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MECHANICAL UNIT
OPERATOR'S MANUAL

B-83944EN/02
 • Original Instructions

Thank you very much for purchasing FANUC Robot.

Before using the Robot, be sure to read the "FANUC Robot 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-83944EN/02 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
This chapter must be read before using the robot.

For detailed functions of the robot operation, read the relevant operator's manual to understand fully its
specification.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral equipment installed in a work cell.
For safe use of FANUC robots, you must read and follow the instructions in “FANUC Robot SAFETY
HANDBOOK (B-80687EN)”.

1 DEFINITION OF USER
The 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 safety fence

Maintenance engineer:
• Operates the robot
• Teaches the robot inside the safety fence
• Maintenance (repair, adjustment, replacement)

- Operator is not allowed to work in the safety fence.

- Programmer/Teaching operator and maintenance engineer is allowed to work in the safety fence.
Works carried out in the safety fence include transportation, installation, teaching, adjustment, and
maintenance.
- To work inside the safety fence, the person must be trained on proper robot operation.

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SAFETY PRECAUTIONS B-83944EN/02

Table 1 lists the work outside the safety fence. In this table, the symbol “{” means the work allowed to
be carried out by the worker.

Table 1 List of work outside the fence

Programmer or Maintenance
Operator
Teaching operator engineer
Turn power ON/OFF to Robot controller { { {
Select operating mode (AUTO, T1, T2) { {
Select remote/local mode { {
Select robot program with teach pendant { {
Select robot program with external device { {
Start robot program with operator’s panel { { {
Start robot program with teach pendant { {
Reset alarm with operator’s panel { {
Reset alarm with teach pendant { {
Set data on teach pendant {
Teaching with teach pendant {
Emergency stop with operator’s panel { { {
Emergency stop with teach pendant { { {
Maintain for operator’s panel {
Maintain for teach pendant {

In the robot operating, programming and maintenance, the operator, programmer/teaching operator and
maintenance engineer 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.

• Check this manual thoroughly, and keep it handy for the future reference.

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B-83944EN/02 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 sandwiched 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-2525-J047 ( 5m)
Robot connection cable
A05B-2525-J048(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.

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SAFETY PRECAUTIONS B-83944EN/02

In J2軸モータブレーキを解除する場合
case of releasing the J2-axis motor brake InJ3軸モータブレーキを解除する場合
case of releasing the J3-axis motor brake

Fall落下
down Fall落下
down Fall落下
down

Method アーム支持方法
of supporting the robot arm

スリング
Sling

(*) This figure is an example of floor mount.

The 図は床置き設置時の例です。
(*)direction of fall is different according
設置角度によっては落下方向が異なり
to theますので重力の影響を考慮し適切に支
installation angle, so support
えてください。
the robot appropriately in consideration
of the influence of the gravity.

Fig. 3 Releasing J2 and J3 motor brake and measures

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B-83944EN/02 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．
必须在排脂口打开的状态下供脂。
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．
请使用手动式供脂泵进行供脂。
3） 必ず指定グリスを使用して下さい。
Ｕｓｅ ｄｅｓｉｇｎａｔｅｄ ｇｒｅａｓｅ
ａｔ ｇｒｅａｓｉｎｇ．
必须使用指定的润滑脂。

Fig. 4 (a) Greasing and degreasing label

Description
When greasing and degreasing, observe the instructions indicated on this label.
(1) Open the grease outlet at greasing.
(2) Use a hand pump at greasing.
(3) Use designated grease at greasing.

CAUTION
See Section 7.3 Maintenance for explanations about specified greases, the
amount of grease to be supplied, and the locations of grease and degrease
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 or controller as it may adversely affect the robot or controller and
you may get hurt if you lose your footing as well.

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SAFETY PRECAUTIONS B-83944EN/02

(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 provision such as heat-resistant
gloves.

(4) Transportation label

Fig. 4 (d) Transportation label

Description
When transporting the robot, observe the instructions indicated on this label.
Using a crane
• Use a crane with a load capacity of 300kg or greater.
• Use two slings with each load capacity of 250 kg or greater, sling the robot as shown Chapter 1
of operator’s manual.
• Use two M10 eyebolts with each load capacity of 1470 N (150 kgf) or greater.

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

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B-83944EN/02 SAFETY PRECAUTIONS

(5) High current attention label

接触注意
溶接中、内部は高電流が流れます。
DO NOT ACCESS
DURING ENERGIZED
HIGH CURRENT INSIDE
禁止触摸
焊接时内部有大电流。

Fig. 4 (e) High current attention Label

Description
Do not access during energized high current inside.

(6) Operating space and payload label

Below label is added when CE specification is specified.

Fig. 4 (f) Operating space and payload label

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B-83944EN/02 PREFACE

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

Mechanical unit
Model name Maximum load Remarks
specification No.
FANUC Robot ARC Mate 100iD A05B-1227-B201 12kg With all axes brakes
FANUC Robot ARC Mate 100iD A05B-1227-B251 12kg With J2 to J5 axes brakes
FANUC Robot M-10iD/12 A05B-1227-B202 12kg With all axes brakes
FANUC Robot M-10iD/12 A05B-1227-B252 12kg With J2 to J5 axes brakes
FANUC Robot ARC Mate 100iD/10L A05B-1227-B301 10kg With all axes brakes
FANUC Robot M-10iD/10L A05B-1227-B302 10kg With all axes brakes

The label stating the mechanical unit specification number is affixed in the position shown below. Before
reading this manual, verify the specification number of the mechanical unit.

(1)

TYPE (2)
NO. (3) WEIGHT
DATE (4) (5) kg

(1)

TYPE ( 2)
NO. (3) WEIGHT
DATE (4) ( 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 ARC Mate 100iD A05B-1227-B201 145
FANUC Robot ARC Mate 100iD A05B-1227-B251 145
PRODUCTION
FANUC Robot M-10iD/12 A05B-1227-B202 145
SERIAL NO. YEAR AND
LETTERS FANUC Robot M-10iD/12 A05B-1227-B252 145
IS PRINTED MONTH ARE
FANUC Robot
A05B-1227-B301 PRINTED 150
ARC Mate 100iD/10L
FANUC Robot M-10iD/10L A05B-1227-B302 150

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PREFACE B-83944EN/02

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 Plus/ OPERATOR’S MANUAL Intended readers:
R-30iB Mate Plus (Basic Operation) Operator, programmer, maintenance engineer,
controller B-83284EN system designer
OPERATOR’S MANUAL Topics:
(Alarm Code List) Robot functions, operations, programming, setup,
B-83284EN-1 interfaces, alarms
OPERATOR’S MANUAL Use:
(Optional Function) Robot operation, teaching, system design
B-83284EN-2
ARC WELDING FUNCTION
OPERATOR’S MANUAL
B-83284EN-3
Spot WELDING FUNCTION
OPERATOR’S MANUAL
B-83284EN-4
DISPENSE FUNCTION
OPERATOR’S MANUAL
B-83284EN-5
MAINTENANCE MANUAL Intended readers:
R-30iB Plus : Maintenance engineer, system designer
B-83195EN Topics:
R-30iB Mate Plus: Installation, start-up, connection, maintenance
B-83525EN 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

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B-83944EN/02 TABLE OF CONTENTS

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

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

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

1.1 TRANSPORTATION...................................................................................... 1
1.2 INSTALLATION ............................................................................................. 4
1.2.1 Installation Method...................................................................................................5
1.2.2 Angle of Mounting Surface Setting..........................................................................8
1.3 MAINTENANCE AREA .................................................................................. 9
1.4 INSTALLATION CONDITIONS...................................................................... 9
2 CONNECTION WITH THE CONTROLLER .......................................... 10
2.1 CONNECTION WITH THE CONTROLLER ................................................. 10
3 BASIC SPECIFICATIONS..................................................................... 11
3.1 ROBOT CONFIGURATION ......................................................................... 11
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND WORK
ENVELOPE ................................................................................................. 14
3.3 ZERO POINT POSITION AND MOTION LIMIT........................................... 16
3.4 WRIST LOAD CONDITIONS ....................................................................... 20
3.5 OPERATING AREA FOR INCLINATION INSTALLATION .......................... 22
4 EQUIPMENT INSTALLATION TO THE ROBOT .................................. 26
4.1 END EFFECTOR INSTALLATION TO WRIST ............................................ 26
4.2 EQUIPMENT MOUNTING FACE ................................................................ 27
4.3 LOAD SETTING .......................................................................................... 29
5 PIPING AND WIRING TO THE END EFFECTOR................................. 31
5.1 AIR SUPPLY (OPTION) .............................................................................. 32
5.2 AIR PIPING (OPTION) ................................................................................ 33
5.3 INTERFACE FOR OPTION CABLE (OPTION) ........................................... 34
6 AXIS LIMIT SETUP ............................................................................... 43
6.1 CHANGE AXIS LIMIT BY DCS (OPTION)................................................... 43
6.2 ADJUSTABLE MECHANICAL STOPPER SETTING (OPTION).................. 46
6.2.1 Installing the Adjustable Mechanical Stopper........................................................47
6.2.2 Changing the Parameter Setting .............................................................................49

7 CHECKS AND MAINTENANCE ........................................................... 50

7.1 PERIODIC MAINTENANCE ........................................................................ 50
7.1.1 Daily Checks ..........................................................................................................50
7.1.2 Periodic Checks and Maintenance..........................................................................51
7.2 CHECK POINTS.......................................................................................... 53
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TABLE OF CONTENTS B-83944EN/02

7.2.1 Confirmation of Oil Seepage..................................................................................53

7.2.2 Confirmation of the Air Control Set (option).........................................................54
7.2.3 Check the Mechanical Unit Cables and Connectors ..............................................55
7.2.4 Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper ............57
7.3 MAINTENANCE........................................................................................... 58
7.3.1 Replacing the Batteries (1 year (3840 hours) checks)............................................58
7.3.2 Replacing the Grease and Oil of the Drive Mechanism
(3 years (11520 hours) checks) ..............................................................................59
7.3.2.1 Grease replacement procedure for the reducer (J2/J3-axis)............................... 60
7.3.2.2 Procedure for releasing remaining pressure from the grease bath
(J2/J3-axis)......................................................................................................... 62
7.3.2.3 Oil replacement procedure for the J1-axis gearbox ........................................... 62
7.3.2.4 Oil replacement procedure for the J4-axis gearbox ........................................... 65
7.3.2.5 Oil replacement procedure for the J5/J6- axis gearbox ..................................... 68
7.3.2.6 Procedure for Releasing remaining pressure from the Oil bath
(J1/J4/J5/J6-axis) ............................................................................................... 71
7.4 STORAGE ................................................................................................... 71
8 MASTERING ......................................................................................... 72
8.1 OVERVIEW ................................................................................................. 72
8.2 RESETTING ALARMS AND PREPARING FOR MASTERING ................... 75
8.3 ZERO POSITION MASTERING .................................................................. 76
8.4 QUICK MASTERING ................................................................................... 79
8.5 QUICK MASTERING FOR SINGLE AXIS ................................................... 82
8.6 SINGLE AXIS MASTERING ........................................................................ 86
8.7 MASTERING DATA ENTRY........................................................................ 89
8.8 VERIFYING MASTERING ........................................................................... 91
9 TROUBLESHOOTING .......................................................................... 92
9.1 TROUBLESHOOTING................................................................................. 92

APPENDIX
A PERIODIC MAINTENANCE TABLE ................................................... 101
B STRENGTH OF BOLT AND BOLT TORQUE LIST............................ 104
C INSULATION ABOUT ARC WELDING ROBOT................................. 105
C.1 INSULATION AT THE WRIST ................................................................... 105
C.2 INSULATION AT THE ADDITIONAL AXIS ................................................ 106
D CONTROL OF MULTIPLE ROBOTS.................................................. 107

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B-83944EN/02 1. TRANSPORTATION 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 it by using the eyebolts and the transport equipment properly.

WARNING
1 When hoisting or lowering the robot with a crane or forklift, move it slowly, and
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 The robot becomes unstable when it is transported with the end effector or
equipment is installed. Make sure to remove the end effector when the robot is
transported. (Except light cargo such as welding torch or wire feeder).
3 Use the transport equipment only for transportation. Do not use the forklift
pockets to secure the robot.
4 Before moving the robot by using crane, check and tighten any loose bolts on
the forklift pockets.
5 Do not pull eyebolts sideways.

1) Transportation using a crane (Fig. 1.1 (a), (b))

Fasten the M10 eyebolts to the two points of the robot base and lift the robot by the two slings. In
this case, please intersect and hang two Slings as shown in figure.

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

Note)
1. Robot mass: 145kg
2. Eyebolt complied with JIS B 1168.
761 3. Quantity eyebolt 2 pcs
注） Sling 2 pcs
1．ロボット総質量 145kg
2．アイボルトはJIS B1168に準拠のこと
3．数量 アイボルト 2個
240 173 スリング 2個
Crane
Load
クレーンcapacity. : 300 kg or more
可搬質量： 300kg以上
Sling
スリング
Load capacity : 250 kg/per 1 or more
可搬質量： 250kg/本以上
Eyebolt
アイボルト
許容荷重：
Allowable load 150kg/個以上
: 150kgf/per 1 or more

Mounting position
アイボルト
ロボット重心位置
1137

Center of gravity
取り付け位置
of eyebolt

M10 eyebolt
アイボルト (M10)
Robot posture
JB-BEY-10 (2)
JB-BEY-10 (2)
輸送姿勢
on transportation
J1 0° A
J2 -30°
J3 -45°
J4 -0° 矢視 A
VIEW A
J5 -55°
J6 0°
173 170
Fig. 1.1 (a) Transportation using a crane (ARC Mate 100iD, M-10iD/12)
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1. TRANSPORTATION AND INSTALLATION B-83944EN/02

Note)
1. Robot mass: 150kg
注）
2. Eyebolt complied with
1．ロボット総質量 150kgJIS B 1168.
2．アイボルトはJIS
3. Quantity eyebolt 2B1168に準拠のこと
pcs
3．数量 Sling
アイボルト22個 pcs
スリング 2個
240 173 Crane
972 クレーン
Load capacity.
: 300 kg or more
可搬質量： 300kg以上
スリング
Sling
可搬質量：
Load capacity250kg/本以上
: 250 kg/per 1 or more
アイボルト
Eyebolt
許容荷重： 150kgf/個以上
Allowable load : 150kgf/per 1 or more

ロボット重心位置
Center of gravity
Mounting
アイボルト position
of 取り付け位置
eyebolt

1121
Robot posture M10 eyebolt
アイボルト (M10)
輸送姿勢
on transportation JB-BEY-10 (2)
JB-BEY-10
J1 0°
J2 -40°
J3 -35°
J4 -0° VIEW
矢視AA
J5 -65°
J6 0°

Fig. 1.1 (b) Transportation using a crane (ARC Mate 100iD/10L, M-10iD/10L)

2) Transporting the robot with a forklift (Fig. 1.1 (c), (d))

When transporting a robot with a forklift, use special transport equipment. Transport equipment is
prepared as the option.

注）
Note)
１．ロボット総質量 145kg
1. Robot mass: 145kg
Robot posture
輸送姿勢
on transportation
Center of gravity
ロボット重心位置
J1 0° Forkliftフォークリフト可搬質量
load capacity
J2 -30° : 300kg 300kg以上
or more
J3 -45° 760
J4 0°
J5 -55°
J6 0°

ロボット重心位置
Center of gravity
1137
100

100

200 200

408.5 408.5 Bracket (2 pcs)

ブラケット(2個)
A290-7227-X271
A290-7227-X271

Fig. 1.1 (c) Transportation using a forklift (ARC Mate 100iD, M-10iD/12)

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

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B-83944EN/02 1. TRANSPORTATION AND INSTALLATION

Robot posture
輸送姿勢
on transportation
Note)
J1 0° 注）
1．ロボット総質量
1. Robot 150kg
mass: 150kg
J2 -40°
J3 -35°
J4 -0°
J5 -65° ロボット重心位置
Center of gravity
J6 0° Forklift load capacity
フォークリフト可搬質量 972
300kg以上
: 300kg or more

Center of gravity
ロボット重心位置

1730
100

100

200 200

408.5 408.5

Bracket (2 pcs)
ブラケット(2個)
A290-7227-X271
A290-7227-X271

Fig. 1.1 (d) Transportation using a forklift (ARC Mate 100iD/10L, M-10iD/10L)

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

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1. TRANSPORTATION AND INSTALLATION B-83944EN/02

1.2 INSTALLATION
Fig. 1.2 shows the robot base dimensions. Avoid placing any object in front of the robot on the mounting
face to facilitate the installation of the mastering fixture.

