< > R-2000*B
MECHANICAL UNIT
OPERATOR’S MANUAL
B-82234EN/07
Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.
This manual can be used with controllers labeled R-30iA or R-J3iC. If you have a controller
labeled R-J3iC, you should read R-30iA as R-J3iC throughout this manual.
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-82234EN/07
1
SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
For the safety of the operator and the system, follow all safety
precautions when operating a robot and its peripheral devices installed
in a work cell.
1.1
OPERATOR SAFETY
Operator safety must be given the highest priority in robot system
operation. It is very dangerous to enter the robot work area while the
system is operating. Be sure to review your safeguards before starting
robot system operation.
The following lists the general safety precautions.
consideration must be made to ensure operator safety.
Careful
(1) Have the robot system operators attend the training courses held
by FANUC.
FANUC provides various training courses. Contact our sales office for details.
(2) Even when the robot is stationary during operation, it may be
ready to operate while, for example, waiting for a start signal. In
this condition, the robot is still regarded as in motion. To ensure
operator safety, make sure that an operator can be aware of the
robot in motion by a warning light or some other visual indication,
or an audible alert.
(3) Be sure to install a safety fence with a safety gate around the
system so that no operator can enter the inside of the fence without
opening the gate. The safety gate must be equipped with an
interlock switch, a safety plug, and the like so that the robot stops
if the safety gate is opened.
The controller is designed such that signals from the interlock switch and the like can
be connected. The signals set the robot to the emergency stop state if the safety
gate is opened. See Fig. 1.1 for connection.
(4) Provide the peripheral devices with appropriate grounding (Class
A, Class B, Class C, or Class D).
(5) Try to install the peripheral devices outside the work area.
(6) Draw an outline on the floor, clearly indicating the range of the
robot motion, including the tools such as a hand.
(7) Install a mat switch or photoelectric switch on the floor with an
interlock to a visual or aural alarm that stops the robot when an
operator enters the work area.
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SAFETY PRECAUTIONS
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(8) If necessary, install a safety lock so that no one except the operator
in charge can turn on the power of the robot.
The circuit breaker installed in the controller is designed to disable anyone from
turning it on when it is locked with a padlock.
(9) When adjusting each peripheral device independently, be sure to
turn off the power of the robot.
RM1
Motor power/brake
RP1
Pulsecoder
RI/RO,XHBK,XROT
Interlock switch and safety plug that are activated if the gate is opened
Fig.1.1 Safety Fence and Safety Gate
Note) Terminals EAS1, EAS11, EAS2, and EAS21 are provided on the
terminal block of the printed circuit board that is placed in the
operator’s box or on the operator’s panel.
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SAFETY PRECAUTIONS
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1.1.1
Operator Safety
An operator refers to a person who turns on and off the power to the
robot system and starts a robot program from, for example, the
operator’s panel during daily operation.
Operators cannot work in the inside of the safety fence.
(1) Operate the robot system from outside the safety fence.
(2) If it is not necessary for the robot to operate, turn off the power of
the robot controller or press the EMERGENCY STOP button, and
then proceed with necessary work
(3) Install an EMERGENCY STOP button within the operator's
reach.
The robot controller is designed to be connected to an external EMERGENCY STOP
button. With this connection, the controller stops the robot operation when the
external EMERGENCY STOP button is pressed. See the diagram below for
connection.
(Note) Connect EES1 and EES11.
Connect EES2 and EES21.
Fig.1.1.1 Connection Diagram for External Emergency Stop Switch
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SAFETY PRECAUTIONS
1.1.2
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Safety of the Programmer
While teaching the robot, it is necessary for the operator to enter the
work area of the robot. It is particularly necessary to ensure the safety
of the programmer.
(1) Unless it is specifically necessary to enter the robot work area,
carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral
devices are all in the normal operating condition.
(3) If it is inevitable to enter the robot work area to teach the robot,
check the locations, settings, and other conditions of the safety
devices (such as the EMERGENCY STOP button, the
DEADMAN switch on the teach pendant) before entering the area.
(4) The programmer must be extremely careful not to let anyone else
enter the robot work area.
The operator’s panel from FANUC is provided with an EMERGENCY STOP button and a key
switch (mode switch) for selecting an automatic operation mode (AUTO) or teach mode (T1 or T2).
Before opening the safety gate to enter the inside of the safety fence for teaching purposes, set the
switch to a teach mode, and then remove the key from the mode switch to prevent anyone else
from changing the operation mode carelessly. While still in the automatic operation mode, the
robot enters the emergency stop state if the safety gate is opened. Once the switch has been set to
a teach mode, the safety gate is disabled. When conducting work, the programmer should be
responsible for keeping other people from entering the inside of the safety fence while being aware
of that the safety gate is disabled.
The teach pendant from FANUC is provided with a DEADMAN switch as well as an EMERGENCY
STOP button. The button and switch function as follows:
(1) EMERGENCY STOP button: Causes an emergency stop when pressed.
(2) DEADMAN switch: Functions differently depending on the mode switch setting.
(a) Automatic operation mode: The DEADMAN switch is disabled.
(b) Teach mode: Causes an emergency stop when released or strongly pressed.
Note) The DEADMAN switch is provided to set the robot to the emergency stop state when the
operator releases or strongly presses the teach pendant in case of emergency. The R-30iA
adopts a 3-position DEADMAN switch. The operator can enable the robot to operate by pressing
the DEADMAN switch to its intermediate point. When the operator releases or strongly presses
the DEADMAN switch, the robot enters the emergency stop state.
The controller determines that the operator intends to start teaching when the operator has
preformed two successive actions: setting the teach pendant enable switch to ON, and then
pressing the DEADMAN switch. When conducting work, the operator should be responsible for
assuring safety while being aware of that the robot is ready to operate in this condition.
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SAFETY PRECAUTIONS
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The teach pendant, operator’s panel, and peripheral device interface each have a single signal for
starting robot operation. Whether these signals are valid depends on the settings of the mode
switch and DEADMAN switch on the operator’s panel, the teach pendant enable switch, and the
remote switch on the software, as shown below.
Mode
AUTO
Mode
Teach pendant
enable switch
ON
OFF
T1,T2
mode
ON
OFF
Remote
switch
Local
Remote
Local
Remote
Local
Remote
Local
Remote
Teach
pendant
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Allowed to start
Not allowed
Not allowed
Operator’s
panel
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Peripheral
devices
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
(5) Before starting the robot from the operator’s box or operator’s
panel, make sure that nobody is in the robot work area and that the
robot is normal.
(6) When a program is completed, be sure to carry out a test run
according to the procedure below.
(a) Run the program for at least one operation cycle in the single
step mode at low speed.
(b) Run the program for at least one operation cycle in the
continuous operation mode at low speed.
(c) Run the program for one operation cycle in the continuous
operation mode at the intermediate speed and check that no
abnormalities occur due to a delay in timing.
(d) Run the program for one operation cycle in the continuous
operation mode at the normal operating speed and check that
the system operates automatically without trouble.
(e) After checking the completeness of the program through the
test run above, execute it in the automatic operation mode.
(7) During automatic operation, the programmer must be outside the
safety fence.
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SAFETY PRECAUTIONS
1.1.3
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Safety of the Maintenance Technician
For the safety of maintenance technicians, the following should be
carefully noted.
(1) Never enter the robot work area during operation.
(2) During maintenance work, the power to the controller should be
off where possible. Lock the main breaker with the key or the like,
if necessary, to prevent anyone else from turning on the power.
(3) If it is inevitable to enter the robot work area while the power is on,
press the EMERGENCY STOP button on the operator’s box,
operator’s panel, or teach pendant, and then enter the area. The
worker must indicate that the maintenance work is in progress, and
must also be careful not to let anyone else operate the robot
carelessly.
(4) When disconnecting the pneumatic system, be sure to reduce the
supply pressure.
(5) Before starting maintenance work, check the robot and peripheral
devices for dangerous or abnormal conditions.
(6) Never perform automatic operation if anybody is in the robot work
area.
(7) When it is necessary to maintain the robot alongside a wall or
instrument, or when multiple workers are working nearby, make
certain that their escape path is not obstructed.
(8) When a tool is mounted on the robot, or when any moving device
other than the robot is installed, such as belt conveyor, pay careful
attention to its motion.
(9) When doing work, have a person stand beside the operator’s box
or operator’s panel to press the EMERGENCY STOP button at
any time; the person should be familiar with the robot system and
able to sense any danger.
(10) When replacing or reinstalling components, take care to prevent
foreign matter from entering the system.
(11) Before touching units, printed circuit boards, and other parts for
inspection of the inside of the controller, or for any other purposes,
be sure to turn off the power with the controller main breaker to
protect against electric shock.
(12) When replacing parts, be sure to use those specified by FANUC.
In particular, never use fuses or other parts of non-specified
ratings. They may cause a fire or result in damage to the
components in the controller.
(13) Before restarting the robot system after completion of
maintenance work, make sure that nobody is in the work area and
the robot and peripheral devices are normal.
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SAFETY PRECAUTIONS
1.2
SAFETY OF THE TOOLS AND PERIPHERAL DEVICES
1.2.1
Precautions in Programming
(1) Use a limit switch or other sensor to detect a dangerous condition
and, if necessary, design the program to stop the robot when the
sensor signal is received.
(2) Design the program to stop the robot when an abnormal condition
occurs in any other robots or peripheral devices, even though the
robot itself is normal.
(3) For a system in which the robot and its peripheral devices are in
synchronous motion, particular care must be taken in
programming so that they do not interfere with each other.
(4) Provide a suitable interface between the robot and its peripheral
devices so that the robot can detect the states of all devices in the
system and can be stopped according to the states.
1.2.2
Precautions for Mechanism
(1) Keep the component cells of the robot system clean, and operate
the robot in an environment free of grease, water, and dust.
(2) Use mechanical unit cable that have required user interface. Please
do not obstruct the movement of the mechanical unit cable when
cables are added. ( Please never tie an external cable to the
mechanical unit cable by using the nylon band etc. ) Moreover,
please do not interfere with the mechanical unit cable when
equipment is installed in the robot. If these precautions are not
observed There is a possibility that the mechanical unit cable is
disconnected and the trouble not anticipated occurs.
(3) Employ a limit switch or mechanical stopper to limit the robot
motion so that the robot or cable does not strike against its
peripheral devices or tools.
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SAFETY PRECAUTIONS
1.3
SAFETY OF THE ROBOT MECHANISM
1.3.1
Precautions in Operation
B-82234EN/07
(1) When operating the robot in the jog mode, set it at an appropriate
speed so that the operator can manage the robot in any eventuality.
(4) Before pressing the jog key, be sure you know in advance what
motion the robot will perform in the jog mode.
1.3.2
Precautions in Programming
(1) When the work areas of robots overlap, make certain that the
motions of the robots do not interfere with each other.
(2) Be sure to specify the predetermined work origin in a motion
program for the robot and program the motion so that it starts from
the origin and terminates at the origin. Make it possible for the
operator to easily distinguish at a glance that the robot motion has
terminated.
1.3.3
Precautions for Mechanisms
(1) Keep the work area of the robot clean, and operate the robot in an
environment free of grease, water, and dust.
1.3.4
Procedure to move arm without drive power in emergency or
abnormal situations
(1) For emergency or abnormal situations (e.g. persons trapped in or
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
Brake release
(Input Voltage AC100-115V single-phase)
unit
A05B-2450-J351
(Input Voltage AC200-240V single-phase)
Robot connection
A05B-2450-J360 (5m)
cable
A05B-2450-J361 (10m)
A05B-2525-J010 ( 5m) (AC100-150V type)
A05B-2525-J011 ( 10m) (AC100-150V type)
Power cable
A05B-2450-J364 ( 5m) (AC200-200V type)
A05B-2450-J365 ( 10m) (AC200-200V type)
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SAFETY PRECAUTIONS
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(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.
NOTE
Robot systems installed without adequate number of
brake release units or similar means are not in
compliance with EN ISO 10218-1 nor with the Machinery
Directive and therefore cannot bear the CE marking.
CAUTION
Robot arm would fall down by releasing its brake
because of gravity. Especially because spring balancer
is used for J2-axis, it is hard to predict J2-arm
movement by the condition of Robot attitude and end
effecter.Therefore it is strongly recommended to take
adequate measures such as hanging Robot arm by a
crane before releasing a brake.(There is no balancer
for R-2000iB/170CF,150U,165CF)
Method of supporting Robot arm
In case of releasing a motor brake
Eyebolt(M10) ２pcs
２ slings
?
Eyebolt(M10,M12)
2 leverblocks
?
Unpredictable
Fig. 1.3.4(a) Releasing J2 motor brake and measures
(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H)
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SAFETY PRECAUTIONS
In case of releasing a motor brake
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Method of supporting Robot arm
Eyebolt(M10) ２pcs
２ slings
Fall down
Fig. 1.3.4(b) Releasing J3 motor brake and measures
(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H)
Fall down
Fall down
Supporting method of arm for
R-2000iB/165CF
R-2000iB/170CF(floor mount)
Supporting method of arm for
R-2000iB/150U
R-2000iB/170CF(top mount)
Fig. 1.3.4(c) Releasing J2 and J3 motor brake and measures (R-2000iB/170CF,150U,165CF)
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SAFETY PRECAUTIONS
1.4
SAFETY OF THE END EFFECTOR
1.4.1
Precautions in Programming
(1) To control the pneumatic, hydraulic and electric actuators,
carefully consider the necessary time delay after issuing each
control command up to actual motion and ensure safe control.
(2) Provide the end effector with a limit switch, and control the robot
system by monitoring the state of the end effector.
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SAFETY PRECAUTIONS
1.5
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WARNING LABEL
(1) Greasing and degreasing label
Fig. 1.5 (a) Greasing and Degreasing Label
Description
When greasing and degreasing, observe the instructions indicated on
this label.
1)
2)
3)
When greasing, be sure to keep the grease outlet open.
Use a manual pump to grease.
Be sure to use a specified grease.
CAUTION
See Section 7 ″CHECKS AND MAINTENANCE″ for
explanations about specified greases, the amount of
grease to be supplied, and the locations of grease
and degrease outlets for individual models.
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SAFETY PRECAUTIONS
(2) Disassembly prohibitive label
Fig. 1.5 (b) Disassembly Prohibitive Label
Description
Do not disassemble the balancer unit because it contains a spring, which
may cause serious danger (for the R-2000iB, a disassembly prohibitive
label is affixed only to the balancer).
(3) Step-on prohibitive label
Fig. 1.5 (c) 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
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(4) High-temperature warning label
Fig. 1.5 (d) 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.
(5) Transportation label
>2500kg
<550kg x4
<550kg x4
>2500kg
>1000kg x4
>630kg x4
Fig. 1.5 (e) Transportation label (R-2000iB/165F, 210F, 125L, 175L, 100H)
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SAFETY PRECAUTIONS
Fig. 1.5 (f) Transportation label (R-2000iB/165R, 200R, 100P)
>2500kg
<600kg X4
>2500kg
>1000kg X4
>630kg X4
Fig. 1.5 (g) Transportation label (R-2000iB/165CF)
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SAFETY PRECAUTIONS
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Description
When transporting the robot, observe the instructions indicated on this
label.
1)
Using a forklift
•
•
Use a forklift having a load capacity of 2,500 kg or greater.
Keep the total weight of the robot to be transported to within 2,200
kg, because the withstand load of the forklift bracket (option) is
5,390 N (550 kgf).
2)
Using a crane
•
•
Use a crane having a load capacity of 2,500 kg or greater.
Use at least four slings each having a withstand load of 9,800 N
(1,000 kgf) or greater.
Use at least four eyebolts each having a withstand load of 6,174 N
(630 kgf) or greater.
•
CAUTION
Transportation labels are model-specific. Before
transporting the robot, see the transportation label
affixed to the J2 base side.
See Sub-section 1.1 TRANSPORTATION for
explanations about the posture a specific model
should take when it is transported.
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SAFETY PRECAUTIONS
(6) Balancer replacement label
150kg
J2=0°
Fig.1.5 (h) Balancer replacement label
(R-2000iB/165F,210F,125L,175L,100H)
300kg
J2=‑90°
Fig. 1.5 (i)
Balancer replacement label (R-2000iB/165R,200R, 100P)
Description
When replacing the balancer, observe the instructions indicated
on this label.
The above balancer replacement label indicates the following:
・ While replacing the balancer, keep the J2-axis at 0° for the
R-2000iB/165F, 210F, 125L, 175L and 100H and keep the
J2-axis at -90° for the R-2000iB/165R, 200R and 100P.
・ For the R-2000iB/165F, 210F, 125L, 175L and 100H the mass
of the balancer is 150 kg.
・ For the R-2000iB/165R, 200R and 100P the mass of the
balancer is 300 kg.
・ The R-2000iB/165CF has no balancer.
CAUTION
For information about balancer replacement, contact
FANUC.
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SAFETY PRECAUTIONS
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(7) Motion range and load capacity label
In the case of CE specification, the following label is added:
+180DEG
-180DEG
0DEG
3045
J5-axis rotation center
370
Motion range
of J5-axis
rotation center
1919
2655
MAX. PAYLOAD : 165kg
Fig. 1.5 (j) Motion range label (example of R-2000iB/165F)
(8) Transportation prohibitive label
(When transport equipment option is specified.)
アイボルトを横引
しないこと
Do not pull eyebolt
sideways
輸送部材に衝撃を
与えないこと
Do not have impact
on this part
輸送部材にチェーン
などを掛けないこと
Do not chain, pry,
or strap on this part
Fig. 1.5 (k)Transportation prohibitive label
Description
Keep the following in mind when transporting the robot.
1)
2)
3)
Do not pull eyebolts sideways
Prevent the forks of the forklift from having impact on a transport
equipment
Do not thread a chain or the like through a transport equipment.
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SAFETY PRECAUTIONS
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(9) Transportation prohibitive label
(When transportation equipment option A05B-1329-H075 is
specified.)
1) ロボット設置後、輸送部材は必ず
取り外して下さい。
Remove the transport equipment
after installing the robot．
2) 運搬する際は必ずワークを
取り外して下さい。
Remove all loads when transporting
the robot. (Wrist and arm)
3) 必ずマニュアルに記載の姿勢にて
運搬して下さい。
Always Place the robot in shipping
position (refer to the manual) when
transporting the robot．
Transport Equipment
Fig. 1.5(l) Transportation prohibitive label
Description
1)
2)
3)
Remove the transport equipment after installing the robot.
Remove all loads when transporting the robot. (Wrist and arm)
Always place the robot in shipping position (refer to the manual)
when transporting the robot.
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PREFACE
B-82234EN/07
PREFACE
This manual explains the maintenance and connection procedures for
the mechanical units of the following robots:
Model name
FANUC Robot R-2000iB/165F
FANUC Robot R-2000iB/210F
FANUC Robot R-2000iB/165R
FANUC Robot R-2000iB/200R
FANUC Robot R-2000iB/100P
FANUC Robot R-2000iB/170CF
FANUC Robot R-2000iB/125L
FANUC Robot R-2000iB/175L
FANUC Robot R-2000iB/100H
FANUC Robot R-2000iB/165CF
FANUC Robot R-2000iB/150U
Mechanical unit
specification No.
A05B-1329-B201
A05B-1329-B205
A05B-1329-B221
A05B-1329-B225
A05B-1329-B231
A05B-1329-B241
A05B-1329-B261
A05B-1329-B265
A05B-1329-B271
A05B-1324-B541
A05B-1329-B291
Maximum load
165kg
210kg
165kg
200kg
100kg
170kg
125kg
175kg
100kg
165kg
150kg
The label stating the mechanical unit specification number is affixed
in the position shown below. Before reading this manual, determine
the specification number of the mechanical unit.
(1)
TYPE
NO.
DATE
(2)
(3)
(4)
FANUC LTD
WEIGHT
(5) kg
OSHINO-MURA.
YAMANASHI PREF. JAPAN
p-1
PREFACE
B-82234EN/07
TABLE 1
(1)
CONTENTS
-
LETTERS
FANUC Robot
R-2000iB/165F
FANUC Robot
R-2000iB/210F
FANUC Robot
R-2000iB-165R
FANUC Robot
R-2000iB-200R
FANUC Robot
R-2000iB/100P
FANUC Robot
R-2000iB/170CF
FANUC Robot
R-2000iB/125L
FANUC Robot
R-2000iB/175L
FANUC Robot
R-2000iB/100H
FANUC Robot
R-2000iB/150U
FUNUC Robot
R-2000iB/165CF
(2)
TYPE
(3)
No.
(4)
DATE
(5)
WEIGHT
(Without controller)
A05B-1329-B201
1170kg
A05B-1329-B205
1240kg
A05B-1329-B221
1480kg
A05B-1329-B225
1540kg
A05B-1329-B231
A05B-1329-B241
PRINT
SERIAL NO.
A05B-1329-B261
PRINT
PRODUCTION
YEAR AND
MONTH
1560kg
800kg
1190kg
A05B-1329-B265
1260kg
A05B-1329-B271
1150kg
A05B-1329-B291
1070kg
A05B-1324-B541
1050kg
Position of label indicating mechanical unit specification number
p -2
PREFACE
B-82234EN/07
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
Safety handbook B-80687EN
All persons who use the FANUC Robot
and system designer must read and
understand thoroughly this handbook
R-30iA controller
Operations manual
SPOT TOOL+
B-82594EN-1
HANDLING TOOL
B-82594EN-2
DISPENSE TOOL
B-82594EN-4
Servo Gun Function
B-82634EN
Maintenance
manual
B-82595EN
B-82595EN-1
(For Europe)
B-82595EN-2
(For RIA)
p-3
Intended readers :
All persons who use FANUC
Robot, system designer
Topics :
Safety items for robot system
design, operation,
maintenance
Intended readers :
Operator, programmer,
maintenance person, system
designer
Topics :
Robot functions, operations,
programming, setup,
interfaces, alarms
Use :
Robot operation, teaching,
system design
Intended readers :
Maintenance person, system
designer
Topics :
Installation, connection to the
controller, maintenance
Use :
installation, start-up,
connection, maintenance
Table of Contents
B-82234EN/07
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1
TRANSPORTATION AND INSTALLATION ........................................... 1
1.1
TRANSPORTATION...................................................................................... 2
1.1.1
1.2
INSTALLATION ........................................................................................... 26
1.2.1
1.3
1.4
2
3.3
3.4
3.5
CONNECTION WITH THE CONTROLLER ................................................. 39
ROBOT CONFIGURATION ......................................................................... 41
MECHANICAL UNIT OPERATION AREA AND
INTERFERENCE AREA .............................................................................. 50
ZERO POINT POSITION AND MOTION LIMIT........................................... 61
WRIST LOAD CONDITIONS ....................................................................... 67
LOAD CONDITIONS ON J2-AXIS BASE AND J3-AXIS ARM ..................... 90
MECHANICAL COUPLING TO THE ROBOT....................................... 99
4.1
4.2
4.3
4.4
4.5
5
MAINTENANCE AREA ................................................................................ 33
INSTALLATION SPECIFICATIONS ............................................................ 37
BASIC SPECIFICATIONS..................................................................... 40
3.1
3.2
4
Installation method .................................................................................................27
CONNECTION WITH THE CONTROLLER .......................................... 38
2.1
3
Transportation with an End Effector Attached.......................................................24
MECHANICAL COUPLING OF END EFFECTOR TO WRIST .................. 100
INSTALLING A FANUC/SPECIAL FLANGE ADAPTER
(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L,100H)
................................................................................................................... 110
EQUIPMENT MOUNTING FACE .............................................................. 111
LOAD SETTING ........................................................................................ 121
INERTIA LOAD SETTING ......................................................................... 123
PIPING AND WIRING TO THE END EFFECTOR............................... 125
5.1
5.2
5.3
AIR SUPPLY (OPTION) ............................................................................ 126
AIR PIPING (OPTION) .............................................................................. 130
INTERFACE FOR OPTION CABLE (OPTION) ......................................... 132
c-1
Table of Contents
6
AXIS LIMITS SETUP........................................................................... 152
6.1
6.2
6.3
6.4
7
B-82234EN/07
SETTING MOTION LIMITATION BY SOFTWARE.................................... 153
HARD STOPPER AND LIMIT SWITCH SETTING .................................... 154
CHANGING THE MOTION RANGE BY THE LIMIT SWITCH
(OPTION) .................................................................................................. 167
ADJUSTING LIMIT SWITCH (OPTION) .................................................... 171
CHECKS AND MAINTENANCE ......................................................... 175
7.1
7.2
PERIODIC MAINTENANCE ...................................................................... 176
7.1.1
Daily checks .........................................................................................................176
7.1.2
3-month (960 hours) checks .................................................................................177
7.1.3
1.5-year (5,760 hours) checks ..............................................................................181
7.1.4
3-year (11,520 hours) checks ...............................................................................181
7.1.5
MAINTENANCE.................................................................................................181
Greasing the Balancer Shaft (1 year (3840 hours) Periodic
Maintenance) ............................................................................................. 182
7.2.1
Replacing the Batteries（1.5 Year checks） .......................................................182
7.2.2
Replacing the Grease of the Drive Mechanism（3 years (11,520 hours)
checks） ...............................................................................................................183
7.2.3
Grease Replacement Procedure for the Wrist (R-2000iB/165F, 210F,
165R, 200R, 100P, 170CF,125L, 175L, 100H, 150U).........................................185
7.3
8
7.2.4
Grease Replacement Procedure for the Wrist (R-2000iB/165CF) .......................192
7.2.5
Procedure for Releasing Residual Pressure from the Grease Bath.......................193
7.2.6
Procedure for Releasing Residual Pressure from the Grease Bath ......................194
STORAGE ................................................................................................. 196
MASTERING ....................................................................................... 197
8.1
8.2
8.3
8.4
GENERAL ................................................................................................. 198
RESETTING ALARMS AND PREPARING FOR MASTERING
................................................................................................................... 200
ZERO POSITION MASTERING ................................................................ 201
QUICK MASTERING ................................................................................. 211
8.4.1
8.5
9
SINGLE AXIS MASTERING .............................................................................213
MASTERING DATA ENTRY...................................................................... 217
TROUBLESHOOTING ........................................................................ 219
9.1
9.2
OVERVIEW ............................................................................................... 220
FAILURES, CAUSES AND MEASURES ................................................... 221
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Table of Contents
B-82234EN/07
10 SEVERE DUST/LIQUID PROTECTION PACKAGE ........................... 228
10.1
10.2
10.3
10.4
SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)
................................................................................................................... 228
SEVERE DUST/LIQUID PROTECTION CHARACTERISTICS ................. 229
CONFIGURATION OF THE SEVERE DUST/LIQUID
PROTECTION PACKAGE ......................................................................... 230
NOTES ON SPECIFYING SEVERE DUST/LIQUID
PROTECTION PACKAGE ......................................................................... 231
APPENDIX
A
PERIODIC MAINTENANCE TABLE ................................................... 235
B
BOLT TIGHTENING TORQUE TABLE............................................... 248
c-3
B-82234EN/07
1
1.TRANSPORTATION AND INSTALLATION
TRANSPORTATION AND INSTALLATION
-1-
1.TRANSPORTATION AND INSTALLATION
1.1
B-82234EN/07
TRANSPORTATION
The robot can be transported by a crane or a forklift. When
transporing the robot, be sure to change the attitude of the robot to that
shown below and lift by using the eyebolts and the transport
equipment at their points.
CAUTION
When hoisting or lowering the robot with a crane or
forklift, move it slowly with great care. When
placing the robot on the floor, exercise care to
prevent the installation surface of the robot from
striking the floor strongly.
