 -
B-83684EN/07 8. MASTERING
5 Select $MASTER_COUN, and enter the mastering data you have recorded.
SYSTEM Variables AUTO JOINT 10%
$DMR_GRP[1].$MASTER_COUN 1/9
1 [1] 95678329
2 [2] 10223045
3 [3] 3020442
4 [4] 30405503
5 [5] 20497709
6 [6] 2039490
7 [7] 0
8 [8] 0
9 [9] 0
[ TYPE ]
6 Press the [PREV] key.
7 Set $MASTER_DONE to TRUE.
SYSTEM Variables AUTO JOINT 10%
$DMR_GRP 1/29
1 $MASTER_DONE TRUE
2 $OT_MINUS [9] of BOOLEAN
[ TYPE ] TRUE FALSE
8 Display the positioning screen, and select [7 CALIBRATE], then press F4 [YES].
9 After completing positioning, press F5 [DONE].
DONE
F5
- 137 -
8. MASTERING B-83684EN/07
8.8 VERIFYING MASTERING
1 How to verify that the robot is mastered properly:
Usually, positioning is performed automatically when the power is turned on. To check whether
mastering has been performed correctly, examine if the current displayed position matches the actual
robot position by using one or more of the procedures described below:
(1) Reproduce a particular point in a program. Check whether the point agrees with the specified
position.
(2) Set all axes of the robot to their 0-degree (0 rad) positions. Check that the zero-degree position
marks indicated in Section 8.3 of the OPERATOR’S MANUAL are aligned. There is no need to
use a visual aid.
If the displayed and actual positions do not match, the counter value for a Pulsecoder may have
been invalidated as a result of an alarm described in 2 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 types displayed during mastering and their solution method:
(1) BZAL alarm
This alarm is displayed if the Pulsecoder's backup battery voltage decreases to 0 V while the
power to the controller is disconnected. Furthermore, if the Pulsecoder connector is removed for
cable replacement, etc. this alarm is displayed as the voltage decreases to 0. Check to see if the
alarm will disappear by performing a pulse reset (See Section 8.2.). Then, cycle controller power
and check if the alarm disappears or not.
The battery may be drained if the alarm is still displayed. Perform a pulse reset, and turn off and
on the controller power after replacing the battery. Note that, if this alarm is displayed, all the
original data held by the Pulsecoder will be lost. Mastering is required.
(2) BLAL alarm
This alarm is displayed if the voltage of the Pulsecoder's backup battery has fallen to a level
where backup is no longer possible. If this alarm is displayed, replace the battery with a new one
immediately while keeping the power turned on. Check whether the current position data is valid,
using the procedure described in 1 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.
- 138 -
B-83684EN/07 9. TROUBLESHOOTING
9 TROUBLESHOOTING
The cause of a failure in the mechanical unit may be difficult to localize, because failures can arise from
many interrelated factors. If you fail to take the correct measures, the failure may be aggravated. So, it is
necessary to analyze the symptoms of the failure precisely so that the true cause can be found.
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
Symptoms Descriptions Causes Measures
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 base plate is not
that fastens the base plate securely fastened to the
to the floor plate. floor plate, it lifts as the
robot operates, allowing the
base and floor plates to
strike each other which, in
turn, leads to vibration.
- The J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
floor plate as the robot - It is likely that the robot J1 LOCTITE and tighten it to
operates. base is not securely the appropriate torque.
- There is a gap between the fastened to the floor plate. - Adjust the base plate
J1 base and floor plate. - Probable causes are a surface flatness to within
- The J1 base retaining bolt loose bolt, an insufficient the specified tolerance.
is loose. degree of surface flatness, - If there is any
or contamination caught contamination between the
between the J1 base plate J1 base and base plate,
and floor plate. eliminate them.
- If the robot is not securely - Apply adhesive between
fastened to the floor plate, the J1 base and base 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.
- 139 -
9. TROUBLESHOOTING B-83684EN/07
Symptoms Descriptions Causes Measures
Vibration - The rack or floor plate [Rack or floor] - Reinforce the rack or floor
Noise vibrates during operation of - It is likely that the rack or to make it more rigid.
(Continued) 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.
- Vibration becomes more [Overload] - Check the maximum load
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 the not. If the robot is
- If the operating speed of 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 drive - Remove the motor, and
for a long period. mechanism, thus damaging replace the gear, the
- The grease of the vibrating the gear tooth surface or bearing, and the reducer.
or noise occurring axis has rolling surface of a bearing, For the specification of
not been exchanged for a 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.