ロボット正面
Robot front
+0.027
2-φ12
2-OH8
12 (H8 ) ）through
0 （+0.027
0 貫通
4-φ18 through O21 ザグリ深さ
φ21Counter bore depth5 5
4-O18 貫通
φ26
O26 Counter
ザグリ深さ15 bore (突き当て面)
(Locating surface)
(Locating surface)
(突き当て面)
depth 15
(ロボット固定用) 32 128 128 32
(for robot fixation)
120 ±0.1 105 ±0.1 ( 12 )
A
13
surface)
(突き当て面)

32
(Locating

154.5 ±0.1
断面A-A
Section A-A
150
128

J1-axis rotation 4-φ11 through

16.5

J1軸回転中心 4-O11 bore

貫通
center φ17 Counter
O17 ザグリ深さ5
300

depth (輸送部材取付け用)
5
(for transport equipment)
93

B 12
128

5
8
surface)

B
(突き当て面)
32
(Locating

150 Section
断面 B-BB-B
300
159.5 159.5

Fig. 1.2 Dimensions of the robot base

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B-83944EN/02 1. TRANSPORTATION AND INSTALLATION

1.2.1 Installation Method

Fig. 1.2.1 (a) shows an example of installing the robot. In this example, the floor plate is fixed with four
M20 chemical anchors (tensile strength 400N/mm2 or more), and the robot base is fastened to the floor
plate with four M16 x 40 bolts (tensile strength 1200N/mm2 or more). If compatibility must be
maintained in teaching the robot after the robot mechanical unit is replaced, use the mounting face.

正面
Front

Locating surface
突き当て面

突き当て面
Locating surface

4-M16 貫通
4-M16 through
400
300
150

J1軸回転中心
J1-axis rotation
center
50

50 150 150

300
ロボット
Robot J1ベース
J1 base

400
ロボット固定ボルト
Robot mounting bolts
M16X40(4個)
M16 x 40 (4 pcs)
引張強度：
Tensile 1200N/mm
strength
2 2
: 1200N/mm以上
Chemical anchor
ケミカルアンカー 締付トルク：
or more 318 Nm
M20 (4 pcs)
M20(4個)
Tensile strength : 400N/mm
2
2 Tightening torque : 318Nm
引張強度：
or more 400N/mm 以上
締付トルク：
Tightening 186: 186Nm
torque Nm
30
(埋め込み深さ)
(Depth)
200
200

Fig. 1.2.1 (a) Example of installing the robot

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1. TRANSPORTATION AND INSTALLATION B-83944EN/02

NOTE
The customer shall arrange for the positioning pin, anchor bolts, and floor plate.
Don’t perform leveling at the robot base directly using a push bolt or a wedge. To
secure the robot base, use four hexagon socket head bolt M16 x 40 (tensile
strength 1200N/mm2 or more) and tighten them with regulated tightening torque
318Nm.
The strength of the chemical anchor depends on the concrete strength. See the
design guideline of the manufacturer for the execution of the chemical anchor
and consider the safety ratio sufficiently before use.
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.

Fig. 1.2.1 (b) and Table 1.2.1 (a), (b) show the force and moment applied to the Robot base. Table 1.2.1
(c), (d) indicate the stopping distance and time of the J1 through J3 axes until the robot stops by
Power-Off stop or by Smooth stop after input of the stop signal. Refer to the data when considering the
strength of the installation face.

NOTE
Stopping times and distances in Table 1.2.1 (c) and (d) are reference values
measured in accordance with ISO 10218-1. Please measure and check the
actual values, since it varies depending on robot individual, load condition and
operation program. Stopping times and distances in Table 1.2.1 (c) are affected
by the robot's operating status and the number of Servo-off stops. Please
measure and check the actual values periodically.

Table 1.2.1 (a) Force and moment that act on J1 base (ARC Mate 100iD,M-10iD/12)
Force in vertical Force in horizontal
Vertical moment Horizontal moment
direction direction
MV [Nm](kgfm) MH [Nm] (kgfm)
FV [N] (kgf) FH [N] (kgf)
During stillness 714 (73） 1620 (165) 0 (0) 0 (0)
During acceleration
2007 (205) 2205 (225) 255 (26) 566 (58)
or deceleration
During
3855 (393) 3450 (352) 1247 (127) 1283 (131)
Power-Off stop
During
1686 (172) 2081 (212) 354 (36) 625 (64)
Smooth stop

Table 1.2.1 (b) Force and moment that act on J1 base (ARC Mate 100iD/10L,M-10iD/10L)
Force in vertical Force in horizontal
Vertical moment Horizontal moment
direction direction
MV [Nm](kgfm) MH [Nm] (kgfm)
FV [N] (kgf) FH [N] (kgf)
During stillness 740 (76) 1618 (165) 0 (0) 0 (0)
During acceleration
1888 (193) 2116 (216) 253 (26) 460 (47)
or deceleration
During
2961 (302) 2791 (285) 799 (82) 805 (82)
Power-Off stop
During
1710 (174) 2071 (211) 342 (35) 502 (51)
Smooth stop

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B-83944EN/02 1. TRANSPORTATION AND INSTALLATION
Table 1.2.1 (c) Stopping time and distance until the robot stopping
by Power-Off stop after input of stop signal
Model J1-axis J2-axis J3-axis
ARC Mate 100iD, Stopping time [ms] 96 124 124
M-10iD/12 Stopping distance [deg] (rad) 13.5 (0.24) 16.5 (0.29) 14.6 (0.25)
ARC Mate Stopping time [ms] 148 128 148
100iD/10L,
M-10iD/10L Stopping distance [deg] (rad) 21.2 (0.37) 16.8 (0.29) 14.3 (0.25)

Table 1.2.1 (d) Stopping time and distance until the robot stopping
by Smooth stop after input of stop signal
Model J1-axis J2-axis J3-axis
ARC Mate 100iD, Stopping time [ms] 328 344 432
M-10iD/12 Stopping distance [deg] (rad) 30.0 (0.52) 36.8 (0.64) 29.4 (0.51)
ARC Mate Stopping time [ms] 336 288 324
100iD/10L,
M-10iD/10L Stopping distance [deg] (rad) 43.0 (0.75) 36.6 (0.64) 25.8 (0.45)

MV

FH FV

MH
Fig. 1.2.1 (b) Force and moment that acts on J1 base

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1. TRANSPORTATION AND INSTALLATION B-83944EN/02

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.

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-10iD/12 0

[TYPE]ORD NO AUTO MANUAL

4 Press [F4] key.

5 Press the [ENTER] key until screen below is displayed.

*******Group 1 Initialization************
**************M-10iD/12*****************

--- 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.

+
Angle of
設置角度
mounting surface

Fig.1.2.2 Mounting angle

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B-83944EN/02 1. TRANSPORTATION AND INSTALLATION
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-10iD/12 0

[TYPE]ORD NO AUTO MANUAL

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

1.3 MAINTENANCE AREA

Fig. 1.3 shows the maintenance area of the mechanical unit. Be sure to leave enough room for the robot to
be mastered. See Chapter 8 for mastering information.

500 790
Mastering area
マスタリング領域
500

300
300
500

1200
Maintenance
保守スペース area
Fig. 1.3 Maintenance area

1.4 INSTALLATION CONDITIONS

Refer to specification of Section 3.1 about installation conditions.

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2. CONNECTION WITH THE CONTROLLER B-83944EN/02

2 CONNECTION WITH THE CONTROLLER

2.1 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 the robot and controller
with the earth line (ground). Otherwise, there is the risk of electrical shock.

CAUTION
1 Before connecting the cables, be sure to turn off the controller power.
2 Don’t use 10m or longer coiled cable without first untying it. The long coiled
cable could heat up and become damaged.

制御装置
Controller Robot mechanical unit
ロボット機構部

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

Air
エア

Connector
動力線 for
Power line and
信号線ケーブル
Signal
用コネクタ line

Earth
アース端子terminal
(M8 bolt)
(M8ボルト)

Fig. 2.1 Cable connection

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B-83944EN/02 3. BASIC SPECIFICATIONS

3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
J5軸用ACサーボモータ
AC servo motor for J6-axis

J6軸用ACサーボモータ
AC servo motor for J5-axis

エンドエフェクタ
End effector
取付面
mounting face
J3軸用ACサーボモータ
AC servo motor for J3-axis

手首ユニット
Wrist unit J3アーム
J3 arm

J2アーム
J2 arm
J4軸用ACサーボモータ
AC servo motor for J4-axis

J2軸用ACサーボモータ
AC servo motor for J2-axis

J2ベース
J2 base
J1ベース
J1 base

ACJ1軸用ACサーボモータ
servo motor for J1-axis

Fig. 3.1 (a) Mechanical unit configuration

X - +
+ J4
J3
Y J5
J6
- +
- -
Z +
J2 -

+
J1

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

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

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3. BASIC SPECIFICATIONS B-83944EN/02

Table 3.1 (a) Specifications

Item Specification
Model ARC Mate 100iD, M-10iD/12 ARC Mate 100iD/10L, M-10iD/10L
Type Articulated type
Controlled axes 6 axes(J1, J2, J3, J4, J5, J6)
Floor, Upside-down, Wall & Angle mount
Installation
*Floor, Upside-down for 4 brake type
Upper limit 170°(2.97rad) /-170°(-2.97rad)
J1-axis
/Lower limit 185°(3.23rad) /-185°(-3.23rad) (option)
Upper limit
J2-axis 145°(2.53rad)/ -90°(-1.57rad)
/Lower limit
Upper limit
J3-axis 275°(4.80rad)/-180°(-3.14rad)
Motion range /Lower limit
Upper limit
J4-axis 190°(3.31rad)/-190°(-3.31rad)
/Lower limit
Upper limit
J5-axis 180°(3.14rad)/-180°(-3.14rad)
/Lower limit
Upper limit
J6-axis 450°(7.85rad)/-450°(-7.85rad)
/Lower limit
J1-axis 260°/s( 4.54rad/s)
J2-axis 240°/s( 4.19rad/s)
Maximum speed J3-axis 260°/s( 4.54rad/s)
(NOTE 2) J4-axis 430°/s( 7.50rad/s)
J5-axis 450°/s( 7.85rad/s)
J6-axis 720°/s(12.57rad/s)
At wrist 12 kg 10 kg
Maximum load On J3 arm
12 kg 10 kg
(NOTE 3)
J4-axis 26.0 Nxm (2.65 kgfm) 22.0 Nxm (2.24 kgfm)
Allowable load
J5-axis 26.0 Nxm (2.65 kgfm) 22.0 Nxm (2.24 kgfm)
moment at wrist
J6-axis 11.0 Nxm (1.12 kgfm) 9.8 Nxm (1.00 kgfm)
J4-axis 0.90 kgxm2 (9.18 kgfcms2) 0.65 kgxm2 (6.63 kgfcms2)
Allowable load
inertia at wrist
J5-axis 0.90 kgxm2 (9.18 kgfcms2) 0.65 kgxm2 (6.63 kgfcms2)
J6-axis 0.30 kgxm2 (3.06 kgfcms2) 0.17 kgxm2 (1.73 kgfcms2)
Repeatability (NOTE 4) ±0.02 mm ±0.03 mm
Mass 145 kg 150kg
Acoustic noise level 57.4dB (NOTE 5)
Ambient temperature: 0 to 45℃ (NOTE 6)
Ambient humidity: Normally 75%RH or less (No dew or frost allowed)
Installation environment Short time 95%Rh or less (Within 1 month)
Permissible altitude: Above the sea 1000m or less
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (NOTE 7)

NOTE
1 Under the installation condition within ( ), the motion range will be limited. See Section 3.5.
2 During short distance motions, the axis speed may not reach the maximum value stated.
3 Maximum load on J3 arm is influenced by load of wrist. See Section 4.2 for detail.
4 Compliant with ISO9283.
5 This value is equivalent continuous A-weighted sound pressure level, which applied with ISO11201
(EN31201). This value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
6 When the robot is used in a low temperature environment that is near to 0ºC, or not operated for a long time
in the environment that is less than 0ºC (during a holiday or during the night), a 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.
7 Contact the service representative, if the robot is to be used in an environment or a place subjected to
hot/cold temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances.

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B-83944EN/02 3. BASIC SPECIFICATIONS
Table 3.1 (b) The dustproof and waterproof characteristics
Normal specification
Wrist (*) +J3 arm IP67
Other part IP54

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

(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 including chlorine / gasoline
(c) Amine type detergent
(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.

CAUTION
When using 200V single-phase R-30iB Mate Plus controller, be careful to the
following items.
(1) Make sectional area of the primary power cable larger more than 5.5mm2, make
length longer than 7m.
(2) Move error excess alarm (SRVO-024) might occur depending on the move
condition. If it occurred, moderate the move condition.
(3) When this robot is used other than arc welding, examination is necessary
beforehand because move error excess alarm may occur at the time of
high-speed movement at movement time. Please contact your local FANUC
representative for the details.

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3. BASIC SPECIFICATIONS B-83944EN/02

3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND

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

-170 deg
R 1441
(-185 deg)
(0 deg)
(+185 deg)

+170 deg

Operating space of
75 700 75 J5軸中心動作領域
J5-axis rotation
center
195

J5-axis
J5軸回転中心
rotation center
76
°
1816

640

19°
450
800

279

1291 1441

Fig. 3.2 (a) Operating space (ARC Mate 100iD, M-10iD/12)

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B-83944EN/02 3. BASIC SPECIFICATIONS

-170 deg 36
R 16
(-185 deg)

(0 deg)

(+185 deg)

+170 deg

75 900 75

Operating space of
J5軸中心動作領域
J5-axis rotation
center

J5-axis
J5軸回転中心
80 rotation center
°
195
2011

640

2°
10
55°
450
995

1486 1636

Fig. 3.2 (b) Operating space (ARC Mate 100iD/10L, M-10iD/10L)

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3. BASIC SPECIFICATIONS B-83944EN/02

3.3 ZERO POINT POSITION AND MOTION LIMIT

Zero point and motion range are provided for each controlled axis. Exceeding the software motion limit
of a controlled axis is called overtravel (OT). Overtravel is detected at both ends of the motion limit for
each axis. The robot cannot exceed the motion range unless there is a loss of zero point position due to
abnormalities in servo system or system error. In addition, the motion range limit by a mechanical stopper
is also prepared to improve safety.

Fig. 3.3 (a) shows the position of the mechanical stopper. For the J1 to J3-axis, stopping by overtravel
damages the mechanical stopper. If this occurs, replace the stopper with a new one. Don’t reconstruct the
mechanical stopper. There is a possibility that the robot doesn't stop normally.

J3軸機械式ストッパB
J3-axis mechanical stopper B
Spec.: J3軸機械式ストッパA
仕様 J3-axis mechanical stopper A
Bolt : A6-BA-10X16
ボルト : A6-BA-10X16

J2-axis mechanical stopper B

J2軸機械式ストッパB
Spec.:
仕様: A290-7215-X323
Bolt
J2-axis mechanical ボルト : A290-7215-X323
J2軸機械式ストッパA
stopper A
J1-axis mechanical
J1軸機械式ストッパA
stopper A
(機械式ストッパ指定時)
(When J1-axis
mechanical stopper is
specified)

J1-axis mechanical
stopper B
J1軸機械式ストッパB
(When J1-axis mechanical
(機械式ストッパ指定時) 詳細 AA
Detail
stopper is specified)
Spec.:
仕様
ストッパ: :A290-7227-X361
Stopper A290-7227-X361
ボルト
Bolt : A6-BA-8X18
:A6-BA-8X20 (2個)
(2 pcs)
(締め付けトルク
(Tightening torque37.2Nm)
37.2Nm)

Fig. 3.3 (a) Position of mechanical stopper

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B-83944EN/02 3. BASIC SPECIFICATIONS
Fig. 3.3 (b) to 3.3 (h) show the zero point and motion limit 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”.

- 185°

+185v Stroke
+185º ストロークエンド(上限)
end (Upper limit)

0°

-185ºv Stroke
-185 ストロークエンド(下限)
end (Lowper limit)

+ 185°
Fig. 3.3 (b) J1-axis motion limit (When mechanical stopper option is not selected)

+ 170°

-170º
-170 Stroke end (Lower limit)
v ストロークエンド(下限)
+186º
+186v The maximum （位置)
最大停止距離 stopping distance
(position)
16°

0° -186º The maximum stopping distance

-186v 最大停止距離 （位置)
16°

(position)
+170v ストロークエンド(上限)
+170º Stroke end (Upper limit)

+170°
Fig. 3.3 (c) J1-axis motion limit (When mechanical stopper is selected)

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3. BASIC SPECIFICATIONS B-83944EN/02

90
°
1 45°
-90º v ストロークエンド（下限)
-90Stroke end (Lowper limit)

2. 9°
-92.9vThe
-92.9º ストッパエンド(下限)
maximum stopping
distance (position)

+145º Stroke end (Upper limit) 2.9°

+145 v ストロークエンド(上限)
+147.9vThe
+147.9º ストッパエンド(上限)
maximum stopping
distance (position)

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

注)J3軸の位置によって動作範囲に制限を受けます。
Fig. 3.3 (d) J2-axis motion limit

+2
22
°
-
90
°

J2+J3=+222º v
J2+J3=+222
Stroke end (Upper limit)
ストロークエンド(上限)
3°

3°

J2+J3=-90v
J2+J3=-90º
Stroke end (Lower limit)
ストロークエンド(下限) J2+J3=+225v
J2+J3=+225º
最大停止距離(位置)
The maximum stopping distance
(position)
J2+J3=-93º v
J2+J3=-93
The maximum stopping distance
最大停止距離(位置)
(position)
NOTE ) Motion limit is restricted by the position of the J2-axis.
注)J2軸の位置によって動作範囲に制限を受けます。
Fig. 3.3 (e) J3-axis motion limit
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B-83944EN/02 3. BASIC SPECIFICATIONS
Software restrction
ソフトウェアによる制限
0°

+ 190°
- 190°

+190º +190 v ストロークエンド(上限)

Stroke end (Upper limit)
-190º-190
Stroke end (Lower limit)
v ストロークエンド(下限)

NOTE ) There is no注）

mechanical stopper of the J4-axis.
J4軸に機械式ストッパはありません。

Fig. 3.3 (f) J4-axis motion limit

ソフトウェアによる制限
Software restrction

+ 180°

u±180º
180
(Upper
Stroke end
v ストロークエンド（上限、下限)
limit, lower limit)

- 180°

NOTE ) There is no mechanical stopper of the J5-axis.