(1) Transportation using a crane (Fig. 1.1 (b) to (n))
Fasten the M20 eyebolts at the four points and lift the robot by
the four slings. The robot is transported with the specific
transport equipment attached for the R-2000iB/165R, 200R,
100P and 170CF.
There are two kinds of transportation equipment about the type
installed on the J1 base and the type installed on the J2
base.( There is no type installed on the J2 base in
R-2000iB/170CF.)
NOTE
When lifting the robot, notice so that the motor,
connectors or cables of the robot are not damaged
by slings.
(2) Transportation using a fork lift (Fig. 1.1 (o) to (z))
The robot is transported with the specific transport equipment
attached.
For the R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L
and 100H, there are two types of transport equipment: one to be
attached to the J1 base and the other to the J2 base.
For the R-2000iB/170CF and 165CF,there is a type of transport
equipment to be attached to the J1 base.
Transport equipment are prepared as an option.
-2-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
WARNING
Please follow notes when it is necessary to transport
robot with the base plate installed.
･ The entire position of center of gravity is changed by
installing the tool and the base plate. Please note the
balance enough.
･ The tool swings by the vibration etc. when
transported, and there is a possibility that an
excessive load acts on the robot. Secure the end
effector firmly according to Subsection 1.1.1.
･ When you lift robot with the base plate installed,
please lift up not the robot but the base plate.
NOTE
If the transport equipment of the J2 base type for
the R-2000iB/165R, 200R, and 100P is used with a
crane or forklift to hoist or lower the robot in the
state where the robot is tilted, all load may be
imposed on the strut bar used to protect against
falling, thus deforming the strut bar. When you
operate a crane or fork lift ,please confirm whether
the robot is the horizontal enough.
NOTE
Loctite 262 (rust preventive) may be applied to the
mounting bolts used to secure the transport
equipment of the J2 base type. When removing
those mounting bolts, be careful not to damage the
heads of the bolts.
WARNING
Use the forklift pockets only to transport the robot
with a forklift. Do not use the forklift pockets for any
other transportation method. Do not use the forklift
pockets to secure the robot.
Before moving the robot by using forklift pockets,
check and tighten any loose bolts on the forklift
pockets.
-3-
1.TRANSPORTATION AND INSTALLATION
M20 tap through
To use eyebolt install to the out taps
M20 tap through
To use eyebolt install to the out taps
Fig. 1.1 (a) Position of the eyebolts and transportation equipment
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B-82234EN/07
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
1689.5
1575.5
Center of
gravity
477
348
317
305
EYEBOLT(M20)
Install to the out taps
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°or±180°
‑60°
0°
0°
0°
0°
NOTICE）
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
476
348
Fig. 1.1 (b) Transportation using a crane (R-2000iB/165F)
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1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
1710.5
1575.5
Center of
gravity
477
317
348
Eyebolts(M20)
Install to the out taps.
305
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°or±180°
‑60°
0°
0°
0°
0°
NOTICE）
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
Fig 1.1 (c) Transportation using a crane (R-2000iB/210F)
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1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANSPORATION
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
‑120°
40°
0°
0°
0°
Center of
gravity
1831
Center of
gravity
1242
NOTICE）
Eyebolts(M20)
Transport
eqpuipment
(OPTION)
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
2012
Fig 1.1 (d) Transportation using a crane (R-2000iB/165R J1 base type)
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1.TRANSPORTATION AND INSTALLATION
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
B-82234EN/07
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
‑120°
40°
0°
0°
0°
Center of
gravity
1831
Center of
gravity
1242
Eyebolts(M20)
Transport
equipment
(OPTION)
2025
NOTICE）
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
Fig 1.1 (e) Transportation using a crane (R-2000iB/200R J1 base type)
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1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANSPORATION
J1 AXIS
0°
J2 AXIS
‑120°
J3 AXIS
41°
J4 AXIS
0°
J5 AXIS
0°
J6 AXIS
0°
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
Center of
gravity
1828
Center of
gravity
Eyebolt (M20)
NOTICE）
2272
Transport equipment
(OPTION)
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
Fig 1.1 (f)
Transportation using a crane (R-2000iB/100P J1 base type)
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1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANPORTATION
Crane
Capacity： min 2.5 ton
J1
J2
J3
J4
J5
Sling
Capacity： min 1.0 ton
AXIS
AXIS
AXIS
AXIS
AXIS
0°or ±180°
‑55°
0°
0°
0°
Center of
gravity
909
Transport
equipment
1150
1113
NOTE） １．See the list of specification for machine weight.
２．Eyebolt complied with JISB 1168.
３．Quantity Eyebolt 4
Sling
4
Fig 1.1 (g) Transportation using a crane (R-2000iB/170CF)
- 10 -
Eye bolt(M20)
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON
TRANSPORTATION
Crane
Capacity : min. 2.5 min
Sling
Capacity : min. 10 ton
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑120°
40°
0°
0°
0°
1831
Center of
gravity
1207
Transport
equipment
(OPTION)
2012
NOTICE)
１．See the list of specification for machine weight.
２．Eyebolt complied with JISB 1168.
３．Quantity eyebolt 4
sling 4
４．When you transport robot, please transport it absolutely by the posture for transporation.
５．When you transport robot, remove all tools.
６．Remove transport equipment absolutely after you set robot up.
Fig 1.1 (h) Transportation using a crane (R-2000iB/165R J2 base type)
- 11 -
1.TRANSPORTATION AND INSTALLATION
Crane
Capacity : min. 2.5 ton
Sling
Capacity : min. 1.0ton
B-82234EN/07
ROBOT POSTURE ON
TRANSPORTATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑120°
40°
0°
0°
0°
1831
Center of
gravity
1207
Transport
equipment
(OPTION)
2025
NOTICE)
１．See the list of specification for machine weight.
２．Eyebolt complied with JISB 1168.
３．Quantity eyebolt 4
sling 4
４．When you transport robot, please transport it absolutely by the posture for transporation.
５．When you transport robot, remove all tools.
６．Remove transport equipment absolutely after you set robot up.
Fig 1.1 (i) Transportation using a crane (R-2000iB/200R J2 base type)
- 12 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity : min. 2.5 ton
ROBOT POSTURE ON
TRANSPORTATION
J1
J2
J3
J4
J5
J6
Sling
Capacity : min. 1.0ton
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑120°
41°
0°
0°
0°
1825
Center of
gravity
1207
Transport
equipment
(OPTION)
2272
NOTICE)
１．See the list of specification for machine weight.
２．Eyebolt complied with JISB 1168.
３．Quantity eyebolt 4
sling 4
４．When you transport robot, please transport it absolutely by the posture for transporation.
５．When you transport robot, remove all tools.
６．Remove transport equipment absolutely after you set robot up.
Fig 1.1 (j) Transportation using a crane (R-2000iB/100P J2 base type)
- 13 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity : min. 2.5 ton
Sling
Capacity : min. 1.0ton
2044.5
1575.5
Center of
gravity
477
348
317
305
Eyeblots(M20)
Install to the out taps.
ROBOT POSTURE ON
TRANSPORTATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°or±180°
‑60°
0°
0°
0°
0°
NOTICE)
１．See the list of specification for machine weight.
２．Eyebolt complied with JISB 1168.
３．Quantity eyebolt 4
sling 4
Fig 1.1 (k) Transportation using a crane (R-2000iB/125L)
- 14 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
1910
1565
Center of
gravity
477
317
348
305
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°or±180°
‑60°
0°
0°
0°
0°
NOTICE）
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
Fig 1.1 (l) Transportation using a crane (R-2000iB/175L)
- 15 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
1590
1575.5
Center of
gravity
477
317
348
305
Eyebolt(M20)
Install to the out taps
ROBOT POSTURE ON TRANSPORTATION
J1
J2
J3
J4
J5
AXIS
AXIS
AXIS
AXIS
AXIS
0°or±180°
‑60°
0°
0°
0°
NOTICE）
１．See the lisf of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
Fig 1.1 (m) Transportation using a crane (R-2000iB/100H)
- 16 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
1040
485
1314
Center of gravity
Center of gravity
348
423
Eyebolts(M20)
Install to the out taps.
NOTICE）
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
４．Be sure to place the cable protection plate to
prevent the slings from compressing cables.
ROBOT POSTURE ON TRANSPORTATION
J1 AXIS
J2 AXIS
J3 AXIS
0°
‑55°
0°
J4 AXIS
J5 AXIS
0°
0°
J6 AXIS
0°
Fig 1.1(n)
Transportation using a crane (R-2000iB/165CF)
- 17 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
NOTICE)
See the list of specifications for machine weight
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°or ±180°
‑60°
0°
0°
0°
0°
Center of
gravity
88
Center of
gravity
188
Forklift
Capacity min. 2.0 ton
*125L and 175L are 2.5 ton
Transport equipment 1
（OPTION）
956
Fig 1.1 (o) Transportation using a forklift (R-2000iB/165F,210F,125L, 175L
J1 base type)
ROBOT POSTURE ON TRANSPORTATION
NOTICE)
1. See the list of specification for machine weight.
2. Do not spoil the head of the bolt when detaching it because
LOCTITE is spread on the installation bolt.
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑60°
0°
0°
0°
0°
Center of
gravity
Center of
gravity
100
200
Transport equipment
(OPTION)
Forklift
Capacity min. 2.0 ton
※125L and 175L are min. 2.5 ton
868
Fig 1.1 (p) Transportation using a forklift (R-2000iB/165F,210F,125L,175L
J1 base type)
CAUTION
Exercise care to prevent the fork of the forklift from striking transport equipment
strongly.
- 18 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
‑120°
40°
0°
0°
0°
NOTICE）
See the list of specification for machine weight.
Center of
gravity
Center of gravity
100
200
1242
Forklift
Capacity min. 2.5 ton
Transport
equipment 3
(option)
Fig 1.1 (q) Transportation using a forklift (R-2000iB/165R J1 base type)
ROBOT POSTURE ON TRANSPORATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
‑120°
40°
0°
0°
0°
NOTICE）
See the list of specification for machine weight.
Center of
gravity
Center of
gravity
100
200
1242
Transport
equipment 3
(OPTION)
Forklift
capacity. 2.5 ton
Fig 1.1 (r) Transportation using a forklift (R-2000iB/200R J1 base type)
CAUTION
Exercise care to prevent the fork of the forklift from striking transport
equipment strongly.
- 19 -
1.TRANSPORTATION AND INSTALLATION
Crane
Capacity min. 2.5 ton
Sling
Capacity min. 1.0 ton per 1
ROBOT
J1
J2
J3
J4
J5
J6
B-82234EN/07
POSTURE ON TRANSPORATION
AXIS
0°
AXIS
‑120°
AXIS
41°
AXIS
0°
AXIS
0°
AXIS
0°
Center of
gravity
Center of
gravity
100
200
1242
Forklift
capacity min. 2.5 ton
Transport
equipment 3
(OPTION)
NOTICE）
１．See the list of specification for machine weight.
２．Eyebolts complied with JISB 1168.
３．Quantity Eyebolts 4
Sling
4
Fig 1.1(s) Transportation using a forklift (R-2000iB/100P J1 base type)
ROBOT POSTURE ON
TRANSPORTATION
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑120°
40°
0°
0°
0°
NOTE)
１. See the list of specification for machine weight.
２．When you transport robot,please be sure to transport it by the posture for transporation.
３．When you transport robot,remove all tools.
４. Be sure to remove transport equipment after you set robot up.
Center of
gravity
Center of
gravity
200
100
J1
J2
J3
J4
J5
J6
465
Forklift
Capacity：min 2.5 ton
Fig 1.1 (t)
73
600
1207
Transport
epuipment
(OPTION)
Transportation using a forklift (R-2000iB/165R J2 base type)
CAUTION
Exercise care to prevent the fork of the forklift from striking transport
equipment strongly.
- 20 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON
TRANSPORTATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑120°
40°
0°
0°
0°
NOTE)
１. See the list of specification for machine weight.
２．When you transport robot,please be sure to transport it by the posture for transporation.
３．When you transport robot,remove all tools.
４. Be sure to remove transport equipment after you set robot up.
Center of
gravity
Center of
gravity
100
200
465
73
600
1207
Transport
Forklift
Capacity: min ２．５ ton.
Fig 1.1 (u) Transportation using a forklift (R-2000iB/200R J2 base type)
ROBOT POSTURE ON
TRANSPORTATION
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑120°
41°
0°
0°
0°
NOTE)
１. See the list of specification for machine weight.
２．When you transport robot,please be sure to transport it by the posture for transporation.
３．When you transport robot,remove all tools.
４. Be sure to remove transport equipment after you set robot up.
Center of
gravity
Center of
gravity
100
200
465
73
600
1207
Transport
equipment
(OPTION)
Forklift
Capacity： min ２．５ton.
Fig 1.1 (v) Transportation using a forklift (R-2000iB/100P J2 base type)
CAUTION
Exercise care to prevent the fork of the forklift from striking transport
equipment strongly.
- 21 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANSPORTATION
J1
J2
J3
J4
J5
AXIS
AXIS
AXIS
AXIS
AXIS
0°or ±180°
‑55°
0°
NOTE)
0°
See the list of specification for machine weight.
0°
Center of
gravity
88
188
Transport equipment
(option)
956
Forklift
capacity 2.0 ton
Fig 1.1 (w) Transportation using a forklift (R-2000iB/170CF)
ROBOT POSTURE ON TRANSPORTATION
J1
J2
J3
J4
J5
AXIS
AXIS
AXIS
AXIS
AXIS
0°or ±180°
‑60°
0°
NOTE)
See the list of the specification for machine weight.
0°
0°
Center of
gravity
88
188
956
Transport equipment
(OPTION)
Forklift
Capacitiy. min 2.0 ton
Fig 1.1 (x) Transportation using a forklift (R-2000iB/100H J1 base type)
CAUTION
Exercise care to prevent the fork of the forklift from striking transport
equipment strongly.
- 22 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
ROBOT POSTURE ON TRANSPORTATION
J1
J2
J3
J4
J5
AXIS
AXIS
AXIS
AXIS
AXIS
Arbitrary
‑60°
0°
NOTICE)
0°
0°
1. See the list of specification for machine weight.
2. Do not spoil the head of the bolt when detaching it because
LOCTITE is spread on the installation bolt.
Center of
gravity
82
182
Transport equipment
(OPTION)
868
Forklift
Capacity min. 2.0 ton
Fig 1.1 (y) Transportation using a forklift (R-2000iB/100H J2 base type)
ROBOT POSTURE ON TRANSPORTATION
NOTE) See the list of the specification for machine weight.
J1 AXIS
J2 AXIS
0°
‑55°
J3 AXIS
0°
J4 AXIS
0°
0°
0°
J5 AXIS
J6 AXIS
Center
of gravity
82
Center of
gravity
182
956
Forklift
Capacity min. 2.0 ton
Transport equipment
(OPTION)
Fig 1.1 (z) Transportation using a forklift (R-2000iB/165CF)
CAUTION
Exercise care to prevent the fork of the forklift from striking transport
equipment strongly.
- 23 -
1.TRANSPORTATION AND INSTALLATION
1.1.1
B-82234EN/07
Transportation with an End Effector Attached
When transporting a robot with an end effector such as a welding gun
or hand attached, secure the arm with wood. If the arm is not secured,
the end effector may oscillate for a cause such as vibration during
transportation, thus imposing a large impact load on the reducer of the
robot and damaging the reducer at an earlier stage.
Woods
Woods
Pallet
Fig. 1.1.1(a) Example of securing the arm during transportation when an end effector is attached
- 24 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
If the user cannot prepare a material for securing the arm, an optional
securing jig kit for transportation is available.
Specification: A05B-1329-K011 (R-2000iB/165F, 210F, 125L, 100H, 150U)
A05B-1329-K012 (R-2000iB/175L)
HOLDER
BOLT M10X120 (2)
SUPPORT
BOLT M12X25 (3)
WASHER (3)
BASE
BOLT M12X35 (3)
CONICAL SPRING WASHER (3)
NOTE)
1) REGARDING J2-AXIS AND J3-AXIS ATTITUDE DURING TRANSPORTING,
REFFER TO FOLLOWING TABLE.
J2
-60°
～ -47°
J3
0°
2) SUPPORT MUST BE FIXED TO HOLDER BY USING 3 BOLTS.
3) BOLTS MUST BE TIGHTENED WITH TIGHTEINING TORQUE 94Nm(9.6kgfm).
Fig. 1.1.1(b) Securing jig kit for transportation
- 25 -
1.TRANSPORTATION AND INSTALLATION
1.2
B-82234EN/07
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.(Shaded portion)
Please select one of the following three methods of installing the robot
according to the customer’s use environment.
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.
Fig. 1.2.1(d), Table 1.2.1(a), and Table 1.2.1(b) indicate the force and
moment applied to the base plate at the time of emergency stop of the
robot and indicate the stopping distance and time of the J1 through J3
axes moved and consumed from the pressing of the emergency stop
button until the robot stops.
Consider the strength of the installation face with the data taken into
account.
Mounting face
Mounting face
NOTE
For the R-2000iB/165R, 200R and 100P, the
mastering fixture is placed below the J1 base
installation surface.
Rotation
center
of J1 axis
For fixing robot
8-Φ24 through
Φ38 facing depth 5
Mounting face
Front
For mounting
transportation equipment
or eyebolt 8-M20 through
Fig.1.2
Dimensions of the robot base
- 26 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
1.2.1
Installation method
-
Installation method I Fig. 1.2.1 (a)
The floor plate is imbedded in concrete and fastened with twelve
M20 ( strength classification 4.8) chemical anchors. Also fasten
the base plate to the robot base using eight M20×65 bolts
(strength classification 12.9). Next, position the robot, and weld
the base plate to the floor plate. (Floor length is 10 to 15mm.)
( The base plate is prepared as the option.)
-
Installation method II Fig. 1.2.1 (b)
The floor plate is not imbedded in concrete. The floor plate is
fastened at the twelve points with M20 chemical anchors
(strength classification 4.8) and the inclination of the floor plate
is adjusted with the four fixing screws. The robot is positioned
with the robot base pushed against the three φ20 parallel pins
inserted into the base and the robot base is fastened on the floor
plate with eight M20 x 65 bolts (strength classification 12.9).
-
Installation method III Fig. 1.2.1(c)
The installation method is generally the same as described above
except that the parallel pins for pushing the robot base are not
used.
The following parts are required to install the robot.
Common to methods I, II, and III
Robot mounting bolts
M20x65
(Strength classification 12.9)
Chemical anchors
M20
(Strength classification 4.8)
Base plates
Thickness 32t
Floor plate
Thickness 32t
Methods II and III
Fixing screws
M20
Four
Nuts
M20
Four
Method II only
Parallel pins
φ20
Three
8pcs
12pcs
4pcs
1pcs
NOTE
- When the robot is operated with a combination
other than the above, it may be damaged.
- Arrangements for installation work (such as welding
and anchoring) need to be made by customers.
- 27 -
1.TRANSPORTATION AND INSTALLATION
Fig. 1.2.1 (a)
Installation methodⅠ
- 28 -
B-82234EN/07
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Fig.1.2.1 (b)
Installation methodⅡ
- 29 -
1.TRANSPORTATION AND INSTALLATION
Fig. 1.2.1 (c)
Installation method Ⅲ
- 30 -
B-82234EN/07
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Model
R-2000iB/165F
R-2000iB/210F
R-2000iB/165R
R-2000iB/200R
R-2000iB/100P
R-2000iB/170CF
R-2000iB/125L
R-2000iB/175L
R-2000iB/100H
R-2000iB/150U
R-2000iB/165CF
Table1.2.1(a) Force and moment during emergency stop
Horizontal
Force in vertical
Vertical moment
moment
direction
MV [kNm(kgfm)]
MH [kNm(kgfm)]
FV [kN(kgf)]
62.72(6400)
37.24(3800)
24.50(2500)
73.50(7500)
41.16(4200)
25.48(2600)
75.46(7700)
39.20(4000)
25.48(2600)
84.28(8600)
41.16(4200)
25.48(2600)
77.42(7900)
38.22(3900)
25.48(2600)
37.24(3800
33.32(3400)
9.80(1000)
61.74(6300)
35.28(3600)
24.50(2500)
71.54(7300)
38.22 (3900)
25.48(2600)
53.90(5500)
34.30(3500)
19.60(2000)
63.70(6500)
36.26(3700)
23.52(2400)
31.36(3200)
29.40(3000)
17.64(1800)
Force in horizontal
direction
FH [kN(kgf)]
26.46(2700)
27.44(2800)
28.42(2900)
27.44(2800)
26.46(2700)
22.54(2300)
25.48(2600)
26.46(2700)
25.48(2600)
26.46(2700)
17.64(1800)
Table1.2.1(b) Stopping time and distance when emergency stop
Model
R-2000iB/165F
R-2000iB/210F
R-2000iB/165R
R-2000iB/200R
R-2000iB/100P
R-2000iB/170CF
R-2000iB/125L
R-2000iB/175L
R-2000iB/100H
R-2000iB/150U
R-2000iB/165CF
J1-axis
J2-axis
J3-axis
Stopping time [msec]
372
333
145
Stopping distance [deg] (rad)
22.2 (0.39)
15.0 (0.26)
7.5 (0.13)
Stopping time [msec]
335
271
151
Stopping distance [deg] (rad)
16.4 (0.29)
14.2 (0.25)
8.4 (0.15)
Stopping time [msec]
519
352
202
Stopping distance [deg] (rad)
26.8 (0.47)
15.3 (0.27)
8.5 (0.15)
Stopping time [msec]
483
267
169
Stopping distance [deg] (rad)
22.2 (0.39)
10.7 (0.19)
8.3 (0.14)
Stopping time [msec]
542
349
282
Stopping distance [deg] (rad)
30.2 (0.53)
15.9 (0.28)
13.1 (0.23)
Stopping time [msec]
448
203
135
Stopping distance [deg] (rad)
26.6(0.46)
9.8(0.17)
8.0(0.13)
Stopping time [msec]
370
375
200
Stopping distance [deg] (rad)
20.5 (0.36)
18.7 (0.33)
9.0 (0.16)
Stopping time [msec]
380
403
210
Stopping distance [deg] (rad)
19.2 (0.34)
17.4 (0.30)
9.5 (0.17)
Stopping time [msec]
435
316
186
Stopping distance [deg] (rad)
29.2 (0.51)
16.6 (0.29)
11.2 (0.20)
Stopping time [msec]
359
246
177
Stopping distance [deg] (rad)
19.9(0.35)
7.9(0.14)
9.4(0.16)
Stopping time [msec]
300
231
140
Stopping distance [deg] (rad)
17.4 (0.30)
10.2 (0.18)
8.2 (0.14)
※ override : 100%
※ Max payload, max speed and max inertia posture
- 31 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
MV
FV
FH
MH
Fig. 1.2.1 (d) Force during emergency stop
- 32 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
1.3
MAINTENANCE AREA
Fig. 1.3 (a) to (d) show the maintenance area of the mechanical unit.
Be sure to leave enough room for the robot to be mastered.
See Chapter 8 for the mastering.
Maintenance are(mechanical unit)
R-2000iB/165F :
R-2000iB/210F :
R-2000iB/125L :
R-2000iB/175L :
R-2000iB/100H :
R-2000iB/150U :
1695mm
1715mm
1850mm
1915mm
1695mm
1695mm
A
1695
500
500
300
403
500
500
（arm length+ 200)
Mastering area
500
423
348
500
Fig. 1.3 (a) Maintenance area (R-2000iB/165F, 210F, 125L, 175L, 100H, 150U)
- 33 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Maintenance area (mechanical unit)
Mastering area
Fig 1.3(b)
Mastering area (R-2000iB/165R, 200R, 100P)
- 34 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Maintenance area
1085
500
605
500
Mastering area
500
774
Fig 1.3(c)
500
Mastering area (R-2000iB/170CF)
- 35 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/07
Maintenance area
(Mechanical unit)
500
550
605
550
500
Mastering area
930
500
500
783
Fig 1.3 (d) Maintenance area (R-2000iB/165CF)
- 36 -
B-82234EN/07
1.4
1.TRANSPORTATION AND INSTALLATION
INSTALLATION SPECIFICATIONS
Table 1.4 shows the robot installation specifications.
Table 1.4 Installation specifications
R-2000iB/165F
Approx. 1170kg
R-2000iB/210F
Approx. 1240kg
R-2000iB/165R
Approx. 1480kg
R-2000iB/200R
Approx. 1540kg
R-2000iB/100P
Approx. 1560kg
R-2000iB/170CF
Weight of mechanical unit
Approx. 800kg
R-2000iB/125L
Approx. 1190kg
R-2000iB/175L
Approx. 1260kg
R-2000iB/100H
Approx. 1150kg
R-2000iB/165CF
Approx. 1050kg
R-2000iB/150U
Approx. 1070kg
0 to 45℃
Allowable ambient temperature
Usual : Less than 75％RH
Allowable ambient humidity
Short period (in one month)：Max. 95％
RH or less (Condensation free)
Admosphere
Free of corrosive gases (Lower Note)
Vibration
Less than 0.5G (4.9m/s2)
CAUTION
Contact the service representative, if the robot is to be
used in an environment or a place subjected to severe
vibrations, heavy dust, cutting oil splash and or other
foreign substances.
If the robot is used especially in an adverse environment
stated below, grease the balancer as required.
• Dusty environment; for example, an application in
which the robot is used to handle tiles or bricks.
• Environment full of spatters developed in spot
welding; for example, an application in which
welding spatters deposit and accumulate on and
around the balancer
In addition, if the robot is used in a special environment
stated below, use a robot jacket or some other means
to protect the balancer support part (which joins with the
J2 arm and J2 base) and rod sliding part.
• Environment where glass abrasive powders and
others are used; for example, and application in
which the robot or balancer is subjected to splashes
of powders in handling and other operations during
glass abrasion.
• Environment where metal powders are used;
for example, an application in which the robot or
balancer is subjected to splashes of powders in
handling and other operations during metal working.
- 37 -
2.CONNECTION WITH THE CONTROLLER
2
B-82234EN/07
CONNECTION WITH THE CONTROLLER
- 38 -
2.CONNECTION WITH THE CONTROLLER
B-82234EN/07
2.1
CONNECTION WITH THE CONTROLLER
The robot is connected with the controller (NC) via the power cable,
the signal cable and the earth cable. Connect these cables to the
connectors on the back of the base.
For details on air and option cables, see Chapter 5.
CAUTION
Before connecting the cables, be sure to turn off the
power.
Robot
Controller
Power and signal cables
earth cables
A
Air
Earth terminal
Power cable
Option
Signal cable
Detail A
Fig. 2.1 Cable connection
- 39 -
3.BASIC SPECIFICATION
3
B-82234EN/07
BASIC SPECIFICATIONS
- 40 -
3.BASIC SPECIFICATION
B-82234EN/07
3.1
ROBOT CONFIGURATION
AC servo motor (M5)
For J5-axis
End effector mounting face
AC servo motor (M6)
For J6-axis
Wrist unit
AC servo motor (M4)
For J4-axis
J3-axis arm
AC servo motor (M3)
For J3-axis
J3-axis casing
AC servo motor (M1)
For J1-axis
J2-axis arm
Balancer
AC servo motor (M2) for J2-axis
J2-axis unit
J1-axis unit
+
J4
‑
+ J5 J6 +
+
‑‑
J3
‑
‑
J2
+
∗ All axes are 0° as
this posture.