- 140 -
B-83684EN/07 9. TROUBLESHOOTING
Symptoms Descriptions Causes Measures
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 unit condition occurs, replace
has an intermittent break, the mechanical unit cable.
vibration might occur - Check whether the cable
because the motor cannot jacket of the robot
accurately respond to connection cable is
commands. damaged. If so, replace the
- If a Pulsecoder wire in a connection cable, and
movable part of the check whether vibration still
mechanical unit has an occurs.
intermittent break, vibration - Check whether the power
might occur because cable jacket is damaged. If
commands cannot be sent so, replace the power
to the motor accurately. cable, and check whether
- If a robot connection cable vibration still occurs.
has an intermittent break, - Check that the robot is
vibration might occur. supplied with the rated
- If the power supply cable is voltage.
about to be snapped, - Check that the robot control
vibration might occur. parameter is set to a valid
- If the power source voltage value. If it is set to an
drops below the rating, invalid value, correct it.
vibration might occur. Contact your local FANUC
- It may vibrate when an representative for further
invalid value parameter was information if necessary.
set.
- 141 -
9. TROUBLESHOOTING B-83684EN/07
Symptoms Descriptions Causes Measures
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
leading to vibration.
- If the robot is grounded at
an unsuitable point, its
grounding potential
becomes unstable, and
noise is likely to be induced
on the grounding line, thus
will lead to vibrate.
- There is an unusual sound - There may be an abnormal - Use the specified grease.
after replacement of noise 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 abnormal noise during experiment. Generally, the
during operation at low operation at low speed abnormal noise will
speed. immediately after disappear.
replacement or after a long
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
- 142 -
B-83684EN/07 9. TROUBLESHOOTING
Symptoms Descriptions Causes Measures
Motor - The motor overheated due [Ambient temperature] - Reducing the ambient
overheating to the temperature in the - It is likely that the motor temperature is the most
installation area rose. overheated along with the effective means of
- After a cover was attached ambient temperature rose, preventing overheat.
to the motor, the motor and could not dissipate the - Having the surroundings of
overheated. heat. the motor well ventilated
- After changing the Robot [Operating condition] enables the motor to
control program or the load, - It is likely that the release heat efficiently, thus
the motor overheat. overcurrent above the preventing 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 effective 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.
overheated. be accelerated or
decelerated normally, so
the average current
increases, leading to
overheating.
- Symptom other than stated [Mechanical unit problems] - Repair the mechanical unit
above - It is likely that problems while referring to the above
occurred in the mechanical descriptions of vibration,
unit drive mechanism, thus noise, and rattling.
placing an excessive load - Check that, when the servo
on the motor. system is energized, the
[Motor problems] brake is released.
- It is likely that a failure of If the brake remains applied
the motor brake resulted in to the motor all the time,
the motor operating with the replace the motor.
brake applied, thus placing - If the average current falls
an excessive load on the after the motor is replaced,
motor. it indicates that the first
- It is likely that a failure of motor was faulty.
the motor prevented it from - If the fan is broken, replace
delivering its rated it by new one.
performance, thus causing
an excessive current to flow
through the motor.
- It is likely that cooling fan is
broken.
- 143 -
9. TROUBLESHOOTING B-83684EN/07
Symptoms Descriptions Causes Measures
Grease - Grease leaks from the [Poor sealing] - If the casting cracks,
leakage mechanical unit. - Probable causes are a sealant can be used as a
crack in the casting, a quick-fix to prevent further
broken O-ring, a damaged grease leakage. However,
oil seal, or a loose seal bolt. the component must be
- The casting may crack with replaced as soon as
excessive force caused in possible, as the crack will
collision. widen.
- An O-ring can be damaged - O-rings are used in the
if it is trapped or cut during locations listed below.
disassembling or re- - Motor coupling section
assembling. - Reducer (case and
- An oil seal may be shaft) coupling section
damaged if extraneous dust - Wrist coupling section
scratches the lip of the oil - J3 arm coupling section
seal. - Inside the wrist
- A loose seal bolt may allow - Oil seals are used in the
grease to leak along the locations stated below.
threads. - Inside the reducer
- Problems with the grease - Inside the wrist
nipple or threads. - 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 relay contacts stuck
- An axis falls in standstill. relay contacts are stuck to each other or not. If they
each other and keep the are found to be stuck,
brake current flowing, thus replace the relay.
preventing the brake from - Replace the motor
operating when the motor is confirmed following
reenergized. symptoms.