注） J5軸に機械式ストッパはありません。
Fig. 3.3 (g) J5-axis motion limit

Software restrction
ソフトウェアによる制限

-450° +450°

+450º Stroke end (Upper limit)

+450°ストロークエンド(上限)

-450°ストロークエンド(下限)
-450º Stroke end (Lower limit)

NOTE ) There is no mechanical stopper of the J6-axis.

注） J6軸に機械式ストッパはありません。
Fig. 3.3 (h) J6-axis motion limit

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3. BASIC SPECIFICATIONS B-83944EN/02

3.4 WRIST LOAD CONDITIONS

x Fig. 3.4 (a), (b) are diagrams showing the allowable load that can be applied to the wrist section.
x Apply a load within the region indicated in the graph.
x 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.
x See Section 4.1 about mounting of end effector.

Z(cm)
40
4kg
39.8
35

31.0
30
6kg
25.7
25
8kg

20
19.0
10kg

14.6 15
12kg

10

X,Y(cm)
5 10 15 20 25 30
75 mm

18.7 27.2
14.0
11.2

9.4

Fig. 3.4 (a) Wrist load diagram (ARC Mate 100iD, M-10iD/12)

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B-83944EN/02 3. BASIC SPECIFICATIONS

Z(cm)
40

35
32.7
4kg
30

25.2
25
6kg
20.6
20 8kg

15
14.9 10kg

10

X,Y(cm)
5 10 15 20 25 30
75 mm

20.4
16.4
12.5
10.0

Fig. 3.4 (b) Wrist load diagram (ARC Mate 100iD/10L, M-10iD/10L)

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3. BASIC SPECIFICATIONS B-83944EN/02

3.5 OPERATING AREA FOR INCLINATION INSTALLATION

When the robot is installed on an angle, the operating area is limited to that angle. The robot can’t rest
except for within the ranges that are shown in the Fig. 3.5 (a) to (d).

55°
125°

No restriction
動作領域
制限なし

Fig. 3.5 (a) Installation area (1) operating area (ARC Mate 100iD, M-10iD/12)
(0°≦φ≦55°, 125°≦φ≦180°)

NOTE
In case of a mounted angle (1), there is no operating area restriction.

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B-83944EN/02 3. BASIC SPECIFICATIONS

125°
55°

O
1254
1254

1254

Fig. 3.5 (b) Installation area (2) operating area (ARC Mate 100iD, M-10iD/12)
(55°<φ<125°)

NOTE
Robot can rest or invert in a solid line range. The operation to a dotted line range
becomes possible when not resting and not inverting.

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3. BASIC SPECIFICATIONS B-83944EN/02

52° 128°

動作領域
No restriction

制限なし

Fig. 3.5 (c) Installation area (1) operating area (ARC Mate 100iD/10L, M-10iD/10L)
(0°≦φ≦52°, 128°≦φ≦180°)

NOTE
In case of a mounted angle (1), there is no operating area restriction.

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B-83944EN/02 3. BASIC SPECIFICATIONS

52° 128°

O
1395
1395

1395

Fig. 3.5 (d) Installation area (2) operating area (ARC Mate 100iD/10L, M-10iD/10L)
(52°<φ<128°)

NOTE
Robot can rest or invert in a solid line range. The operation to a dotted line range
becomes possible when not resting and not inverting.

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4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83944EN/02

4 EQUIPMENT INSTALLATION TO THE

ROBOT
CAUTION
Antirust oil is applied on the wrist end effector mounting surface when robot is
shipped. If necessary, remove this oil.

4.1 END EFFECTOR INSTALLATION TO WRIST

Fig. 4.1 shows the figures for installing end effectors on the wrist. Select screws and positioning pins of a
length that matches the depth of the tapped holes and pinholes. See Appendix B “STRENGTH OF BOLT
AND BOLT TORQUE LIST” for tightening torque specifications.

CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length. 75

0
O 71 h7 -0.030 (h7 area5)5)
(h7範囲

2-O4 H7 (+0.030
0 )
22.5°
8-M4 深さ
8-M4 depth77

+0.030
O 57 H7 0 (H7範囲10)
(H7 area 10)

O
64

4
11
R
Fig. 4.1 End effector interface

CAUTION
Do not remove the M4 bolts of shaped area. If they are removed, the robot does
not return to the original state.
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 4. EQUIPMENT INSTALLATION
B-83944EN/02 TO THE ROBOT

4.2 EQUIPMENT MOUNTING FACE

As shown in Fig. 4.2, tapped holes are provided to install equipment to the robot.

CAUTION
1 Never perform additional machining operations such as drilling or tapping on the
robot body. This can seriously affect the safety and functions of the robot.
2 Note that the use of a tapped hole not shown in the following figure is not
assured. Please do not tighten both with the tightening bolts used for mechanical
unit.
3 Equipment should be installed so that mechanical unit cable does not interfere. If
equipment interfere, the mechanical unit cable might be disconnected, and
unexpected troubles might occur.

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4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83944EN/02

W: Mass of the end effector mounting face

W: エンドエフェクタ取付面の質量
A,B,C : Mass of equipment on the J3 casing
A,B,C: J3ケーシング部機器取付面の質量
Make W, A, B and C meet the following requirements.
W,A,B,Cが以下の条件を満たすようにしてください。

20

A+B+C (kg)
15
12
10
5
0 5 10 12 15
63 W (kg)

A
195

50

2-M8
2-M8 深さ12
Depth 12

J4軸回転中心
Rotation center of
J4-axis

126.5 45
8
25 50
4-M8Depth
4-M8 深さ10 10

4-M8Depth
4-M8 深さ10 10
25
40

B
62.5
25

Rotation
J4軸回転中心center of
J4-axis

J3軸回転中心
Rotation center of
J3-axis

2-M8
2-M8 深さ10
Depth 10
301

C 2-M8Depth
2-M8 深さ1212
18 72
75
63

51
25
45°

123.9

Fig. 4.2 Equipment mounting faces

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 4. EQUIPMENT INSTALLATION
B-83944EN/02 TO THE ROBOT

4.3 LOAD SETTING

CAUTION
Set the correct load condition parameter before the robot runs. Do not operate
the robot in over when its payload is exceeded or incorrect. Do not exceed the
allowable payload including connection cables and its swing. Operation in with
the robot over payload may result in troubles such as reducer life reduction.

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 [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 12.00 [ ]
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 No.10 on this screen.
Place the cursor on one of the numbers, and click F3 (DETAIL). The MOTION PAYLOAD SET
screen appears.

MOTION PAYLOAD SET JOINT 10%

Group 1
1 Schedule No[ 1]:[Comment ]
2 PAYLOAD [kg] 12.00
3 PAYLOAD CENTER X [cm] -7.99
4 PAYLOAD CENTER Y [cm] 0.00
5 PAYLOAD CENTER Z [cm] 6.44
6 PAYLOAD INERTIA X [kgfcms^2] 0.13
7 PAYLOAD INERTIA Y [kgfcms^2] 0.14
8 PAYLOAD INERTIA Z [kgfcms^2] 0.07

[TYPE] GROUP NUMBER DEFAULT HELP

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4. EQUIPMENT INSTALLATION
TO THE ROBOT B-83944EN/02

Center of robot X
ロボットの X
end effector mounting face
エンドエフェクタ取付面
中心

y
Z 質量m(kg)
Mass m (kg)

xg (cm)
Iy (kgf・cm・s2 ) Center of
重心
Center of
重心
gravity
gravity

Iz (kgf・cm・s2 )
yg (cm)

Ix (kgf・cm・s2)
zg (cm)

Fig. 4.3 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 Cycle time 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 multi group system, pressing F2 ([GROUP]) will bring you to the MOTION
PAYLOAD SET screen for another group.
8 Press [PREV] key to return to the MOTION PERFORMANCE screen. Click F5 ([SETIND]), and
enter the desired payload setting condition number.
9 On the list screen, pressing F4 ARMLOAD brings you to the equipment-setting screen.

MOTION ARMLOAD SET JOINT 100%

Group 1
1 ARM LOAD AXIS #1 [kg] 0.00
2 ARM LOAD AXIS #3 [kg] 12.00

[ TYPE ] GROUP DEFAULT HELP

10 Specify the mass of the loads on the J2 base and J3 casing. When you enter following parameter,
ARMLOAD AXIS #1[kg] : Mass of the load on the J2 base. (Contact your local FANUC
representative if you install equipments on J2 base.)
ARMLOAD AXIS #3[kg] : Mass of the load on the J3 casing, (wrist side)
the confirmation message “Path and Cycle time will change. Set it?” appears. Select F4 YES or F5
NO. Once the mass of equipment is entered, it is put in effect by turning the power off and on again.

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 5. PIPING AND WIRING TO
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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)
• 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 Treatment method of end effector (hand) cable

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5.1 AIR SUPPLY (OPTION)

Robot has air inlet and air outlet openings on the J1 base and the J3 casing used to supply air pressure to
the end effector. As couplings are not supplied, it will be necessary to prepare couplings, which suit to the
hose size. Please refer to the table below about panel union and inside and outer diameter of air tube.

Spec. of Panel union Panel union Outer, inner and number

Mechanical unit cable (Input side) (Output side) of air tube
A05B-1227-H201#□□
Rc3/8 Outer 6mm
A05B-1227-H205#□□ None
X1 Inner 4mm 1 pc
A05B-1227-H291#12
A05B-1227-H221#□□ Rc3/8 Rc3/8 Outer 6mm
A05B-1227-H222#□□ X1 X1 Inner 4mm 1 pc

Airエアチューブ(出力側)
tube (output side)
panel union 1 pc
パネルユニオンX1
or または
パネルユニオンなし
without panel union

Air tube (inut side)

エアチューブ(入力側)
panel union 1 pc
パネルユニオンX1

Fig. 5.1 Air supply (option)

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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.

エルボーニップル
Elbow nipple
R3/8 R3/8

R3/8
ストレートニップル
Straight nipple
R3/8
R3/8

エアチューブ
Air tube length 3m全長3m 点線内
In dotted line
Outer
外径10mm 10mm Inner 6.5mm
内径6.5mm Air control set (option)
エア3点セット（オプション）
Spec. : A05B-1302-J011
仕様 ： A05B-1302-J011
Fig. 5.2 (a) Air piping (option)

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.
70

64

Air filter Lubricator

Fig. 5.2 (b) Air control set Option

NOTE
The capacity values of the air control set are determined as follows.
These values must not be exceeded.
2
0.49 to 0.69MPa(5 to 7kgf/cm )
Supply air pressure 2
Air pressure Setting: 0.49MPa(5kgf/cm )
3
Amount of consumption Maximum instantaneous amount 150Nl/min (0.15Nm /min)

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5.3 INTERFACE FOR OPTION CABLE (OPTION)

Fig. 5.3 (a) to (e) show the position of the option cable interface. EE (RI/RO), welding power supply
cable, Wire feeder cable, user cable usable to 3D Laser Vision sensor and force sensor, Ethernet cable,
camera cable are prepared as options.

NOTE
Each option cable is written as shown below on the connector panel.
EE(RI/RO) interface : EE
Welding power supply cable interface : W/P
Wire feeder cable interface : W/F
User cable usable to 3D Laser Vision sensor and force sensor : ASi
Ethernet cable : EN
Camera cable : CAM

Position of connector
出口側コネクタの位置
of output side

J1分線盤 panel
J1 connector

Fig. 5.3 (a) Interface for option cable (option)

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(エア入口)
(Air inlet)

EEEEインタフェース
interface (RI/RO x 1)
(RI/RO*1)

(Air(エア出口)
outlet)

J1 connector
J1分線盤 panel
J3 casing
J3ケーシング

Fig. 5.3 (b) Interface for option cable (When A05B-1227-H201#□□, H291#12, are specified)

(Gas inlet)
(ガス入口)

Wire feeder cable

ワイヤ送給装置ケーブル
インタフェース
interface Welding power
溶接電源ケーブル
supply cable
インタフェース
interface

Welding
溶接電源ケーブルpower EE interface
EEインタフェース(RI/RO x 1)
(RI/RO*1)
インタフェース
supply cable
interface (Gas outlet)
(ガス出口)
Wire feeder cable
ワイヤ送給装置ケーブル
インタフェース
J1 connector
J1分線盤panel J3 J3ケーシング
casing interface

Fig. 5.3 (c) Interface for option cable (When A05B-1227-H205#□□ are specified)

(Air inlet)
(エア入口)

(Air outlet)
(エア出口)
EEインタフェース
EE interface (RI/RO*8)
(RI/RO x 8)
J1 connector
J1分線盤 panel J3ケーシング
J3 casing
Fig. 5.3 (d) Interface for option cable (When A05B-1227-H221#□□ are specified)
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(Air inlet)
(エア入口)

Camera cable
カメラケーブルインタフェース
interface

Ethernet cable (signal)

イーサネットケーブル (信号線)
interface
インタフェース

Ethernet cable (signal)

イーサネットケーブル (信号線)
インタフェース
interface
User cable
ユーザケーブル
(Usable to 3DL sensor and
(力センサ・立体センサ
force sensor)
対応信号線) interface ユーザケーブル
インタフェース
User cable
(力センサ・立体センサ
Camera cable
カメラケーブルインタフェース (Usable
対応信号線)toインタフェース
3DL sensor and
interface force sensor) interface
J3 casing
J3ケーシング

(エア出口)
(Air outlet)
EEインタフェース
EE (RI/RO*1) x 8)
interface (RI/RO

J1分線盤 panel
J1 connector
Fig. 5.3 (e) Interface for option cable (When A05B-1227-H222#□□ are specified)

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1 EE interface (RI/RO) (option)
Fig. 5.3 (f) and (g) show the pin layout for the EE interface (RI/RO).

EE interface (RI/RO) (Output)

3 2 1 End
0V XHBK RO1 effector
5 4
24VF RI1

Outside FANUC delivery

scope
XHBK : Hand broken
Controller
Fig. 5.3 (f) Pin layout for EE interface (RI/RO) RI/RO x 1 (option)

EE interface (RI/RO) (Output)

4 3 2 1
RO4 RO3 RO2 RO1
9 8 7 6 5
RI1 0V(A1) XHBK RO6 RO5 End
15 14 13 12 11 10 effector
RI5 XPPABN RI8 RI4 RI3 RI2
20 19 18 17 16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1) RI6
24
RI7
23
0V(A2)
22
RO8
21
RO7
Outside FANUC delivery scope

XHBK : Hand broken

Controller XPPABN : Pneumatic pressure abnormal

Fig. 5.3 (g) Pin layout for EE interface (RI/RO) RI/RO x 8 (option)

CAUTION
To wire the peripheral device to the EE interface, refer to the “ELECTRICAL
CONNECTIONS Chapter of the CONTROLLER MAINTENANCE MANUAL”.

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2 Wire feeder power supply Interface (W/F)(option)

Fig. 5.3 (h) to (j) show the pin layout for the wire feeder power supply interface.