+
‑
Fig. 3.1 (a)
J1
Mechanical unit configuration and each axes coordinates (R-2000iB/165F, 210F, 125L, 175L,150U)
NOTE) There is no balancer for R-2000iB/150U
- 41 -
3.BASIC SPECIFICATION
B-82234EN/07
AC servo motor
For J5-axis
AC servo motor
For J4-axis
AC servo motor
For J1-axis
AC servo motor
For J6-axis
J2-axis arm
J2-axis arm
J3-axis casing
J2-axis unit
J1-axis unit
AC servo motor
For J2-axis
J3-axis arm
Wrist unit
End effector mounting face
All axes are at
0° in this
※この姿勢が全軸
0°になります
attitude.
Fig 3.1 (b)
Mechanical unit configuration and each axes coordinates (R-2000iB/165R,200R,100P)
- 42 -
3.BASIC SPECIFICATION
B-82234EN/07
AC servo motor(M3)
For J3-axis
AC servo motor(M5)
For J5-axis
J3-axis casing
Wrist unit
End effector
mounting face
AC servo motor(M6)
For J6-axis
AC servio motor(M4)
For J4-axis
J3-axis arm
AC servo motor(M1)
For J1-axis
J2-axis arm
AC servo motor(M2)
For J2-axis
J2-axis unit
J1-axis unit
J4
+
J2
-
-
+
J6
J5
+
-
+
-
J3
+
+
J1
Fig 3.1 (c)
All axes are at 0° in this
attitude.
Mechanical unit configuration and each axes coordinates (R-2000iB/170CF)
- 43 -
3.BASIC SPECIFICATION
AC servo motor
For J4-axis (M4)
B-82234EN/07
End effector mounting face
AC servo motor
For J5-axis(M5)
J3-axis arm
AC servo motor
for J3-axis (M3)
J3 casing
AC servo motor
For J1-axis (M1)
J2-axis arm
Balancer
AC servo motor
For J2-axis (M2)
J2-axis unit
J1-axis unit
+ J4
+
J3
-
J5
+
J2
+
*All axes are 0°
as this posture.
+
Fig 3.1 (d)
J1
Mechanical unit configuration and each axes coordinates (R-2000iB/100H)
- 44 -
3.BASIC SPECIFICATION
B-82234EN/07
AC servo motor
For J5-axis
AC servo motor
For J6-axis
J3-axis casing
Wrist unit
End effector
morning face
AC servo motor
For J3-axis
AC servo motor
For J4-axis
J2-axis arm
AC servo motor
For J1-axis
AC servo motor
For J2-axis
J2-axis unit
J1-axis unit
Fig 3.1 (e)
Mechanical unit configuration (R-2000iB/165CF)
- 45 -
3.BASIC SPECIFICATION
B-82234EN/07
Specifications (1/4)
R-2000i B/165R
R-2000i B/210F
Type
Articulated type
6-axis（J1,J2,J3,J4,J5,J6）
Controlled axis
Installation
Floor mount
Rack mount
180°( 3.14rad)
Upper limit
180°( 3.14rad)
180°( 3.14rad)
J1-axis
-180°(-3.14rad)
Lower limit
-180°(-3.14rad)
-180°(-3.14rad)
65°(1.13rad)
Upper limit
76°( 1.32rad)
76°( 1.32rad)
J2-axis
-120°(-2.08rad)
Lower limit
-60°(-1.05rad)
-60°(-1.05rad)
270°(4.69rad)
Upper limit
230°( 4.01rad)
230°( 4.01rad)
J3-axis
-95°(-1.65rad)
Lower limit
-132°(-2.30rad)
-132°(-2.30rad)
Motion range
360°( 6.28rad)
360°( 6.28rad)
360°( 6.28rad)
Upper limit
J4-axis
-360°(-6.28rad)
-360°(-6.28rad)
Lower limit
-360°(-6.28rad)
125°( 2.18rad)
Upper limit
125°( 2.18rad)
125°( 2.18rad)
J5-axis
-125°(-2.18rad)
-125°(-2.18rad)
-125°(-2.18rad)
Lower limit
360°( 6.28rad)
Upper limit
360°( 6.28rad)
360°( 6.28rad)
J6-axis
-360°(-6.28rad)
-360°(-6.28rad)
Lower limit
-360°(-6.28rad)
J1-axis
110°/s (1.92rad/s)
110°/s (1.92rad/s)
95°/s (1.66rad/s)
J2-axis
100°/s (1.75rad/s)
110°/s (1.92rad/s)
90°/s (1.57rad/s)
J3-axis
110°/s (1.92rad/s)
110°/s (1.92rad/s)
95°/s (1.66rad/s)
Max.motion
speed
J4-axis
150°/s (2.62rad/s)
150°/s (2.62rad/s)
120°/s (2.09rad/s)
J5-axis
150°/s (2.62rad/s)
150°/s (2.62rad/s)
120°/s (2.09rad/s)
J6-axis
220°/s (3.84rad/s)
220°/s (3.84rad/s)
190°/s (3.32rad/s)
165kg
At Wrist
165kg
210kg
Max.load
At J3-axis arm
25kg
25kg
25kg
capacity
At J2-axis base
550kg
550kg
550kg
J4
921N・m (94kgf・m)
921N・m (94kgf・m) 1333N・m (136kgf・m)
Allowable
J5
921N・m (94kgf・m)
load moment
921N・m (94kgf・m) 1333N・m (136kgf・m)
at wrist
J6
461N・m (47kgf・m)
461N・m (47kgf・m) 706N・m (72kgf・m)
2
2
NOTE1) 141.1kg・m
NOTE 1) 78.4kg・m
2
2
2
78.4kg・m
(800kgf・cm・s )
(1440kgf・cm・s )
J4
2
2
2
(800kgf・cm・s
)
NOTE 1) 117.6kg・m NOTE 1) 225.4kg・m
2
2
(1200kgf・cm・s )
(2300kgf・cm・s )
2
2
NOTE 1) 78.4kg・m
NOTE 1) 141.1kg・m
2
Allowable
2
2
78.4kg・m
(800kgf・cm・s )
(1440kgf・cm・s )
load inertia
J5
2
2
2
(800kgf・cm・s
)
NOTE 1) 117.6kg・m NOTE 1) 225.4kg・m
at wrist
2
2
(1200kgf・cm・s )
(2300kgf・cm・s )
2
2
NOTE 1) 40.2kg・m NOTE 1) 78.4kg・m
2
2
2
40.2kg・m
(410kgf・cm・s )
(800kgf・cm・s )
J6
2
2
NOTE 1) 98kg・m
NOTE 1) 196kg・m
2
(410kgf・cm・s )
2
2
(1000kgf・cm・s )
(2000kgf・cm・s )
Electric servo dirive by AC servo motor
Drive method
±0.3mm
Repeatability
±0.2mm
1480kg
Weight of mechanical unit
1240kg
1170kg
Ambient temperature：0 to 45℃
Ambient humidity ：Normally 75%RH or less
No dew,nor frost allowed.
Short time (within one month) 95%RH
Installation environment
Height ： Up to 1000 meters above the sea level required,noparticular
provision for attitude
Vibration ：0.5G(4.9m/s2) or less
71.3dB
NOTE
This value is equivalent continuous A-weighted sound pressure level
which applied with ISO11201(EN31201).This value is measured with
Acoustic noise level
the following conditions
"- Maximum load and speed"
"- Operating mode is AUTO"
R-2000i B/165F
Note 1) The allowable load in standard inertia mode is shown in upper half and the allowable load in high inertia
mode in lower half. For details, see Section 4.5 in the connection manual.
- 46 -
3.BASIC SPECIFICATION
B-82234EN/07
Specifications (2/4)
R-2000i B/200R
R-2000i B/100P
R-2000i B/170CF
Type
Articulated type
6-axes（J1,J2,J3,J4,J5,J6）
Controlled axis
Installation
Rack mount
Floor
mount(or top mount)
床置（天吊りも可)
180°( 3.14rad)
180°( 3.14rad)
Upper limit
180°( 3.14rad)
J1-axis
-180°(-3.14rad)
-180°(-3.14rad)
-180°(-3.14rad)
Lower limit
65°( 1.13rad)
Upper limit
65°( 1.13rad)
135°( 2.35rad)
J2-axis
-120°
(-2.09rad)
-120°(-2.09rad)
-55°(-0.96rad)
Lower limit
270°(4.71rad)
Upper limit
270°( 4.71rad)
220°( 3.84rad)
J3-axis
-95°(-1.66rad)
Lower limit
-95°(-1.66rad)
-112°(-1.95rad)
Motion range
360°( 6.28rad)
Upper limit
360°( 6.28rad)
360°( 6.28rad)
J4-axis
-360°(-6.28rad)
Lower limit
-360°(-6.28rad)
-360°(-6.28rad)
125°( 2.18rad)
Upper limit
125°( 2.18rad)
125°( 2.18rad)
J5-axis
-125°(-2.18rad)
Lower limit
-125°(-2.18rad)
-125°(-2.18rad)
360°( 6.28rad)
Upper limit
360°( 6.28rad)
360°( 6.28rad)
J6-axis
-360°(-6.28rad)
Lower limit
-360°(-6.28rad)
-360°(-6.28rad)
J1-axis
90°/s (1.57rad/s)
110°/s (1.92rad/s)
110°/s (1.92rad/s)
J2-axis
85°/s (1.48rad/s)
90°/s (1.57rad/s)
110°/s (1.92rad/s)
J3-axis
95°/s (1.66rad/s)
110°/s (1.92rad/s)
110°/s (1.92rad/s)
Max.speed
J4-axis
120°/s (2.09rad/s)
120°/s (2.09rad/s)
150°/s (2.62rad/s)
J5-axis
120°/s (2.09rad/s)
120°/s (2.09rad/s)
150°/s (2.62rad/s)
J6-axis
190°/s (3.32rad/s)
190°/s (3.32rad/s)
220°/s (3.84rad/s)
200kg
At wrist
100kg
170kg
Max.load
At J3-axis arm
−
25kg
25kg
capacity
At J2-axis base
550kg
550kg
550kg
J4
1333N・m (136kgf・m) 980N・m (100kgf・m) 921N・m (94kgf・m)
Allowable
load moment
J5
1333N・m (136kgf・m) 980N・m (100kgf・m) 921N・m (94kgf・m)
at wrist
J6
706N・m (72kgf・m)
706N・m (72kgf・m) 461N・m (47kgf・m)
2
2
2
141.1kg・m
225.4kg・m
78.4kg・m
J4
2
2
2
(1440kgf・cm・s )
(2300kgf・cm・s )
(800kgf・cm・s )
2
Allowable
2
2
141.1kg・m
225.4kg・m
78.4kg・m
load inertia
J5
2
2
2
(1440kgf・cm・s
)
(2300kgf・cm・s )
(800kgf・cm・s )
at wrist
2
2
2
78.4kg・m
196kg・m
40.2kg・m
J6
2
2
2
(800kgf・cm・s )
(2000kgf・cm・s )
(410kgf・cm・s )
Electric servo dirive by AC servo motor
Drive method
±0.3mm
Repeatability
±0.15mm
1540kg
Weight of machine unit
1560kg
800kg
Ambient temperature：0 to 45℃
Ambient humidity ：Normally 75%RH or less
No dew,nor frost allowed.
Installation environment
Short time (within one month) 95%RH
Height ： Up to
1000 meters above
the
sea level
required,noparticular provision for attitude
71.3dB
NOTE
This value is equivalent continuous A-weighted sound pressure level
which applied with ISO11201(EN31201).This value is measured with
Acoustic noise level
the following conditions
"- Maximum load and speed"
"- Operating mode is AUTO"
- 47 -
3.BASIC SPECIFICATION
Type
Controlled axis
Installation
Motion
Upper limit
J1-axis
range
Lower limit
Upper limit
J2-axis
Lower limit
Upper limit
J3-axis
Lower limit
Upper limit
J4-axis
Lower limit
Upper limit
J5-axis
Lower limit
Upper limit
J6-axis
Lower limit
Max.speed
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
Max.load
At wrist
capacity
At J3-axis arm
At J2-axis base
Allowable
J4
load moment
J5
at wrist
J6
Allowable
load
inertia at
wrist
J4
J5
J6
Drive method
Repeatability
Weight of machine unit
Installation environment
Acoustic noise level
B-82234EN/07
Specifications (3/4)
R-2000i B/125L
R-2000i B/175L
R-2000i B/100H
Articulated type
6-axes（J1,J2,J3,J4,J5,J6）
5-axes (J1,J2,J3,J4,J5)
Floor mount
180°( 3.14rad)
180°( 3.14rad)
180°( 3.14rad)
-180°(-3.14rad)
-180°(-3.14rad)
-180°(-3.14rad)
76°( 1.33rad)
76°( 1.33rad)
76°( 1.33rad)
-60° (-1.05rad)
-60°(-1.05rad)
-60°(-1.05rad)
230°(4.01rad)
230°( 4.01rad)
230°( 4.01rad)
-122.5°(-2.14rad)
-125.9°(-2.20rad)
-132°(-2.30rad)
360°( 6.28rad)
360°( 6.28rad)
125°( 2.18rad)
-360°(-6.28rad)
-360°(-6.28rad)
-125°(-2.18rad)
125°( 2.18rad)
125°( 2.18rad)
360°( 6.28rad)
-125°(-2.18rad)
-125°(-2.18rad)
-360°(-6.28rad)
360°( 6.28rad)
360°( 6.28rad)
-360°(-6.28rad)
-360°(-6.28rad)
95°/s (1.66rad/s)
130°/s (2.27rad/s)
110°/s (1.92rad/s)
90°/s (1.57rad/s)
130°/s (2.27rad/s)
110°/s (1.92rad/s)
95°/s (1.66rad/s)
130°/s (2.27rad/s)
110°/s (1.92rad/s)
120°/s (2.09rad/s)
170°/s (2.97rad/s)
170°/s (2.97rad/s)
120°/s (2.09rad/s)
360°/s (6.28rad/s)
170°/s (2.97rad/s)
190°/s (3.32rad/s)
260°/s (4.54rad/s)
175kg
100kg
125kg
20kg
20kg
550kg
550kg
550kg
588N・m (60kgf・m) 1225N・m (125kgf・m) 441N・m (45kgf・m)
588N・m (60kgf・m) 1225N・m (125kgf・m)
343N・m (35kgf・m)
2
706N・m (72kgf・m)
2
245N・m (25kgf・m)
2
225.4kg・m
39.2kg・m
58.8kg・m
2
2
2
(600kgf・cm・s )
(2300kgf・cm・s )
(400kgf・cm・s )
2
2
2
225.4kg・m
15.7kg・m
58.8kg・m
(600kgf・cm・s2)
(2300kgf・cm・s2)
(160kgf・cm・s2)
2
2
196kg・m
22.5kg・m
2
2
(230kgf・cm・s )
(2000kgf・cm・s )
Electric servo dirive by AC servo motor
±0.3mm
±0.2mm
±0.2mm
1260kg
1150kg
1190kg
Ambient temperature：0 to 45℃
Ambient humidity ：Normally 75%RH or less
No dew,nor frost allowed.
Short time (within one month) 95%RH
Height ：
Up
to
1000
meters
above
the
sea
level
required,noparticular provision for attitu
71.3dB
NOTE
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"
- 48 -
3.BASIC SPECIFICATION
B-82234EN/07
Specifications (4/4)
R-2000i B/150U
Type
Controlled axis
Installation
Upper limit
J1-axis
Lower limit
Upper limit
J2-axis
Lower limit
Upper limit
J3-axis
Lower limit
Motion range
Upper limit
J4-axis
Lower limit
Upper limit
J5-axis
Lower limit
Upper limit
J6-axis
Lower limit
J1-axis
J2-axis
J3-axis
Max motion
speed
J4-axis
J5-axis
J6-axis
At wrist
Max.load
At J3-axis arm
capacity
At J2-axis base
J4
Allowable
J5
load capacity
at wrist
J6
J4
Allowable
load capacity
at wrist
J5
J6
Drive method
Repeatability
Weight of machine unit
Installation environment
Acoustic noise level
R-2000i B/165CF
Articulated type
6-axes（J1,J2,J3,J4,J5,J6）
Angle mount
mount
Ungle
Floor mount
180°( 3.14rad)
180°( 3.14rad)
-180°(-3.14rad)
-180°(-3.14rad)
76°( 1.33rad)
110°( 1.92rad)
-60° (-1.05rad)
-55° (-0.96rad)
230°(4.01rad)
120°(2.09rad)
-132°(-2.30rad)
-130°(-2.27rad)
360°( 6.28rad)
360°( 6.28rad)
-360°(-6.28rad)
-360°(-6.28rad)
125°( 2.18rad)
125°( 2.18rad)
-125°(-2.18rad)
-125°(-2.18rad)
360°( 6.28rad)
360°( 6.28rad)
-360°(-6.28rad)
-360°(-6.28rad)
110°/s (1.92rad/s)
110°/s (1.92rad/s)
85°/s (1.48rad/s)
90°/s (1.57rad/s)
110°/s (1.92rad/s)
100°/s (1.75rad/s)
150°/s (2.62rad/s)
130°/s (2.27rad/s)
150°/s (2.62rad/s)
130°/s (2.27rad/s)
220°/s (3.84rad/s)
210°/s (3.67rad/s)
150kg
165kg
10kg
25kg
550kg
550kg
833N・m (85kgf・m)
911N・m (93kgf・m)
833N・m (85kgf・m)
911N・m (93kgf・m)
421N・m (43kgf・m)
451N・m (46kgf・m)
2
2
88.2kg・m
78.4kg・m
2
2
(800kgf・cm・s )
(900kgf・cm・s )
2
2
78.4kg・m
88.2kg・m
2
2
(800kgf・cm・s )
(900kgf・cm・s )
2
2
40.2kg・m
44.1kg・m
2
2
(410kgf・cm・s )
(450kgf・cm・s )
Electric servo dirive by AC servo motor
±0.2mm
±0.15mm
1070kg
1050kg
Ambient temperature：0 to 45℃
Ambient humidity ：Normally 75%RH or less
No dew,nor frost allowed.
Short time (within one month) 95%RH
Height： Up to 1000 meters above the sea level required,noparticular
provision for attitude
Vibration ：0.5G(4.9m/s2) or less
71.3
78.1dB
NOTE
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"
- 49 -
3.BASIC SPECIFICATION
3.2
B-82234EN/07
MECHANICAL UNIT OPERATION AREA AND
INTERFERENCE AREA
Fig. 3.2 (a) to (j) show the robot interference area. When installing
peripheral devices, be careful to clear away any objects that are the
robot and the robot’s motion path in normal operation.
Motion range of
J5-axis rotation center
J3-axis rear side
interference area
J5-axis
rotation
center
Fig. 3.2 (a)
Interference area (R-2000iB/165F)
- 50 -
3.BASIC SPECIFICATION
B-82234EN/07
Motion range of
J5-axis rotation center
J3-axis rear side
interference area
Fig. 3.2 (b)
J5-axis
rotation
center
Interference area (R-2000iB/210F)
- 51 -
3.BASIC SPECIFICATION
B-82234EN/07
J3-axis rear side
interference area
Motion range of
J5-axis rotation center
J5-axis
rotation
center
Fig 3.2 (c)
Interference area (R-2000iB/165R)
- 52 -
3.BASIC SPECIFICATION
B-82234EN/07
J3-axis rear side
interference area
Motion range of
J5-axis rotation center
J5-axis
rotation
center
Fig 3.2 (d)
Interference area (R-2000iB/200R)
- 53 -
3.BASIC SPECIFICATION
B-82234EN/07
Fig 3.2 (e)
Interference area (R-2000iB/100P)
- 54 -
3.BASIC SPECIFICATION
252.5
B-82234EN/07
+180DEG
0 DEG
-180DEG
R 1520
(+300,+1720)
300
REAR SIDE
INTERFERENCE AREA
670
215
326
J5-axis rotation center
210
(-821,+815)
Motion range of
J5-axis rotation
center
°
55
500
(-731,+480)
180°
(+109,+833)
(-488,+546)
(-635,+423)
(+1520,+500)
(+600,+260)
(0,0)
11
2°
550
°
22
0°
30°
°
98
(+600,-553)
(+689,-559)
Fig. 3.2 (f)
Interference area (R-2000iB/170CF)
- 55 -
3.BASIC SPECIFICATION
B-82234EN/07
Motion range of
J5-axis rotation center
J3-axis rear side
interference area
J5-axis
rotation
center
Fig. 3.2 (g)
Interference area (R-2000iB/125L)
- 56 -
3.BASIC SPECIFICATION
B-82234EN/07
Fig. 3.2 (h)
Interference area (R-2000iB/175L)
- 57 -
3.BASIC SPECIFICATION
B-82234EN/07
58
2
252.5
R
+180DEG.
0 DEG.
-180DEG.
R 2655
(+312,+3045)
(+445,+1953)
215
225
1280
REAR SIDE
INTERFERENCE AREA
814
J4-axis rotation center
G.
230 DE
.
DEG
-35
(+665,+1004)
.
DEG
76
DE
G
(-955,+425)
(-1538,+289)
.
(+2655,+930)
(+665,+337)
2
-13
(-1099,+305)
(0,0)
(+665,-171)
(+1355,-370)
Fig. 3.2 (i)
-10 DEG.
-60
1075
312
215 DE
G.
670
(-1919,+1208)
Interference area (R-2000iB/100H)
- 58 -
.
DEG
MOTION RANGE
OF J4 AXIS
ROTATION CENTER
3.BASIC SPECIFICATION
B-82234EN/07
2260
1646
312
814
(+1355,-370)
(+1980,-209)
(+665,-171)
J5-axis rotation center
(0,0)
670
670
(-1099,+305)
(-1495,+290)
.
EG
2D
-13
(-1538,+289)
(+665,+337)
(-955,+425)
(+2655,+930)
G.
1075
DE
-10 DEG
76
(+665,+1004)
.
DEG
-60
.
DEG
-30
230
J5軸回転中心
(-1919,+1208)
215 DEG.
DE G
.
THE ROBOT MAY NOT REST
DEPENDING ON ITS LOAD CONDITION AND POSTURE
225
THE ROBOT MAY NOT REST
DEPENDING ON ITS LOAD CONDITION AND POSTURE
215
(+2162,+2160)
1280
(+445,+1953)
J3-axis rear side
interference area
(-1520,+1891)
252
(+312,+3045)
R 2655
-180DEG.
0 DEG.
+180DEG.
R
Fig. 3.2 (j)
53
4
Interference area (R-2000iB/150U)
- 59 -
3.BASIC SPECIFICATION
Fig. 3.2 (k)
B-82234EN/07
Interference area (R-2000iB/165CF)
- 60 -
3.BASIC SPECIFICATION
B-82234EN/07
3.3
ZERO POINT POSITION AND MOTION LIMIT
Zero point and software motion limit are provided for each controlled
axis. The robot cannot exceed the software motion limit unless there is
a failure of the system causing loss of zero point position or there is a
system error.
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.
In addition, the motion range limit by a mechanical stopper or
limit switch is also prepared to improve safety.
Fig.3.3 (a) to (i) show the zero point and motion limit, LS detection
position, and mechanical stopper position of each axis.
* The motion range can be changed. For information on how
to change the motion range, see Chapter 6, "AXIS LIMIT
SETUP".
-184° Stopper end
-180.5° Limit switch detection position
±180° Stroke end
+180.5° Limit switch detection position
+184° Stopper end
(NOTE) The limit switch of J1-axis is an option.
Fig. 3.3 (a)
J1-axis motion limit
- 61 -
3.BASIC SPECIFICATION
B-82234EN/07
-60° Stroke end (Lower limit)
+76° Stroke end
(Upper limit)
-60.5° Limit switch detection
position
-64° Stopper end
+76.5° Limit switch
detection position
+80° Stopper end
(NOTE)
The limit switch of J2-axis is an option.
Motion limit is restricted by the position of the J3-axis.
Fig. 3.3 (b)
J2-axis motion limit (R-2000iB/165F, 210F, 125L, 175L, 100H)
-120°Stroke end (LOWER limit)
-120.5°Limit switch detection position
-124°Stopper end
+65°Stoke end (Upper limit)
(NOTE)
The limit switch of J2-axis is an option.
Motion limit is restricted by the position of the J3-axis.
Fig 3.3 (c)
+65.5°Limit switch detection position
+69°Stopper end
J2-axis motion limit (R-2000iB/165R,200R,100P)
- 62 -
3.BASIC SPECIFICATION
B-82234EN/07
0°
55°
°
-55v Stroke end(Lower limit)
135
-59v Stopper end
+135v Stroke end(Upper limit)
+139v Stopper end
Fig.3.3 (d)
J2-axis motion limit (R-2000iB/170CF)
-55° Stroke end (Lower Limit)
-55.5° Limit switch detection position
-59° Stopper end
+110° Stroke end (Upper Limit)
+110.5° Limit switch detection position
+114° Stroke end
(NOTE)
The limit switch of J2-axis is an option.
Motion limit is restricted by the position of the J3-axis.
Fig.3.3 (e)
J2-axis motion limit (R-2000iB/165CF)
- 63 -
3.BASIC SPECIFICATION
B-82234EN/07
Stroke end (Upper limit)
Stroke end (Lower limit)
Limit switch detection position
Stopper end
Stopper end
Limit switch detection position
(NOTE)
The limit switch of J3-axis is an option.
Motion limit is restricted by the position of the J2-axis.
Fig. 3.3 (f)
J3-axis motion limit (R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L, 100H)
23
5°
0°
0°
55°
125
°
J2+J3=235v
Stroke end(Upper limit)
J2+J3=-55v
Stroke end(Lower limit)
J2+J3=-59v
Stopper end
J2+J3=239v
Stopper end
Fig. 3.3 (g)
J3-axis motion limit (R-2000iB/170CF)
- 64 -
3.BASIC SPECIFICATION
B-82234EN/07
Stroke end (Upper limit)
Limit switch detection position
Stopper end
Stopper end
(Lower limit)
Limit switch
detection position
(NOTE)
The limit switch of J3-axis is an option.
Motion limit is restricted by the position of the
J2-axis.
Stopper end
Fig. 3.3 (h)
J3-axis motion limit (R-2000iB/165CF)
+125°Stroke end (Upper limit)
+125゛Stopper (R-2000iB/165CF)
Stopper end
(Except for R-2000iB/165CF)
Stopper end
(Except for R-2000iB/165CF)
Stroke end (Lower limit)
Stopper end (for R-2000iB/165CF)
Fig. 3.3 (i)
J5-axis motion limit (It is J4-axis for R-2000iB/100H)
- 65 -
3.BASIC SPECIFICATION
B-82234EN/07
Software restriction
Software restriction
(NOTE)
J6-axis does not have the limit switch
and the mechanical stopper.
(NOTE)
J4-axis does not have the limit switch
and the mechanical stopper.
Fig. 3.3 (j) J4-axis motion limit
(for R-2000iB/100H is not included)
Fig. 3.3 (k) J6-axis motion limit
(It is J5-axis for R-2000iB/100H)
- 66 -
3.BASIC SPECIFICATION
B-82234EN/07
WRIST LOAD CONDITIONS
Fig. 3.4 (a) to (t) are diagrams to limit loads applied to the wrist.
Apply a load within the region indicated in the graph.Apply the
conditions of the allowable load moment and the allowable load
inertia. See Section 3.1 about the allowable load moment and the
allowable load inertia.