- It is likely that the brake - Brake shoe is worn out
shoe has worn out or the - Brake main body is
brake main body is damaged
damaged, preventing the - Oil soak through the
brake from operating motor
efficiently.
- It is likely that oil or grease
soak through the motor,
causing the brake to slip.
- 144 -
B-83684EN/07 9. TROUBLESHOOTING
Symptoms Descriptions Causes Measures
Displace- - The robot operates at a [Mechanical unit problems] - If the repeatability is
ment point 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
mechanism or a loose bolt, vibration, noise, and
within the tolerance.
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.
CLALM - Ambient temperature of the [Peripheral temperature] - Perform a warm up
alarm robot installation location is - When the robot is used in a operation or a low speed
occurred. low, CLALM alarm is low temperature operation for several
Move error displayed on the teach environment that is near to minutes.
excess pendant screen. 0ºC, or the robot is not
alarm - Ambient temperature of the operated for a long time in
occurred. robot installation position is an environment that is less
low, than 0ºC, there will be a
“Move error excess” alarm large viscous resistance of
is displayed on the teach the drive train immediately
pendant screen. after starting which will
cause the alarm.
- After changing the motion - It is likely that a robot - If a robot collision has
program or the load collision occurred. occurred, press the
condition, the CLALM 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”.
Linear motion occurs is performed correctly.
near singularity point
where axes revolve in
high speed.
- 145 -
9. TROUBLESHOOTING B-83684EN/07
Symptoms Descriptions Causes Measures
CLALM - None of the symptoms - It is likely the vibration - Refer to the Symptoms:
alarm stated above are the occurred. Vibration, Noise section of
occurred.
problem. this troubleshooting for
Move error
more information.
excess
- It is likely that rated voltage - Check that the robot is
alarm
is not supplied due to the supplied with the proper
occurred.
voltage drop. rated voltage.
- Angle of robot mounting - According to “Angle of
surface is not set correctly. Mounting Surface Setting”,
set the angle of robot
mounting surface correctly.
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.
- 146 -
10.SEVERE DUST/LIQUID
B-83684EN/07 PROTECTION PACKAGE
10 SEVERE DUST/LIQUID PROTECTION
PACKAGE
10.1 SEVERE DUST/LIQUID PROTECTION PACKAGE(OPTION)
The package is intended to improve the severe dust/liquid protection characteristics of the robot so that it
can be used in a harsh 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 package specification
M-900iB/360/360E A05B-1335-J801
M-900iB/280L A05B-1335-J802
M-900iB/280 A05B-1335-J803
M-900iB/330L A05B-1335-J804
10.2 CONFIGURATION OF THE SEVERE DUST/LIQUID
PROTECTION PACKAGE
The following table lists shows the major differences between the M-900iB standard specification and
severe dust/liquid protection package.
Standard specifications Severe dust/liquid protection option
Entire mechanical unit Main unit J3 arm and wrist
Bolts Black oxide finish steel FR coating bolt FR coating bolt
bolt Black chromate washer Stainless steel bolt
Black oxide finish washer Stainless steel bolt Black chromate washer
Black oxide finish steel
bolt
Covers J1-axis motor cover
J2-axis motor cover
J3-axis motor cover
J4/J5/J6-axis motor cover (upper side/Lower side)
Battery box cover
Cable cover in mechanical unit (for all exposed cables)
J3 connector panel Non-waterproof connector Waterproof connector
EE(RI/RO) connector
- 147 -
10.SEVERE DUST/LIQUID
PROTECTION PACKAGE B-83684EN/07
J4/J5/J6-axis
J4/J5/J6軸モータカバー
motor cover
Waterproof
防水型EEコネクタ type
EE connector
Cable protective sleeve
ケーブル保護シート
J3-axis motor cover
J3軸モータカバー J2-axis motor cover
J2軸モータカバー
J1-axis motor cover
J1軸モータカバー
Cable protective sleeve
ケーブル保護シート
Battery box cover
バッテリボックスカバー
Fig. 10.2 (a) Configuration of the severe dust/liquid protection package
- 148 -
11.PRESS HANDLING
B-83684EN/07 PACKAGE (OPTION)
11 PRESS HANDLING PACKAGE (OPTION)
The press handling package improves heat radiation performance by installing cooling fans to the J1/J2/J3-
axis motors or J2/J3-axis motors to prevent motor overheat under high temperature environment.