ワイヤサイズ
Wire size ワイヤ送給装置用インタフェース(出力側)
Wire feeder interface (output side)
A,B,C,D 1.25SQ X 2 Pair MS3102A20-27SY
MS3102A20-27SY
I,N 1.25SQ X 1 J A
E,F,G,H,K,L,M 0.2SQ X 1 Drain MP1
I K B エンドEnd
UP1 S5 MP2 effector
H N L C
エフェクタ
S4 UP2 S6 SP1
G M D
S3 S7 SP2
F E
S2 S1

Outside FANUC delivery scope

お客様にてご用意ください。

ワイヤ送給装置用インタフェース(入力側)
Wire feeder interface (input side)
MS3102A20-27PY
MS3102A20-27PY
Wire feeder cable
ワイヤ送給装置ケーブル
A J
MP1 Drain
B K I
MP2 S5 UP1
C L N H
SP1 S6 UP2 S4
Wire size
ワイヤサイズ
D M G A,B,C,D 1.25SQ X 2 Pair
SP2 S7 S3 I,N 1.25SQ X 1
E F E,F,G,H,K,L,M 0.2SQ X 1
S1 S2

Fig. 5.3 (h) Pin layout for LINCOLN wire feeder power supply (W/F) interface (option)
(When A05B-1227-H205#12L, H205#LGL is specified)

ワイヤ送給装置用インタフェース(出力側)
Wire feeder interface (output side)
Wire size
ワイヤサイズ DPC25-10-1H
DPC25-10-1H
6 1.25SQ X 1, 0.2SQ X1
1,2,8,910 1.25SQ X 1
3,4,5,7 0.2SQ X 1 8 9 10 End
エンド
SP1 UP2 UP1
4 5 6 7
エフェクタ
effector
S5 S6 SP2 S1
1 2 3
MP1 MP2 S3

お客様にてご用意ください。
Outside FANUC delivery scope

ワイヤ送給装置用インタフェース(入力側)
Wire feeder interface (input side)
MS3102A20-27PY
MS3102A20-27PY Wire feeder cable
ワイヤ送給装置ケーブル
A J
MP1 Drain
B K I
MP2 S5 UP1
C L N H Wire size
ワイヤサイズ
SP1 S6 UP2 D 1.25SQ X 1, 0.2SQ X1
D M G A,B,C,I,N 1.25SQ X 1
SP2 S3 E,G,K,L 0.2SQ X 1
E F
S1

Fig. 5.3 (i) Pin layout for DAIHEN wire feeder (W/F) power supply interface (option)
(When A05B-1227- H205#12D, H205#LGD is specified)

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ワイヤ送給装置用インタフェース(出力側)
Wire feeder interface (output side)
Wire size
ワイヤサイズ MS3106B18-19S
MS3106B18-19S
A,B,C,E,I,J 1.25SQ X 1
A
D,F,G,H 0.2SQ X 1
SP1
C B End
エンド
G
UP1
F
SP2
E D
エフェクタ
effector
S5 S7 UP2 S1
I H
MP1 S6
J
MP2

Outside FANUC delivery scope

お客様にてご用意ください。

ワイヤ送給装置用インタフェース(入力側)
Wire feeder interface (input side)
MS3102A20-27PY
MS3102A20-27PY
Wire feeder cable
ワイヤ送給装置ケーブル
A J
MP1
B K I
MP2 S5 UP1
C L N H
SP1 S6 UP2 Wire size
ワイヤサイズ
D M G A,B,C,D,I,N 1.25SQ X 1
SP2 S7
E F
E,K,L,M 0.2SQ X 1
S1

Fig. 5.3 (j) Pin layout for FANUC wire feeder (W/F) power supply interface (option)
(When A05B-1227-H205#12H, H205#LGH is specified)

3 User cable (signal line usable to 3D Laser Vision Sensor and Force Sensor) (ASi) Interface (option)
Fig. 5.3 (k) shows pin layout for user cable (signal line usable to 3D Laser Vision Sensor and Force
Sensor) interface.

User cable(signal) interface(output side)

MS3102A20-27SY
J A
S10 S1
I K B End
S9 S11 S2
H N L C
effector
S8 S14 S12 S3 etc.
G M D
S7 S13 S4
F E
S6 S5

Outside FANUC delivery scope

User cable(signal) interface(input side)

MS3102A20-27PY
A J
S1 S10
B K I
S2 S11 S9
C L N H
S3 S12 S14 S8
D
S4
M
S13
G
S7 AS cable
0.2mm×14pcs
2
E F
S5 S6

Outside FANUC delivery scope

Fig. 5.3 (k) Pin layout for user cable
(signal usable to 3D Laser Vision Sensor and Force Sensor) (ASi) interface (option)
(When A05B-1227-H222#12, H222#LG are specified)

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4 Ethernet cable Interface (ES) (option)

Fig. 5.3 (l) shows the pin layout for the Ethernet cable interface.

イーサネットケーブルインタフェース(出力側)
Ethernet cable interface (output side)
FF TYPE Han M12
TYPE Han M124PIN
4PIND-coded
D-coded

2 RX+ 3 TX-
1 TX+ 4 RX-

イーサネットケーブルインタフェース(入力側)
Ethernet cable interface (input side)
FF TYPE
TYPEHanHanM12M12 4PIN
4PIN D-coded
D-coded

2 RX+ 3 TX-
1 TX+ 4 RX-

Fig. 5.3 (l) Pin layout for Ethernet (ES) cable interface (option)
(When A05B-1227-H222#12, H222#LG are specified)

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Connector specifications
Table 5.3 (a) Connector specifications (User side)
Maker/
Cable name Input side (J1 base) Output side (J3 casing)
dealer
JMSP1305M Straight plug
EE
──── (FANUC Spec : A05B-1221-K845)
(RI/RO x 1)
JMLP1305M Angle plug
JMSP2524M Straight plug (Attached) Fujikura.Ltd
EE (FANUC Spec:
────
(RI/RO x 8) A63L-0001-0234#S2524M)
JMLP2524M Angle plug
Straight plug : MS3106B20-27SY (*1) Straight plug : MS3106B20-27PY (*2)
Fujikura.Ltd
Elbow plug : MS3108B20-27SY or a Elbow plug : MS3108B20-27PY or a
compatible product compatible produce
W/F(*1), Japan
Clamp : MS3057-12A (*1) Clamp : MS3057-12A (*2) Aviation
ASi
(FANUC spec. : A05B-1221-K843 (FANUC spec. :A05B-1221-K841 Electronics
Straight plug (*1) and clamp (*1) are Straight plug (*1) and clamp (*1) are Industry, Ltd.
included) included)
Input side
Fujikura.Ltd
Connector
Japan
Straight plug : MS3106B20-27SY (*1)
Aviation
Elbow plug : MS3108B20-27SY
Electronics
or a compatible product DPC25-10A-1H
W/F(*2) Industry, Ltd.
Clamp MS3057-12A (*1) (FANUC spec.: A63L-0101-0074#S)
(FANUC spec. : A05B-1221-K843
Output side
Straight plug (*1) and clamp (*1) are
TOUA
included)
WIRELESS
CO.
Connector
Straight plug : MS3106B20-27SY (*1) Input side
Elbow plug : MS3108B20-27SY Fujikura.Ltd
Receptacle : MS3101A18-19P (*2)
or a compatible product Japan
W/F(*3) or a compatible produce
Clamp MS3057-12A (*1) Aviation
(FANUC spec. : A05B-1221-K843 Clamp MS3057-10A (*2)
Electronics
Straight plug (*1) and clamp (*1) are Industry, Ltd.
included)
Connector Connector
2103 881 1405 2103 881 1405
2103 882 3405 2103 882 3405
Contact Contact HARTING
ES
0967 000 7576 0967 000 7576 K.K.
0967 000 5576 0967 000 5576
0967 000 8576 0967 000 8576
0967 000 3576 0967 000 3576
(Note) The voltage to which the wire feeder connector can be input is a direct current 40V.
(*1) for LINCOLN wire feeder
(*2) for DAIHEN wire feeder
(*3) for FANUC wire feeder

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Table 5.3 (b) Connector specifications (Mechanical unit side·reference)

Maker/
Cable name Input side (J1 base) Output side (J3 casing)
dealer
EE
─── JMWR1305F
(RI/RO x 1)
Fujikura.Ltd
EE
─── JMWR2524F
(RI/RO x 8)
Fujikura.Ltd
Japan Aviation
W/F (*1) MS3102A20-27PY MS3102A20-27SY
Electronics
Industry, Ltd
TOUA
W/F (*2) MS3102A20-27PY DPC25-10C-1H WIRELESS
CO.
Fujikura.Ltd
Japan Aviation
W/F(*3) MS3102A20-27PY MS3106B18-19S
Electronics
Industry, Ltd
Connector 21 03 882 2425 Connector 21 03 882 2425 HARTING
ES
Contact 09 67 000 7476 Contact 09 67 000 7476 K.K
(*1) for LINCOLN wire feeder
(*2) for DAIHEN wire feeder
(*3) for FANUC wire feeder

NOTE
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.

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B-83944EN/02 6. AXIS LIMIT SETUP

6 AXIS LIMIT SETUP

By setting the motion range of each axes, you can change the robot’s motion range from the standard
values. Changing the motion range of the robot is effective under following circumstances:
• Used motion range of the robot is limited.
• There’s an area where tool and peripheral devices interfere with robot.
• The length of cables and hoses attached for application is limited.

The two methods used to prevent the robot from going beyond the necessary motion range.
• Axis limit by DCS (All axes)
• Axis limit adjustable mechanical stopper ((J1-axis) option)

WARNING
1 Changing the motion range of any axis affects the operating range of the robot.
To avoid trouble, carefully consider the 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 when the robot tries to
reach a previously taught position.
2 For J1-axis, use adjustable mechanical stoppers, for J2/J3-axis, use the DCS
function so that damage to peripheral equipment and injuries to human bodies
can be avoided.
3 Mechanical stoppers are physical obstacles. For J1-axis, it is possible to
re-position the adjustable mechanical stoppers. But the robot cannot move
beyond them. For J2, J3-axis, the mechanical stoppers are fixed. For the J4, J5
and J6-axis, only DCS-specified limits are available.
4 Adjustable mechanical stoppers (J1-axis) are damaged in any collision to stop
the robot. Once a stopper is subjected to a collision, it can no longer assure its
original strength and, therefore, might not stop the robot. When this happens,
replace the mechanical stopper 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 J1-axis adjustable mechanical stopper can be obtained.
The robot motion can be restricted at any angle and position if it is in robot motion area. DCS functions
are certified to meet the requirements of International Standard ISO13849-1 and IEC61508 approved by
certificate authority. If only the operating space is set using Joint Position Check, the robot stops after it
goes beyond the workspace. When the motor power is shut down, the robot’s momentum causes it to
move some distance before it completely stops. The actual "Robot Stop Position" will be beyond the
workspace. To stop the robot within the robot workspace, use the DCS Stop Position Prediction function.
The stop position prediction is disabled by default.

x DCS position/speed check function (J567)

As an example, we shows the procedure to set ±30º for J2-axis in here. Refer to Controller Dual check
safety function Operator’s Manual (B-83184EN) for details of other setting, function and DCS stop
position prediction.

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6. AXIS LIMIT SETUP B-83944EN/02

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.

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B-83944EN/02 6. AXIS LIMIT SETUP

WARNING
If only the operating space is set using Joint Position Check, the robot stops
after it goes beyond the workspace. When the motor power is shut down, the
robot’s momentum causes it to move some distance before it completely stops.
The actual "Robot Stop Position" will be beyond the workspace. To stop the
robot within the robot workspace, use the DCS Stop Position Prediction function.
The stop position prediction is disabled by default.

AUTO
DCS JOINT 1%
No. 1 Status:
1 Comment [*********************]
2 Enable/Disable ENABLE
3 Group 1
4 Axis 2
5 Safe side:
Position (deg):
Current: 0.000
6 Upper limit : +30.000
7 Lower limit : -30.000
8 Stop type: Power-off stop

[TYPE] PREV NEXT UNDO

12 Press the [PREV] key two times, back to the first screen.

AUTO
DCS JOINT 1%

1 Joint position check UNSF CHGD

2 Joint speed check:
3 Cart. position check OK
4 Cart. speed check
5 T1 mode speed check
6 User model
7 Tool frame
8 User frame
9 Stop position prediction

[TYPE] APPLY DETAIL UNDO

13 Press the [APPLY].

14 Input 4-digit password, then press the [ENTER] key. (Password default setting is “1111”.)
15 The following screen will be displayed, then press the [OK].

AUTO
DCS JOINT 1%
Verify (diff)
F Number : F0000
VERSION : HandlingTool
$VERSION : V7.7097 9/1/2015
DATE: 17-7-28 19;44
DCS Version: V2. 0. 11

---Joint Position Check-----------------

No. G A Status Comment
1 EBABLE 1 2 CHGD [
2 ENABLE 1 2 ---- [
3 DISABLE 1 2 ---- [
ALL OK QUIT

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6. AXIS LIMIT SETUP B-83944EN/02

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

AUTO
DCS JOINT 1%

1 Joint position check UNSF PEND

2 Joint speed check:
3 Cart. position check OK
4 Cart. speed check
5 T1 mode speed check
6 User model
7 Tool frame
8 User frame
9 Stop position prediction

[TYPE] APPLY DETAIL UNDO

16 Cycle the power of the controller in the cold start mode so the new settings are enabled.

WARNING
You must cycle the power of the controller to enable the new setting. If you fail to
do so, the robot does not work normally and it may injure personnel or damage
the equipment.

6.2 ADJUSTABLE MECHANICAL STOPPER SETTING

(OPTION)
For the J1-axis, it is possible to re-position mechanical stoppers. Change the position of the mechanical
stoppers according to the desired movable range.

Item Movable range

J1-axis adjustable Upper limit Settable in steps of 30° degrees in a range of +20° to +170° degrees
mechanical stopper Lower limit Settable in steps of 30° degrees in the range of -170° to -20° degrees

CAUTION
1 If the newly set operation range does not include 0°, you must change it by zero
degree mastering so that 0º is included.
2 When adjustable mechanical stopper is ordered, mounting bolt is attached.
3 When motion range is changed by movable mechanical stopper, be sure to set
the motion range of soft same refer to Subsection 6.2.2.

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B-83944EN/02 6. AXIS LIMIT SETUP

6.2.1 Installing the Adjustable Mechanical Stopper

J1-AXIS STROKE MODIFICATION
A stroke modification can be performed at an arbitrary position in steps of 30° within the range -170° to
+170°.
Install the adjustable mechanical stopper referring to Fig. 6.2.1 (a), (b).

Fig. 6.2.1 (a) J1-axis stroke modification

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6. AXIS LIMIT SETUP B-83944EN/02

Stopper
ストッパ
A290-7227-X361
A290-7227-X361

Stopper
ストッパ
A290-7227-X361
A290-7227-X361
ボルト
Bolt
A6-BA-8X18(2)
A6-BA-8X18 (2)

+80°
+110° +50°

+140° +20°

±170°

-140° -20°

-110° -50°
-80°

Fig. 6.2.1 (b) Installing of J1 axis adjustable stopper

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B-83944EN/02 6. AXIS LIMIT 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 -180.00 180.00 deg
2 1 -90.00 145.00 deg
3 1 -180.00 267.00 deg
4 1 -190.00 190.00 deg
5 1 -180.00 180.00 deg
6 1 -450.00 450.00 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 J1-axis. 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 JOINT 100%

Group1 1/16
AXIS GROUP LOWER UPPER
2 1 -90.0 145.00 deg

[ TYPE]

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

WARNING
1 You must turn off the controller and then turn it back on 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 J1-axis adjustable mechanical stopper becomes
deformed to absorb energy, so that the robot can stop safely. If the stopper is
deformed by mistake, replace it. The replacing method and ordering parts are
common to J1-axis mechanical stopper. Refer to Section 3.3.
4 Do not depend on parameter settings to control the motion range of your robot.

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7. CHECKS AND MAINTENANCE B-83944EN/02

7 CHECKS AND MAINTENANCE

Optimum performance of the robot can be maintained by performing the checks and maintenance
procedures presented in this chapter. (See the APPENDIX A PERIODIC MAINTENANCE TABLE.)

NOTE
The periodic maintenance procedures described in this chapter assume that the
FANUC robot is used for up to 3840 hours a year. In cases where robot use
exceeds 3840 hours/year, adjust the given maintenance frequencies
accordingly. The ratio of actual operating time/year vs. the 3840 hours/year
should be used to calculate the new (higher) frequencies. For example, when
using the robot 7680 hours a year, the maintenance frequency should be
doubled – i.e. the interval should be divided by 2.