Z [cm]
90
80
70
62.6
60
51.7
47.3
100kg
120kg
50
40
35.5
33.8 30
20
130kg
165kg
170kg
(R-2000iB/170CF)
28.5
35.2
10
44.3
30
Fig. 3.4 (a)
40
37.8
20
27.7
3.4
50
60
X, Y [cm]
Wrist load diagram (ISO flange)（R-2000iB/165F, 165R, 170CF）
- 67 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
70
60.3
100kg
60
49.4
50
120kg
45.0
40
130kg
33.2
165kg
30
31.5
20
28.5
35.2
170kg
(R-2000iB/170CF)
10
44.3
Fig. 3.4 (b)
40
37.8
30
27.7
20
50
60
X, Y [cm]
Wrist load diagram (Insulating ISO flange)（R-2000iB/165F, 165R, 170CF）
- 68 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
70
60.1
100kg
60
49.2
44.8
50
40
33.0
30
120kg
130kg
165kg
31.3
20
28.5
35.2
170kg
(R-2000iB/170CF)
10
44.3
Fig. 3.4 (c)
40
37.8
30
27.7
20
50
60
X, Y [cm]
Wrist load diagram (FANUC / special flange)（R-2000iB/165F, 165R, 170CF）
- 69 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
50.0
57.3
70
60
140kg
160kg
50
41.3
180kg
40
210kg
30
20
39.4
10
49.4
30
40
34.3
20
Fig. 3.4 (d)
50
60
X,Y [cm]
56.5
66.3
80
43.8
77.7
120kg
Wrist load diagram (ISO flange)（R-2000iB/210F, 200R）
- 70 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
120kg
75.4
70
60
55.0
50
40
39.0
30
180kg
210kg
20
39.4
10
49.4
30
40
34.3
20
Fig. 3.4 (e)
50
60
X,Y [cm]
56.5
47.7
160kg
43.8
64.0
140kg
Wrist load diagram (Insulating ISO flange)（R-2000iB/210F, 200R）
- 71 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
120kg
75.2
70
63.8
60
54.8
47.5
140kg
160kg
50
40
38.8
30
180kg
210kg
20
39.4
10
49.4
Fig. 3.4 (f)
50
60
X,Y [cm]
56.5
40
43.8
30
34.3
20
Wrist load diagram (FANUC / special flange)（R-2000iB/210F, 200R）
- 72 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
140
127.1
130
60kg
120
110
96.5
100
80kg
90
76.5
80
100kg
70
60
50
40
30
72.0
20
88.8
10
115.8
20
30
40
50
60
70
80
90
100
110
120
130
X,Y [cm]
Fig. 3.4 (g)
Wrist load diagram (ISO flange)（R-2000iB/100P）
- 73 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
140
130
60kg
124.8
120
110
100
94.2
80kg
90
80
74.2
100kg
70
60
50
40
30
72.0
20
88.8
10
115.8
20
30
40
50
60
70
80
90
100
110
120
130
X,Y [cm]
Fig. 3.4 (h)
Wrist load diagram (Insulating ISO flange)（R-2000iB/100P）
- 74 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
140
124.6
60kg
130
120
110
100
80kg
94.0
90
80
100kg
74.0
70
60
50
40
30
72.0
20
88.8
10
115.8
20
30
40
50
60
70
80
90
100
110
120
130
X,Y [cm]
Fig. 3.4 (i)
Wrist load diagram (FANUC/Special flange)（R-2000iB/100P）
- 75 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
73.6
80
50kg
70
53.2
60
70kg
50
90kg
40
35.6
31.6 30
26.5
20
100kg
110kg
125kg
31.3
10
60.5
Fig. 3.4 (j)
40
50
46.0
30
34.0
37.2
20
28.0
40.4
60
X,Y [cm]
Wrist load diagram (ISO flange)（R-2000iB/125L）
- 76 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
50kg
71.3
70
60
50.9
70kg
50
100kg
30
110kg
20
31.3
125kg
10
60.5
Fig. 3.4 (k)
40
50
46.0
30
34.0
37.2
20
28.0
38.1
33.3
29.3
24.2
90kg
40
60
X,Y [cm]
Wrist load diagram (Insulating ISO flange)（R-2000iB/125L）
- 77 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
71.1
50kg
70
60
50.7
70kg
50
90kg
40
37.9
33.1
30
29.2
100kg
110kg
24.1 20
125kg
31.3
10
60.5
Fig. 3.4 (l)
50
46.0
40
34.0
37.2
30
28.0
20
60
X,Y [cm]
Wrist load diagram (FANUC / special flange)（R-2000iB/125L）
- 78 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
100
100kg
90.6
90
80
74.8
120kg
70
60
50
40
160kg
175kg
30
20
41.1
50.6
10
58.3
20
30
40
50
Fig. 3.4 (m)
60
70
X,Y [cm]
68.7
53.6
47.9
140kg
44.7
62.9
Wrist load diagram (ISO flange)（R-2000iB/175L）
- 79 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
100
100kg
88.3
90
80
72.5
120kg
70
140kg
60.6
60
51.3
50
45.6
40
160kg
175kg
30
20
41.1
50.6
10
58.3
40
50
Fig. 3.4 (n)
60
70
X,Y [cm]
68.7
30
44.7
20
Wrist load diagram (Insulating ISO flange)（R-2000iB/175L）
- 80 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
100
100kg
88.1
90
80
120kg
72.3
70
60.4
60
140kg
51.1
50
45.4
40
160kg
175kg
30
20
41.1
50.6
10
58.3
40
50
Fig. 3.4 (o)
60
70
X,Y [cm]
68.7
30
44.7
20
Wrist load diagram (FANUC/Special flange)（R-2000iB/175L）
- 81 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
70
60
50kg
54.4
50
44.9
40
70kg
80kg
30
90kg
32.7
20
100kg
36.5
10
41.6
20
30
Fig. 3.4 (p)
40
29.6
25.0
27.1
37.7
32.0
27.4
23.5
60kg
50
60
X,Y [cm]
Wrist load diagram (ISO flange)（R-2000iB/100H）
- 82 -
3.BASIC SPECIFICATION
B-82234EN/07
Z [cm]
90
80
70
60
51.9
50kg
50
60kg
42.4
40
70kg
35.2
29.5
25.1
21.0
30
20
80kg
32.7
90kg
36.5
100kg
10
41.6
Fig. 3.4 (q)
40
29.6
30
25.0
27.1
20
50
60
X,Y [cm]
Wrist load diagram (FANUC/Special flange)（R-2000iB/100H）
- 83 -
3.BASIC SPECIFICATION
B-82234EN/07
Z (cm)
90
78.0
80 70kg
70
61.6
60
50.2
50
41.7
40
35.2
90kg
110kg
130kg
150kg
30
20
10
Fig. 3.4 (r)
40
32.2
36.7
42.8
30
50
60
70
X,Y (cm)
51.7
20
28.7
10
Wrist load diagram (ISO flange)（R-2000iB/150U）
- 84 -
3.BASIC SPECIFICATION
B-82234EN/07
Z (cm)
90
80
75.3
70kg
70
59.1
60 90kg
50 110kg
47.8
150kg
30
20
10
Fig. 3.4 (s)
30
40
50
60
70
X,Y (cm)
51.7
20
32.2
36.7
42.8
10
28.7
39.4
32.9
40 130kg
Wrist load diagram (Insulating ISO flange)（R-2000iB/150U）
- 85 -
3.BASIC SPECIFICATION
B-82234EN/07
Z (cm)
90
80
75.1
70kg
70
40 130kg
150kg
30
20
10
10
20
30
Fig. 3.4 (t)
40
50
60
70
X,Y (cm)
51.7
39.2
32.7
50 110kg
32.2
36.7
42.8
47.6
60 90kg
28.7
58.9
Wrist load diagram (FANUC/Special flange)（R-2000iB/150U）
- 86 -
3.BASIC SPECIFICATION
B-82234EN/07
Z(ｃｍ)
80
70
59.1
48.3
44.0
60 100ｋｇ
50 120ｋｇ
130ｋｇ
40
165ｋｇ
30
20
10
30
Fig. 3.4 (u)
40
50
60 X,Y(ｃｍ)
43.3
20
34.4
37.0
10
27.8
32.3
Wrist load diagram (ISO flange) (R-2000iB/165CF)
- 87 -
3.BASIC SPECIFICATION
B-82234EN/07
Z(ｃｍ)
80
70
60
58.1
47.3
43.0
100ｋｇ
50
120ｋｇ
130ｋｇ
40
30
165ｋｇ
20
10
30
Fig. 3.4 (v)
40
50
60 X,Y(ｃｍ)
43.3
20
34.4
37.0
10
27.8
31.3
Wrist load diagram (Insulating ISO flange) (R-2000iB/165CF)
- 88 -
3.BASIC SPECIFICATION
B-82234EN/07
Z(ｃｍ)
80
70
59.1
48.3
44.0
60 100ｋｇ
50 120ｋｇ
130ｋｇ
40
165ｋｇ
32.3
30
20
10
20
30
40
50
60 X,Y(ｃｍ)
19.9
24.7
26.6
31.4
10
Fig. 3.4 (w)
Wrist load diagram (FANUC/special flange) (R-2000iB/165CF)
- 89 -
3.BASIC SPECIFICATION
3.5
B-82234EN/07
LOAD CONDITIONS ON J2-AXIS BASE AND J3-AXIS ARM
Table 3.5 and Fig. 3.5 (a) to (f) show J2-axis base and J3-axis casing
load condition.
Table 3.5 J2-axis base / J3-axis arm load condition
Mounting
position
J2-axis base
J3-axis arm
Model
All models
R-2000iB/165F,
210F, 165R, 100P,
170CF,165CF
Load
capacity
550kg
25kg
R-2000iB/200R
-
R-2000iB/125L,
175L
20kg
R-2000iB/100H
-
R-2000iB/150U
10kg
Condition
The load center must
position 500 mm or
less forward of the
J1-axis rotation ceter.
See Fig. 3.5 (a), (c)
and (g) for the
condition of a gravity
position.
The load can not be
put.See Fig.3.5(d)
See Fig. 3.5 (b) for
the condition of a
gravity position.
The load can not be
put. See Fig.3.5(e)
See Fig. 3.5 (g) for
the condition of a
gravity position.
NOTE
Take great care to avoid the load on the J3 arm from
interfering with the J2 balancer during backflip operation
of the J3 arm.
干渉
Interference
- 90 -
3.BASIC SPECIFICATION
B-82234EN/07
Load capacity on the J3 arm: 25 kg (valve or the like)
Load capacity on the J2 base: 550 kg
(welding transformer or the like)
Fig. 3.5 (a)
J2-axis base / J3-axis arm load condition（R-2000iB/165F, 210F）
- 91 -
3.BASIC SPECIFICATION
B-82234EN/07
Load capacity on the J3 arm : 20kg
(valve or the like)
Load capacity on the J2
base : 550kg
Fig 3.5 (b)
J2-axis base / J3-axis arm load condition (R-2000iB/165R, 100P)
- 92 -
3.BASIC SPECIFICATION
B-82234EN/07
Load capacity on the J2 base : 550kg
Fig 3.5 (c)
J2-axis base load condition (R-2000iB/200R)
- 93 -
3.BASIC SPECIFICATION
0
50
170
260
R
B-82234EN/07
Load capacity on J3 arm 25kg
Load capacity on the J2 base 550kg
Fig 3.5 (d)
J2-axis base load condition (R-2000iB/170CF)
- 94 -
3.BASIC SPECIFICATION
B-82234EN/07
Load capacity on the J3 arm: 20 kg (valve or the like)
Load capacity on the J2 base: 550 kg
(welding transformer or the like)
Fig. 3.5 (e)
J2-axis base / J3-axis arm load condition（R-2000iB/125L, 175L）
- 95 -
3.BASIC SPECIFICATION
R5
0
0
B-82234EN/07
Load capacity on the J2 base 550kg
（peripherals or the like）
Fig 3.5 (f)
J2-axis base load condition (R-2000iB/100H)
- 96 -
3.BASIC SPECIFICATION
B-82234EN/07
R5
00
150
Load capacity on the J3 arm 10kg (valve or the like)
600
Load capacity on the J2 base 550kg
(welding transformer or the like)
Fig 3.5 (g)
J2-axis base load condition (R-2000iB/150U)
- 97 -
3.BASIC SPECIFICATION
B-82234EN/07
Load capacity on the J3 arm :25kg
(Valve or the like)
Load capacity on the J2 base :550kg
(Welding transformer or the like)
Fig 3.5(h)
J2-axis base / J3-axis arm load condition (R-2000iB/165CF)
- 98 -
B-82234EN/07
4
4.MECHANICAL COUPLING TO THE ROBOT
MECHANICAL COUPLING TO THE ROBOT
- 99 -
4.MECHANICAL COUPLING TO THE ROBOT
4.1
B-82234EN/07
MECHANICAL COUPLING OF END EFFECTOR TO WRIST
Fig. 4.1 (a) to (i) are the diagrams for installing end effectors on the
wrist. To fasten the end effector, first position it with two pin holes
at G using fitting A or B, then lock it using screws at D. Select screws
and positioning pins of a length that matches the depth of the tapped
and pin holes. Fasten the bolt for fixing the end effector with
following torque.
73.5±3.4Nm (750±35kgfcm)
Generally, the ISO flange is specified as the end effecter mounting
face. When using the insulating ISO flange, FANUC flange, or special
flange, however, the corresponding adaptor needs to be attached.
For details on attaching the adaptors, see Section 4.2.
CAUTION
When a FANUC flange or special flange is used, be
sure to use ten bolts to install an end effector.
CAUTION
For the R-2000iB/210F, 200R, 100P, 175L, it is
desirable to attach the end effecter with ten bolts.
- 100 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
6-D tap depth E
Equally spaced on φF
circumference
2- φ depth H
ISO flange
(Complied with ISO 9409-1-A125)
Fig. 4.1 (a)
ISO flange
（R-2000iB/165F,165R, 170CF, 125L,100H,150U）
- 101 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
6-D tap depth E
Equally spaced on φF
circumference
2- φ depth H
Insulated ISO flange
(Complied with ISO 9409-1-A125)
Fig. 4.1 (b)
Insulated ISO flange （R-2000iB/165F, 165R, 170CF, 125L,150U）
- 102 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
10-D tap depth E
φF
F±0.05
Fig. 4.1 (c)
FANUC flange
Special flange
FANUC／special flange
（R-2000iB/165F, 165R, 170CF, 125L,100H,150U）
2- φ depth H
CAUTION
When a FANUC flange or special flange is used, be
sure to use ten bolts to install an end effector.
- 103 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
10-D tap depth E
10 or less
2- φ depth H
ISO
ISO flange
フランジ
A05B-1329-H051
10
DP18
(Complied with ISO 9409-1-A125)
Fig. 4.1 (d)
ISO flange
（R-2000iB/210F, 200R,100P,175L）
CAUTION
When R-2000iB/210F, 200R, 100P or 175L is
specified, use ten bolts to install an end effector, if
possible.
- 104 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
6-D tap depth E
Equally spaced on φF
circumference
6-D tap depth E
Equally spaced on φF
circumference
Insulated ISO flange
A05B-1329-H151
(Complied with ISO 9409-1-A125)
Fig. 4.1 (e)
Insulated ISO flange （R-2000iB/210F, 200R,100P,175L）
- 105 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
10-D tap depth E
2- φ depth H
φF
F±0.05
FANUC flange
A05B-1329-K051
Fig. 4.1 (f)
Special flange
A05B-1329-K052
FANUC／Special flange （R-2000iB/210F, 200R）
CAUTION
When a FANUC flange or special flange is used,
use ten bolts to install an end effector ,if possible.
- 106 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
2-φ depth H
6-D tap depth E
Equally spaced on φ F
Circumference
ISO flange
(Complied with ISO 9409-1-A125)
Fig 4.1 (g)
ISO flange (R-2000iB/165CF)
- 107 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
6-D top depth E
Equally spaced on φF
Circumference
2-φ depth H
Insulated ISO flange
(Complied with ISO 9409-1-A125)
Fig 4.1 (h)
Insulated ISO flange (R-2000iB/165CF)
- 108 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
6-D top depth E
Equally spaced on φ F
Circumference
2-φ depth H
FANUC flange
Fig.4.1 (i)
Special flange
FANUC / special flange (R-2000iB/165CF)
- 109 -
4.MECHANICAL COUPLING TO THE ROBOT
4.2
B-82234EN/07
INSTALLING A FANUC/SPECIAL FLANGE ADAPTER
(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L,100H)
Fig. 4.2 shows the method of installing a FANUC flange adapter and
special flange adapter (R-2000iB/165F, 210F, 165R, 200R, 100P,
125L, 175L, 100H).
1. Press the pin into the adapter. At this time, apply Loctite No.601
to the fitting surface.
2. Attach the adapter to the robot by using six M10x20 bolts. At this
time, apply Loctite No.262 to the screw, and tighten the screw by
the following torque.
73.5±3.4 Nm (750±35kgfcm)
4
1
3
Name
Fig. 4.2
1
ADAPTER
2
3
4
Specifications
Q’ty
2
LOCTITE
Torque N-m
(kgf cm)
73.5±3.4
(750±35)
BOLT
A290-7324-X551(FANUC)
A290-7324-X552(SPECIAL)
A6-BA-10X20
1
6
LT262
WASHER
PIN
A97L-0001-0823#M10H
JB-PH-H7A-10X18S45C
6
1
LT601
Installing a FANUC/Special flange adapter（R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L,100H）
- 110 -
B-82234EN/07
4.3
4.MECHANICAL COUPLING TO THE ROBOT
EQUIPMENT MOUNTING FACE
As shown in Fig. 4.3 (a) to (i) tapped holes are provided to install
equipment to the robot.
CAUTION
Never perform additional machining operation such
as drilling or tapping on the robot body. This can
seriously affect the safety and function of the robot.
NOTE
Note that the use of a tapped hole not shown in the
following figure is not assured.
NOTE
Please do not interfere with the mechanical unit
cable when equipment is installed in the robot.
There is a possibility that the mechanical unit cable
is disconnected and the trouble not anticipated
occurs.
- 111 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
4-M10 tap depth 15
6-M10 tap depth 15
2-M12 tap depth 18
(Both side)
4-M10 tap depth 15
4-M12 tap depth 18
2-M12 tap depth 20
2-M12 tap depth 20
6-M12 tap depth 20
4-M12 tap depth 18
(Both side)
Fig. 4.3 (a)
Equipment mounting faces（R-2000iB/165F,210F,150U）
- 112 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
M12 tap depth 18
2-M12 tap depth 20
2-M12 tap depth 18
4-M12 tap
depth 20
4-M12 tap depth
18
4-M12 tap depth 18
4-M10 tap depth 15
6-M12 tap depth 15
Fig 4.3 (b)
Equipment mounting faces (R-2000iB/165R)
- 113 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
6-M12 tap depth 20
2-M12 tap depth 20
4-M12 tap depth 20
2-M12 tap depth 18
(Both side)
4-M12 tap depth 18
(Both side)
4-M12 tap depth 18
4-M10 tap depth 15
4-M10 tap depth 15
6-M10 tap depth 15
Fig 4.3 (c)
Equipment mounting faces (R-2000iB/200R)
- 114 -
4.MECHANICAL COUPLING TO THE ROBOT
22.5
248.5
22.5
B-82234EN/07
30
367
220.5
2-M10 TAP DEPTH 15
4-M12 TAP DEPTH 18 (BOTH SIDE)
67
95
95
40
153.5
4-M10 TAP DEPTH 15
4-M12 TAP DEPTH 18
25
377
25
60
155
377
6-M12 TAP DEPTH 20
155
Fig 4.3 (d)
Equipment mounting faces (R-2000iB/170CF)
- 115 -
79
79
117.5
25
79
117.5
25
60
60
30
136
30
60
79
2-M12 TAP DEPTH 20
465
115
20
465
20
2-M12 TAP DEPTH 20
335
40
4-M12 TAP DEPTH 18
4-M12 TAP DEPTH 18
4.MECHANICAL COUPLING TO THE ROBOT
Fig 4.3 (e)
Equipment mounting faces (R-2000iB/100P)
- 116 -
B-82234EN/07
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
4-M10 tap depth 15
6-M10 tap depth 15
2-M12 tap depth 18
(Both side)
4-M12 tap depth 15
4-M12 tap depth 18
2-M12 tap depth 20
2-M12 tap depth 20
6-M12 tap depth 20
4-M12 tap depth 18
(Both side)
Fig. 4.3 (f)
Equipment mounting faces（R-2000iB/125L）
- 117 -
4.MECHANICAL COUPLING TO THE ROBOT
Fig. 4.3 (g)
Equipment mounting faces（R-2000iB/175L）
- 118 -
B-82234EN/07
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
184.5
67
4-M10 DEPTH15
2-M12 DEPTH18 (BOTH SIDE)
30
367
45
80
6-M10 DEPTH15
422.5
60
55
55
184.5
170 170
172
4-M12 DEPTH18
33
250
4-M10 DEPTH15
2-M12 DEPTH20
530
2-M12 DEPTH20
6-M12 DEPTH20
75
50
138
60
117.5
25
377
117.5
25 25
25
79
79
60
306
97
395
50
4-M12 DEPTH18 (BOTH SIDE)
155
Fig. 4.3 (h)
Equipment mounting faces（R-2000iB/100H）
- 119 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
4-M10 depth15
4-M12 depth18
4-M12 depth20
2-M12 depth20
2-M12 depth20
2-M12 depth15
6-M12 depth20
2-M12 depth18
2-M12 depth18
Fig 4.3 (i)
2-M12 depth18
Equipment mounting faces (R-2000iB/165CF)
- 120 -
2-M12 depth18
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
4.4
LOAD SETTING
Motion performance screens
The operation motion performance screens include the MOTION
PERFORMANCE screen, MOTION PAYLOAD SET screen, and
payload information and equipment information on the robot.
1
Click the [MENUS] key to display the screen menu.
2
Select “6 SYSTEM” from the next page,
3
Click F1 ([TYPE]).
4 Select “MOTION.” The MOTION PERFORMANCE screen
appears.
MOTION PERFORMANCE
Group1
No. PAYLOAD[kg]
1
2
3
4
5
6
7
8
9
10
165.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
JOINT 10%
[
[
[
[
[
[
[
[
[
[
Comment
]
]
]
]
]
]
]
]
]
]
Active PAYLOAD number =0
[ TYPE] GROUP DETAIL ARMLOAD SETING >
>
IDENT
5
Ten different pieces of payload information can be set using
condition Nos. 1 to 10 on this screen. Place the cursor on
one of the numbers, and click F3 (DETAIL). The MOTION
PAYLOAD SET screen appears.
MOTION PAYLOAD SET
1
2
3
4
5
6
7
JOINT 100%
Group 1
Schedule No[ 1]:[Comment
]
PAYLOAD
[kg]
165.00
PAYLOAD CENTER X [cm]
‑28.33
PAYLOAD CENTER Y [cm]
0.00
PAYLOAD CENTER Z [cm]
27.78
PAYLOAD INERTIA X [kgfcms^2] 56.84
PAYLOAD INERTIA Y [kgfcms^2] 59.39
PAYLOAD INERTIA Z [kgfcms^2] 15.10
[TYPE] GROUP NUMBER DEFAULT HELP
- 121 -
4.MECHANICAL COUPLING TO THE ROBOT
Center of robot
flange
X
X
y
Z
xg (cm)
B-82234EN/07
Iy (kgf・cm・s 2)
mass m(kg)
Center of
gravity
Center of
gravity
Iz (kgf・cm・s2 )
yg (cm)
2
Ix (kgf・cm・s )
zg (cm)
Fig. 4.4 Standard tool coordinate
6
7
8
9
Set the payload, gravity center position, and inertia aroud the
gravity center on the MOTION PAYLOAD SET screen. The
X, Y, and Z directions displayed on this screen correspond to
the respective standard tool coordinates (with no tool
coordinate system set up). When values are entered, the
following message appears: “Path and Cycletime will change.
Set it?” Respond to the message with F4 ([YES]) or F5
([NO]).
Click F3 ([NUMBER]) will bring you to the MOTION
PAYLOAD SET screen for another condition number. For a
multigroup system, clicking F2 ([GROUP]) will bring you to
the MOTION PAYLOAD SET screen for another group
Click the previous page key to return to the MOTION
PERFORMANCE screen. Click F5 ([SETIND]), and enter
the desired payload setting condition number.
On the MOTION PERFORMANCE screen, click F4
([ARMLOAD]) to display the MOTION ARMLOAD SET
screen.
MOTION ARMLOAD SET
Group 1
1 ARM LOAD AXIS #1 [kg]
2 ARM LOAD AXIS #3 [kg]
[ TYPE ]
GROUP
JOINT 100%
550.00
25.00
DEFAULT HELP
10 Specify the weight of the load on the J2-axis base and J3-axis
arm as follows:
ARMLOAD AXIS #1[kg]: Weight of the load on the J2-axis
base
ARMLOAD AXIS #3[kg]: Weight of the load on the J3-axis
arm
The following message appears: “Path and Cycletime will
change. Set it?” Respond to the message with F4 ([YES]) or
F5 ([NO]). Once the arm payload is set up, the settings are
completed by switching the power off and on again.
- 122 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
4.5
INERTIA LOAD SETTING
For the R-2000iB/165F and 210F, there are two parameter settings
depending on the magnitude of load inertia. (By default, the
parameter settings for the standard inertia mode are made.)
165F
J4-axis
210F
Wrist unit
allowable load
inertia
165F
J5-axis
210F
165F
J6-axis
210F
Standard inertia mode
2
78.4kg・m
（800kgf･cm･s2）
2
141.1kg･m
（1440kgf･cm･s2）
2
78.4kg・m
（800kgf･cm･s2）
2
141.1kg･m
（1440kgf･cm･s2）
2
40.2kg･m
2
（410kgf･cm･s ）
78.4kg・m2
（800kgf･cm･s2）
High inertia mode
2
117.6kg･m
（1200kgf･cm･s2）
2
225.4kg･m
（2300kgf･cm･s2）
2
117.6kg･m
（1200kgf･cm･s2）
2
225.4kg･m
（2300kgf･cm･s2）
2
98kg･m
2
（1000kgf･cm･s ）
2
196kg･m
（2000kgf･cm･s2）
CAUTION
When a workpiece with inertia exceeding the allowable
inertia for the standard inertia mode is used in the
standard inertia mode, components of the mechanical
unit may be degraded earlier.
Table 4.5(a) Support for R-2000iB/165F high inertia mode
V7.10P
V7.20P
Software series
(7DA0)
(7DA1)
Edition 21 or
Edition 22 or
Software edition
‐
earlier
later
Not
Not
When standard flange is selected
Supported
supported
supported
When standard flange is not
Not
Not
Not
selected
supported
supported
supported
Table 4.5(b) Support for R-2000iB/210F high inertia mode
V7.10P
V7.20P
Software series
(7DA0)
(7DA1)
Edition 21 or
Edition 22 or
Software edition
‐
earlier
later
When standard flange or solution
Not
Not
Supported
arm is selected
supported
supported
When neither standard flange nor
Not
Not
Not
solution arm is selected
supported
supported
supported
V7.30P
(7DA2)
‐
Supported
Not
supported
V7.30P
(7DA2)
‐
Supported
Not
supported
・ "Supported" The high inertia mode is supported. The parameter
is automatically set according to the load value set
in Section 4.4.
・ "Not supported" The high inertia mode is not supported. Use a
value within the range allowable in the
standard inertia mode.
- 123 -
4.MECHANICAL COUPLING TO THE ROBOT
B-82234EN/07
CAUTION
Set the load inertia correctly as described in Section 4.4.
When a workpiece with inertia exceeding the allowable
inertia for the standard inertia mode is used in the
standard inertia mode, components of the mechanical
unit may be degraded earlier.
- 124 -
B-82234EN/07
5
5.PIPING AND WIRING TO THE END EFFECTOR
PIPING AND WIRING TO THE END
EFFECTOR
NOTE
Use mechanical unit cable that have required user interface.
Please do not obstruct the movement of the mechanical unit cable
when cables are added.( Please never tie an external cable to the
mechanical unit cable by using the nylon band etc. )
Moreover, please do not interfere with the mechanical unit cable when
equipment is installed in the robot.