NOTE
1 Contact your FANUC representative for confirmation that the press handling
package is suitable for your environment.
2 When overheat occurs, see troubleshooting chapter and consider
countermeasures.
Model Axis Press handling package spec.
For J1/J2/J3-axis A05B-1335-J821
M-900iB/360/360E/280L/280
For J2/J3-axis A05B-1335-J822
NOTE
In addition, the fan connection cable which length is same as the robot
connection cable is required.
Motor for J3-axis
J3軸モータ用ファン
Motor for J2-axis
J2軸モータ用ファン
Motor for J1-axis
J1軸モータ用ファン
Connector for fan connection cable
ファン接続ケーブル用コネクタ
Fig. 11 (a) Configuration of the press handling package
- 149 -
APPENDIX
B-83684EN/07 APPENDIX A. PERIODIC MAINTENANCE TABLE
A PERIODIC MAINTENANCE TABLE
- 153 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-83684EN/07
FANUC Robot M-900iB/360/360E/280L/280/330L Periodic Maintenance Table
Accumulated operating
time (H) Check Grease First 3 6 9 1 2
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 sleeves 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Check wear debris of J1-axis
3 swing stopper 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
4 Check for water 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Check damages of the mechanical
5 unit cable (movable part)
0.2H ― ○ ○ ○
Check damage of the end
6 effector (hand) cable 0.1H ― ○ ○ ○
Check tightness of each axis
7 motor and other exposed connector 0.2H ― ○ ○ ○
Retightening the
8 end effector mounting bolts
0.2H ― ○ ○ ○
Retightening the
9 External main bolts
2.0H ― ○ ○ ○
Check the fixed mechanical
10 stopper and the adjustable 0.1H ― ○ ○ ○
mechanical stopper
Mechanical unit
Clean spatters,
11 sawdust and dust 1.0H ― ○ ○ ○
Check the operation of the
12 cooling fan
0.1H ― ○ ○ ○
Replacing the mechanical unit
13 Batteries *1 *3
0.1H ― ●
Greasing of J2/J3-axis Each
14 connection part bearing *1 0.1H
20ml
Replacing grease of J1-axis
15 reducer *1 1.0H 6620ml
Replacing grease of J2-axis
16 reducer *1
0.5H 2730ml
18
14 19 21 20
Replacing grease of J3-axis
17 reducer *1
0.5H 2730ml
14
Replacing grease of J4/J5/J6-
18 axis gearbox *1
0.5H 2670ml
17
Replacing grease of wrist axis
19 1 (J4, J5-axis reducer) *1
1.0H 5340ml 16
15
Replacing grease of wrist axis
20 2 (J6-axis gearbox) *1 0.1H 140ml
Position of grease inlet
Replacing grease of wrist axis
21 3 (J6-axis reducer) *1 0.2H 690ml
Replacing the mechanical unit
22 cable
4.0H ―
Cleaning the controller
23 ventilation system
0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Controller
Check damages
of the teach pendant cable, the
24 operation box connection cable 0.2H ― ○ ○ ○
and the robot connection cable
25 Replacing batteries *1 *3 0.1H ―
*1 Refer to this manual or “REPLACING UNITS Chapter of MAINTENANCE ” of the following manuals.
CONTROLLER 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 year or 1.5 year, replace controller batteries at 4
years.
- 154 -
B-83684EN/07 APPENDIX A. PERIODIC MAINTENANCE TABLE
3 4 5 6 7 8
years years years years years years
Item
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 4
○ ○ ○ ○ ○ 5
○ ○ ○ ○ ○ 6
○ ○ ○ ○ ○ 7
○ ○ ○ ○ ○ 8
○ ○ ○ ○ ○ 9
○ ○ ○ ○ ○ 10
○ ○ ○ ○ ○ 11
○ ○ ○ ○ ○ 12
Overhaul
● ● ● ● 13
● ● 14
● ● 15
● ● 16
● ● 17
● ● 18
● ● 19
● ● 20
● ● 21
● 22
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 23
○ ○ ○ ○ ○ 24
● 25
- 155 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-83684EN/07
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 are not specified.