7.1 PERIODIC MAINTENANCE

7.1.1 Daily Checks

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

Check items Check points and management

Check to see if there is oil on the sealed part of each joint. If there is an oil seepage,
Oil seepage clean it.
⇒”7.2.1 Confirmation of Oil Seepage”
(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 that the taught positions of the robot have not deviated from the previously taught
positions. If displacement occurs, perform the measures as described in the following
Positioning accuracy
section:
⇒”9.1 TROUBLESHOOTING”(symptom : Displacement)
Peripheral equipment Check whether the peripheral equipment operate properly according to commands from
for proper operation the robot and the peripheral equipment.
Check that the end effector drops 5 mm or less when the servo power is turned off. If the
end effector (hand) drops more than the prescribed amount, perform the measures as
Brakes for each axis
described in the 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)”

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.1.2 Periodic Checks and Maintenance

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

Check and maintenance

intervals Check and Periodic
(Period, Accumulated Check points, management and
maintenance maintenance
operating time) maintenance method
item table No.
1 3 1 2 3 4
month months year years years years
320h 960h 3840h 7680h 11520h 15360h

○ ○ Cleaning the Confirm the controller ventilation system is not

Only controller dusty. If dust has accumulated, remove it.
19
1st ventilation
check system
○ Check for Check whether the robot has external damage or
external peeling paint due to the interference with the
damage or peripheral equipment. 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 for water Check whether the robot is subjected to water or
cutting oils. If water is found, remove the cause and 2
wipe off the liquid.
○ ○ Check for Check whether the cable connected to the teach
Only damages pendant, operation box and robot are unevenly
1st
to the teach twisted or damaged. If damage is found, replace
pendant cable, the the damaged cables.
check 18
operation box
connection cable
or the robot
connection cable
○ ○ Check for Observe the movable part of the mechanical unit
Only damage to the cable and welding cable, and check for damage.
1st mechanical unit Also, check whether the cables are excessively
3
check cable (movable bent or unevenly twisted.
part) and ⇒”7.2.3 Check the Mechanical Unit Cables
welding cable and Connectors”
○ ○ Check for Check whether the end effector cables are
Only damage to the unevenly twisted or damaged. If damage is found,
4
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.
1st each axis motor ⇒”7.2.3 Check the Mechanical Unit Cables
5
check and other and Connectors”
exposed
connectors
○ ○ Retightening the Retighten the end effector mounting bolts.
Only end effector Refer to the following section for tightening torque
1st mounting bolts information: 6
check ⇒”4.1 END EFFECTOR INSTALLATION TO
WRIST”

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7. CHECKS AND MAINTENANCE B-83944EN/02

Check and maintenance

intervals Check and Periodic
(Period, Accumulated Check points, management and
maintenance maintenance
operating time) maintenance method
item table No.
1 3 1 2 3 4
month months year years years years
320h 960h 3840h 7680h 11520h 15360h

○ ○ Retightening the Retighten the robot installation bolts, bolts to be

Only external main removed for inspection, and bolts exposed to the
1st bolts outside. Refer to the recommended bolt tightening
check torque guidelines at the end of the manual. An
adhesive to prevent bolts from loosening is applied
7
to some bolts. If the bolts are tightened with greater
than the recommended torque, the adhesive might
be removed.
Therefore, follow the recommended bolt tightening
torque guidelines when retightening the bolts.
○ ○ Check the fixed Check that there is no evidence of a collision on the
Only mechanical fixed mechanical stopper, the adjustable mechanical
1st stopper and the stopper, and check that the stopper mounting bolts
8
check adjustable are not loose.
mechanical ⇒”7.2.4 Check of Fixed Mechanical Stopper
stopper and Adjustable Mechanical Stopper”
○ ○ Clean spatters, Check that spatters, sawdust, or dust does not exist
Only sawdust and on the robot main body. If dust has accumulated,
1st dust remove it.
check Especially, clean the robot movable parts well (each
joint, J1 base inside and surroundings, around the
9
welding torch, conduit part, wrist axis hollow part)
Insulation failure might occur when the spatter has
collected around the wrist flange or welding torch,
and there is a possibility of damaging the robot
mechanism by the welding current. (See Appendix C)
○ Replacing the Replace the mechanical unit batteries
mechanical unit ⇒”7.3.1 Replacing the Batteries” 10
batteries
○ Replacing cable Replace the cable of Mechanical unit welding
of Mechanical Contact your local FANUC representative for
17
unit welding information regarding replacing the cable.
power
○ Replacing the Replace the grease and oil of each axis reducer and
grease and oil of gearbox
J2, J3- axis ⇒”7.3.2 Replacing the Grease and Oil of the 11 to 15
reducer and J1. Drive Mechanism”
J4 to J6-axis
gearbox
○ Replacing the Replace the mechanical unit cable
mechanical unit Contact your local FANUC representative for 16
cable information regarding replacing the cable.
○ Replacing the Replace the controller batteries
controller ⇒Chapter 7 Replacing batteries of
batteries R-30iB/R-30iB Plus CONTROLLER
20
MAINTENANCE MANUAL (B-83195EN) or
R-30iB Mate/R-30iB Mate Plus CONTROLLER
MAINTENANCE MANUAL (B-83525EN)”

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.2 CHECK POINTS

7.2.1 Confirmation of Oil Seepage

Check items
Check there is oil on sealed part of each joint parts. If there is oil seepage, clean them.

Oil seal
オイルシール
Oil seal
オイルシール (J6)
(J6)
(J3)
(J3)
F
C E
Detail C
詳細C 詳細F
Detail F
オイルシール
Oil seal
(J5)
(J5)

Oil seal
オイルシール D
(J2) Detail
B (J2)
詳細EE
詳細BB
Detail
オイルシール
Oil seal
Oil seal
オイルシール (J4)
(J4)
(J1)
(J1)

A
詳細D
Detail D
詳細AA
Detail
Fig. 7.2.1 Check parts of oil seepage

Management
x Oil might accumulate on the outside of the seal lip depending on the movement condition or
environment of the axis. If the oil viscosity changes, the oil might drip depending on the axis
movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis
components in Fig. 7.2.1 before you operate the robot.
x In case of oil seepage, please consider replacing the grease and the oil altogether. This replacement
potentially can help improve the seepage situation.
x Also, motors might become hot and the internal pressure of the grease bath or oil bath may increase
by frequent repetitive movement and use in high temperature environments. In these cases, normal
internal can be restored by venting the grease outlet. (When opening the grease outlet of J2 and
J3-axis, refer to Subsection 7.3.2 and ensure that grease is not expelled onto the machine or tooling.
When opening the oil outlet of J1 and J4 to J6-axis, put a oil pan under the oil outlet or place the oil
outlet at the upper side.)

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.
x 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, Oil leakage)
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7. CHECKS AND MAINTENANCE B-83944EN/02

7.2.2 Confirmation of the Air Control Set (option)

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

Item Check items Check points

Check the air pressure using the pressure gauge on the air regulator as shown
1 Air pressure in Fig.7.2.2. If it does not meet the specified pressure of 0.49 to 0.69 MPa (5-7
kgf/cm2), adjust it using the regulator pressure-setting handle.
Check the number of oil drops during operation. If it does not meet the
2 Lubricator oil mist quantity specified value (1 drop/10-20 sec), adjust it using the lubricator control knob.
Under normal usage, the lubricator will be empty in about 10 to 20 days.
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. If the quantity of the drained liquid is significant,
5 Drain
examine the setting of the air dryer on the air supply side.

Lubricator Handle for

Oil inlet lubricator adjustment

Lubricator
oil drop amount
check

Lubricator

Regulator Pressure gauge

Filter
pressure
setting

Fig. 7.2.2 Air control set (option)

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.2.3 Check the Mechanical Unit Cables and Connectors

Inspection points of the mechanical unit cables and welding cables
Check the cables for visible damage that has been exposed. Closely inspect movable parts.
Clean any spatter that might be found.

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

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7. CHECKS AND MAINTENANCE B-83944EN/02

Inspection points of the connectors

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

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

Fig. 7.2.3 (b) Connector Inspection points

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.2.4 Check of Fixed Mechanical Stopper and Adjustable

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

J3軸機械式ストッパB
J3-axis mechanical stopper B
Spec.: J3軸機械式ストッパA
仕様 J3-axis mechanical stopper A
Bolt : A6-BA-10X16
ボルト : A6-BA-10X16

J2-axis mechanical stopper B

J2軸機械式ストッパB
Spec.:
仕様: A290-7215-X323
Bolt
J2-axis mechanical ボルト : A290-7215-X323
J2軸機械式ストッパA
stopper A
J1-axis mechanical
J1軸機械式ストッパA
stopper A
(機械式ストッパ指定時)
(When J1-axis
mechanical stopper is
specified)

J1-axis mechanical
stopper B
J1軸機械式ストッパB
(When J1-axis mechanical
(機械式ストッパ指定時) 詳細 AA
Detail
stopper is specified)
Spec.:
仕様
ストッパ: :A290-7227-X361
Stopper A290-7227-X361
ボルト
Bolt : A6-BA-8X18
:A6-BA-8X20 (2個)
(2 pcs)
(締め付けトルク
(Tightening torque37.2Nm)
37.2Nm)

Fig. 7.2.4 Check of fixed mechanical stopper and adjustable mechanical stopper

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7. CHECKS AND MAINTENANCE B-83944EN/02

7.3 MAINTENANCE

7.3.1 Replacing the Batteries (1 year (3840 hours) checks)

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

Procedure for replacing the battery

1 Press the EMERGENCY STOP button to prohibit the robot motion.

CAUTION
Be sure to keep controller power turned 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) If it cannot be removed, tap it on its side with a plastic
hammer to loosen the cap before you remove it.
3 Take out the old batteries from the battery case. At this time, the battery can be taken out by pulling
the stick in the center of the battery box.
4 Insert new batteries into the battery case. Pay attention to the direction of the batteries.
5 Close the battery case cap.

この棒を引っ張ると
Battery can be taken out
by pulling this stick
バッテリが取り出せます。

Case cap
ケースキャップ
バッテリケース
Battery case
バッテリ仕様:A98L-0031-0027
Battery spec. :A98L-0031-0027
(単二アルカリ電池
(C battery 4 pcs) 4本)
Fig. 7.3.1 Replacing the battery

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.3.2 Replacing the Grease and Oil of the Drive Mechanism

(3 years (11520 hours) checks)
According to below, replace the grease and the oil of the reducers of J2 and J3-axes and the J1,
J4/J5/J6-axis gearbox at the intervals based on every 3 years or 11520 hours, whichever comes first.

天吊設置の
Upside-down 場合
mount

+90°壁 掛け
+90º 設mount
wall 置の場合 -90°-90º
壁掛 wall mount
け設置の場合
Fig. 7.3.2 Installation method

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7. CHECKS AND MAINTENANCE B-83944EN/02

7.3.2.1 Grease replacement procedure for the reducer (J2/J3-axis)

CAUTION
Failure to supply grease correctly may cause an increase of the internal
pressure of the grease bath. Such pressure increase will then damage the seal,
which in turn leads to grease leakage and abnormal robot operation.
When performing greasing, therefore, observe the following precautions.
1 Before starting to grease, remove the seal bolt of the grease outlet to allow the
grease to come out.
2 Supply grease slowly, using a manual pump. (once per two seconds)
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 (see Table 7.3.2.1 (a)).
4 Use grease only of the specified type. Grease of a type other than that specified
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 7.3.2.2, and then close the grease outlet.
6 To prevent slipping accidents and catching fire, completely remove any excess
grease from the floor or robot.

Table 7.3.2.1 (a) Grease name and amount to be replaced at regular intervals of three years (11520 hours)
Amount of grease to be
Greasing points applied Gun tip pressure Specified grease
Kyodo Yushi
J2-axis reducer 250ｇ(280ml)
VIGOGREASE RE0
0.1MPa or less (NOTE)
(Specification:
J3-axis reducer 200ｇ(220ml)
A98L-0040-0174)

NOTE
When a manual pump is used for greasing, the standard rate is one pumping
cycles per two 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 Postures indicated below.

Consider relative angle of from posture of floor mount when robot is angle mount.
Table 7.3.2.1 (b) Grease supplying posture (J2/J3-axis reducer)
Posture
Grease supplying position
J1 J2 J3 J4 J5 J6
Floor mount 0°
J2-axis reducer Upside-down
-90°
grease supplying mount Arbitrary
posture Wall mount -90º 90°
Wall mount +90º -90°
Arbitrary Arbitrary Arbitrary Arbitrary
Floor mount 0° 0°
J3-axis reducer Upside-down
0° 180°
grease supplying mount
posture Wall mount -90º 0° 0°
Wall mount +90º 0° 0°
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B-83944EN/02 7. CHECKS AND MAINTENANCE
1 Move the robot to the greasing Posture described in Table.7.3.2.1 (b).
2 Turn off controller power.
3 Remove the bolt and the seal washer from grease outlet. (Fig.7.3.2.1)
4 Remove the bolt and the seal washer from grease inlet and attach grease nipple.
5 Keep greasing until the new grease pushes out the old grease and comes out from each grease outlet.
6 Release remaining pressure using the procedure given in Subsection 7.3.2.2.

J3軸減速機給脂口
J3-axis reducer grease inlet
ボルトM6X10
Bolt M6 x10 & +seal
シールワッシャ
washer

J3-axis reducer grease outlet

J3軸減速機排脂口
Bolt M6 x10 & seal
ボルトM6X10 washer
+ シールワッシャ

J2-axis reducer grease inlet

J2軸減速機給脂口
ボルトM6X10
Bolt M6 x10 &+seal
シールワッシャ
washer

J2-axis reducer grease outlet

J2軸減速機排脂口
Bolt M6 x10 &+seal
ボルトM6X10 washer
シールワッシャ

Fig. 7.3.2.1 Greasing point of J2/J3-axis reducer

Table 7.3.2.1 (c) Specification of taper plug and seal washer

Parts name Specification
taper plug (R1/8) A97L-0001-0436#1-1D
seal washer (M6) A30L-0001-0048#6M

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7. CHECKS AND MAINTENANCE B-83944EN/02

7.3.2.2 Procedure for releasing remaining pressure from the grease

bath (J2/J3-axis)
After applying grease, operate the robot more than 10 minutes as instructed below with the taper plug and
seal bolt of the grease inlet and outlet uncapped to release the remaining pressure within the grease bath.
Attach a recovery bag below the grease inlet and outlet to prevent output grease from splattering.

Operating axis

Grease J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis

replacement part
Axis angle of
J2-axis reducer Arbitrary 60° or more Arbitrary
OVR 100%
Axis angle of
J3-axis reducer Arbitrary 60° or more Arbitrary
OVR 100%

If the above operation cannot be performed due to the environment of the robot, prolong the operating
time so that an equivalent operation can be performed. (When the maximum allowable axis angle is 30
degrees, perform the twice operation for 20 minutes or more.) If you grease multiple axes, you can
exercise multiple axes at the same time. After completion of the operation, attach the taper plug and seal
bolts to the grease inlets and outlets. When reusing the seal bolts, be sure to seal them with seal tape.

After replacing grease or oil, the internal pressure of the grease bath or oil bath may rise if the robot is
operated again under frequent inversion movement or a high temperature environment. In these cases,
you can return to normal internal pressure by releasing the grease outlet or oil outlet just after robot
operation. (When opening grease outlet or oil outlet, be sure that grease or oil is not spattered.)

7.3.2.3 Oil replacement procedure for the J1-axis gearbox

CAUTION
1 There is severe risk of gear damage in case robot is operated with oil shortage.
Please make sure the gearbox is always filled with correct amount of oil.
2 Failure to supply oil correctly may cause damage to the seal, which would in turn
lead to oil leakage and abnormal operation. When performing oiling, therefore,
observe the following cautions.
(1) Use specified oil. Use of non-approved oil may damage the reducer or lead to
other problems.
(2) After oiling, release remaining pressure from the grease bath using the
procedure given in Subsection 7.3.2.6, and then close the grease outlet.
(3) To prevent slipping accidents and catching fire, completely remove any
excess oil from the floor or robot.

Table 7.3.2.3 (a) Oil name and amount of oiling of standard to be replaced at regular intervals of three years
(11520 hours)
Amount of oil to be
Oiling points Gun tip pressure Specified oil
applied NOTE)
JXTG Nippon Oil & Energy
Corporation
J1-axis gearbox 1620ｇ(1900ml) 0.1MPa or less BONNOC AX68
(Specification:
A98L-0040-0233)
NOTE) It is not a regulated amount injection.

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B-83944EN/02 7. CHECKS AND MAINTENANCE
For oil replacement or replenishment, use the arbitrary postures.

J1軸ギヤボックス空気抜き穴
J1-axis gearbox
テーパプラグ R1/8 hole
ventilator
taper plug R1/8

J1-axis gearbox oil inlet & outlet

J1軸ギヤボックス給油口/排油口
テーパプラグ
taper R1/8
plug R1/8
J1-axis gearbox
J1軸ギヤボックス空気抜き穴
ventilator hole
テーパプラグ
taper plug R1/8R1/8 J1-axis gearbox
J1軸ギヤボックス空気抜き穴
ventilator hole
テーパプラグ R1/8
taper plug R1/8

Upside-down
天吊り設置の mount
場合

J1-axis gearbox oil inlet & outlet

J1軸ギヤボックス給油口/排油口
taper plug R1/8
テーパプラグ R1/8

J1-axis gearbox
J1軸ギヤボックス空気抜き穴
ventilator hole
テーパプラグ
taper R1/8
plug R1/8

J1軸ギヤボックス給油口/排油口
J1-axis gearbox oil inlet & outlet
テーパプラグ
taper plug R1/8R1/8 J1軸ギヤボックス排油口
J1-axis gearbox oil outlet
テーパプラグ
taper plug R1/8R1/8
J1軸ギヤボックス排油口
J1-axis gearbox oil outlet
テーパプラグ
taper R1/8
plug R1/8
-90°壁 掛けwall
-90º 設置 の場合
mount
+90°壁掛けwall
+90º 設置mount
の場合

J1-axis gearbox oil inlet & outlet

J1軸ギヤボックス給油口/排油口
taper plug R1/4 R1/8
テーパプラグ
Floor
床置mount
き設置の場合
Fig. 7.3.2.3 (a) Greasing point of J1-axis gearbox

Table 7.3.2.3 (b) Specification of taper plugs

Parts name Specification
taper plug (R1/8) A97L-0001-0436#2-1D

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7. CHECKS AND MAINTENANCE B-83944EN/02

Exhausting oil method

1 Turn off controller power.
2 Put the oil pan under the oil outlet. Then remove the plug or the seal bolt of the oil inlet/outlet and
ventilator hole, and discharge the oil.