If the movement of the mechanical unit cable is obstructed by added
cable, there is a possibility that the mechanical unit cable is
disconnected and the trouble not anticipated occurs.
- 125 -
5.PIPING AND WIRING TO THE END EFFECTOR
5.1
B-82234EN/07
AIR SUPPLY (OPTION)
Robot has two air-pressure supply openings on the back of the J1-axis
base and the front of the J3-axis casing. The connector is a Rc1/2
female (ISO).
As coupling are not supplied, it will be necessary to prepare couplings
which suit to the hose size.
Dual air line : Panel union x 2
Single air line : Panel union x 1
Rc1/2 Female (outlet)
Air tube x 2
Outside diameter : 12mm
Inside diameter : 8mm
Dual air line : Panel union x 2
Single air line : Panel union x 1
Rc1/2 Female (inlet)
Fig. 5.1 (a)
Air supply (option) (R-2000iB / 165F, 210F, 125L, 175L, 100H, 150U)
- 126 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Air tube
Outside diameter
Inside diameter
Dual air line : Panel union × 2
Singlel air line : Panel union × 1
Rc1 / 2 Female (inlet)
Fig 5.1(b)
Dual air line : Panel union × 2
Singlel air line : Panel union × 1
Ro1 / 2 Female (outlet)
Air supply (option) (R-2000iB/165R,200R,100P)
- 127 -
5.PIPING AND WIRING TO THE END EFFECTOR
Dual air line : Panel union X 2
Single air line: Panel union X 1
Rc 1/2 Female(output)
Air tubeX2
Outside diameter 12mm
Inside diameter 8mm
Dual air line : Panel union X 2
Single air line : Panel union X 1
Rc 1/2 Femal(input)
Fig 5.1(c)
Air supply (option) (R-2000iB/170CF)
- 128 -
B-82234EN/07
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Single air line : Panel union × 2
Dual air line : Panel union × 1
Rc1 / 2 Female (outlet)
Air tube × 2
Outside diameter 12mm
Inside diameter 8mm
Single air line : Panel union × 2
Dual air line : Panel union × 1
Rc1 / 2 Female (inlet)
Fig 5.1(d)
Air supply (option) (R-2000iB/165CF)
- 129 -
5.PIPING AND WIRING TO THE END EFFECTOR
5.2
B-82234EN/07
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 informatrion in Fig. 5.2 (b).
Elbow nipple
R3/8
R3/8
Straight nipple
R 3/8
Air hose 3m
Outer 12mm
In dotted line
Air control set (optional parts)
Inner 8mm
Fig. 5.2 (a)
Air piping (option)
- 130 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Air control set
70
Fill the oiler having three air components to the specified level with
turbine oil#90 to # 140. The machine tool builder is required to
prepare mounting bolts.
64
Air filter
Lubricator
Fig. 5.2 (b)
Air control set Option
NOTE
The capacity values of the three air components are
determined as follows.
These values must not be exceeded.
Supply air
0.49〜0.69MPa(5〜7kgf/cm2)，
Air
pressure
Setting: 0.49MPa(5kgf/cm2)
pressure
Amount of
Maximum instantaneous amount
consumption
150Nl/min(0.15Nm3/min)
- 131 -
5.PIPING AND WIRING TO THE END EFFECTOR
5.3
B-82234EN/07
INTERFACE FOR OPTION CABLE (OPTION)
Fig. 5.3 (a) to (d) show the position of the option cable interface.
Fig. 5.3 (e) to (i) show the optionc cable interface.
End effector interface (RI/RO), I/O Unit-MODEL B interface and user
cable (signal lines, power lines ) ,DeviceNet cable (signal lines, power
lines) ,Additional axis motor cable(pulse coder line) , Additional axis
motor cable(power and brake), 3DV sensor cable, camera cable and
LED lighting are prepared as options.
A
C
B
Fig. 5.3 (a) Interface for optional cable (OPTION) (R-2000iB/165F, 210F, 125L, 175L, 100H, 150U)
- 132 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
C
B
A
Fig. 5.3 (b) Interface for optional cable (OPTION) (R-2000iB/165R, 200R,100P)
A
C
B
Fig. 5.3 (c) Interface for optional cable (OPTION) (R-2000iB/170CF)
- 133 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
A
C
B
D
Fig. 5.3 (d)
Interface for optional cable (OPTION) (R-2000iB/165CF)
- 134 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
J1-axis base panel (Input)
J3-axis casing panel (Output)
User cable (signal)
interface
End effector
interface
(RI/RO)
(Air supply)
User cable(power)
interface
(Air supply)
User cable(signal)
interface
User cable(power)
interface
View A
View B
With User cable (signal/power)
J1-axis base panel (Input)
J3-axis casing panel (Output)
(Air supply)
End effector
interface
(RI/RO)
Devicenet cable
(power) interface
Devicenet cable
(signal） interface
(Air supply)
Devicenet cable
(signal) interface
Devicenet cable
(power) interface
Devicenet cable
(power) interface
View A
Devicenet cable
(signal) interface
View C
View B
With devicenet cable (signal/power)
J3-axis casing panel (Output)
End effector
interface
(RI/RO)
J1-axis base panel (Input)
(Air supply)
I/O unit MODEL B
interface
User cable(power)
interface
(Air supply)
View A
I/O unit MODEL B
interface
User cable(power)
interface
View B
With I/O unit Model B,User cable (power)
J1-axis base panel (Input)
J3-axis casing panel (Output)
(Air supply)
Additional axis motor cable (pulsecoder)
interface
End effector
interface
(RI/RO)
(Air supply)
Additional axis motor cable
(pulsecoder)interface
Additional axis motor cable(power,brake)
interface
View A
View B
Additional axis motor cable
(power,brake) interface
With additional axis motor cable (pulse coder/power,brake)
Fig. 5.3 (e)
Interface for option cable (R-2000iB/165F, 210F, 165R, 200R,100P,125L,175L,100H)
- 135 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
J1-axis base panel (Input)
J3-axis casing panel (Output)
3DV sensor
interface
3DV sensor
interface
(Air supply)
User cable (signal)
interface
Camera cable
interface
User cable (signal)
interface
User cable (power)
interface
(Air supply)
LED lighting
interface
View A
User cable (power)
interface
Camera cable
interface
View B
With 3DV sensor, camera, LED lighting and User cable (signal/power), wihtout EE
J3-axis casing panel (Output)
3DV sensor
interface
J1-axis base panel (Input)
3DV sensor
interface
User cable (signal)
interface
(Air supply)
Camera cable
interface
User cable (signal)
interface
(Air supply)
End effector
interface
(RI/RO)
LED lighting
interface
View A
Camera cable
interface
View B
With 3DV sensor, camera, LED lighting and User cable (signal)
J3-axis casing panel (Output)
J1-axis base panel (Input)
Additional axis motor cable (pulsecoder)
interface
(Air supply)
Additional axis motor cable (pulsecoder)
interface
User cable (signal)
interface
Camera cable
interface
User cable (signal)
interface
(Air supply)
Additional axis motor cable (power, brake)
interface
View A
Camera cable
interface
Additional axis motor cable (power, brake)
interface
View B
With additional motor cable, camera, User cable (signal), without EE
Fig. 5.3 (f)
Interface for option cable (R-2000iB/165F, 210F, 165R, 200R,,125L,175L)
- 136 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
J3-axis casing connector plate (output side)
(Air supply)
J1-axis base connector plate(input side)
(Air supply)
User cab;e(signal)
interface
User cable(power)
interface
End effector
interface
(RI/RO)
User cable(signal)
interface
User cable(power)
interface
VIEW A
VIEW B
With user cable (signal/power)
J3-axis casing connector plate (output side)
J1-axis base connector plate(input side)
Devicenet cable
(signal)interface
(Air supply)
J2-axis base connector plate(output side)
(Air supply)
Devicenet cable
(power) interface
Devicenet cable
(power)interface
Devicenet cable
(signal)interface
End effector
interface
(RI/RO)
Devicenet cable
(power)interface
Devicenet cable
(signal)interface
VIEW A
VIEW C
VIEW B
With devicenet cable (signal/power)
J3-axis casing connector plate (output side)
J1-axis base connector plate(input side)
(Air supply)
(Air supply)
User cable(power)
interface
I/O Unit MODEL B
interface
End effector
interface
(RI/RO)
I/O Unit MODEL B
interface
User cable(power)
interface
VIEW B
VIEW A
With I/O unit MODEL B , user cable (power)
J3-axis casing connector plate (output side)
(Air supply)
J1-axis base connector plate(input side)
Additional axis motor cable(power,brake)
interface
(Air supply)
Additional axis motor cable (pulsecoder)
interface
Additional axis motor cable (pulsecoder)
interface
End effector
interface
(RI/RO)
VIEW B
VIEW A
Additional axis motor cable (power,brake)
interface
With additional axis motor cable (pulsecoder/power,brake)
Fig. 5.3 (g)
Interface for option cable (R-2000iB/170CF)
- 137 -
5.PIPING AND WIRING TO THE END EFFECTOR
J3-axis casing panel (Output)
J1-axis base panel (Input)
End effector
interface
(RI/RO)
User cable (signal)
interface
（Air supply)
B-82234EN/07
(Air supply)
User cable (power)
interface
User cable (power)
interface
View A
User cable (signal)
interface
View B
With User cable (signal/power)
J3-axis casing panel (Output)
J1-axis base panel (Input)
End effector
interface
(RI/RO)
J2-axis base panel (Output)
(Air supply)
Devicenet cable
(power) interface
Devicenet cable
(signal) interface
Devicenet cable
(singal) interface
Devicenet cable
(power) interface
(Air supply)
Devicenet cable
(power) interface
View A
Devicenet cable
(signal) interface
View C
View B
With devicenet cable (signal/power)
J1-axis base panel (Input)
J3-axis casing panel (Output)
(Air supply)
End effector
interface
(RI/RO)
I/O unit MODEL B
interface
(Air supply)
View A
User cable (power)
interface
I/O unit MODEL B
interface
User cable (power)
interface
View B
With I/O unit MODEL B,User cable (power)
J1-axis base panel (Input)
J3-axis casing panel (Output)
(Air supply)
End effector
interface
(RI/RO)
Additional axis motor cable (pulse coder)
interface
(Air supply)
Addtional axis motor cable
(pulse coder) interface
Additional axis motor cable
(power,brake) interface
View A
View B
Additional axis motor cable
(power,brake) interface
With additional axis motor cable (pulse coder/power,brake)
Fig. 5.3 (g)
Interface for option cable (R-2000iB/165F, 210F, 165R, 200R,125L,175L)
(Severe dust/ liquid protection package) (option)
- 138 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
J3-axis casing panel (Output)
J1-axis base panel (Input)
User cable (signal)
interface
(Air supply)
End effector
interface
(RI/RO)
User cable (power)
interface
User cable (signal)
interface
Details
User cable
(power) interface
(Air supply)
Details
With User cable (signal/ power)
J3-axis casing panel (Output)
J2-axis base panel (Output)
J1-axis base panel (Input)
End effector
interface
(RI/RO)
(Air supply)
Devicenet
cable
(signal)
interface
Devicenet
cable
(power)
interface
Devicenet
cable
(power)
interface
Devicenet
cable
(signal)
interface
(Air supply)
Devicenet
cable
(signal)
interface
Devicenet cable
(power) interface
Details
Details
View
With devicenet cable (signal/power)
J3-axis casing panel (Output)
I/O unit
MODEL B
interface
End effector
interface
(RI/RO)
(Air supply)
User cable (power)
interface
Details
J1-axis base panel (Input)
J2-axis base panel (Output)
(Air supply)
(Air supply)
User cable (power)
interface
Details
View
With I/O unit MODEL B, User cable (power)
J3-axis casing panel (Output)
J1-axis base panel (Input)
Additional axis motor cable
(pulse coder) interface
(Air supply)
End effector
interface
(RI/RO)
(Air supply)
Additional axis motor cable
Additional axis motor cable
(power, brake) interface
(pulse coder) interface
Details
Additional axis motor cable
(power, brake) interface
Details
With additional axis motor cable (pulse coder/ power, brake)
Fig. 5.3 (h)
Interface for option cable (R-2000iB/165CF)
- 139 -
I/O unit MODEL B
interface
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
End effector interface (RI/RO) (Option) Fig. 5.3 (h) and Fig. 5.3
(i) show pin layout for end effector interface (RI/RO).
1
End effector interface (RI/RO) (Output)
W2524F(Fujikura.Ltd)
1
RO1
5
RO5
10
RI2
2
RO2
6
RO6
11
RI3
3
RO3
7
XHBK
12
RI4
4
RO4
8
0V
End
effector
9
RI1
13
RI8
14
15
RI5
XPPABN
16
17
18
19
20
RI6
+24V
+24V
+24V
+24V
21
22
23
24
RO8
RI7
0V
RO7
Please prepare by user.
XHBK : Hand broken
Controller
XPPABN : Pneumatic pressure abnormal
Fig. 5.3 (h)
Pin layout for end effector interface（RI/RO） (Option)
End effector interface (RI/RO) (Output)
Han24DD(HARTING)
21
22
23
24
RO7
RO8
0V
RI7
17
18
19
20
+24V
+24V
+24V
+24V
13
14
15
16
RI8
XPPABN
RI5
RI6
9
10
11
12
RI1
RI2
RI3
RI4
5
6
7
8
RO5
RO6
XHBK
0V
1
2
3
4
RO1
RO2
RO3
RO4
End
effector
XHBK : Hand broken
XPPABN : Pneumatic pressure abnormal
Please prepare by user.
Controller
Fig. 5.3 (i) Pin layout for end effector interface（RI/RO）(Severe dust/liquid protection package)
- 140 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
2
End
effector
I/O Unit-MODEL B interface (Option)
Fig. 5.3 (j) and Fig. 5.3 (k) show pin layout for I/O Unit-MODEL
B interface.
I/O unit MODEL B
Basic(+extend unit)
I/O unit MODEL B interface (output side)
Prepared by user.
I/O unit MODEL B
Interface unit
Fig. 5.3 (j)
End
effector
Pin layout for I/O Unit-MODEL B interface (option)
I/O unit MODEL B
Basic(+extend unit)
I/O unit MODEL B interface (output side)
Prepared by user.
I/O unit MODEL B
interface unit
Fig. 5.3 (k)
Pin layout for I/O Unit-MODEL B interface (Severe dust/ liquid protection package) (option)
- 141 -
5.PIPING AND WIRING TO THE END EFFECTOR
3
B-82234EN/07
User cable (signal line) Interface (option)
Fig. 5.3 (l) shows pin layout for user cable (signal line) interface.
The connector has a code pin for preventing improper insertion.
For cables prepared by the user, use this code pin.
User cable (signal) interface(output side)
F TYPE Han 24DD(HARTING)
G
17
13
9
5
1
S21
S17
S13
S9
S5
S1
22
18
14
10
6
2
S22
S18
S14
S10
S6
S2
23
19
15
11
7
3
S23
S19
S15
S11
S7
S3
24
20
16
12
8
4
S24
S20
S16
S12
S8
S4
End
Effector
}
21
Please prepare by customer.
User cable (signal) interface(input side)
M TYPE Han 24DD(HARTING)
G
1
5
9
13
17
21
S1
S5
S9
S13
S17
S21
}
2
6
10
14
18
22
S2
S6
S10
S14
S18
S22
3
7
11
15
19
23
S3
S7
S11
S15
S19
S23
4
8
12
16
20
24
S4
S8
S12
S16
S20
S24
Please prepare by customer.
0.4mm×24pcs
2
Code pin
No.1 pin
No.1 pin
First pin
Code pin
User cable (signal) interface
Code pin position(input side)
Fig. 5.3 (l)
User cable (signal) interface
Code pin position(output side)
Pin layout for user cable (signal line) interface and code pin layout (option)
- 142 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
4
User cable (power line) Interface (option)
Fig. 5.3 (m) shows pin layout for user cable (power line) interface.
The connector has a code pin for preventing improper insertion.
For cables prepared by the user, use this code pin.
User cable (power) interface(output side)
F TYPE Han 15D(HARTING)
C1
B1
A1
P11
P6
P1
P12
P7
P2
P13
P8
P3
P14
P9
P4
P15
P10
P5
C2
C3
C4
C5
B2
B3
B4
B5
A3
A4
A5
}
G
End
Effector
A2
G
Please prepare by customer.
User cable (power) interface(input side)
M TYPE Han 15D(HARTING)
A1
B1
C1
P1
P6
P11
P2
P7
P12
P3
P8
P13
P4
P9
P14
P5
P10
P15
A2
A3
A4
A5
B2
B3
B4
B5
}
G
C2
C3
C4
1.25mm×15pcs
2
C5
G
Please prepare by customer.
Code pin
A1 pin
A1 pin
Code pin
User cable (power) interface
Code pin position(input side)
Fig. 5.3 (m)
User cable (power) interface
Code pin position(output side)
Pin layout for user cable (power line) interface and code pin layout (option)
- 143 -
5.PIPING AND WIRING TO THE END EFFECTOR
5
B-82234EN/07
DeviceNet cable (signal line) interface (option)
Fig. 5.3 (n) shows pin layout for DeviceNet cable (signal line)
interface.
DeviceNet cable (signal) interface(J2 output)
(Fujikura)
vCAN H
v+
CAN L
DeviceNet cable (signal) interface(J3 output)
(Fujikura)
vv+
CAN H
CAN L
DeviceNet cable (signal) interface(J1 input)
(Fujikura)
Fig. 5.3 (n)
Pin layout for DeviceNet cable (signal line) interface (option)
6
DeviceNet cable (power line) interface (option) Fig. 5.3 (o) shows
pin layout for DeviceNet cable (power line) interface.
DeviceNet cable (power) interface (J2 output)
(Fujikura)
COM
COM
OUTP
DeviceNet cable (power) interface (J3output)
(Fujikura)
COM
COM
OUTP
DeviceNet cable(power)interface(J1 input)
HARTING
OUTP
COM
COM
Fig. 5.3 (o)
Pin layout for DeviceNet cable (power line) interface (option)
- 144 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
7 Additional axis motor cable (pulse coder cable) interface (optional)
Fig. 5.3 (p) shows the pin layout of the additional axis motor cable
(pulse coder cable) interface.
The connector has a code pin for preventing improper insertion.
Additional axis motor cable (pulse coder) interface (outlet)
Additional
motor
Additional axis motor cable (pulse coder) interface (inlet)
Controller
Battery
box
Code pin
First pin
First pin
Code pin
Additional axis motor cable (pulse coder)
interface and code pin layout (inlet)
Fig. 5.3 (p)
Additional axis motor cable (pulse coder)
interface and code pin layout (outlet)
Pin layout of the additional axis motor cable (pulsecoder cable) interface
and layout position of the code pin (optional)
- 145 -
5.PIPING AND WIRING TO THE END EFFECTOR
8
B-82234EN/07
Additional axis motor cable (power and brake cables) interface
(optional)
Fig. 5.3 (q) shows the pin layout of the additional axis motor cable
(power and brake cables) interface.
The connector has a code pin for preventing improper insertion.
Additional axis motor cable (power, brake) interface (outlet)
Additional
axis motor
Ｕ２
Ｖ２
Ｗ２
ＢＫＰ２
Ｇ２
ＢＫＭ２
Additional axis motor cable (power, brake) interface (inlet)
Controller
Ｕ２
Ｖ２
ＢＫＰ２
Ｗ２
ＢＫＭ２
Ｇ２
Code pin
First pin
First pin
Code pin
Additional axis motor cable (power, brake)
interface and code pin layout (inlet)
Fig. 5.3 (q)
Additional axis motor cable (power, brake)
interface and code pin layout (outlet)
Pin layout of the additional axis motor cable (power and brake cables)
interface and layout position of the code pin (optional)
- 146 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Connector specifications
Table 5.3 (a) Connector specifications (Mechanical unit side)
Input side (J1 base)
Output side (J3 casing)
Cable
Manu.
RI/RO
───
JMWR2524F
Fujikura
I/O
───
JMWR2516F
Ltd.
AS
(Signal)
AP
(Power)
Housing
09 30 006 0301
Housing
09 30 006 0301
Insert
09 16 024 3001(Han 24DD M)
Insert
09 16 024 3101(Han 24DD F)
Contact
09 15 000 6103
Contact
09 15 000 6203
Code pin 09 30 000 9901
Code pin 09 30 000 9901
Housing
09 20 010 0301
Housing
09 20 010 0301
Insert
09 21 015 3001(Han 15D M)
Insert
09 21 015 3101(Han 15D F)
Contact
09 15 000 6103
Contact
09 15 000 6203
Code pin 09 30 000 9901
Code pin 09 30 000 9901
RI/RO
When a severe
dust/liquid
protection
───
Housing
09 30 006 0301
Insert
09 16 024 3101(Han 24DD F)
Contact
09 15 000 6204
Guide pin 09 33 000 9908
Bushing
package is
selected
- 147 -
09 33 000 9909
HARTING
Electronic
CO., LTD.
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Table 5.3 (b) Connector specifications (User side)
Input side (J1 base)
Output side (J3 casing)
Cable
JMSP2524M
───
RI/RO
Manu.
Straight (Appendix)
(FANUC spec. : A63L-0001-0234#S2524M)
───
I/O
JMLP2524M
Angle
JMSP2516M
Straight (Appendix)
Fujikura
Ltd.
(FANUC spec.: A63L-0001-0234#S2516M)
JMLP2516M
Hood
09 30 006 1540
Angle plug
Side entry
1541
Select
0542
one
0543
1440
Hood
Top entry
←The same
1441
0442
0443
Insert
09 16 024 3101(Han 24DD F)
Insert
09 15 000 6204 AWG 26-22
AS (Signal)
Contact
09 16 024 3001(Han 24DD M)
09 15 000 6104 AWG 26-22
6203 AWG 20
6103 AWG 20
6205 AWG 18
Contact
6105 AWG 18
Select
6202 AWG 18
one
6201 AWG 16
6101 AWG 16
6206 AWG 14
6106 AWG 14
6102 AWG 18
09 00 000 5083
Clamp
Harting
5086
Clamp
5090
Select one
←The same
5094 etc.
Many other types are available
Code pin
09 30 000 9901
09 20 015 1541
Hood
Code pin
09 30 000 9901
Side entry
0540
0541
Select
1440
one
0440
Top entry
Hood
←The same
0441
AP (Power)
Insert
09 21 015 3101(Han 15D F)
Insert
09 15 000 6204 AWG 26-22
Contact
09 21 015 3001(Han 15D M)
09 15 000 6104 AWG 26-22
6203 AWG 20
6103 AWG 20
6205 AWG 18
Contact
6105 AWG 18
Select
6202 AWG 18
one
6201 AWG 16
6101 AWG 16
6206 AWG 14
6106 AWG 14
- 148 -
6102 AWG 18
Electronic
CO., LTD
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Cable
Input side (J1 base)
Clamp
AP (Power)
Select
one
Code pin
5086
Clamp
5090
Many other types are available
09 30 000 9901
severe
protection
selected)
←The same
5094 etc.
RI /RO
package is
Manu.
09 00 000 5083
(When a
dust/liquid
Output side (J3 casing)
──
Code pin
09 30 000 9901
09 30 006 1540
Side entry
1541
0542
0543
1440(Appendix) Top entry
Hood
(FANUC specification :
A63L-0001-0453#06B1440)
1441
0442
0443
09 16 024 3001(Han 24DD M)
Harting
(Appendix)
Electronic
Insert
(FANUC specification :
A63L-0001-0453#24DDM)
CO., LTD
09 15 000 6104
(Appendix）AWG 26-22
(FANUC specification :
A63L-0001-0453#CA6140
6103
AWG 20
Contact
6105
AWG 18
6102
AWG 18
6101
AWG 16
6106
AWG 14
152D（Appendix）
(FANUC specification :
Clamp
A63L-0001-0453#A-152D)
09 33 000 9908（Appendix）
(FANUC specification :
Guide pin
A63L-0001-0453#A-9908)
09 33 000 9909（Appendix）
(FANUC
specification :
Bushing
A63L-0001-0453#A-9909)
NOTE
For details, such as the dimensions, of the parts listed
above, refer to the related catalogs offered by the
respective manufactures, or contact FANUC.
- 149 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Table 5.3 (c)
Connector specifications (DeviceNet cable, Mechanical unit side)
Output side
Output side
Input side (J1 base)
Manu.
Manu.
(J2-axis base)
(J3 casing)
Cable
CM03A-R5P-S-2
DS
（Power）
Housing
DP
（Power） Insert
Contact
09 30 006 0301(Han 6E)
Fujikura
CM03A-PR5S- Fujikura CM03A-PR5 Fujikura
Ltd.
S-2
6104
Ltd.
S- S-2
Ltd.
HARTING CM03A-PR4S- Fujikura CM03A-PR4 Fujikura
09 32 010 3001(Han 10EE M) Electronic S-2
09 33 00
Manu.
Ltd.
S-S-2
Ltd.
CO., LTD.
Table 5.3 (d)
Connector specifications (DeviceNet cable, User side)
Output side
Output side
Input side (J1 base)
Manu.
Manu.
(J2-axis base)
(J3 casing)
Cable
DS
MINI connector for use on the device net
(Signal) 5-pin, FEMALE
CM03-P5S
Manu.
Fuji
MINI
Fuji
MINI
Fuji
kura
connector for
kura
connector
kura
Ltd.
use on the
Ltd.
for use on
Ltd.
device net
the device
5-pin, MALE
net 5-pin,
CM03-J5P
MALE
CM03-J5P
DP
HAR
MINI connector Fuji
MINI
1541
TING
for use on the
kura
connector for kura Ltd.
Select
0542
Electro
device net
Ltd.
use on the
just
0543
nic CO.,
4-pin, MALE
device
one
1440
LTD.
CM03-J4P
net4-pin,
Hood
(Power)
09 30 006 1540(Han 6E) Side entry
Top entry
1441
MALE
0442
CM03-J4P
0443
Insert
09 32 010 3101(Han 10EE F)
Con
09 33 000 6220
AWG20
tact
6214
AWG18
6205
AWG18
6204
AWG16
6202
AWG14
6207
AWG12
Clamp 09 00 000 5083
Select
5086
just
5090
one
5094
Many other types are available.
- 150 -
Fuji
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/07
Table 5.3 (e)
Cable
ARP
Housing
(Pulse coder) Insert
Contact
Connector specifications (Additional axis motor cable, Mechanical unit side)
Input side (J1 base)
Output side (J3 casing)
09 30 006 0301
Housing
09 16 024 3001 (Han 24DD M) Insert
09 16 024 3101(Han 24DD F)
09 15 000 6103
09 15 000 6203
Contact
Code pin 09 30 000 9901
Code pin 09 30 000 9901
ARM
Housing
09 20 010 0301
Housing
09 20 010 0301
(Power
Insert
09 21 015 3001 (Han 15D M)
Insert
09 21 015 3101 (Han 15D F)
brake )
Contact
09 15 000 6101
Contact
09 15 000 6201
Code pin 09 30 000 9901
Cable
LMP1
Cable
Manu.
09 30 006 0301
Harting
Code pin 09 30 000 9901
Table 5.3 (f) Connector specifications (3DV sensor)
Input side (J1 base)
Output side (J3 casing)
JMWR1303M
───
Table 5.3 (g)
Connector specifications (3DV sensor)
Input side (J1 base)
Output side (J3 casing)
Manu.
Fujikura
Ltd.
Manu.
JMSP1303F Straight plug
(FANUC specification
LMP1
A63L-0001-0234#S1303F)
───
JMLP1303F Angle plug
- 151 -
Fujikura
Ltd.