Recommended bolt tightening torques Unit: Nm
Hexagon socket head
Hexagon socket head button bolt
Hexagon socket head Hexagon socket head Hexagon bolt
bolt flush bolt
Nominal bolt (stainless steel) (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 ―――― ―――― ―――― ―――― ―――― ――――
- 156 -
B-83684EN/07 INDEX
INDEX
<A> <M>
Actual Installation Example ............................................ 11 MAINTENANCE ......................................................... 115
ADJUSTABLE MECHANICAL STOPPER AND MAINTENANCE AREA................................................ 19
LIMIT SWITCH SETTING (OPTION) ...................... 96 MASTERING ............................................................... 122
ADJUSTING LIMIT SWITCH (OPTION)................... 106 MASTERING DATA ENTRY ..................................... 136
AIR PIPING (OPTION) .................................................. 75 MECHANICAL UNIT EXTERNAL DIMENSIONS
AIR SUPPLY (OPTION) ................................................ 74 AND OPERATING SPACE ...................................... 26
Angle of Mounting Surface Setting................................. 16
AXIS LIMITS SETUP .................................................... 92 <O>
OPERATING SPACE RESTRICTION AT WALL OR
<B> ANGLE MOUNTING ................................................. 47
BASIC SPECIFICATIONS ............................................ 21 OVERVIEW ................................................................. 122
<C> <P>
CHANGE AXIS LIMIT BY DCS (OPTION)................. 92 Periodic Checks and Maintenance ................................ 108
CHANGING THE MOTION RANGE BY THE LIMIT PERIODIC MAINTENANCE TABLE ........................ 153
SWITCH (OPTION).................................................. 104 PIPING AND WIRING TO THE END EFFECTOR...... 73
Changing the parameter setting ..................................... 101 PREFACE ...................................................................... p-1
Check of Fixed Mechanical Stopper and Adjustable PRESS HANDLING PACKAGE (OPTION) ............... 149
Mechanical Stopper ................................................... 114 Procedure for Releasing Remaining Pressure from the
CHECK POINTS .......................................................... 110 Grease Bath ............................................................... 121
Check the Mechanical Unit Cables and Connectors ..... 112
CHECKS AND MAINTENANCE ............................... 107 <Q>
CONFIGURATION OF THE SEVERE DUST/LIQUID QUICK MASTERING .................................................. 127
PROTECTION PACKAGE....................................... 147 QUICK MASTERING FOR SINGLE AXIS ................ 130
Confirmation of Oil Seepage......................................... 110
Confirmation of the Air Control Set (option) ................ 111 <R>
CONNECTION WITH THE CONTROLLER ................ 20 Replacing the Batteries (1.5 year check Periodic
Maintenance) ............................................................. 115
<D> Replacing the Grease of the Drive Mechanism (3 years
Daily Checks ................................................................. 107 check (11520 hours) Periodic Maintenance) ............. 118
RESETTING ALARMS AND PREPARING FOR
<E> MASTERING............................................................ 123
END EFFECTOR INSTALLATION TO WRIST .......... 60 ROBOT CONFIGURATION.......................................... 21
EQUIPMENT INSTALLATION TO THE ROBOT....... 60
EQUIPMENT MOUNTING FACE ................................ 61 <S>
SAFETY PRECAUTIONS ............................................ s-1
<G> SEVERE DUST/LIQUID PROTECTION PACKAGE 147
Greasing of J2/J3-axis Connection Part Bearing (3 SEVERE DUST/LIQUID PROTECTION
years check (11520 hours) Periodic Maintenance) .... 116 PACKAGE(OPTION) ............................................... 147
SINGLE AXIS MASTERING ...................................... 133
<I> STORAGE .................................................................... 121