Oiling method
Supply oil according to the description below.

1 Install oil injection nipple with a valve (A05B-1224-K006) to oil inlet.

2 Install the oil tray with a valve (A05B-1227-K007) to the J1-axis gearbox ventilator hole.
3 Confirm the valve is open, according to Fig.7.3.2.3 (b), supply oil by using oil injection gun
(A05B-1221-K005). In this time, install adapter for keeping of oiling posture. (It is appendix of
A05B-1224-K006). If oil comes out to oil tray from ventilator hole, stop supplying oil, close the
valve of the oil injection nipple, then remove the oil gun.
4 Attach seal bolt to the ventilator hole. Replace seal bolt by new one. When reusing it, be sure to
wind it with seal tape.
5 Remove the oil injection nipple, attach the taper plug to oil inlet.
In this time, oil may drop. Set the oil pan under it and attach the seal bolts immediately.
Replace the taper plug by new one. When reusing it, be sure to wind it with seal tape.
6 Release the remaining pressure using the procedure given in Subsection 7.3.2.6.

Adapter for holding oiling posture

給油姿勢保持アダプタ
(Appendix of A05B-1224-K006)
（A05B-1224-K006に添付）
Oil tray with a valve
バルブ付オイル受け皿
A05B-1227-K007
A05B-1227-K007
Oil injection nipple with a valve
バルブ付オイル注入ニップル
A05B-1224-K006
A05B-1224-K006

Oil オイル注入ガン
injection gun
A05B-1221-K005
A05B-1221-K005

Fig. 7.3.2.3 (b) Oil injection by oil gun (oiling of J1-axis gearbox)

CAUTION
If supplying oil forcibly when valve is closed, internal pressure of oil bath rise
abnormally and cause oil leak from seal part or oil seal falling out. Be careful.

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.3.2.4 Oil replacement procedure for the J4-axis gearbox

CAUTION
1 There is severe risk of gear damage in case robot is operated with oil shortage.
Please make sure the gearbox is always filled with correct amount of oil.
2 Failure to supply oil correctly may cause damage to the seal, which would in turn
lead to oil leakage and abnormal operation. When performing oiling, therefore,
observe the following cautions.
(1) Use specified oil. Use of non-approved oil may damage the reducer or lead to
other problems.
(2) After oiling, release remaining pressure from the grease bath using the
procedure given in Subsection 7.3.2.6, and then close the grease outlet.
(3) To prevent slipping accidents and catching fire, completely remove any
excess oil from the floor or robot.

Table 7.3.2.4 (a) Oil name and amount of oiling of standard to be replaced
at regular intervals of three years (11520 hours)
Amount of oil to be
Oiling points Gun tip pressure Specified oil
applied NOTE)
JXTG Nippon Oil & Energy
Corporation
J4-axis gearbox 670ｇ(790ml) 0.1MPa or less BONNOC AX68
(Specification:
A98L-0040-0233)
NOTE) It is not a regulated amount injection.

For oil replacement or replenishment, use the Postures indicated below.

Consider relative angle of from posture of floor mount when robot is angle mount.

Table 7.3.2.4 (b) Oiling posture (J4-axis gearbox)

Posture
Supply position
J1 J2 J3 J4 J5 J6
Floor mount 0°
Arbitrary
Upside-down mount 180°
J4-axis gearbox Arbitrary Arbitrary Arbitrary Arbitrary
Wall mount -90° -90°
0°
Wall mount +90° 90°

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7. CHECKS AND MAINTENANCE B-83944EN/02

J4-axis gearbox ventilator hole

J4軸ギヤボックス空気抜き穴
taperテーパプラグ
plug R1/8 R1/8

J4-axis gearbox oil inlet & outlet

J4軸ギヤボックス給排油口
taper plug R1/8
テーパプラグ R1/8

Fig. 7.3.2.4 (a) Greasing point of J4-axis gearbox

Table 7.3.2.4 (c) Specification of taper plugs

Parts name Specification
taper plug (R1/8) A97L-0001-0436#1-1D

Exhausting oil method

1 Move the robot to the oil discharge Posture for J4-axis gearbox described in Table 7.3.2.4 (b).
2 Turn off controller power.
3 Put the oil pan under the oil outlet. Then remove the plug or the seal bolt of the oil inlet/outlet and
ventilator hole, and discharge the oil. (See Fig. 7.3.2.4 (b).)

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B-83944EN/02 7. CHECKS AND MAINTENANCE

Oiling method
Supply oil according to the description below.

1 Install oil injection nipple with a valve (A05B-1224-K006) to oil inlet.

2 Install the oil tray with a valve (A05B-1227-K007) to the J1-axis gearbox ventilator hole.
3 Confirm the valve is open, according to Fig. 7.3.2.4 (b), supply oil by using oil injection gun
(A05B-1221-K005). In this time, install adapter for keeping of oiling posture. (It is appendix of
A05B-1224-K006). If oil comes out to oil tray from ventilator hole, stop supplying oil, close the
valve of the oil injection nipple, then remove the oil gun.
4 Attach seal bolt to the ventilator hole. Replace seal bolt by new one. When reusing taper plugs, be
sure to wind it with seal tape.
5 Remove the oil injection nipple, attach the taper plug to oil inlet.
In this time, oil may drop. Set the oil pan under it and attach the seal bolts immediately.
Replace the taper plug by new one. When reusing taper plugs, be sure to wind it with seal tape.
6 Release the remaining pressure using the procedure given in Subsection 7.3.2.6.

CAUTION
If supplying oil forcibly when valve is closed, internal pressure of oil bath rise
abnormally and cause oil leak from seal part or oil seal falling out. Be careful.

Oil tray with a valve

バルブ付オイル受け皿
A05B-1227-K007
A05B-1227-K007

Oil injection gun

オイル注入ガン
A05B-1221-K005
A05B-1221-K005

Oil injection nipple with a valve

バルブ付オイル注入ニップル
A05B-1224-K006
A05B-1224-K006

Adapter for holding oiling posture

給油姿勢保持アダプタ
(Appendix of A05B-1224-K006)
（A05B-1224-K006に添付）

White白線
line

Valve is open Valve is closed

バルブが開いた状態 バルブが閉じた状態

Fig. 7.3.2.4 (b) Oil injection by oil gun (oiling of J4-axis gearbox)

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7. CHECKS AND MAINTENANCE B-83944EN/02

7.3.2.5 Oil replacement procedure for the J5/J6- axis gearbox

CAUTION
1 There is severe risk of gear damage in case robot is operated with oil shortage.
Please make sure the gearbox is always filled with correct amount of oil.
2 Failure to supply oil correctly may cause damage to the seal, which would in turn
lead to oil leakage and abnormal operation. When performing oiling, therefore,
observe the following cautions.
(1) Use specified oil. Use of non-approved oil may damage the reducer or lead to
other problems.
(2) After oiling, release remaining pressure from the grease bath using the
procedure given in Subsection 7.3.2.6, and then close the grease outlet.
(3) To prevent slipping accidents and catching fire, completely remove any
excess oil from the floor or robot.

Table 7.3.2.5 (a) Oil name and amount of oiling of standard to be replaced
at regular intervals of three years (11520 hours)
Amount of oil to be applied
Gun tip
Oiling points (total capacity of the oil bath) Specified oil
pressure
NOTE)
JXTG Nippon Oil & Energy Corporation
J5/J6-axis
280g (330ml) 0.1MPa or less BONNOC AX68
gearbox
(Specification: A98L-0040-0233)
NOTE) It is not a regulated amount injection.

For oil replacement or replenishment, use the Postures indicated below.

Consider relative angle of from posture of floor mount when robot is angle mount.

Table 7.3.2.5 (b) Oiling posture (J5/J6-axis gearbox)

Posture
Oiling points
J1 J2 J3 J4 J5 J6
Floor mount 0° 0°
Upside-down Arbitrary
J5/J6-axis 0° 180°
mount 0° Arbitrary
gearbox
Wall mount -90° 90° 0°
0°
Wall mount +90° 90° 180°
Arbitrary
J5/J6-axis Floor mount 20° to 90° -90°
gearbox Upside-down Arbitrary
-20° to -90° -90°
releasing mount Arbitrary Arbitrary
remaining Wall mount -90° 0° to 70° 90°
0°
pressure Wall mount +90° 110° to 180° -90°
(NOTE) Choose the one of the posture taken easily when there is two or more posture.

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B-83944EN/02 7. CHECKS AND MAINTENANCE

Exhausting oil method

1 Move the robot to the posture for oil replacing described in Table 7.3.2.5 (b).
2 Turn off controller power.
3 Put the oil pan under the oil outlet.
4 Remove two bolts and washer of oil outlet. Then remove the taper plug of the oil inlet See
Fig.7.3.2.5 (a) In this time, if you remove bolt of oil inlet firstly, you can prevent spilling oil on
surroundings.
5 Install the bolt and the seal washer to the oil outlet (lower side) after all oil is exhausted.

J5/J6-axis gearbox oil outlet

J5/J6軸ギヤボックス排油口 (upper side)
(上側)
ボルトM6X8
Bolt M6 x8 &+ seal
シールワッシャ
washer

J5/J6-axis gearbox oil outlet

J5/J6軸ギヤボックス排油口 (lower side)
(下側)
Bolt M6 x8 &+ seal
ボルトM6X8 washer
シールワッシャ

J5/J6-axis gearbox oil inlet

J5/J6軸ギヤボックス給油口
テーパプラグR1/8
taper plug R1/8

Fig. 7.3.2.5 (a) Oil inlet and outlet

Table 7.3.2.5 (c) Specification of seal washer and taper plug

Parts name Specification
Seal washer (M6) A30L-0001-0048#6M
Taper plug (R1/8) A97L-0001-0436#1-1D

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7. CHECKS AND MAINTENANCE B-83944EN/02

Injecting oil method

(1) Install oil injection nipple with valve (A05B-1224-K006) to oil inlet (Fig.7.3.2.5 (c)) referring to
Fig.7.3.2.5 (b).
(2) Confirm valve of oil inlet and oil outlet are open referring to Fig.7.3.2.5 (b). Supply oil to J5/J6-axis
gearbox by oil injection gun (A05B-1221-K005). If oil comes out in oil tray from oil outlet (upper
side), stop supplying oil, close the valve oil injection nipple, and remove oil gun
(3) Attach the bolt and the seal washer to oil outlet (upper side).
(4) Remove the oil injection nipple with a valve, attach the taper plug to the oil inlet. In this time, oil
may drop. Set a oil pan under the oil inlet and attach the taper plug immediately. Replace the taper
plug with a new one. When reusing it, wind it with seal tape.
(5) Release the remaining pressure using the procedure given in Subsection 7.3.2.6.

CAUTION
If supplying oil forcibly when valve is closed, internal pressure of oil bath rise
abnormally and cause oil leak from seal part or oil seal falling out. Be careful.

Oil injection nipple with a valve

バルブ付オイル注入ニップル
A05B-1224-K006
A05B-1224-K006

Oil injection gun

オイル注入ガン
A05B-1221-K005
A05B-1221-K005

白線
White line

Valve is open
バルブが開いた状態 Valve is closed
バルブが閉じた状態

Fig. 7.3.2.5 (b) Oil injection by oil gun

Fig. 7.3.2.5 (c) Oil injection nipple with valve (A05B-1224-K006)

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B-83944EN/02 7. CHECKS AND MAINTENANCE

7.3.2.6 Procedure for Releasing remaining pressure from the Oil

bath (J1/J4/J5/J6-axis)
After replacing oil, please do the following operation to adjust the amount of oil properly.

In case of J1-axis gearbox

Operate robot J1 axis during 10 minutes, at 100% override, making 90 degrees motion (or more). Keep
the taper plug attached during this operation. Remaining pressure release at once if the ventilator hole is
opened. After operation, wipe the oil that adheres to the surface of the robot off when confirming it and
close the oil inlet/outlet completely.

In case of J4-axis gearbox

If confirmed then please operate robot J4 axis during 10 minutes, at 100% override, making 90 degrees
motion (or more). Keep the taper plugs attached during this operation. When completed, move the robot
posture so that J4-gearbox oil outlet is right above. (In case of floor mount, J3=0°.) Remaining pressure
release at once if oil inlet/outlet is opened. After operation, wipe the oil that adheres to the surface of the
robot off when confirming it and close the oil inlet/outlet completely.

In case of J5/J6-axis gearbox

Move the robot to posture for releasing the remaining pressure. Operate robot J5 and J6 axis during 10
minutes, at 100% override, making 90 degrees motion (or more) on both axis. When completed, move the
robot posture so that the oil outlets is right above. (In case of floor mount, J3=0° and J4=-90º.)
Remaining pressure release at once if one of oil outlet is opened. (Be careful that oil is not spattered when
opening the oil outlet.)
Wipe the oil that adheres to the surface of the robot off when confirming it and tighten bolts of oil inlet
completely.
If the above operation cannot be performed due to the environment of the robot, prolong the operating
time so that an equivalent operation can be performed. (When the maximum allowable axis angle is 45
degrees, perform the twice operation for 20 minutes or more.) After completion of the operation, attach
the taper plug to the oil inlets. When you supply grease or oil to plural axes, you can run the plural axes at
the same time.

After replacing grease or oil, the internal pressure of the grease bath or oil bath may rise if the robot is
operated again under frequent inversion movement or a high temperature environment. In these cases,
you can return to normal internal pressure by releasing the grease outlet or oil outlet just after robot
operation. (When opening grease outlet or oil outlet, be sure that grease or oil is not spattered.)

CAUTION
When reusing seal bolt and taper plug, be sure to seal the thread part with seal
tape.
As for the seal washer, In one side, rubber sticks to the entire and the other side,
rubber sticks to only around hole and rubber sticks is incomplete state, Attach
later face to bolt side. Confirm seal washer by viewing. If it is damaged
obviously, replace it by new one.
See Table 7.3.2.5 (c) about specification of seal bolts and seal washer.

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

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8. MASTERING B-83944EN/02

8 MASTERING
Mastering associates the angle of each robot axis with the pulse count value supplied from the absolute
Pulsecoder connected to the corresponding axis motor. To be specific, mastering is an operation for
obtaining the pulse count value; corresponding to the zero position.

CAUTION
1 In case of ARC Mate 100iD, M-10iD series, mastering is performed with gravity
compensation function enabled in our factory before shipment. Please refer to
Chapter 11 of Controller optional function operator’s manual (B-83284EN-2) for
details of the gravity compensation function.
2 In case of performing mastering with gravity compensation 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:
x Motor replacement.
x Pulsecoder replacement
x Reducer replacement
x Cable replacement
x Batteries for pulse count backup in the mechanical unit have gone dead

CAUTION
Robot data (including mastering data) and Pulsecoder data are backed up by
their respective backup batteries. Data will be lost if the batteries die. Replace
the batteries in the controller and mechanical units periodically. An alarm will
alert you when battery voltage is low.

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B-83944EN/02 8. MASTERING

Types of Mastering
There are following mastering methods.

Table 8.1 Type of mastering

Fixture position
Mastering performed with the mastering fixture before shipping.
mastering
Zero-position mastering Mastering which performed with all axes set at the 0-degree position. A zero-position
(witness mark mark (witness mark) is attached to each robot axis. This mastering is performed with all
mastering) axes aligned to their respective witness marks.
This is performed at a user-specified position. The corresponding count value is
obtained from the rotation count of the Pulsecoder connected to the relevant motor and
Quick mastering
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 value is obtained from the rotation count of the Pulsecoder connected to the relevant
single axis motor and the rotation angle within one rotation. Quick mastering uses the fact that the
absolute value of a rotation angle within one rotation will not be lost.
Mastering which performed for one axis at a time. The mastering position for each axis
Single axis mastering
can be specified by the user. Useful in performing mastering on a specific axis.
Mastering data entry Enter the Mastering data directly.

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.

This section describes zero-position mastering, quick mastering, single-axis mastering, and mastering data
entry. For more detailed mastering (fixture position mastering), contact your local FANUC
representative.

CAUTION
1 If mastering is performed incorrectly, the robot may behave unexpectedly. This is
very dangerous. For this reason, the Master/Cal screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5, ([DONE]) on the Master/Cal screen. The $MASTER_ENB
system variable is then reset to 0 automatically, and the Master/Cal screen will
disappear.
2 Before performing mastering, it is recommended that you back up the current
mastering data.
3 When the motion range is mechanically 360 degrees or more, if J1/J4 axis to
which the cables are connected is turned one turn beyond the correct mastering
position, the cables in the mechanical unit will be damaged. If the correct rotation
position is not clear because the axis is moved too much during mastering,
remove the connector panel or cover, check the state of the internal cables, and
perform mastering in the correct position. For the checking procedure, see Fig.
8.1 (a) and (b).