6.AXIS LIMITS SETUP
6
B-82234EN/07
AXIS LIMITS SETUP
Axis limits define the motion range of the robot. The operating range
of the robot axes can be restricted because of:
Work area limitations
Tooling and fixture interference points
Cable and hose lengths
There are three methods used to prevent the robot from going beyond
the necessary motion range.These are
Axis limit software settings (All axes)
Axis limit hardstops ((J1, J2, J3 axis) optional)
Axis limit switches ((J1, J2, J3 axis) optional)
1
2
3
4
5
CAUTION
Changing the movable range of any axis affects the
operation range of the robot. To avoid trouble, carefully
consider a possible effect of the change to the movable
range of each axis in advance. Otherwise, it is likely
that an unexpected condition occurs; for example, an
alarm may occur in a previous taught position.
For the J1, J2, and J3 axes, do not count merely on
sofware-based limits to the movable range when
changing the movable range of the robot. Use
mechanical stoppers together so that damage to
peripheral equipment and injuries to human bodies can
be avoided. In this case, make the software-specified
limits match the limits based on the mechanical
stoppers.
Mechanical stoppers are physical obstacles. The robot
cannot move beyond them. For the J1, J2, and J3 axes,
it is possible to re-position the mechanical stoppers. For
J5 axis(J4-axis for R-2000iB/100H), the mechanical
stoppers are fixed. For the J4 and J6 axes(J5-axis for
R-2000iB/100H), only software-specified limits are
available.
For changing J2 andJ3 axes interference angles, only
mechanical stoppers are available; a sotware-specified
movable range cannot be changed.
Movable mechanical stoppers (J1, J2, and J3 axes) are
deformed in a collision to stop the robot. Once a
stopper is subject to a collision, it can no longer assure
its original strength and, therefore, may not stop the
robot. When this happens, replace it with a new one.
- 152 -
6.AXIS LIMITS SETUP
B-82234EN/07
6.1
SETTING MOTION LIMITATION BY SOFTWARE
Axis limit software settings are upper and lower motion degree
limitations. The limits can be set for all robot axes and will stop robot
motion if the robot is calibrated.
Setting procedure
1
2
3
4
Press MENUS.
Select SYSTEM.
Press F1, [TYPE].
Select Axis Limits. You will see a screen similar to the
following.
System Axis Limits
Group1
AXIS
GROUP
1
2
3
4
5
6
7
8
9
1
1
1
1
1
1
1
1
1
LOWER
-150.00
-60.00
-110.00
-240.00
-120.00
-360.00
0.00
0.00
0.00
JOINT 100%
1/16
UPPER
150.00
75.00
50.00
240.00
120.00
360.00
0.00
0.00
0.00
deg
deg
deg
deg
deg
deg
mm
mm
mm
[ TYPE]
NOTE
0 indicates the robot does not have these axes.
5
Move the cursor to the axis limit you want to set.
WARNING
Do not depend on J1, J2, and J3 axis limit software
settings to cotrol the motion range of your robot. Use
the axis limit switches or hardstops also; otherwise
injury to personnel or damage to equipment could
occur.
6
7
Type the new value using the numeric keys on the teach pendant.
Repeat Steps 5 through 6 until you are finished setting the axis
limits.
WARNING
You must turn off the controller and then turn it back
on to use the new information; otherwise injury to
personnel or damage to equipment could occur.
8
Turn off the controller and then turn it back on again in the cold
start mode so the new information can be used.
- 153 -
6.AXIS LIMITS SETUP
6.2
B-82234EN/07
HARD STOPPER AND LIMIT SWITCH SETTING
For the J1, J2, and J3 axes, It is possible to re-position mechanical
stoppers. the limit switch-based movable range can be changed by
changing the dog positions.Change the position of the mechanical
stoppers according to the desired movable range.
Item
J1 axis mechanical
stopper, limit switch
Upper limit
Lower limit
J2 axis mechanical stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J2 axis limit switch
Space between the
upper and lower limits
Upper limit
Lower limit
J3 axis (J2+J3) mechanical
stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J3 axis (J2+J3) limit switch
Space between the
upper and lower limits
Upper limit
Lower limit
Space between the
upper and lower limits
R-2000iB/165F, 210F, 125L, 175L, 100H, 150U
Settable in steps of 7.5° in a range of -127.5° to +180°
Settable in steps of 7.5° in the range of -180° to
+127.5°
A space of 52.5° or more is required.
Settable in steps of 15° in the range of -45° to +60°. A
mechanical stopper is also provided at the upper limit
+76° of the standard movable range.
Settable in steps of 15° in the range of -45° to +60°. A
mechanical stopper is also provided at the lower limit
-60°of the standard movable range.
A space of 15°or more is required.
Settable in steps of 15°in the range of -60° to +75°.
Also settable to the upper limit +76°of the standard
movable range.(When it is setted to –60°, minus side
dog can not be setted)
Settable in steps of 15°in the range of -60° to +75°.
Also settable to the lower limit -60° of the standard
movable range. (When it is setted to –60°, plus side
dog can not be setted)
A space of 15°or more is required.
Settable in steps of 15° in the range of -45_ to +180°.
A mechanical stopper is also provided at the upper
limit +195° of the standard movable range.
Settable in steps of 15° in the range of -60° to +150°. A
mechanical stopper is also provided at the lower limit
-79° of the standard movable range.
A space of 30° or more is required.
Settable in steps of 15° in the range of -75° to +195°.
Also settable to the upper limit +195° of the standard
movable range. .(When it is setted to –75°or –60°,
minus side dog can not be setted)
Settable in steps of 15° in the range of -75° to +195°.
Also settable to the lower limit -79° of the standard
movable range. (When it is setted to +180°or +195°,
plus side dog can not be setted)
A space of 30° or more is required.
- 154 -
6.AXIS LIMITS SETUP
B-82234EN/07
Item
J1 axis mechanical
stopper, limit switch
Upper limit
Lower limit
J2 axis mechanical stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J2 axis limit switch
Space between the
upper and lower limits
Upper limit
Lower limit
J3 axis (J2+J3) mechanical
stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J3 axis (J2+J3) limit switch
Space between the
upper and lower limits
Upper limit
Lower limit
Space between the
upper and lower limits
R-2000iB/165R, 200R, 100P
Settable in steps of 7.5° in a range of -127.5° to +180°
Settable in steps of 7.5° in the range of -180° to
+127.5°
A space of 52.5° or more is required.
Settable in steps of 15° in the range of -105° to +45°. A
mechanical stopper is also provided at the upper limit
+65° of the standard movable range.
Settable in steps of 15° in the range of -105° to +45°. A
mechanical stopper is also provided at the lower limit
-120°of the standard movable range.
A space of 15°or more is required.
Settable in steps of 15°in the range of -105° to +60°.
Also settable to the upper limit +65°of the standard
movable range.
Settable in steps of 15° in the range of -105° to +45°.
Also settable to the lower limit -120° of the standard
movable range.
A space of 15°or more is required.
Settable in steps of 15° in the range of -45° to +180°. A
mechanical stopper is also provided at the upper limit
+195° of the standard movable range.
Settable in steps of 15° in the range of -60° to +150°. A
mechanical stopper is also provided at the lower limit
-79° of the standard movable range.
A space of 30° or more is required.
Settable in steps of 15° in the range of -75° to +195°.
Also settable to the upper limit +195° of the standard
movable range. .(When it is setted to –75°or –60°,
minus side dog can not be setted)
Settable in steps of 15° in the range of -75° to +195°.
Also settable to the lower limit -79° of the standard
movable range. (When it is setted to +180°or +195°,
plus side dog can not be setted)
A space of 30° or more is required.
- 155 -
6.AXIS LIMITS SETUP
B-82234EN/07
Item
J1 axis mechanical
stopper, limit switch
Upper limit
Lower limit
J2 axis mechanical stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J2 axis limit switch
J3 axis (J2+J3) mechanical
stopper
Settable in steps of 15° in the range of -45° to +120°. A
mechanical stopper is also provided at the upper limit
+135°of the standard movable range.
Settable in steps of 15° in the range of -45° to +120°. A
mechanical stopper is also provided at the lower limit
-55°of the standard movable range.
A space of 15°or more is required.
Space between the
upper and lower limits
It doesn't correspond to R-2000iB/170CF
Upper limit
Lower limit
J3 axis (J2+J3) limit switch
R-2000iB/170CF
Settable in steps of 7.5° in a range of -127.5° to +180°
Settable in steps of 7.5° in the range of -180° to
+127.5°
A space of 52.5° or more is required.
Settable in steps of 15° in the range of -15° to +225°. A
mechanical stopper is also provided at the upper limit
235° of the standard movable range.
Settable in steps of 15° in the range of -45° to +195°. A
mechanical stopper is also provided at the lower limit
-55° of the standard movable range.
A space of 30° or more is required.
Space between the
upper and lower limits
It doesn't correspond to R-2000iB/170CF
- 156 -
6.AXIS LIMITS SETUP
B-82234EN/07
Item
J1 axis mechanical
stopper, limit switch
Upper limit
Lower limit
J2 axis mechanical stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J2 axis limit switch
Space between the
upper and lower limits
Upper limit
Lower limit
J3 axis (J2+J3) mechanical
stopper
Space between the
upper and lower limits
Upper limit
Lower limit
J3 axis (J2+J3) limit switch
Space between the
upper and lower limits
Upper limit
Lower limit
Space between the
upper and lower limits
R-2000iB/165CF
Settable in steps of 7.5° in a range of -127.5° to +180°
Settable in steps of 7.5° in the range of -180° to
+127.5°
A space of 52.5° or more is required.
Settable in steps of 15° in the range of -45° to +90°. A
mechanical stopper is also provided at the upper limit
+110° of the standard movable range.
Settable in steps of 15° in the range of -30° to +105°. A
mechanical stopper is also provided at the lower limit
-55°of the standard movable range.
A space of 30°or more is required.
Settable in steps of 15° in the range of -45° to +105°.
Also settable to the upper limit +120°of the standard
movable range.
Settable in steps of 15°in the range of -45° to +105°.
Also settable to the lower limit -55° of the standard
movable range.
A space of 30°or more is required.
Settable in steps of 15° in the range of -75° to +105°. A
mechanical stopper is also provided at the upper limit
+120° of the standard movable range.
Settable in steps of 15° in the range of -60° to +120°. A
mechanical stopper is also provided at the lower limit
-75° of the standard movable range.
A space of 30° or more is required.
Settable in steps of 15° in the range of -75° to +105°.
Also settable to the upper limit +120° of the standard
movable range.
Settable in steps of 15° in the range of -60° to +120°.
Also settable to the lower limit -75° of the standard
movable range.
A space of 15° or more is required.
CAUTION
If the newly set operation range does not include
0°, it is necessary to change it by zero degree
mastering so that 0°is included.
- 157 -
6.AXIS LIMITS SETUP
B-82234EN/07
J1 stopper
Note the mounting direction
Mounting position
(long side)
Mounting
position
(short side)
Minus
Plus
Minus limit stopper
Plus limit stopper
Projection point
Swing stopper
J1-axis mechanical stopper
limit
Motion
(NOTE)J1-axis top view
A minimum space of 52.5°is required between the plus
side stopper and minus side stopper.
Fig. 6.2 (a)
Mechanical stopper locations of J1-axis
- 158 -
6.AXIS LIMITS SETUP
B-82234EN/07
165F,210F,170CF,125L,
175L,100H,150U
165R, 200R, 100P
165CF
A290-7329-X215
A290-7329-Y215
A290-7321-X215
Mark
(NOTE)
The J1 stopper as shown above may be reversed for use, depending on the
limit range. Pay attention to the mounting orientation of the J1 stopper.
Fig. 6.2 (b)
Mounting the J1-axis Mechanical Stopper (Stopper Part Specifications Corresponding to Models)
- 159 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mark
Mark
Use these three holes to install.
Plus side stopper
Minus side stopper
Fig 6.2 (c) J2-axis mechanical stopper (option) (R-2000iB/165F, 210F, 125L, 175L,100H,150U)
+15°
+45°
-45°
-15°
+30°
+60°
-30°
-15°
0°
-30°
-45°
0°
＋15°
＋30°
＋45°
＋60°
Mounting position
of plus side stopper
プラス側ストッパ取付箇所
Mounting position
of minus side stopper
マイナス側ストッパ取付箇所
(NOTE)
J2-axis left view
（注） 図はJ2軸を左側から見たものです。
A minimum space of 15° is プラス側ストッパとマイナス側ストッパの間には15°以上の間隔が必要です。
required between the plus side stopper and minus side stopper.
Fig. 6.2 (d)
Mounting the J2-axis mechanical stopper (R-2000iB/165F, 210F, 125L, 175L,100H,150U)
- 160 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mark
Mark
Use these three holes to install.
Fig 6.2 (e) J2-axis mechanical stopper (option) (R-2000iB/165R, 200R, 100P)
Mounting position of plus side stopper
Mounting position of minus side stoper
(NOTE)
J2-axis leff view
A minimum space of 15° is required between the plus side stoper and
minus side stopper.
Fig. 6.2 (f)
Mounting the J2-axis mechanical stopper (R-2000iB/165R, 200R, 100P)
- 161 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mark "Z341"
Mark "Z342"
Plus side stopper
Minus side stopper
Fig 6.2 (g) J2-axis mechanical stopper (option) (R-2000iB/170CF)
+30°
0°
-15°
-45°
+15°
-30°
+15°
-30°
0°
-15°
+45°
+60°
+75°
+30°
+45°
-45°
+90°
+60°
+105°
+75°
+120°
+90°
+120°
Dog mounting position at plus side
+105°
Dog mounting position at minus side
(NOTE)
J2-axis left view
A minimum space of 30°is required between the plus side dog and minus side dog.
Fig. 6.2 (h)
Mounting the J2-axis mechanical stopper (R-2000iB/170CF)
- 162 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mounting of plus side stopper
Mounting of minus side stopper
(NOTE)
Fig. 6.2 (i)
J2-axis right view
Mounting the J2-axis mechanical stopper (R-2000iB/165CF)
- 163 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mark
Mark
Minus side stopper
Plus side stopper
Fig. 6.2 (j)
J3-axis mechanical stopper (option) (R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H,150U)
+165°
+180°
+135°
+105°
+150°
+120°
+90°
+75°
+150°
-60°
+60°
+45°
-30°
+30°
-30°
-45°
0°
+135°
-45°
+15°
+120°
-15°
0°
+105°
+15°
+45°
+30°
-15°
+75°
+90°
+60°
Mounting
position of minus side stopper
マイナス側ストッパ取付箇所
Mounting
position of plus side stopper
プラス側ストッパ取付箇所
(NOTE)
J3-axis （注）
left view
図はJ3軸を左側より見たものです。
A minimum space
of 30° is required between the plus side stopper and minus side stopper.
プラス側ストッパとマイナス側ストッパの間には30°以上の間隔が必要です。
Fig. 6.2 (k) Mounting the J3-axis mechanical stopper
(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H,150U)
- 164 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mark "PLUS"
Mark "MINUS"
Plus side stopper
Fig. 6.2 (l)
+150°
Minus side stopper
J3-axis mechanical stopper (option) (R-2000iB/170CF)
+135°
+195°
+120°
+165°
+105°
+180°
+180°
+90°
+195°
+165°
+75°
+210°
+150°
+60°
+225°
+135°
J3 casing
(left side)
J3 casing
(left side)
+45°
+30°
-45°
+120°
-30°
+105°
-15°
+15°
+0°
+90°
+0°
-15°
+75°
+60°
+15°
+30°
Dog mounting position at plus side
+45°
Dog mounting position at minus side
(NOTE)
J3-axis left view
A minimum space of 30°is required between the plus side dog and minus side dog.
Fig 6.2 (m)
Mounting the J3-axis mechanical stopper (R-2000iB/170CF)
- 165 -
6.AXIS LIMITS SETUP
B-82234EN/07
J3 casing
(left side)
J3 casing
(left side)
Mounting of plus side dog
Mounting of minus side dog
(NOTE) J3-axis left view
A minimum space of 15° is required between the plus side dog
and minus side dog.
Fig 6.2 (n)
Mounting the J3-axis mechanical stopper (R-2000iB/165CF)
- 166 -
6.AXIS LIMITS SETUP
B-82234EN/07
6.3
CHANGING THE MOTION RANGE BY THE LIMIT SWITCH
(OPTION)
The limit switch is an over travel switch, which interrupts power to the
servo motor and stops the robot when turned on. The limit switch is
optionally provided for the J1-axis, J2-axis and J3-axis.
To change the motion range by the limit switch, move the dog. The
following figure shows the relationship between the dog position and
the motion range.
The dog of the J1-axis is placed in the same position as with the
mechanical stopper.
M6x16 (2pcs)
The dog of the J1-axis is attached to the mechanical stopper.
In both plus and minus directions, mount the dog with the hole provided
in the projection part of the mechanical stopper.
(NOTE)
This figure is drawn with the J1-axis viewed from above.
The dog of the J1-axis is placed in the same position as with the mechanical stopper.
Fig. 6.3 (a)
J1-axis dog position and motion range (Option)
- 167 -
6.AXIS LIMITS SETUP
B-82234EN/07
The mounting holes to be used in the minus side dog depend on the limitation angle.
Mount the dog as shown in the table below
①
Plus side dog
Limitation angle
Dog mounting hole
-45°to +75°
-76°
Use holes ①
Use holes ②
②
-30°
-15°
-45°
-15°
(*1)
-60°
+0°
-30°
-45°
-60°
+0°
+15°
+15°
+30°
+30°
+45°
+45°
+60°
+60°
+75°
+75°
(*2)
+76°
Dog mounting position at plus side
Dog mounting position at minus side
(*1) When the plus side dog is installed to -60°, the minus side dog cannot be installed.
(*2) When the minus side dog is installed to +75°, the plus side dog cannot be installed.
(NOTE)
J2-axis left view
A minimum space of 30°is required between the plus side dog and minus side dog
Fig. 6.3 (b)
J2-axis dog position and motion range (Option) (R-2000iB/165F, 210F, 125L, 175L,100H,150U)
-105°
(*1)
-120°
-105°
-120°
-90°
-90°
-75°
-75°
-60°
-60°
-45°
-45°
-30°
-30°
-15°
-15°
+76°
0°
0°
+15°
+15°
+65°
+30°
+30°
+45°
+45°
+60°
+60°(*2)
Dog mounting position at minus side
Dog mounting position at plus side
(*1) When the plus side dog is installed to -120°, the minus side dog cannot be installed.
(*2) When the minus side dog is installed to +60°, the plus side dog cannot be installed.
(NOTE)
J2-axis left view
A minimum space of 15°is required between the plus side dog and minus side dog
Fig. 6.3 (c)
J2-axis Dog Position and Motion Range (Option) (R-2000iB/165R,200R,100P)
- 168 -
6.AXIS LIMITS SETUP
B-82234EN/07
Mounting of plus side dog
Mounting of minus side dog
(NOTE) J3-axis left view
A minimum space of 30° is required between the plus side dog and minus side dog.
Fig. 6.3(d)
J2-axis Dog Position and Motion Range (Option) (R-2000iB/165CF)
The mounting holes to be used in the minus side dog depend on the limitation angle.
Mount the dog as shown in the table below
①
Minus side dog
Limitation angle
Dog mounting hole
-75°to +165°
-79°
Use holes ①
Use holes ②
2
+195°
+180°
(＊2)
+195°
+165°
(＊2)
+180°
+175°
+150°
+150°
+135°
+135°
+120°
+120°
+105°
-79°
+90°
+105°
-75°
(＊1)
+75°
-75°
+90°
-60°
(＊1)
+60°
-60°
+45°
-45°
-15°
+0°
+60°
-30°
+30°
-30°
+75°
-45°
+45°
-15°
+15°
-0°
+15°
+30°
Dog mounting position at minus side
Dog mounting position at plus side
(*1) When the plus side dog is installed to -75°or -60°, the minus side dog cannot be installed.
(*2) When the minus side dog is installed to +195°or +180°, the plus side dog cannot be installed.
(NOTE)
J3-axis left view
A minimum space of 30°is required between the plus side dog and minus side dog
Fig. 6.3 (e) J3-axis dog position and motion range (Option)
(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L,100H,150U)
- 169 -
6.AXIS LIMITS SETUP
B-82234EN/07
J3 casing
(left side)
J3 casing
(left side)
Mounting of plus side dog
Mounting of minus side dog
(NOTE) J3-axis left view
A minimum space of 15° is required between the plus side dog and minus side dog.
Fig 6.3(f)
J3-axis Dog Position and Motion Range (Option) (R-2000iB/165CF)
- 170 -
6.AXIS LIMITS SETUP
B-82234EN/07
6.4
ADJUSTING LIMIT SWITCH (OPTION)
After the motion range is changed by the limit switch, be sure to
make adjustment.
ADJUSTING PROCEDURE
1
2
3
4
5
6
7
Set the $MOR_GRP.$CAL_DONE system parameter to FALSE.
This disables the motion limit specified by the software. As a
result, the operator can rotate the robot by a jog feed which goes
beyond the motion limit.
Loosen the following bolts.
J1-axis : M8×12 2 pcs M4×25 2 pcs
J2-axis : M6×10 2 pcs M4×25 2 pcs
J3-axis : M6×10 2 pcs M4×25 2 pcs
Move the limit switch so that the robot activates it at about 0.5°
before the stroke end. Step on the dog, and position the limit
switch in such a place that only one of the step-on allowance
indication lines at the tip of the switch is hidden.
When the limit switch operates and detects overtravel (OT), the
robot stops, and an error message, "OVERTRAVEL", is displayed.
To restart the robot, hold on the SHIFT key and press the RESET
key. Then, while holding on the SHIFT key, move the adjusting
axis off the OT limit switch by jogging in joint mode.
Check that the robot also activates the limit switch when the robot
is approx. 0.5° from the opposite stroke end in the same way as
above. If the limit switch does not operate at the position, adjust
the position of the switch again.
Set the $MOR_GRP.$CAL_DONE system parameter to TRUE.
Turn off the power, then turn it on again to restart the controller.
- 171 -
6.AXIS LIMITS SETUP
B-82234EN/07
Limit switch
(Adjusting
horizontal
direction)
(Adjusting
vertical
direction)
PT: Pre-travel (Moving before operation)
OT: Over-travel (Moving over operation)
(NOTE)
J1-axis base top view
Fig. 6.4 (a) Adjusting J1-axis limit switch
(option) (R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H,150U)
Limit swich
Adjusting horizontal direction
Adjusting vertical direction
Pre-travel (Moving before operation)
Over-travel (Moving over operation)
(NOTE) J1-axis base top view
Fig 6.4(b)
- 172 -
Adjusting J1-axis limit switch (option)
(R-2000iB/165CF)
6.AXIS LIMITS SETUP
B-82234EN/07
(Adjusting tangential
direction)
(Adjusting center
direction)
Limit switch
PT: Pre-travel (Moving before operation)
OT: Over-travel (Moving over operation)
(NOTE)
J2-axis right side view
Fig. 6.4 (c)
Adjusting J2-axis limit switch (Option)
(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H,150U)
Limit switch
Adjusting tangential
direction
(NOTE) J2-axis left side view
Fig.6.4 (d)
Adjusting center
direction
Adjusting J2-axis limit switch (option) (R-2000iB/165CF)
- 173 -
6.AXIS LIMITS SETUP
B-82234EN/07
For adjustment in the
tangential direction
For adjustment in the
center direction
PT: Pre-travel (Moving before operation)
OT: Over-travel (Moving over operation)
(NOTE)
J3-axis right view
Fig. 6.4 (e) Adjusting J3-axis limit switch (Option)
(R-2000iB/165F, 210F,165R, 200R,100P,125L,175L,100H,150U)
Limit switch
J3-axis
(right side)
(For adjustment in the radial
direction)
(NOTE) J3-axis right side view
Fig 6.4 (f) Adjusting J3-axis limit switch
(option) (R-2000iB/165CF)
- 174 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
7
CHECKS AND MAINTENANCE
Optimum performance of the robot can be maintained by performing
the periodic 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. When using the robot
beyond this total operating time, correct the
maintenance frequencies shown in this chapter by
calculation in proportion to the difference between
the actual operating time and 3840 hours/year.
- 175 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
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 as the
occasion demands.
(1) Before turning on power
When air control set is combined
Item
Check items
1
Air pressure
2
Oiler oil mist
quantity
3
Oiler oil level
4
Leakage from
hose
Check points
Check air pressure using the pressure gauge on
the air regulator as shown in Fig.2.1. 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 drop quantity during wrist or hand
motion. If it does not meet the specified value (1
drop/10-20 sec), adjust it using the oiler control
knob. Under normal usage the oiler becomes
empty in about 10 to 20 days under normal
operation.
Check to see that the oiler level is within the
specified level.
Check the joints, tubes, etc. for leaks. Repair
leaks, or replace parts, as required.
Oil inlet
Adjusting knob
Lubricator
mist amount check
Lubricator
Filter
Regulator
pressure
setting handle
Pressure gauge
Fig.7.1.1 Air control set
- 176 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
(2)
Item
7.1.2
After automatic operation
Check items
1
Vibration, abnormal
noises, and motor
heating
2
Changing
repeatability
3
Peripheral devices for
proper operation
4
Brakes for each axis
Check points
Check whether the robot moves along and
about the axes smoothly without unusual
vibration or sounds. Also check whether the
temperature of the motors are excessively
high.
Check to see that the stop positions of the
robot have not deviated from the previous
stop positions.
Check whether the peripheral devices
operate properly according to commands
from the robot.
Check that the end effector drops within 0.2
mm when the power is cut.
3-month (960 hours) checks
Check the following items once every three months (960 hours).
Additional inspection areas and times should be added to the table
according to the robot's working conditions, environment, etc.
(1) 3-month (960 hours)checks
Item
Check items
1
Control unit cable
2
Ventilation portion
of control unit
Check points
Check whether the cable connected to the
teach pendant is unevenly twisted.
If the ventilation portion of the control unit is
dusty, tum off power and clean the unit.
Check the following items at the first quarterly inspection,
every year thereafter.(See the Section 7.1.3.)
then
(2) First quarterly inspection(960 hours)
Item
Check items
1
Cables used in
mechanical unit
2
Cleaning and checking
each part
3
Further tightening
external main bolts
- 177 -
Check points
Check whether the jackets of the
mechanical unit cables are damaged.
Also check whether the cables are
excessively bent or unevenly twisted.
Check that the connectors of the motors
and connector panels are securely
engaged. (NOTE1)
Clean each part (remove chips, etc.)
and check component parts for cracks
and flaws. (NOTE2)
Further tighten the end-effecter
mounting bolts and external main
bolts.(NOTE3)
7.CHECKS AND MAINTENANCE
B-82234EN/07
Note 1) Inspection points and check items of the mechanical unit cables
and connectors
Inspection points of the mechanical unit cables
Fixed part cables likely to interfere with the J1, J2, and J3 movable
parts and peripheral devices
For the J1-axis, inspect the cables from above the J2 base and from the
side by removing the metal plate on the side of the J1 base.
Check items
For cables with a cable cover, open the cover before making the
check.
Check the cables for a sheath break and wear.
If wires of the cable appear, replace it.
Remove the cover.
Fig. 7.1.2 (a)
Inspection points of the mechanical unit cables
Inspection points of the connectors
- Power/brake connectors of the motor exposed externally
- Robot connection cables ,earth terminal and user cables
Check items
- Circular connector: Check the connector for looseness by turning
it manually.
- Square connector: Check the connector for disengagement of its
lever.
- Earth terminal: Check the connector for looseness.
- 178 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
Fig. 7.1.2 (b)
Note 2)
Inspection points of connectors
Cleaning
- Necessary cleaning points, dust on the flat part, sedimentation of
spatters
Clean sediments periodically.