INERTIA LOAD SETTING ........................................... 72 STRENGTH OF BOLT AND BOLT TORQUE LIST . 156
INSTALLATION ............................................................ 10
INSTALLATION CONDITIONS................................... 19 <T>
Installing adjustable mechanical stopper option .............. 97 The maximum stopping distance (position) of adjustable
INTERFACE FOR OPTION CABLE (OPTION)........... 77 mechanical stopper .................................................... 102
TRANSPORTATION ....................................................... 1
<J> TRANSPORTATION AND INSTALLATION ................ 1
J1-axis Fixed Mechanical Stopper (option) (fixed side Transportation with an End Effector Attached.................. 9
swing stopper) in Case of Upside-Down Mount.......... 18 TROUBLESHOOTING ................................................ 139
<L> <V>
LOAD CONDITION ON J2 BASE AND J3 ARM ........ 45 VERIFYING MASTERING ......................................... 138
LOAD SETTING ............................................................ 70
i-1
INDEX B-83684EN/07
<W>
WRIST LOAD CONDITIONS ....................................... 35
<Z>
ZERO POINT POSITION AND MOTION LIMIT ........ 30
ZERO POSITION MASTERING ................................. 124
i-2
B-83684EN/07 REVISION RECORD
REVISION RECORD
Edition Date Contents
• Addition of M-900iB/360E
07 Nov., 2022
• Correction of errors
• Addition of the mechanical unit cables
06 Sep., 2021 • Addition items to the troubleshooting
• Correction of errors
• Addition of M-900iB/330L
05 Jan, 2020
• Correction of errors
• Addition of R-30iB Plus Controller
04 Jun, 2017
• Correction of errors
• Addition of M-900iB/280
03 Jul., 2015 • Addition of quick master for single axis
• Correction of errors
• Addition of M-900iB/280L
02 Aug., 2014 • Addition of severe dust/liquid protection option
• Correction of errors
01 June, 2014
r-1
B-83684EN/07
* B - 8 3 6 8 4 E N / 0 7 *
You might also like
- FANUC-M-410iC110 185 315 500 Operator Manual (B-83584EN 06)No ratings yetFANUC-M-410iC110 185 315 500 Operator Manual (B-83584EN 06)152 pages
- M-900iB360 280L 280 Operator Manual (B-83684EN 03)No ratings yetM-900iB360 280L 280 Operator Manual (B-83684EN 03)154 pages
- Appendix 1 Industrial Robot User ManualNo ratings yetAppendix 1 Industrial Robot User Manual136 pages
- M-410iB450 Maintenance Manual (B-81925EN 04)No ratings yetM-410iB450 Maintenance Manual (B-81925EN 04)194 pages
- Fuse Box Diagram Toyota Camry (XV50 2012-2017)No ratings yetFuse Box Diagram Toyota Camry (XV50 2012-2017)10 pages
- R-30iB Basic Operator Manual Dispense Functions B-83284EN-5No ratings yetR-30iB Basic Operator Manual Dispense Functions B-83284EN-5158 pages
- Startup Guide FANUC Robot (Software Version 9.10P - 10 and Later)No ratings yetStartup Guide FANUC Robot (Software Version 9.10P - 10 and Later)4 pages
- Installation and Connection Manual: Kawasaki Robot F Series (C/D/E)No ratings yetInstallation and Connection Manual: Kawasaki Robot F Series (C/D/E)64 pages
- B-83444SP - 01 M900iB - 700 MECHANICAL UNIT OPERATOR'S MANUALNo ratings yetB-83444SP - 01 M900iB - 700 MECHANICAL UNIT OPERATOR'S MANUAL123 pages
- LR Mate 200id ARC Mate 50id: Operator'S ManualNo ratings yetLR Mate 200id ARC Mate 50id: Operator'S Manual125 pages
- Manual Am-120ic Operator Manual B-82874en 07No ratings yetManual Am-120ic Operator Manual B-82874en 07178 pages
- Operator'S Manual: Robot M-900+B/700/700E/400LNo ratings yetOperator'S Manual: Robot M-900+B/700/700E/400L150 pages
- HRP-2 Fanuc Robot M-20iD Mechanical Unit Operators ManualNo ratings yetHRP-2 Fanuc Robot M-20iD Mechanical Unit Operators Manual132 pages
- Global Error Recovery (FFR) Users Manual Fanuc Spottool+ 7.50 P/XXNo ratings yetGlobal Error Recovery (FFR) Users Manual Fanuc Spottool+ 7.50 P/XX17 pages
- FANUC - R-J2 - ArcTool - Setup & Operations Manual (B-80524SP-12-01)No ratings yetFANUC - R-J2 - ArcTool - Setup & Operations Manual (B-80524SP-12-01)706 pages