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8. MASTERING B-83944EN/02

J1=0vの時
Check that the cables are
ケーブルが捻れていないか
not twisted
確認してください with the
J1-axis placed in 0º

J1 connector panel
J1分線盤

ボルト
Bolt
M6X10 (4)
M6 x10 (4)

Fig. 8.1 (a) Confirming the state of cable (J1-axis)

Gasket (*)
ガスケット(*)
A290-7227-X441
A290-7227-X441
Gasket cannot be reused.
(*)ガスケットは再利用できません。
プレートを外した際はガスケット
Replace it when removing the plate.
を新品に交換してください。
Check that the cables are プレート Bolt
Plate ボルト
J4=0
not vの時 with the
twisted M6 x16
M6X16 (7) (7)
ケーブルが4周巻いてある tightening torque
J4-axis placed in 0º 締付けトルク 4.5Nm 4.5Nm
状態か確認してください
ロックタイト243塗布
Apply LOCTITE 243

Fig. 8.1 (b) Confirming the state of cable (J4-axis)

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B-83944EN/02 8. MASTERING

8.2 RESETTING ALARMS AND PREPARING FOR

MASTERING
Before performing mastering because a motor is replaced, you must 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 steps 1 to 6.
1 Press the [MENU] key to display the screen menu.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 [TYPE], and select [SYSTEM Variable] from the menu.
4 Place the cursor on $MASTER_ENB, then key in [1] and press [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 to display the screen menu.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 [TYPE], and select [Master/Cal] from the menu.
4 Press the F3 [RES_PCA], then press F4 [YES].
5 Turn off the controller power and on again.

3 To reset the "SRVO-075 Pulse not established " alarm, follow steps 1 to 2.
1 When the controller power is turned on again, 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 [FAULT RESET].

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8. MASTERING B-83944EN/02

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). 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. It cannot be so accurate. It should be used only as a
quick-fix method.

Procedure of Zero-position Mastering

1 Press the [MENU] key to display the screen menu.
2 Select [0 NEXT] and press [6 SYSTEM].
3 Press F1 [TYPE]. Then select [Variables] from the menu.
4 If $DMR_GRP[group].$GRAV_MAST=1, set the gravity compensation to enabled, if it is 0, set the
gravity compensation to disabled. In addition release the brake control.

NOTE
Gravity compensation can be set to enabled/disabled by setting the system
variables as follows:
$PARAM_GROUP[group].$SV_DMY_LNK[8] : FALSE(disabled) or TRUE
(enabled)
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(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].
8 Select [Master/Cal].

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

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B-83944EN/02 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. Turning on the power always causes
positioning to be performed.

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 original setting, and cycle power of the controller.

Table 8.3 Posture with position marks (witness mark) aligned

Axis Position
J1-axis 0 deg
J2-axis 0 deg
J3-axis 0 deg (NOTE) When J2-axis is 0 deg.
J4-axis 0 deg
J5-axis 0 deg
J6-axis 0 deg

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8. MASTERING B-83944EN/02

Scribe mark (J5)

ケガキ線(J5)

ケガキ線(J4)
Scribe mark (J4)

A A

断面
Section A-A
A-A
ケガキ線(J3)
Scribe mark (J3)

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

Scribeケガキ線(J1)
mark (J1)

断面
Section B-B
B-B

ケガキ線(J2)
Scribe mark (J2)
ケガキ線(J1)
Scribe mark (J1)

B B

Fig. 8.3 (b) Zero-position mark (witness mark) for each axis

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B-83944EN/02 8. MASTERING

8.4 QUICK MASTERING

Quick mastering is performed at a user-specified position. The pulse count value is obtained from the
rotation speed of the Pulsecoder connected to the relevant motor and the rotation angle within one
rotation. Quick mastering uses the fact that the absolute value of a rotation angle within one rotation will
not be lost.

Quick mastering is factory-performed at the position indicated in Table 8.3. 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
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)

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8. MASTERING B-83944EN/02

5 Select SYSTEM.
6 Select Master/Cal. Master/Cal 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 Jog the robot to the quick mastering reference position.

8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position will
be set.

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 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 is required 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.

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B-83944EN/02 8. MASTERING

NOTE
Gravity compensation can be set to enabled/disabled by setting the system
variables as follows:
$PARAM_GROUP[group].$SV_DMY_LNK[8] : FALSE(disabled) or TRUE
(enabled)
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)
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 Select [3 QUICK MASTER] and press F4 [YES]. Quick mastering reference position will be set.
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS

[ TYPE ] YES NO

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 original setting, and cycle power of the controller.

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8. MASTERING B-83944EN/02

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. 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
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)

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B-83944EN/02 8. MASTERING
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 Jog the robot to the quick mastering reference position.

8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position will
be set.

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 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 is required to restore mastering data.

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8. MASTERING B-83944EN/02

Procedure of Quick Mastering for single axis

1 Press the [MENU] key to display the screen menu.
2 Select [0 NEXT] and press [6 SYSTEM].
3 Press F1 [TYPE]. Then select [Variables] from the menu.
4 If $DMR_GRP[group].$GRAV_MAST=1, set the gravity compensation to enabled, if it is 0, set the
gravity compensation to disabled. In addition release the brake control.

NOTE
Gravity compensation can be set to enabled/disabled by setting the system
variables as follows:
$PARAM_GROUP[group].$SV_DMY_LNK[8] : FALSE(disabled) or TRUE
(enabled)
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)

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 Select [4 QUICK MASTER FOR SINGLE AXIS]. quick master for single axis screen will be
displayed.

SINGLE AXIS MASTER AUTO J OINT 10%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]

EXEC

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B-83944EN/02 8. MASTERING
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.

SINGLE AXIS MASTER AUTO JOINT 10%

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

8 Turn off brake control, then 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 [ENTER] key. Calibration is executed. Calibration is executed
by cycling power.
11 After completing the calibration, press F5 Done.

DONE

F5

12 If gravity compensation is disabled, set it to enabled.

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

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8. MASTERING B-83944EN/02

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 J OINT 10%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]

EXEC

Table 8.6 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 the 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.

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B-83944EN/02 8. MASTERING

Procedure of Single axis mastering

1 Press the [MENU] key to display the screen menu.
2 Select [0 NEXT] and press [6 SYSTEM].
3 Press F1 [TYPE]. Then select [Variables] from the menu.
4 If $DMR_GRP[group].$GRAV_MAST=1, set the gravity compensation to enabled, if it is 0, set the
gravity compensation to disabled. In addition release the brake control.

NOTE
Gravity compensation can be set to enabled/disabled by setting the system
variables as follows:
$PARAM_GROUP[group].$SV_DMY_LNK[8] : FALSE(disabled) or TRUE
(enabled)
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)

5 Select [6 SYSTEM].
6 Select [Master/Cal].

SYSTEM Master/Cal AUTO JOINT 10 %

TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.

[ TYPE ] LOAD RES_PCA DONE

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

SINGLE AXIS MASTER AUTO JO INT 10%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]

EXEC

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8. MASTERING B-83944EN/02

8 For the axis to which to perform single axis mastering, set (SEL) to “1.” Setting of [SEL] is
available for one or more axes.
9 Turn off brake control, then jog the robot to the mastering position.
10 Enter axis data for the mastering position.
11 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2 or 1.

SINGLE AXIS MASTER AUTO JOINT 10%

EXEC 6/9
ACTUAL POS (MSTR POS) (SEL) [ST]
F5 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 original setting, and cycle power of the controller.

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B-83944EN/02 8. MASTERING

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 J OINT 10%

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

[ TYPE ] TRUE FALSE

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8. MASTERING B-83944EN/02

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

SYSTEM Variables AUTO JOINT 10%

$DMR_GRP[1].$MASTER_CO UN 1/9
1 [1] 95678329
2 [2] 10223045
3 [3] 3020442
4 [4] 30405503
5 [5] 20497709
6 [6] 2039490
7 [7] 0
8 [8] 0
9 [9] 0

[ TYPE ]

6 Press [PREV] key.

7 Set $MASTER_DONE to TRUE.

SYSTEM Variables AUTO JOINT 10%

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

[ TYPE ] TRUE FALSE

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

DONE

F5

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B-83944EN/02 8. MASTERING

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 meets the actual
robot position by using the procedure described below:
(1) Reproduce a particular point in a program. Check whether the point agrees with the specified
position.
(2) Set all axes of the robot to their 0-degree (0 rad) positions. Check that the zero-degree position
marks indicated in Section 8.3 of OPERATOR’S MANUAL are aligned. There is no need to
use a visual aid.
If the displayed and actual positions do not match, the counter value for a Pulsecoder may have been
invalidated as a result of an alarm described in 2. Alternatively, the mastering data in system
variable $DMR_GRP.$MASTER_COUN may have been overwritten as a result of an operation
error or some other reason.
Compare the data with the values indicated on the supplied data sheet. This system variable is
overwritten whenever mastering is performed. Whenever mastering is performed, record the value of
the system variable on the data sheet.
2 Alarm type displayed during mastering and their solution method:
(1) BZAL alarm
This alarm is displayed if the Pulsecoder's backup battery voltage decreases to 0 V while the
power to the controller is disconnected. Furthermore, if the Pulsecoder connector is removed
for cable replacement, etc. this alarm is displayed as the voltage decreases to 0. Confirm if the
alarm will disappear by performing a pulse reset (See Section 8.2.). Then, cycle power of the
controller to check if the alarm disappears or not.
The battery may be drained if the alarm is still displayed. Perform a pulse reset, and turn off
and on the controller power after replacing the battery. Note that, if this alarm is displayed, all
the original data held by the Pulsecoder will be lost. Mastering is required.
(2) BLAL alarm
This alarm is displayed if the voltage of the Pulsecoder's backup battery has fallen to a level
where backup is no longer possible. If this alarm is displayed, replace the battery with a new
one immediately while keeping the power turned on. Check whether the current position data is
valid, using the procedure described in 1.
(3) Alarm notification like CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR, STBERR, and
SPHAL may have trouble with Pulsecoder, contact your local FANUC representative.

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9. TROUBLESHOOTING B-83944EN/02

9 TROUBLESHOOTING
The source of mechanical unit problems may be difficult to locate because of overlapping causes. Problems
may become further complicated, if they are not corrected properly. Therefore, you must keep an accurate
record of problems and to take proper corrective actions.

9.1 TROUBLESHOOTING
Table 9.1 (a) shows the major troubleshooting symptoms that may occur in the mechanical unit and their
probable causes. If you cannot pinpoint a failure cause or which measures to take, contact your local
FANUC representative.

Table 9.1 (a) Troubleshooting

Symptom Description Cause Measure
Vibration - The J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
Noise floor plate as the robot - It is likely that the robot J1 LOCTITE and tighten it to
operates. base is not securely the appropriate torque.
- There is a gap between the fastened to the floor plate. - Adjust the floor plate
J1 base and floor plate. - Probable causes are a surface flatness to within
- A J1 base retaining bolt is loose bolt, an insufficient the specified tolerance.
loose. degree of surface flatness, - If there is any foreign
or foreign material caught material between the J1
between the J1 base and base and floor plate,
floor plate. remove it.
- If the robot is not securely
fastened to the floor plate,
the J1 base lifts the floor
plate as the robot operates,
allowing the base and floor
plates to strike each other,
which, in turn, leads to
vibration.
- The rack or floor plate [Rack or floor] - Reinforce the rack or floor
vibrates during operation of - It is likely that the rack or to make it more rigid.
the robot. floor is not sufficiently rigid. - If it is impossible to
- If the rack or floor is not reinforce the rack or floor,
sufficiently rigid, reaction modify the robot control
from the robot deforms the program; doing so might
rack or floor, leading to reduce the amount of
vibration. vibration.
- Vibration becomes more [Overload] - Check the maximum load
serious when the robot - It is likely that the load on that the robot can handle
adopts a specific posture. the robot is greater than the once more. If the robot is
- If the operating speed of the maximum rating. found to be overloaded,
robot is reduced, vibration - It is likely that the robot reduce the load, or modify
stops. control program is too the robot control program.
- Vibration is most noticeable demanding for the robot - Vibration in a specific
when the robot is hardware. portion can be reduced by
accelerating. - It is likely that the modifying the robot control
- Vibration occurs when two ACCELERATION value is program while slowing the
or more axes operate at the excessive. robot and reducing its
same time. acceleration (to minimize
the influence on the entire
cycle time)．
- 92 -
B-83944EN/02 9. TROUBLESHOOTING

Symptom Description Cause Measure

Vibration - Vibration was first noticed [Gear, bearing, or reducer] - Operate one axis at a time
Noise after the robot collided with - It is likely that collision or to determine which axis is
(Continued) an object or the robot was overload applied an vibrating.
overloaded for a long excessive force on the drive - Remove the motor, and
period. mechanism, thus damaging replace the gear, the
- The grease of the vibrating the tooth surface or rolling bearing, and the reducer.
axis has not been contact surface of a For the spec. of parts and
exchanged for a long bearing, or reducer. the method of replacement,
period. - Prolonged overloaded use contact FANUC.
- There is vibration or may cause fretting fatigue - Using the robot within its
unusual sound just after on the gear tooth surface or maximum rating prevents
replacing grease or oil or the rolling surface of problems with the drive
parts. bearing and reducer. mechanism.
- Cyclical vibration and noise - It is likely that foreign - Regularly changing the
occur. material caught in a gear, grease with a specified type
bearing, or within a reducer can help prevent problems.
caused damage on the - Using the specified grease
tooth surface or rolling or oil at the recommended
contact surface of the interval will prevent
bearing, or reducer. problems
- It is likely that foreign
material caught in a gear,
bearing, or within a reducer
cause vibration.
- It is likely that, because the
grease has not been
changed for a long period,
fretting occurred on the
tooth surface or rolling
contact surface of a
bearing, or reducer due to
metal fatigue.
- There is a possibility of
Grease or oil has not been
exchanged accurately.
The amount of grease or oil
may be insufficient.

- 93 -
9. TROUBLESHOOTING B-83944EN/02

Symptom Description Cause Measure

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

- 94 -
B-83944EN/02 9. TROUBLESHOOTING

Symptom Description Cause Measure

Vibration - There is some relationship [Noise from a nearby machine] - 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 is ground potential and
machine near the robot. induced on the grounding prevent extraneous
wire, preventing commands electrical noise.
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
leading to vibration.
- There is an unusual sound - There may be an unusual - Use the specified grease.
after replacement of sound when using other - When there is an abnormal
grease. than the specified grease. noise even when using the
- There is an unusual sound - Even for the specified specified grease, operate
after a long period. grease, there may be an for one or two days as an
- There is an unusual sound unusual sound during experiment. Generally, any
during operation at low operation at low speed abnormal noise will
speed. immediately after disappear.
replacement or after a long
period.
- There is an unusual sound - There is a possibility of - Stop the robot, and confirm
when operating right Grease or oil has not been the damage situation at
immediately the replacing exchanged accurately. The once.
part, grease or oil. amount of grease or oil may Replenish grease or oil
be insufficient. when they are insufficient.
- The movement speed of - Sludge may be generated - Perform running and
robot is not constant by the deterioration of the destroy the sludge. Then
oil, and it may be attached replace oil.
to bearing etc.
Rattling - While the robot is not [Mechanical section coupling - Check that the following
supplied with power, bolt] bolts for each axis are tight.
pushing it with the hand - It is likely that overloading If any of these bolts is
causes part of the or a collision has loosened loose, apply LOCTITE and
mechanical unit to wobble. a mounting bolt in the robot tighten it to the appropriate
- There is a gap on the mechanical section. torque.
mounting face of the - Motor retaining bolt
mechanical unit. - Reducer retaining bolt
- Reducer shaft retaining
bolt
- Base retaining bolt
- Arm retaining bolt
- Casting retaining bolt
- End effecter retaining
bolt

- 95 -
9. TROUBLESHOOTING B-83944EN/02

Symptom Description Cause Measure

Motor - The ambient temperature of [Ambient temperature] - Reducing the ambient
overheating the installation location - It is likely that the motor temperature is the most
increases, causing the overheated along with the effective means of
motor to overheat. ambient temperature rose, preventing overheat.
- After a cover was attached and could not release heat. - Having the surroundings of
to the motor, the motor [Operating condition] the motor well ventilated
overheated. - It is likely that the enables the motor to
- After the robot control overcurrent above the release heat efficiently, thus
program or the load was specified permissive preventing overheat.
changed, the motor average current. - If there is a source of heat
overheated. near, 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 overheat.
- The teach pendant can
monitor the average
current. Check the average
current when the robot
control program launched.
- After a robot control [Parameter] - As for load setting, Input an
parameter (load setting - If data input for a workpiece appropriate parameter
etc.) was changed, the is invalid, the robot cannot referring to Section 4.3 of
motor overheated. be accelerated or the operator’s manual.
decelerated normally, so
the average current
increases, leading to
overheat.
- Symptom other than stated [Mechanical section 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 the If the brake remains applied
motor brake resulted in the to the motor all the time,
motor running 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 the motor was faulty.
motor prevented it from
delivering its rated
performance, thus causing
an excessive current to flow
through the motor.