In particular, clean the following points carefully.
1) Vicinity of the balancer rod and shaft
→If chippings or spatters are attached to the bushing,
abnormal wear may be caused.
2) Vicinity of the wrist axis and oil seal
→If chippings or spatters are attached to the oil seal,
an oil leak may be caused.
- Check if the vicinity of the necessary inspection points, wrist part,
and J3 arm significantly wears due to rubbing against the
welding cable or hand cable.
- Check if there is a trace of a collision around the gun or hand.
- Check the reducer or grease bath for an oil leak.
→ If oil can be found a day after wiping oil, an oil leak may be
caused.
- 179 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
Fig. 7.1.2 (c)
Note 3)
Cleaning points
Points to be retightened
- The end effecter mounting bolts, robot installation bolts, and bolts
to be removed for inspection need to be retightened.
- The bolts exposed to the outside of the robot need to be
retightened.
For the tightening torque, see the recommended bolt tightening
torque shown in the Appendix.
A loose prevention agent (adhesive) is applied to some bolts. If
the bolts are tightened with greater than the recommended torque,
the loose prevention agent may be removed. So, follow the
recommended tightening torque when retightening them.
- 180 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
7.1.3
1-year (3,840 hours)checks
Check the following items once every year (3,840 hours).
Item
1
2
3
4
7.1.4
Check itmes
Greasing balancer
bushing
Cables used in
mechanical unit
Cleaning each
parts and
inspection
Tightness of major
external bolts
Check points
Grease balancer bushing.(See Section 7.2.1)
（See Section 7.1.2.）
（See Section 7.1.2.）
（See Section 7.1.2.）
1.5-year (5,760 hours) checks
Check the following item once every 1.5 year (5,760 hours).
Item
1
7.1.5
Check itmes
Battery
Check points
Replace battery in the mechanical unit. (See
Section 7.2.2)
3-year (11,520 hours) checks
Check the following items once every 3 years (11,520 hours).
Item
1
Check itmes
Replacing grease
of each axis,
reducer and gear
box
- 181 -
Check points
(See Section 7.2.3.)
7.CHECKS AND MAINTENANCE
B-82234EN/07
7.2
MAINTENANCE
7.2.1
Greasing the Balancer Shaft (1 year (3840 hours) Periodic
Maintenance)
Be sure to grease the balancer shaft at specified intervals as shown in
Tables 7.2.1 (a) and 7.2.1 (b). When the installation environment of
the robot is bad, however, greasing needs to be made as appropriate.
If water splashes on the robot, supply grease immediately. Fig. 7.2.1
shows the greasing points of the balancer shaft.
Table 7.2.1 (a) Greasing the Balancer Shaft
Recommended grease
Amount of grease
Greasing interval
Showa Shell Sekiyu K. K.
1 year or every 3840
10 ml for each
Alvania grease S2
hours of accumulated
(two points)
Specification:
operation
A97L-0001-0179#2
Table 7.2.1 (b) Grease Alternative to Alvania GREASE S2
Mobile Sekiyu K.K.
Mobilux grease No. 2
Esso Standard
Beacon No. 2
Nippon Oil Corporation
Multinoc 2
Nippon Oil Corporation
Epinoc AP-2
Idemitsu Kosan Co., Ltd.
Eponex grease No. 2
Cosmo Oil Co., Ltd.
Dynamax No. 2
Greasing the balancer shaft
Grease nipple
Right side
Left side
Fig. 7.2.1 Balancer shaft greasing points (R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H)
NOTE
For the R-2000iB/170CF,150U,165CF, no
balancer is provided.
- 182 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
7.2.2
Replacing the Batteries（1.5 Year checks）
The position data of each axis is preserved by the backup batteries.
The batteries need to be replaced every 1.5 year. Also use the
following procedure to replace when the backup battery voltage drop
alarm occurs.
Procedure of replacing the battery
1
Keep the power on. Press the EMERGENCY STOP button to
prohibit the robot motion.
CAUTION
Be sure to keep the power on.
Replacing the batteries with the power supply
turned off causes all current position data to be lost.
Therefore, mastering will be required again.
2
3
4
5
Remove the battery case cap.( Fig. 7.2.2(a) and (b))
Take out the old batteries from the battery case.
Insert new batteries into the battery case. Pay attention to the
direction of batteries.
Close the battery case cap.
Fig. 7.2.2(a) Replacing the battery
(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H)
- 183 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
Battery case
Fig. 7.2.2(b)
- 184 -
Battery
(1.5V size-D)
Case cap
Replacing the battery (R-2000iB/165CF)
7.CHECKS AND MAINTENANCE
B-82234EN/07
7.2.3
Replacing the Grease of the Drive Mechanism（3 years (11,520
hours) checks）
Replace the grease of the reducers of J1, J2, and J3 axes, the J4-axis
gear box, and the wrist in the cycle that is shorter among every three
years and 11,520 hours of operating, by using the following
procedures.
See table 7.2.3 (a) for the grease name and the quantity.
Models
R-2000iB/165F
R-2000iB/165R
R-2000iB/125L
R-2000iB/150U
R-2000iB/210F
R-2000iB/200R
R-2000iB/175L
R-2000iB/100P
R-2000iB/170CF
R-2000iB/100H
R-2000iB/165CF
Table 7.2.3 (a) Grease for 3-year periodical replacement
Greasing
Quantity
Gun tip pressure
4900g（5500ml）
J1-axis reducer
3100g（3500ml）
J2-axis reducer
2200g（2500ml）
J3-axis reducer
1700g（1900ml）
J4-axis gear box
2100g（2400ml）
wrist 1
700g（800ml）
wrist 2
4900g（5500ml）
J1-axis reducer
3100g（3500ml）
J2-axis reducer
2350g（2640ml）
J3-axis reducer
1700g（1900ml）
J4-axis gear box
3400g（3800ml）
wrist 1
1000g（1100ml）
wrist 2
4900g（5500ml）
J1-axis reducer
3100g（3500ml）
J2-axis reducer
2200g（2500ml）
J3-axis reducer
1700g（1900ml）
J4-axis gear box
3400g（3800ml）
wrist 1
1000g（1100ml）
wrist 2
0.15MPa or less
4900g（5500ml）
J1-axis reducer
(NOTE)
2400g（2700ml）
J2-axis reducer
2400g（2700ml）
J3-axis reducer
300g（340ml）
J3-axis gear box
1900g（2100ml）
J4-axis gear box
2100g（2400ml）
wrist 1
700g（800ml）
wrist 2
4900g（5500ml）
J1-axis reducer
3100g（3500ml）
J2-axis reducer
2200g（2500ml）
J3-axis reducer
1700g（1900ml）
J4-axis gear box
1400g（1600ml）
wrist 1
700g（800ml）
wrist 2
J1-axis gear box
3600g (4100ml)
J2-axis gear box
2300g (2600ml)
J3-axis gear box
1400g (1600ml)
J4-axis gear box
3400g (3950ml)
wrist 1
wrist 2
350g (400ml)
- 185 -
Grease name
Kyodo yushi
VIGOGREASE RE0
Spec :
A98L-0040-0174
7.CHECKS AND MAINTENANCE
B-82234EN/07
NOTE
1 Replace grease in the cycle that is shorter among
every three years or 11,520 hours of operating.
2 When a manual pump is used for greasing, the
standard rate is two pumping cycles per three
seconds.
For grease replacement or replenishment, use the attitudes indicated
below.
Table 7.2.3 (b) Attitudes for greasing
(R-2000iB/165F, 210F, 125L, 175L, 100H, 150U, 165CF)
Attitude
Supply position
J1
J2
J3
J4
J5
J1-axis reducer
Arbitrary
Arbitrary
J2-axis reducer
0°
Arbitrary
Arbitrary
Arbitrary
J3-axis reducer
0°
0°
J4-axis gear box
0°
Arbitrary
Wrist
0°
0°
0°
Table 7.2.3 (c)
Supply position
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gear box
Wrist
Arbitrary
-90°
-90°
Arbitrary
Table 7.2.3 (d)
J1-axis reducer
J2-axis reducer
J3-axis reducer
J3-axis gear box
J4-axis gear box
Wrist
Arbitrary
0°
Attitudes for greasing (R-2000iB/165R,200R,100P)
Attitude
J1
J2
J3
J4
J5
J6
Arbitrary
Supply position
J6
J1
0°
0°
0°
Arbitrary
- 186 -
90°
90°
90°
Arbitrary
Arbitrary
Arbitrary
0°
0°
0°
Attitudes for greasing (R-2000iB/170CF)
Attitude
J2
J3
J4
J5
Arbitrary
Arbitrary
Arbitrary
J6
Arbitrary
0°
0°
0°
0°
Arbitrary
Arbitrary
Arbitrary
0°
0°
0°
7.CHECKS AND MAINTENANCE
B-82234EN/07
Grease replacement procedure of the J1, J2, J3-axis reducer
1
2
3
4
5
Move the robot to the greasing attitude described in Section 7.2.3
(b) ,(c) and (d).
Turn off the power.
Remove the seal bolt from grease outlet.(Fig.7.2.3 (a) to 7.2.3
(d))
Supply new grease through the wrist grease inlet until new grease
is output from wrist grease outlet.
Release residual pressure using the procedure given in Section
7.2.6.
J2 reducer outlet
M12x15 (Seal bolt)
J2 reducer inlet
Grease nipple
Left side
Right side
J1 reducer inlet
Grease nipple
J2 reducer outlet
M12x15 (Seal bolt)
Fig. 7.2.3 (a) Replacing grease of the J1/J2-axis reducer
(R-2000iB/165F,210F,165R,200R,100P,170CF,125L,175L,100H, 150U)
- 187 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
J1 reducer inlet
Grease nipple
J2 reducer outlet
Seal bolt
J2 reducer inlet
Grease nipple
J1 reducer outlet
Grease nipple
(Rear of connector panel)
Fig 7.2.3 (b)
Replasing grease of the J1/J2-axis reducer (R-2000iB/165CF)
J3 reducer outlet
Seal bolt
Left side
J3 reducer inlet
Grease nipple
Right side
Fig. 7.2.3 (c) Replacing grease of the J3-axis reducer
(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H,150U)
- 188 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
J3 reducer and
J3 gear box grease outlet
M12X5(Seal bolt)
J3 gear box grease inlet
Grease nipple
J3 reducer grease inlet
grease nipple
Fig. 7.2.3 (d)
Replacing grease of the J3-axis reducer (R-2000iB/170CF)
J3 reducer outlet
J3軸減速機排脂口
M6×8
(Seal bolt)
M6X8 (シールボルト)
J3 reducer inlet
J3軸減速機給脂口
Grease
nipple
グリスニップル
Fig. 7.2.3 (e)
Replacing grease of the J3-axis reducer (R-2000iB/165CF)
- 189 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
Grease Replacement Procedure for the J4-Axis Gear Box
(R-2000iB/165F, 210F,165R,200R,100P,170CF, 125L,175L,100H,150U)
1
2
3
4
5
Move the robot to the greasing attitude described in Table 7.2.3
(b),(c) and (d).
Turn off the power.
Remove the seal bolt from the grease outlet and the air inlet.(Fig.
7.2.3 (e))
Supply new grease until new grease is output from the grease
outlet.
Release residual pressure using the procedure given in Section
7.2.6.
J4-axis gear box air inlet
M12x15 (seal bolt)
J4-axis gear box outlet
M12x15 (seal bolt)
J4-axis gear box inlet
Grease nipple
Fig. 7.2.3 (e) Replacing grease of the J4-axis gear box
(R-2000iB/165F,210F,165R,200R,100P,170CF,125L,175L,100H,150U)
- 190 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
Grease Replacement Procedure for the J4-Axis Gear Box (R-2000iB/165CF)
1
2
3
4
5
Move the robot to the greasing attitude described in Section
7.2.3(b).
Turn off the power.
Remove the seal bolt from the grease outlet and the air inlet. (Fig.
7.2.3 (f))
Supply new grease until new grease is output from the grease
outlet.
Release residual pressure using the procedure given in Section
7.2.6.
J4-axis
gear box Wrist outlet1
J4軸ギアボックス・手首排脂口1
M6x8 (seal bolt)
M6X8 (シールボルト)
J4-axis
gear box Wrist inlet1
J4軸ギアボックス・手首給脂口1
Grease
nipple
グリスニップル
Fig. 7.2.3 (f)
Grease replacement for the J4-axis gear box (R-2000iB/165CF)
- 191 -
7.CHECKS AND MAINTENANCE
7.2.4
B-82234EN/07
Grease Replacement Procedure for the Wrist (R-2000iB/165F,
210F, 165R, 200R, 100P, 170CF,125L, 175L, 100H, 150U)
1
2
3
4
5
6
7
8
Move the robot to the greasing attitude described in
table 7.2.3 (b).
Turn off the power.
Remove the sealant plug of wrist grease outlet 1 (Figs. 7.2.4 (a)
and 7.2.4 (b)).
Supply grease to the wrist grease inlet until new grease outputs
from wrist grease outlet 1.
Attach the sealant plug to wrist grease outlet 1.
Next, remove the sealant plug (or the seal bolt for the 210F,
200R, 100P and 175L) of wrist grease outlet 2.
Supply new grease through the wrist grease inlet until new grease
is output from wrist grease outlet 2
Release residual pressure using the procedure given in Section
7.2.6.
Wrist grease outlet 2
M6x6 (seal bolt)
Wrist grease outlet 2
M6x8 (seal bolt)
Left side
Left side
Wrist grease outlet 1
M6x8 (seal bolt)
Wrist grease inlet
grease nipple
Wrist grease outlet 1
R1/4 (sealant plug)
Wrist grease inlet
grease nipple
Right side
Fig. 7.2.4 (a) Replacing grease of the wrist
（R-2000iB/165F, 165R, 170CF, 125L, 100H, 150U）
- 192 -
Right side
Fig. 7.2.4 (b) Replacing grease of the wrist
(R-2000iB/210F, 200R, 100P, 175L)
7.CHECKS AND MAINTENANCE
B-82234EN/07
7.2.5
Grease Replacement Procedure for the Wrist
(R-2000iB/165CF)
1
2
3
4
5
6
7
8
Move the robot to the greasing attitude described in
table 7.2.3 (c).
Turn off the power.
Remove the sealant plug of wrist grease outlet 1.
Supply grease to the wrist grease inlet until new grease outputs
from wrist grease outlet 1.
Attach the seal bolt to wrist grease outlet 1. When reusing the
seal bolt, be sure to seal it with seal tape.
Remove the seal bolt from wrist grease outlet 2.
Supply new grease through wrist grease inlet 2 until the new
grease is forced out of wrist grease outlet 2.
Release residual pressure using the procedure given in Section
7.2.6.
Wrist grease inlet 2
grease nipple
Wrist grease outlet 1
M6X8(Seal bolt)
Wrist grease inlet 1
grease nipple
Wrist grease outlet 2
M6X8(Seal blot)
Fig 7.2.5(a)
1
2
3
4
5
6
Replacing Grease of the Wrist (R-2000iB/165CF)
CAUTION
If greasing is performed incorrectly, the internal pressure of the grease bath may
suddenly increase, possibly causing damage to the seal, which would in turn lead
to grease leakage and abnormal operation. When performing greasing, therefore,
observe the following cautions.
Before starting to grease, open the grease outlet (remove the plug or bolt from the
grease outlet).
Supply grease slowly, using a manual pump.
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 7.2.3 (a)).
Use grease only of the specified type. Grease of a type other than that specified
may damage the reducer or lead to other problems.
After greasing, release residual pressure from the grease bath using the
procedure given in Section 7.2.6, and then close the grease outlet.
To prevent accidents caused by slipping, completely remove any excess grease
from the floor or robot.
- 193 -
7.CHECKS AND MAINTENANCE
7.2.6
B-82234EN/07
Procedure for Releasing Residual Pressure from the Grease
Bath
Release residual pressure as described below.
Under the grease inlets and outlets, attach bags for collecting grease so
that grease does not spatter when it comes out of the inlets or outlets.
Grease
replacement
position
J1-axis reducer
J2-axis reducer
J3-axis reducer
J3-axis gear box
J4-axis gear box
Wrist
OVR
Operating
time
Open
point
80° or more
90° or more
50%
50%
20 minutes
20 minutes
A
A
70° or more
50%
20 minutes
A
100%
20 minutes
B
100%
10 minutes
C
Motion angle
J4 : 60° or more
J5 : 120° or more
J6 : 60° or more
J4 : 60° or more
J5 : 120° or more
J6 : 60° or more
In the case of A
Open the grease inlets and outlets and perform running.
In the case of B
Open the grease outlets only and perform running.
In the case of C
Open all of the grease inlets and outlets shown below and perform
running.
Wrist grease outlet 2
M6×8 （plug with sealant）
Also open here
Left side
Wrist grease outlet 1
R1/8(bolt with sealant)
Wrist grease inlet
grease nipple
Right side
Fig. 7.2.6 (a) Open Points for Releasing Residual Pressure from the
Wrist (R-2000iB/165F, 165R,170CF,125L, 100H,150U)
- 194 -
7.CHECKS AND MAINTENANCE
B-82234EN/07
Wrist grease outlet 2
M6x6 (seal bolt)
Left side
Also open here
Wrist grease outlet 1
R1/4 (plug with sealant)
Wrist grease inlet
Grease nipple
Right side
Fig 7.2.6 (b) Open Points for Releasing Residual Pressure from the
Wrist (R-2000iB/210F, 200R,100P,175L)
Wrist grease outlet 1
M6x8 (seal bolt)
ここも開ける
Also
open
here
Wrist grease
inlet 1
Grease nipple
Left side
Right side
Wrist grease outlet 2
M6x8 (seal bolt)
Wrist grease inlet 2
Grease nipple
Fig 7.2.6 (c) Open Points for Releasing Residual Pressure from the
Wrist (R-2000iB/165CF)
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. (If only half of the predetermined motion angle
can be set, perform an operation for a period of time twice as long as
the specified time.) After completion of the operation, attach the seal
bolts and grease nipples to the grease inlets and outlets. When
reusing the seal bolts and grease nipples, be sure to seal them with seal
tape.
- 195 -
7.CHECKS AND MAINTENANCE
7.3
B-82234EN/07
STORAGE
To store the robot, set it to the same attitude as that used for
trasportation. (See Section 1.1.)
- 196 -
8.MASTERING
B-82234EN/07
8
MASTERING
Mastering is an operation performed to associate the angle of each
robot axis with the pulse count value supplied from the absolute pulse
coder connected to the corresponding axis motor. To be specific,
mastering is an operation for obtaining the pulse count value
corresponding to the zero position.
- 197 -
8.MASTERING
8.1
B-82234EN/07
GENERAL
The current position of the robot is determined according to the pulse
count value supplied from the pulse coder on each axis.
Mastering is factory-performed. It is unnecessary to perform
mastering in daily operations. However, mastering becomes necessary
after:
・
・
・
・
・
Motor replacement.
Pulse coder replacement
Reducer replacement
Cable replacement
Batteries for pulse count backup in the mechanical unit have
gone dead
CAUTION
Robot data (including mastering data) and pulse
coder data are backed up by their respective
backup batteries. Data will be lost if the batteries go
dead. Replace the batteries in the control and
mechanical units periodically. An alarm will be
issued to warn the user of a low battery voltage.
- 198 -
8.MASTERING
B-82234EN/07
Types of Mastering
There are five methods of the following mastering.
Table 8.1 Type of mastering
This is performed using a mastering fixture before the
machine is shipped from the factory.
This is performed with all axes set at the 0-degree
position. A zero-position mark (eye mark) is attached
to each robot axis. This mastering is performed with all
axes aligned to their respective eye marks.
Quick mastering
This is performed at a user-specified position. The
corresponding count value is obtained from the
rotation speed of the pulse coder connected to the
relevant motor and the rotation angle within one
rotation. Simplified mastering uses the fact that the
absolute value of a rotation angle within one rotation
will not be lost.
Single-axis mastering
This is performed for one axis at a time. The
mastering position for each axis can be specified by
the user. This is useful in performing mastering on a
specific axis.
Mastering data entry
Mastering data is entered directly.
Fixture position
mastering
Zero-position
mastering (eye mark
mastering)
Once mastering is performed, it is necessary to carry out positioning,
or calibration. Positioning is an operation in which the control unit
reads the current pulse count value to sense the current position of the
robot.
This section describes zero-position mastering, simplified
mastering, single-axis mastering, and mastering data entry.
For more detailed mastering (fixture position mastering), contact
FANUC.
CAUTION
If mastering is performed incorrectly, the robot may
behave unexpectedly. This is very dangerous. So,
the positioning screen is designed to appear only
when the $MASTER_ENB system variable is 1 or 2.
After performing positioning, press F5 [DONE] on
the positioning screen. The $MASTER_ENB system
variable is reset to 0 automatically, thus hiding the
positioning screen.
CAUTION
It is recommended that the current mastering data
be backed up before mastering is performed.
- 199 -
8.MASTERING
8.2
B-82234EN/07
RESETTING ALARMS AND PREPARING FOR
MASTERING
Before performing mastering because a motor is replaced, it is
necessary to release the relevant alarm and display the positioning
menu.
Alarm displayed
“Servo 062 BZAL” or “Servo 075 Pulse mismatch”
Procedure
Step
1
Display the positioning menu by following steps 1 to 6.
1
Press the screen selection key.
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].
5
Press F1 [TYPE], and select[Mater/Cal] from the menu.
Select the desired mastering type from the
[Master/Cal] menu.
2
To reset the Servo 062 BZAL alarm, follow steps 1 to 5.
1 Press the screen slelection key.
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 [TRUE].
5 Switch the controller power off and on again.
3
To reset the "Servo 075 Pulse mismatch" alarm, follow
steps 1 to 3.
1
When the controller power is switched on again, the
message "Servo 075 Pulse mismatch" appears again.
2
Move the axis for which the message mentioned above
has appeared through ±10 degrees in either direction.
3
Press [FAULT RESET]. The alarm is reset.
- 200 -
8.MASTERING
B-82234EN/07
8.3
ZERO POSITION MASTERING
Zero-position mastering (eye mark mastering) is performed with all
axes set at the 0-degree position. A zero-position mark (eye mark) is
attached to each robot axis.(Fig.8.3(a) to (g)) This mastering is
performed with all axes set at the 0-degree position using their
respective eye 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 Mastering
1.
2.
3.
4.
Press MENUS.
Select NEXT and press SYSTEM.
Press F1, [TYPE].
Select Master/Cal.
AUTO
JOINT 1 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
SYSTEM Master/Cal
Press 'ENTER' or number key to select.
[ TYPE ] LOAD RES_PCA
5.
DONE
Release brake control, and jog the robot into a posture for
mastering.
NOTE
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, switch the
control unit power off and on again.
- 201 -
8.MASTERING
B-82234EN/07
6.
Select Zero Position Master.
AUTO
JOINT 1 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <122000309> <2000319>
SYSTEM Master/Cal
[ TYPE ] LOAD RES_PCA
7.
DONE
Press F4, YES. Mastering will be performed automatically.
Alternatively, switch the power off and on again. Switching the
power on always causes positioning to be performed.
AUTO
JOINT 1 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Calibrated! Cur Jnt Ang(deg):
< 0.0000> < 0.0000> < 0.0000>
< 0.0000> < 0.0000> < 0.0000>
SYSTEM Master/Cal
[ TYPE ] LOAD RES_PCA
8.
DONE
After positioning is completed, press F5 [DONE].
DONE
F5
- 202 -
8.MASTERING
B-82234EN/07
Table 8.3
Attitude with position marks aligned
Axis
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
Position
0 deg
0 deg
0 deg
0 deg
0 deg
0 deg
CAUTION
There is no J6-axis for R-2000iB/100H.
- 203 -
8.MASTERING
B-82234EN/07
J4-axis
J5-axis
J3-axis
J2-axis
J6-axis
J1-axis
Vernier mark
J2-axis
J1-axis
J3-axis
Scribing mark
J5-axis
J4-axis
Fig. 8.3 (a)
Eye mark position (R-2000iB/165F, 125L, 150U)
- 204 -
J6-axis
8.MASTERING
B-82234EN/07
J5-axis
J6-axis B
J6-axis A
J3-axis
J2-axis
J4-axis
J1-axis
J1-axis
J2-axis
J3-axis
Vernier mark
J4-axis
J5-axis
Scribing mark
J6-axis A
Fig. 8.3 (b)
J6-axis B
Eye mark position (R-2000iB/210F, 175L)
- 205 -
8.MASTERING
B-82234EN/07
J3-axis
J2-axis
J1-axis
J4-axis
J5-axis
J6-axis
Vernier mark
Scribing mark
Fig 8.3(c)
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
Eye mark position (R-2000iB/165R)
- 206 -
8.MASTERING
B-82234EN/07
J3-axis
J2-axis
J6-axis B
J1-axis
J4axis
J5axis
A
J6axis A
Vernier mark
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis A
Scribing mark
Fig.8.3(d)
Eye mark position (R-2000iB/200R,100P)
- 207 -
J6-axis b
8.MASTERING
B-82234EN/07
J3-axis B
J3-axis A
J4-axis
J6-axis
J2-axis B
F
J2-axis A
J5-axis
J1-axis
J1-axis
J2-axis A
J2-axis B
J3-axis A
J4-axis
J5-axis
J6-axis
Vernier mark
Scribing mark
Fig.8.3(e)
Eye mark position (R-2000iB/170CF)
- 208 -
J3-axis B
8.MASTERING
B-82234EN/07
J3-axis J4-axis
J5-axis
J2-axis
J1-axis
Vernier mark
J1-axis
J2-axis
J4-axis
J5-axis
Scribing mark
Fig.8.3(f)
Eye mark position (R-2000iB/100H)
- 209 -
J3-axis
8.MASTERING
B-82234EN/07
J5-axis
J6-axis
J3-axis
J4-axis
J1-axis
J2-axis
Vernier mark
Scribing mark
J1-axis
J2-axis
J2-axis
J3-axis
J3-axis
J4-axis
J5-axis
J6-axis
Fig. 8.3(g)
Eye mark position (R-2000iB/165CF)
- 210 -
8.MASTERING
B-82234EN/07
8.4
QUICK MASTERING
Quick mastering is performed at a user-specified position. The
corresponding count value is obtained from the rotation speed of the
pulse coder 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 it is impossible to set the robot at the position mentioned above, it is
necessary to re-set the quick mastering reference position using the
following method. (It would be convenient to set up a marker that can
work in place of the eye 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 pulse
coder is replaced or after the mastering data is lost
from the robot control unit.
ProcedureRecording the Quick Master Reference Position
1
2
Select SYSTEM.
Select Master/Cal.
AUTO
JOINT 1 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
SYSTEM Master/Cal
Press 'ENTER' or number key to select.
[ TYPE ] LOAD RES_PCA
3
4
DONE
Release brake control, and jog the robot to the quick mastering
reference position.
Set quick master ref? [NO] Move the cursor to SET QUICK
MASTER REF and press ENTER. Press F4, YES.
- 211 -
8.MASTERING
B-82234EN/07
CAUTION
If the robot has lost mastery due to mechanical
disassembly or repair, you cannot perform this
procedure. In this case, master to a fixture or
master to zero degrees to restore robot
mastery.
Procedure Quick Mastering
1
Display the Master/Cal screen.
AUTO
JOINT 1 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Not Mastered!
SYSTEM Master/Cal
Quick master? [NO]
[ TYPE ]
2
3
YES
NO
Release brake control, and jog the robot to the quick mastering
reference position.
Quick master? [NO] Move the cursor to QUICK MASTER and
press ENTER. Press F4, YES.