- FANUC's Standard SCA Sealing Programming (Version4.0)100% (2)FANUC's Standard SCA Sealing Programming (Version4.0)20 pages
- B-82694EN - 03 R-30iB - DeviceNet - Operator - Manual PDFNo ratings yetB-82694EN - 03 R-30iB - DeviceNet - Operator - Manual PDF108 pages
- iRVision Startup Manual (B-82774EN-3 03) PDFNo ratings yetiRVision Startup Manual (B-82774EN-3 03) PDF166 pages
- AM-120i M-16i Mechanical Unit Maintenance Manual (Partly) (B-80875EN - 01)No ratings yetAM-120i M-16i Mechanical Unit Maintenance Manual (Partly) (B-80875EN - 01)8 pages
- Dokumen - Tips - Fanuc Robotics System R j3 Controller S 430i Series Mechanical Unit Maintenance Manual Marm3s43009801e Rev B PDFNo ratings yetDokumen - Tips - Fanuc Robotics System R j3 Controller S 430i Series Mechanical Unit Maintenance Manual Marm3s43009801e Rev B PDF4 pages
- Global 2 Servogun Setup Users Manual For 7.5 Rev 1.0No ratings yetGlobal 2 Servogun Setup Users Manual For 7.5 Rev 1.0112 pages
- IRB 6640 Product Manual 3HAC026876-001 - Rev - en - Library50% (2)IRB 6640 Product Manual 3HAC026876-001 - Rev - en - Library413 pages
- 90210-1182DEB D E Collision Detection ManualNo ratings yet90210-1182DEB D E Collision Detection Manual46 pages
- Report On Basic Setups of Fanuc Robot: Difacto Robotics and AutomationNo ratings yetReport On Basic Setups of Fanuc Robot: Difacto Robotics and Automation5 pages
- ABB IRC5 Controller Software RobotWare 5 6 3HAC022349-001 Rev 2 enNo ratings yetABB IRC5 Controller Software RobotWare 5 6 3HAC022349-001 Rev 2 en110 pages
- R30iB Pendant Customization Guide (V8.30) (MAROBCG8304141E Rev.a)67% (6)R30iB Pendant Customization Guide (V8.30) (MAROBCG8304141E Rev.a)219 pages
- R-30iB - LR Mate 200id - J2 Motor ReplacementNo ratings yetR-30iB - LR Mate 200id - J2 Motor Replacement3 pages
- Fanuc Robot M-800iA, M-800iB Operators ManualNo ratings yetFanuc Robot M-800iA, M-800iB Operators Manual118 pages
- Thomson Electrac HD Linear Actuator Motion Control per CAN BusFrom EverandThomson Electrac HD Linear Actuator Motion Control per CAN BusNo ratings yet
- Comprehensive OD Interventions by VinayNo ratings yetComprehensive OD Interventions by Vinay35 pages
- Amendment in Regional Transmission Grid Plan of Gwadar Area - Complete (1) - Pages-70-74No ratings yetAmendment in Regional Transmission Grid Plan of Gwadar Area - Complete (1) - Pages-70-745 pages
- Situational Leadership Theory Proposes That Effective Leadership Requires A Rational Understanding of The Situation and An Appropriate ResponseNo ratings yetSituational Leadership Theory Proposes That Effective Leadership Requires A Rational Understanding of The Situation and An Appropriate Response6 pages
- Thoits 1994 StressorsProblemSolvingIndividualNo ratings yetThoits 1994 StressorsProblemSolvingIndividual19 pages
- Verbal Autopsy Standards 2022 Who Verbal Autopsy Instrument v1 FinalNo ratings yetVerbal Autopsy Standards 2022 Who Verbal Autopsy Instrument v1 Final40 pages
- Proportional Relief Valves, High Pressure: SS-4R3ANo ratings yetProportional Relief Valves, High Pressure: SS-4R3A2 pages
- Ultrasonic Sensor UB 0-GM 75 - 5: DimensionsNo ratings yetUltrasonic Sensor UB 0-GM 75 - 5: Dimensions5 pages
- Worksheet # 1: Revisiting The Meaning, Importance, and Characteristic of ResearchNo ratings yetWorksheet # 1: Revisiting The Meaning, Importance, and Characteristic of Research3 pages
- Lab Report Writing Guidelines: AP Chemistry ASKNo ratings yetLab Report Writing Guidelines: AP Chemistry ASK13 pages
- Echoes of The Tambaran Masculinity History and The Subject in The Work of Donald F Tuzin David Lipset Instant DownloadNo ratings yetEchoes of The Tambaran Masculinity History and The Subject in The Work of Donald F Tuzin David Lipset Instant Download85 pages
- Production Requirements Checklist: Course Number and Name: Production Title: Prod. # Producer: DirectorNo ratings yetProduction Requirements Checklist: Course Number and Name: Production Title: Prod. # Producer: Director2 pages