- 96 -
B-83944EN/02 9. TROUBLESHOOTING

Symptom Description Cause Measure

Grease - Grease or oil is leaking from [Poor sealing] - If a crack develops in the
leakage the mechanical unit. - Probable causes are a casting, sealant can be
Oil crack in the casting, a used as a quick-fix to
leakage broken O-ring, a damaged prevent further grease or oil
oil seal, or a loose seal bolt. leakage. However, the
- A crack in a casting can component should be
occur due to excessive replaced as soon as
force that might be caused possible, because the crack
in collision. might extend.
- An O-ring can be damaged - O-rings are used in the
if it is trapped or cut during locations listed below.
disassembling or - Motor coupling section
re-assembling. - Reducer (case and
- An oil seal might be shaft) coupling section
damaged if extraneous dust - Wrist connection
scratches the lip of the oil section
seal. - J3 arm coupling section
- A loose seal bolt or a taper - Inside the wrist
plug might allow grease to - Oil seals are used in the
leak along the threads. locations stated below.
- Inside the reducer
- Inside the wrist
- Seal bolts and taper plugs
are used in the locations
stated below.
- Grease inlet or outlet
- Oil inlet or outlet
- Cover fixation
Dropping axis - An axis drops because the [Brake drive relay and motor] - Check whether the brake
brake does not function. - It is likely that brake drive drive relay contacts are
- An axis drops gradually relay contacts are stuck to stuck to each other. If they
when it should be at rest. each other to keep the are found to be stuck,
brake current flowing, thus replace the relay.
preventing the brake from - If the brake shoe is worn
operating when the motor is out, if the brake main body
reenergized. is damaged, or if oil or
- It is likely that the brake grease has entered the
shoe has worn out or the motor, replace the motor.
brake main body is - J4-axis cable has movable
damaged, preventing the part .So if robot exceeds
brake from operating stroke limit, load depends
efficiently. on cable and it may cause
- It is likely that oil or grease damage of cables. If robot
has entered the motor, exceeds stroke limit,
causing the brake to slip. remove plate of back of J4,
return axis to motion range
during checking condition of
cables. If nylon band is cut,
attach new articles. If you
operate robot with cable tie
is cut, it cause damage of
cables. (See Section 8.1).

- 97 -
9. TROUBLESHOOTING B-83944EN/02

Symptom Description Cause Measure

Displacement - The robot operates at a [Mechanical section problems] - If the repeatability is
point other than the taught - If the repeatability is unstable, repair the
position. unstable, probable causes mechanical section by
- The repeatability is not are a failure in the drive referring to the above
within the tolerance. mechanism or a loose bolt. descriptions of vibration,
- If the repeatability becomes noise, and rattling.
stable, it is likely that a - If the repeatability is stable,
collision imposed an correct the taught program.
excessive load, leading to The problem will not occur
slipping on the base surface unless another collision
or the mating surface of an occurs.
arm or reducer. - If the Pulsecoder is faulty,
- It is likely that the replace the motor.
Pulsecoder is faulty.
- Displacement occurs only in [Peripheral equipment - Correct the setting of the
specific peripheral displacement] peripheral equipment
equipment. - It is likely that an external position.
force was applied to the - Correct the taught program.
peripheral equipment, 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 mastering data, which is
changed. data was rewritten in such a known to be correct.
way that the robot origin - If correct mastering data is
was shifted. unavailable, perform
mastering again.
BZAL alarm - BZAL is displayed on the - It is likely that the voltage of - Replace the battery.
occurred teach pendant screen the memory backup battery - Replace the cable.
is low.
- It is likely that the
Pulsecoder cable is
defective.

Table 9.1 (b) End effector mounting face allowable drops

At power off 5mm
At emergency stop 5mm

NOTE
Each value indicates the amount by which an end effector mounting face may fall.

- 98 -
APPENDIX
B-83944EN/02 APPENDIX A. PERIODIC MAINTENANCE TABLE

A PERIODIC MAINTENANCE TABLE

- 101 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-83944EN/02

FANUC Robot ARC Mate 100iD, ARC Mate 100iD/10L, M-10iD/12/10L Periodic Maintenance Table

Accumulated operating Oil First 3 6 9 1 2

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

2 Check for water 0.1H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the mechanical cable
3 and welding power cable 0.1H - ○ ○ ○
(Damaged or twisted)
Check the end effector
4 (hand) cable 0.1H - ○ ○ ○
Check the motor connector.
5 (Loosening) 0.1H - ○ ○ ○

6 Tighten the end effector bolt 0.1H - ○ ○ ○

Tighten the cover and main
7 1.0H - ○ ○ ○
bolt
Mechanical unit

Check the fixed mechanical

8 stopper and adjustable 0.1H - ○ ○ ○
mechanical stopper
Remove spatter and dust
9 1.0H ○ ○ ○
etc.
10 Replacing battery 0.1H - ● ●
Replacing oil of J1 axis
11 gearbox
0.5H 1900ml

Replacing grease of J2 axis

12 reducer
0.5H 280ml

Replacing grease of J3 axis

13 reducer
0.5H 220ml

Replacing oil of J4 axis

14 gearbox
0.5H 790ml

Replacing oil of J5 and J6

15 axis gearbox
0.5H 330ml

Replacing cable of
16 mechanical unit
4.0H -
Replacing Mechanical unit
17 4.0H - ●
welding power cable
Check the robot cable, teach
18 pendant cable and robot 0.2H - ○ ○ ○
Controller

connecting cable
Cleaning the controller
19 0.2H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
ventilation system
20 Replacing battery *1 0.1H -
*1 Refer to “REPLACING UNITS Chapter of MAINTENANCE ” of the following manuals.
R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL (B-83195EN),
R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
*2 ●: requires order of parts
○: does not require order of parts

- 102 -
B-83944EN/02 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

Overhaul
● ● ● ● ● 10
● ● 11

● ● 12

● ● 13

● ● 14

● ● 15

● 16

● ● 17

○ ○ ○ ○ ○ 18

○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 19

● 20

- 103 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-83944EN/02

B STRENGTH OF BOLT AND BOLT TORQUE LIST

NOTE
When applying LOCTITE to a part, spread the LOCTITE on the entire length of the
engaging part of the female thread. If applied to the male threads, poor adhesion
can occur, potentially loosening the bolt. Clean the bolts and the threaded holes
and wipe off any oil on the engaging section. Make sure that there is no solvent left
in the threaded holes. When finished, remove all the excess LOCTITE when you
are finished screwing the bolts into the threaded holes.

Use the following strength bolts. Comply with any bolt specification instructions.
Hexagon socket head bolt made of steel:
Size M22 or less: Tensile strength 1200N/mm2 or more
Size M24 or more: Tensile strength 1000N/mm2 or more
All size plating 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
button bolt
Hexagon socket head
Hexagon socket head Hexagon socket head Hexagon bolt
bolt
Nominal bolt (stainless) flush bolt (steel)
(steel)
diameter Low-head bolt
(steel)
Tightening torque Tightening torque Tightening torque Tightening torque
Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit
M3 1.8 1.3 0.76 0.53 ―――― ―――― ―――― ―――
M4 4.0 2.8 1.8 1.3 1.8 1.3 1.7 1.2
M5 7.9 5.6 3.4 2.5 4.0 2.8 3.2 2.3
M6 14 9.6 5.8 4.1 7.9 5.6 5.5 3.8
M8 32 23 14 9.8 14 9.6 13 9.3
M10 66 46 27 19 32 23 26 19
M12 110 78 48 33 ―――― ―――― 45 31
(M14) 180 130 76 53 ―――― ―――― 73 51
M16 270 190 120 82 ―――― ―――― 98 69
(M18) 380 260 160 110 ―――― ―――― 140 96
M20 530 370 230 160 ―――― ―――― 190 130
(M22) 730 510 ―――― ―――― ―――― ―――― ―――― ――――
M24 930 650 ―――― ―――― ―――― ―――― ―――― ――――
(M27) 1400 960 ―――― ―――― ―――― ―――― ―――― ――――
M30 1800 1300 ―――― ―――― ―――― ―――― ―――― ――――
M36 3200 2300 ―――― ―――― ―――― ―――― ―――― ――――

- 104 -
 C. INSULATION ABOUT
B-83944EN/02 APPENDIX ARC WELDING ROBOT

C INSULATION ABOUT ARC WELDING

ROBOT
The arc welding robot performs welding, using a welding torch attached to its end effector mounting face
via a bracket. Because a high welding current flows through the welding torch, the insulating material
must not permit bolting directly from the welding torch bracket to mounting face plate.

If no due consideration is taken, a poor insulation caused by a pileup of spatter can allow the welding
current to leak into robot mechanical units, possibly damaging the motor or melting the mechanical unit
cable jackets.

C.1 INSULATION AT THE WRIST

Please be careful to the following contents.

- Insulate the end effector mounting surface. Insulation material which is inserted between the end
effector mounting surface and the welding torch bracket must be different, and bolt them separately
referring to Fig. C.1.
- Insert the insulating material between the torch bracket and faceplate to ensure the two are
electrically isolated. When installing the insulating material, be sure to set the crack in the torch
holder away from that of the insulating material to prevent spatter from getting in the cracks.
- Allow a sufficient distance (at least 5 mm) at the insulating materials in case a pileup of spatter
should occur.

5mm5mm以上
or more トーチブラケット
Torch bracket

トーチ
Torch

ロボット手首
Robot wrist

Torch bracket mounting bolts

トーチブラケット固定ボルト
Insulation material
絶縁部材固定ボルト
mounting bolts
Bad 悪い例
example
Insulation
絶縁部材 material
(ベークライト等)
(bakelite etc.)
Fig. C.1 Insulation at the wrist

- Even after the insulation is reinforced, it is likely that, if a pileup of spatter grows excessively,
current may leak. Periodically remove the spatter.

- 105 -
C. INSULATION ABOUT
ARC WELDING ROBOT APPENDIX B-83944EN/02

C.2 INSULATION AT THE ADDITIONAL AXIS

If welding fixtures are installed to the additional axis, Perform insulation against between welding
fixtures and the additional axis to prevent welding electric current intrusion. If the follower unit is used,
perform insulation against between welding fixtures and follower unit to prevent welding electric current
intrusion into the housing.

Points
絶縁必要箇所 that need
the insulation

Fig. C.2 Insulation at the additional axis

- 106 -
B-83944EN/02 APPENDIX D.CONTROL OF MULTIPLE ROBOTS

D CONTROL OF MULTIPLE ROBOTS

One controller can control up to four robots. Moreover, one controller can control up to eight groups, 72
axes.

NOTE
“Group” means the gathering of independent movable axes.

グループ1
Group 1 グループ2
Group 2 グループ3
Group 3 グループ4
Group 4 グループ5
Group 5

ポジショナ
Positioner

Additional
Teach pendant
教示操作盤 付加軸
axis

前戻 F1 F2 F3 F4 F5 F
プロ グラム

画面
シ フト 一覧 編集 データ 補助 シ フト
選択

電源 アラーム

ステッ プ -X +X
(J1) (J1)

ｳ ｨﾝ ﾄ ﾞｳ ホールド
-Y +Y
(J2) (J2)

-Z +Z
ｱﾗ ｰﾑ
取消
項目
入力 前進 (J3) (J3)
解除 選択

後退 -X +X
溶接
7 8 9 可能
(J4) (J4)

手動送り -Y +Y
ワイヤ 座標系
4 5 6 ＋ (J5) (J5)

ワイヤ グループ -Z +Z
1 2 3 － (J6) (J6)

. , 溶接 - +
0 - +%

アンプ アンプ アンプ

微調整 (J7) (J7)

Amplifier Amplifier Amplifier

診断
位置 入出力
ガス -% - +
ヘルプ 表示 (J8) (J8)
状態
AW J1

ボックス
box ボックス
box ボックス
box

メイン制御装置
Main controller

Fig. D Example of Control of multiple robots

When multiple robots are controlled with one controller, select the appropriate servo card of controller
from Table D.

Table D Servo card when multiple robots are controlled (R-30iB Plus, R-30iB Mate Plus)
Number of
Servo card Remarks
robots
A05B-2670-H041 (12 axes) (Note) Max. 6 auxiliary axes can be used in total of robot
2
A05B-2670-H042 (18 axes) 1st and 2nd
A05B-2670-H042 (18 axes) (Note) Max. 6 auxiliary axes can be used in total of robot
3
A05B-2670-H043 (24 axes) 1st , 2nd and 3rd
A05B-2670-H043 (24 axes) (Note) Max. 12 auxiliary axes can be used in total of robot
4
A05B-2670-H044 (36 axes) 1st , 2nd, 3rd and 4th
(Note) It can be used only when auxiliary axes are not specified.

- 107 -
B-83944EN/02 INDEX

INDEX
MASTERING ................................................................72
<A> MASTERING DATA ENTRY ......................................89
ADJUSTABLE MECHANICAL STOPPER MECHANICAL UNIT EXTERNAL
SETTING (OPTION) .................................................46 DIMENSIONS AND WORK ENVELOPE ...............14
AIR PIPING (OPTION).................................................33
AIR SUPPLY (OPTION)...............................................32 <O>
Angle of Mounting Surface Setting..................................8 Oil replacement procedure for the J1-axis
AXIS LIMIT SETUP .....................................................43 gearbox.......................................................................62
Oil replacement procedure for the J4-axis
<B> gearbox.......................................................................65
BASIC SPECIFICATIONS ...........................................11 Oil replacement procedure for the J5/J6- axis
gearbox.......................................................................68
<C> OPERATING AREA FOR INCLINATION
CHANGE AXIS LIMIT BY DCS (OPTION)................43 INSTALLATION.......................................................22
Changing the Parameter Setting .....................................49 OVERVIEW ..................................................................72
Check of Fixed Mechanical Stopper and
Adjustable Mechanical Stopper..................................57 <P>
CHECK POINTS ...........................................................53 Periodic Checks and Maintenance .................................51
Check the Mechanical Unit Cables and PERIODIC MAINTENANCE .......................................50
Connectors..................................................................55 PERIODIC MAINTENANCE TABLE .......................101
CHECKS AND MAINTENANCE ................................50 PIPING AND WIRING TO THE END
Confirmation of Oil Seepage..........................................53 EFFECTOR................................................................31
Confirmation of the Air Control Set (option).................54 PREFACE .................................................................... p-1
CONNECTION WITH THE CONTROLLER...............10 Procedure for releasing remaining pressure from
CONTROL OF MULTIPLE ROBOTS........................107 the grease bath (J2/J3-axis) ........................................62
Procedure for Releasing remaining pressure from
<D> the Oil bath (J1/J4/J5/J6-axis) ....................................71
Daily Checks ..................................................................50
<Q>
<E> QUICK MASTERING...................................................79
END EFFECTOR INSTALLATION TO WRIST .........26 QUICK MASTERING FOR SINGLE AXIS .................82
EQUIPMENT INSTALLATION TO THE
ROBOT ......................................................................26 <R>
EQUIPMENT MOUNTING FACE ...............................27 Replacing the Batteries (1 year (3840 hours)
checks) .......................................................................58
<G> Replacing the Grease and Oil of the Drive
Grease replacement procedure for the reducer Mechanism (3 years (11520 hours) checks) ..............59
(J2/J3-axis) .................................................................60 RESETTING ALARMS AND PREPARING
FOR MASTERING....................................................75
<I> ROBOT CONFIGURATION.........................................11
INSTALLATION.............................................................4
INSTALLATION CONDITIONS....................................9 <S>
Installation Method ..........................................................5 SAFETY PRECAUTIONS ........................................... s-1
Installing the Adjustable Mechanical Stopper................47 SINGLE AXIS MASTERING .......................................86
INSULATION ABOUT ARC WELDING STORAGE .....................................................................71
ROBOT ....................................................................105 STRENGTH OF BOLT AND BOLT TORQUE
INSULATION AT THE ADDITIONAL AXIS...........106 LIST .........................................................................104
INSULATION AT THE WRIST .................................105
INTERFACE FOR OPTION CABLE (OPTION)..........34 <T>
TRANSPORTATION ......................................................1
<L> TRANSPORTATION AND INSTALLATION...............1
LOAD SETTING ...........................................................29 TROUBLESHOOTING .................................................92

<M> <V>
MAINTENANCE ..........................................................58 VERIFYING MASTERING ..........................................91
MAINTENANCE AREA.................................................9
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INDEX B-83944EN/02

<W>
WRIST LOAD CONDITIONS ......................................20

<Z>
ZERO POINT POSITION AND MOTION
LIMIT.........................................................................16
ZERO POSITION MASTERING ..................................76

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B-83944EN/02 REVISION RECORD

REVISION RECORD
Edition Date Contents
・Addition of ARC Mate 100iD/10L, M-10iD/10L
02 Sep., 2018
・Correction of errors
01 June, 2017

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 B-83944EN/02

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