Quick mastering data is
memorized.
Quick master? [NO]
4
5
Move the cursor to CALIBRATE and press ENTER.
Calibration is executed. Calibration is executed by power on
again.
After completing the calibration, press F5 Done.
- 212 -
8.MASTERING
B-82234EN/07
8.4.1
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 pulse coder has been
replaced.
AUTO
SINGLE AXIS MASTER
1%
JOINT
ACTUAL POS (MSTR POS )
J1
25.255 (
0.000) (0)
J2
25.550 (
0.000) (0)
J3 -50.000
(
0.000) (0)
J4
12.500 (
0.000) (0)
J5
31.250 (
0.000) (0)
J6
43.382 (
0.000) (0)
E1
0.000 (
0.000) (0)
E2
0.000 (
0.000) (0)
E3
0.000 (
0.000) (0)
GROUP
[ON ]
(SEL)[ST]
[2]
[2]
[2]
[2]
[2]
[2]
[0]
[0]
[0]
EXEC
Table 8.4.1
Item
Current
position
(Actual axis)
Mastering
position
(Matra pos)
SEL
ST
Items set in single axis mastering
Description
The current position of the robot is displayed for each axis in
degree units.
A mastering position is specified for an axis to be subjected
to single axis mastering. It would be convenient to set to it to
the 0_ position.
This item is set to 1 for an axis to be subjected to single axis
mastering. Usually, it is 0.
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.
- 213 -
8.MASTERING
B-82234EN/07
Procedure Mastering a Single Axis
1
2
Select SYSTEM.
Select Master/Cal.
AUTO
JOINT 1 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
SYSTEM Master/Cal
Press 'ENTER' or number key to select.
3
Select 4, Single Axis Master. You will see a screen similar to
the following.
AUTO
JOINT 1 %
[ON ]
(MSTR POS ) (SEL)[ST]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [0]
0.000) (0) [0]
0.000) (0) [0]
SINGLE AXIS MASTER
ACTUAL POS
J1
25.255 (
J2
25.550 (
J3 -50.000
(
J4
12.500 (
J5
31.250 (
J6
43.382 (
E1
0.000 (
E2
0.000 (
E3
0.000 (
GROUP
4.
EXEC
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.
5. Turn off brake control as required, then jog the robot to the
mastering position
6. Enter axis data for the mastering position.
- 214 -
8.MASTERING
B-82234EN/07
AUTO
JOINT
AUTO
1%
SINGLE AXIS MASTER
JOINT
5/9
(MSTR POS )
5/9
(SEL)[ST]
ACTUAL POS
(MSTR POS )
(SEL)[ST]
(
0.000) (0) [0]
J5
31.250
(
0.000) (1) [0]
(
0.000) (0) [0]
J6
43.382
(
90.000) (1) [0]
GROUP
1%
EXEC
GROUP
7
EXEC
Press F5 [EXEC]. Mastering is performed. So, SEL is reset to
0, and ST is re-set to 2 or 1.
AUTO
JOINT 1 %
[ON ]
(MSTR POS ) (SEL)[ST]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
0.000) (0) [2]
90.000) (0) [2]
0.000) (0) [0]
0.000) (0) [0]
0.000) (0) [0]
SINGLE AXIS MASTER
ACTUAL POS
J1
25.255 (
J2
25.255 (
J3 -50.000
(
J4
12.500 (
J5
1.000 (
J6
90.000 (
E1
0.000 (
E2
0.000 (
E3
0.000 (
GROUP
8
EXEC
When single axis mastering is completed, press the previous page
key to resume the previous screen.
AUTO
SYSTEM Master/Cal
JOINT
1%
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Press 'ENTER' or number key to select.
- 215 -
8.MASTERING
B-82234EN/07
9. Select [6 CALIBRATE], then press F4 [YES]. Positioning is
performed. Alternatively, switch the power off and on again.
Positioning is performed.
10. After positioning is completed, press F5 [DONE].
DONE
F5
- 216 -
8.MASTERING
B-82234EN/07
8.5
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.
2
Press MENUS, then press NEXT and select SYSTEM.
Press F1, [TYPE]. Select [Variables]. The system variable screen
appears.
SYSTEM Variables
1/98
1
$AP MAXAX
536870912
2
$AP PLUGGED
4
3
$AP TOTALAX
16777216
4
$AP USENUM
[12] of Byte
5
$AUTOINIT
2
6
$BLT
19920216
JOINT 10%
[ TYPE ]
3
Change the mastering data.
The mastering data is saved to the
$DMR_GRP.$MASTER_COUN system variable.
SYSTEM Variables
13
14
$DMR GRP
$ENC STAT
[ TYPE ]
- 217 -
JOINT 10%
DMR GRPT
[2] of ENC STATT
8.MASTERING
B-82234EN/07
4
Select $DMR_GRP.
SYSTEM
$DMR
DMR GRPT
[2] of ENC STATT
1
ENTER
Variables
GRP
[1]
SYSTEM
DMR
Variables
$DMR
GRP [1]
1
$MASTER DONE
2
$OT MINUS
[9]
$OT PLUS
[9]
3
4
$MASTER COUN
[9]
5
$REF DONE
6
$REF POS
7
$REF COUNT
[9]
$BCKLSH SIGN
[9]
8
TRUE
[ TYPE ]
5
Select $MASTER_COUN, and enter the mastering data you have
recorded.
SYSTEM
JOINT 30%
Variables
$DMR
GRP [1].$MASTER COUN
1
[1]
95678329
2
[2]
10223045
3
[3]
3020442
4
[4]
304055030
5
[5]
20497709
6
[6]
2039490
7
[7]
0
8
[8]
0
9
[9]
0
[9] of Boolean
[9] of Boolean
[9] of Integer
ENTER
6
7
TRUE
FALSE
1/9
Press the PREV key.
Set $MASTER_DONE to TRUE.
SYSTEM
Variables
$DMR
GRP
[1]
1
$MASTER DONE TRUE
2
$OT MINUS
[9] of Boolean
FALSE
F4
[ TYPE ]
8
9
TRUE
FALSE
Display the positioning screen, and select [6 CALIBRATE],
then press F4 [YES].
After completing positioning, press F5 [DONE].
DONE
F5
- 218 -
9.TROUBLESHOOTING
B-82234EN/07
9
TROUBLESHOOTING
- 219 -
9.TROUBLESHOOTING
9.1
B-82234EN/07
OVERVIEW
The cause of a failure in the mechanical unit may be difficult to
localize, because failures can arise from many interrelated factors. If
you fail to take the correct measures, the failure may be aggravated.
So, it is necessary to analyze the symptoms of the failure precisely so
that the true cause can be found.
- 220 -
9.TROUBLESHOOTING
B-82234EN/07
9.2
FAILURES, CAUSES AND MEASURES
Table 9.2 lists the major failures that may occur in the mechanical unit
and their probable causes. If you cannot pinpoint a failure cause or
which measures to apply, contact FANUC.
Symptom
Vibration
Noise
Table 9.2 Failures, causes and measures
Description
Cause
[Base plate and floor plate fastening]
- As the robot operates, its
- It is likely that the base plate is not
base plate lifts off the floor
securely fastened to the floor plate
plate.
because of poor welding.
- There is a gap between the
- If the base plate is not securely
base plate and the floor
fastened to the floor plate, it lifts as
plate.
the robot operates, allowing the
- There is a crack in the weld
base and floor plates to strike each
that fastens the base plate to
other which, in turn, leads to
the floor plate.
vibration.
- The J1 base lifts off the base [J1 base fastening]
- It is likely that the robot J1 base is
plate as the robot operates.
not securely fastened to the base
- There is a gap between the
plate.
J1 base and base plate.
- Probable causes are a loose bolt,
- A J1 base retaining bolt is
an insuffcient degree of surface
loose.
flatness, or foreign material caught
between the base plate and floor
plate.
- If the robot is not securely fastened
to the base plate, the J1 base lifts
the base plate as the robot
operates, allowing the base and
floor plates to strike each other
wihich, in turn, leads to vibration.
[Rack or floor]
- Apply epoxy to the floor
- It is likely that the rack or floor is
surface and re-install the
not suffciently rigid.
plate.
- If the rack or floor is not sufficiently
rigid, reaction from the robot
deforms the rack or floor, leading to
vibration.
[Overload]
- Vibration becomes more
- It is likely that the load on the robot
serious when the robot
is greater than the maximum rating.
adopts a specific posture.
- It is likely that the robot control
- If the operating speed of the
program is too demanding for the
robot is reduced, vibration
robot hardware.
stops.
- It is likely that the ACCELERATION
- Vibration is most noticeable
value is excessive.
when the robot is
accelerating.
- Vibration occurs when two or
more axes operate at the
same time.
- 221 -
Measure
- Re-weld the base plate to the
floor plate.
- If the weld is not strong
enough, increase its width
and length.
- If a bolt is loose, apply loctite
and tighten it to the
appropriate torque.
- Adjust the base plate surface
flatness to within the
specified tolenrance.
- If there is any foreign matter
between the J1 base and
base plate, remove it.
- Apply adhesive between the
J1-axis base and base plate.
- Reinforce the rack or floor to
make it more rigid.
- If it is impossible to reinforce
the rack or floor, modify the
robot control program; doing
so might reduce the amount
of vibration.
- Check the maximum load
that the robot can handle
once more. If the robot is
found to be overloaded,
reduce the load, or modify
the robot control program.
- Vibration in a specific portion
can be reduced by modifying
the robot control program
while slowig the robot and
reducing its acceleration (to
minimize the influenece on
the entire cycle time).
9.TROUBLESHOOTING
Symptom
Vibration
Noise
(Continuted)
Description
- Vibration was first noticed
after the robot collided with
an object or the robot was
overloaded for a long period.
- The grease of the vibrating
axis has not been exchanged
for a long period.
B-82234EN/07
Cause
[Broken gear, bearing, or reducer]
- It is likely that collision or overload
applied an excessive force on the
drive mechanism, thus damaging
the geartooth surface or rolling
surface of a bearing, or reducer.
- It is likely that prolonged use of the
robot while overloaded caused
fretting of the gear tooth surface or
rolling surface of a bearing, or
reducer due to resulting metal
fatigue.
- It is likely that foreign matter caught
in a gear, bearing, or within a
reducer caused damage on the
gear tooth surface or rolling
surface of the bearing, or reducer.
- It is likely that, because the grease
has not been changed for a long
period, fretting occurred on the
gear tooth surface or rolling
surface of a bearing, or reducer
due to metal fatigue.
These factors all generate cyclic
vibration and noise.
- 222 -
Measure
- Operate one axis at a time to
determine which axis is
vibrating.
- Remove the motor, and
replace the gear , the
bearing, and the reducer. For
the spec. of parts and the
method of replacement,
contact FANUC.
- Using the robot within its
maximum rating prevents
problems with the drive
mechanism.
- Regularly changing the
grease with a specified type
can help prevent problems.
9.TROUBLESHOOTING
B-82234EN/07
Symptom
Description
- The cause of problem cannot
Vibration
be identified from
Noise
examination of the floor,
(Continuted)
rack, or mechanical section.
Cause
[Controller, cable, and motor]
- If a failure occurs in a controller
circuit, preventing control
commands from being supplied to
the motor normally, or preventing
motor information from being sent
to the controller normally, vibration
might occur.
- If the pulse coder develops a fault,
vibration might occur because
information about the motor
position cannot be transferred to
the controller accurately.
- If the motor becomes defective,
vibration might occur because the
motor cannot deliver its rated
performance.
- If a power line in a movable cable
of the mechanical section has an
intermittent break, vibration might
occur because the motor cannot
accurately respond to commands.
- If a pulse coder wire in a movable
part of the mechanical section has
an intermittent break, vibration
might occur because commands
cannot be sent to the motor
accurately.
- If a connection cable between them
has an intermittent break, vibration
might occur.
- If the power cable between them
has an intermittent break, vibration
might occur.
- If the power source voltage drops
below the rating, vibration might
occur.
- If a robot control parameter is set to
an invalid value, vibration might
occur.
- 223 -
Measure
- Refer to the Controller
Maintenance Manual for
troubleshooting related to the
controller and amplifier.
- Replace the pulse coder for
the motor of the axis that is
vibrating, and check whether
the vibration still occurs.
- Also, replace the motor of
the axis that is vibrating, and
check whether vibration still
occurs. For the method of
replacement, contact
FANUC.
- Check that the robot is
supplied with the rated
voltage.
- Check whether the sheath of
the power cord is damaged.
If so, replace the power cord,
and check whether vibration
still occurs.
- Check whether the sheath of
the cable connecting the
mechanical section and
controller is damaged. If so,
replace the connection cable,
and check whether vibration
still occurs.
- If vibration occurs only when
the robot assumes a specific
posture, it is likely that a
cable in the mechanical unit
is broken.
- Shake the movable part
cable while the robot is at
rest, and check whether an
alarm occurs. If an alarm or
any other abnormal condition
occurs, replace the
mechanical unit cable.
- Check that the robot control
parameter is set to a valid
value. If it is set to an invalid
value, correct it. Contact
FANUC for further information if necessary.
9.TROUBLESHOOTING
Symptom
Description
Vibration
- There is some relationship
Noise
between the vibration of the
(Continuted)
robot and the operation of a
machine near the robot.
- There is an unusual sound
after replacement of grease.
- There is an unusual sound
after a long period of time.
- There is an unusual sound
during operation at low
speed.
Rattling
- While the robot is not
supplied with power, pushing
it with the hand causes part
of the mechanical unit to
wobble.
- There is a gap on the
mounting face of the
mechanical unit.
B-82234EN/07
Cause
[Noise from a nearby machine]
- If the robot is not grounded
properly, electrical noise is induced
on the grounding wire, preventing
commands from being transferred
accurately, thus leading to
vibration.
- If the robot is grounded at an
unsuitable point, its grounding
potential becomes unstable, and
noise is likely to be induced on the
grounding line, thus leading to
vibration.
- There may be an unusual sound
when using other than the
specified grease.
- Even for the specified grease,
there may be an unusual sound
during operation at low speed
immediately after replacement or
after a long period of time.
[Mechanical section coupling bolt]
- It is likely that overloading or a
collision has loosened a mounting
bolt in the robot mechanical
section.
- 224 -
Measure
- Connect the grounding wire
firmly to ensure a reliable
ground potential and prevent
extraneous electrical noise.
- Use the specified grease.
- When there is an unusual
sound even for specified
grease, perform operation
for one or two days on an
experiment. Generally, an
usual sound will disappear.
- Check that the following bolts
for each axis are tight. If any
of these bolts is loose, apply
loctite and tighten it to the
appropriate torque.
- Motor retaining bolt
- Reducer retaining bolt
- Reducer shaft retaining bolt
- Base retaining bolt
- Arm retaining bolt
- Casting retaining bolt
- End effecter retaining bolt
9.TROUBLESHOOTING
B-82234EN/07
Symptom
Description
Motor
- The ambient temperature of
overheating the installation location
increases, causing the motor
to overheat.
- After a cover was attached to
the motor, the motor
overheated.
- After the robot control
program or the load was
changed, the motor overheated.
Cause
[Ambient temperature]
- It is likely that a rise in the ambient
temperature or attaching the motor
cover prevented the motor from
releasing heat efficiently, thus
leading to overheating.
[Operating condition]
- It is likely that the robot was
operated with the maximum
average current exceeded.
- After a control parameter was
changed, the motor
overheated.
[Parameter]
- If data input for a workpiece is
invalid, the robot cannot be
accelerated or decelerated
normally, so the average current
increases, leading to overheating.
[Mechanical section problems]
- It is likely that problems occurred
in the mechanical unit drive
mechanism, thus placing an
excessive load on the motor.
[Motor problems]
- It is likely that a failure of the motor
brake resulted in the motor
running with the brake applied,
thus placing an excessive load on
the motor.
- It is likely that a failure of the motor
prevented it from delivering its
rated performance, thus causing
an excessive current to flow
through the motor.
- Symptom other than stated
above
- 225 -
Measure
- The teach pendant can be
used to monitor the average
current. Check the average
current when the robot
control program is running.
The allowable average
current is specified for the
robot according to its
ambient temperature.
Contact FANUC for further
information.
- Relaxing the robot control
program and conditions can
reduce the average current,
thus preventing overheating.
- Reducing the ambient
temperature is the most
effective means of
preventing overheating.
- Having the surroundings of
the motor well ventilated
enables the motor to release
heat efficiently, thus
preventing overheating.
Using a fan to direct air at
the motor is also effective.
- If there is a source of heat
near the motor, it is
advisable to install shielding
to protect the motor from
heat radiation.
- Input an appropriate
parameter as described in
CONTROLLER
OPERATOR’S MANUAL.
- Repair the mechanical unit
while referring to the above
descriptions of vibration,
noise, and rattling.
- Check that, when the servo
system is energized, the
brake is released.
If the brake remains applied
to the motor all the time,
replace the motor.
- If the average current falls
after the motor is replaced, it
indicates that the first motor
was faulty.
9.TROUBLESHOOTING
Symptom
Grease
leakage
Description
- Grease is leaking from the
mechanical unit.
B-82234EN/07
Cause
[Poor sealing]
- Probable causes are a crack in the
casting, a broken O-ring, a
damaged oil seal, or a loose seal
bolt.
- A crack in a casting can occur due
to excessive force that might be
caused in collision.
- An O-ring can be damaged if it is
trapped or cut during
disassembling or re-assembling.
- An oil seal might be damaged if
extraneous dust scratches the lip
of the oil seal.
- A loose seal bolt might allow
grease to leak along the threads.
- Problems with the grease nipple or
threads.
- 226 -
Measure
- If a crack develops in the
casting, sealant can be used
as a quick-fix to prevent
further grease leakage.
However, the component
should be replaced as soon
as possible, because the
crack might extend.
- O-rings are used in the
locations listed below.
- Motor coupling section
- Reducer (case and shaft)
coupling section
- Wrist coupling section
- J3 arm coupling section
- Inside the wrist
- Oil seals are used in the
locations stated below.
- Inside the reducer
- Inside the wrist
- Seal bolts are used in the
locations stated below.
- Grease drain outlet
- Replace the grease nipple.
9.TROUBLESHOOTING
B-82234EN/07
Symptom
Description
Dropping axis - An axis drops because the
brake does not function.
- An axis drops gradually when
it should be at rest.
Displacement - The robot operates at a point
other than the taught position.
- The repeatability is not within
the tolerance.
- Displacement occurs only in a
specific peripheral unit.
- Displacement occurred after a
parameter was changed.
BZAL alarm
occured
- BZAL is displayed on the
controller screen
Cause
[Brake drive relay and motor]
- It is likely that brake drive relay
contacts are stuck to each other to
keep the brake current flowing,
thus preventing the brake from
operating when the motor is
deenergized.
- It is likely that the brake shoe has
worn out or the brake main body is
damaged, preventing the brake
from operating efficiently.
- It is likely that oil or grease has
entered the motor, causing the
brake to slip.
[Mechanical section problems]
- If the repeatability is unstable,
probable causes are a failure in
the drive mechanism or a loose
bolt.
- If the repeatability becomes stable
it is likely that a collision imposed
an excessive load, leading to
slipping on the base surface or the
mating surface of an arm or
reducer.
- It is likely that the pulse coder is
abnormal.
[Peripheral unit displacement]
- It is likely that an external force
was applied to the peripheral unit,
thus shifting its position relative to
the robot.
[Parameter]
- It is likely that the mastering data
was rewritten in such a way that
the robot origin was shifted.
-The voltage of the memory backup
battery may be low.
-The pulse coder cable may be
broken.
- 227 -
Measure
- Check whether the brake
drive relay contacts are stuck
to each other. If they are
found to be stuck, replace
the relay.
- If the brake shoe is worn out,
if the brake main body is
damaged, or if oil or grease
has entered the motor,
replace the motor.
- If the repeatability is
unstable, repair the
mechanical section by
referring to the above
descriptions of vibration,
noise, and rattling.
- If the repeatability is stable,
correct the taught program.
Variation will not occur
unless another collision
occurs.
- If the pulse coder is
abnormal, replace the motor
or the pulse coder.
- Correct the setting of the
peripheral unit position.
- Correct the taught program.
- Re-enter the previous
mastering data, which is
known to be correct.
- If correct mastering data is
unavailable, perform
mastering again.
- Replace the battery.
- Replace the cable.
10.SEVERE DUST/LIQUID PROTECTION PACKAGE
10
10.1
B-82234EN/07
SEVERE DUST/LIQUID PROTECTION
PACKAGE
SEVERE DUST/LIQUID PROTECTION PACKAGE
(OPTION)
The package is intended to improve the Severe dust/Liquid protection
characteristics of the robot so that it can be used in a severe
environment. It is also intended to improve the rust resistance of the
robot so that it can be used for a longer time.
Model
R-2000iB/165F, 125L
R-2000iB/210F,175L
R-2000iB/165R
R-2000iB/200R
- 228 -
Severe dust/liquid protection
specification
A05B-1329-J801
A05B-1329-J802
A05B-1329-J803
A05B-1329-J804
10.SEVERE DUST/LIQUID PROTECTION PACKAGE
B-82234EN/07
10.2
SEVERE DUST/LIQUID PROTECTION CHARACTERISTICS
The following table lists the IEC529-based Severe dust/Liquid
protection characteristics of the R-2000iB.
J3-axis arm and wrist
section
Drive unit of the main
body
Main body
本体部：IP56
Main
body
Standard
Severe dust/liquid
protection package
IP67
IP67
IP66
IP66
IP54
IP56
J3J3軸アーム+手首部：IP67
arm + Wrist unit : IP67
Fig. 10.2 Severe dust/Liquid protection characteristics of the R-2000iB
- 229 -
10.SEVERE DUST/LIQUID PROTECTION PACKAGE
10.3
B-82234EN/07
CONFIGURATION OF THE SEVERE DUST/LIQUID
PROTECTION PACKAGE
The following table lists the major differences between the R-2000iB
standard specification and severe dust/liquid protection package.
Standard specifications
Entire mechanical unit
Black oxide finish steel bolt
Black oxide finish washer
Bolts
Covers
J3-axis connector panel
EE, I/O connectors
Non-waterproof connector
J3-, J4-, J5-, J6-axis
motor cover (upper)
Severe dust/liquid protection option
Main unit
J3-axis arm and wrist
FR coating bolt
FR coating bolt
Stainless bolt
Black chromate washer
Black chromate washer
Stainless bolt
Black oxide finish steel bolt
J1-axis motor cover
J2-axis motor cover
J3-axis motor covers (upper and lower)
Battery box cover
Cable cover in mechanical unit (for all exposed cables)
Waterproof connector
Waterproof EE connector
J3-, J4-, J5-, J6-axis
motor cover (lower)
J1-axis moter cover
J2-axis moter cover
Cable cover
Battery box cover
Fig. 10.3 Configuration of the severe dust/liquid protection package of R-2000iB
- 230 -
10.SEVERE DUST/LIQUID PROTECTION PACKAGE
B-82234EN/07
10.4
NOTES ON SPECIFYING SEVERE DUST/LIQUID
PROTECTION PACKAGE
1
The liquids below cannot be applied because they may cause
deterioration or corrosion of the rubber parts (such as packings,
oil seals, and O-rings) used in the robot.
(a) Organic solvent
(b) Chlorine- or gasoline-based cutting fluid
(c) Amine-based cleaning fluid
(d) Liquid or solution that includes a corrosive such as an acid
or alkali or causes rust
(e) Some other liquid or solution to which nitrile rubber (NBR)
does not have resistance
2
When the robot is used in an environment where a liquid such as
water is dashed over the robot, great attention should be given to
drainage under the J1-axis base.
A failure may be caused if the J1-axis base is kept immersed in
water due to poor drainage.
- 231 -
APPENDIX
B-82234EN/07
A
APPENDIX
A.PERIODIC MAINTENANCE TABLE
PERIODIC MAINTENANCE TABLE
- 235 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/07
FANUC Robot R-2000iB/165F,165R,125L,150U Periodic Maintenance Table
Working time (H)
Items
1
Check the mechanical cable.
(damaged or twisted)
Check the motor connector.
(loosening)
Check
time
3
6
9
1
Grease First
amount check months months months year
960 1920 2880 3840
320
2
years
4800
5760
6720
7680
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery. *
0.1H
―
1.0H
5500 ml
0.5H
3500 ml
0.5H
2500 ml
0.5H
1900 ml
11 reducer(J4/J5/J6-axis) for wrist 1.0H
3200 ml
2
3 Tighten the end effector bolt.
Tighten the cover and main
Replacing grease of J1 axis
7 reducer*
Replacing grease of J2 axis
8 reducer*
Replacing grease of J3 axis
9 reducer*
Replacing grease of J4-axis
10 gear box*
8640
9600 10560
●
Replacing grease of
axis*
12
13
Point of grease nipple
14
0.1H
10 ml
each
4.0H
―
19 teach pendant cable
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
20 Cleaning the ventilator
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
21 Check the source voltage *
0.2H
―
○
22 Replacing battery *
0.1H
―
15 Greasing to balancer bushing∗
●
●
16
17
Replacing cable of mechanical
18 unit *
Control unit
Check the robot cable and
○
* Refer to this manual or controller MAINTENANCE MANUAL.
(NOTE 1) ●: requires exchange of parts
(NOTE 2) ○: does not require exchange of parts
(NOTE 3) There is no balancer for R-2000iB/150U.
- 236 -
○
○
○
○
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/07
3
4
5
6
7
8
years
years
years
years
years
years
1152 1248 1344 1440 1536 1632 1728 1824 1920 2016 2112 2208 2304 2400 2496 2592 2688 2784 2880 2976 3072
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Item
○
○
○
○
○
1
○
○
○
○
○
2
○
○
○
○
○
3
○
○
○
○
○
4
○
○
○
○
○
5
●
●
●
6
●
●
7
●
●
8
●
●
9
●
●
10
●
●
Overhaul
●
11
12
13
14
●
●
●
●
15
●
16
17
18
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
19
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
20
○
○
○
○
○
○
○
○
○
○
21
22
●
- 237 -
A.PERIODIC MAINTENANCE TABLE
FANUC Robot
R-2000iB/210F,200R,175L
Working time (H)
Items
1
APPENDIX
Check the mechanical cable.
(damaged or twisted)
Check the motor connector.
(loosening)
Check
time
B-82234EN/07
Periodic Maintenance Table
Grease First
3
6
9
1
amount check months months months year
320
960 1920 2880 3840
2
years
4800
5760
6720
7680
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery. ∗
0.1H
―
1.0H
5500 ml
0.5H
3500 ml
0.5H
2640 ml
0.5H
1900 ml
1.0H
4900 ml
2
3 Tighten the end effector bolt.
Tighten the cover and main
Replacing grease of J1 axis
reducer∗
Replacing grease of J2 axis
8
reducer∗
Replacing grease of J3 axis
9
reducer∗
Replacing grease of J4-axis
10
gear box∗
Replacing grease of
11 reducer(J4/J5/J6-axis) for wrist
axis∗
7
8640
9600 10560
●
12
Point of grease nipple
13
14
0.1H
10 ml
each
4.0H
―
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
20 Cleaning the ventilator
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
21 Check the source voltage ∗
0.2H
―
○
22 Replacing battery ∗
0.1H
―
15 Greasing to balancer bushing∗
●
●
16
17
Replacing cable of mechanical
unit ∗
Check the robot cable and
19 teach pendant cable
Control unit
18
○
* Refer to this manual or controller MAINTENANCE MANUAL.
●: requires exchange of parts
○: does not require exchange of parts
- 238 -
○
○
○
○
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/07
3
4
5
6
7
8
years
years
years
years
years
years
1152 1248 1344 1440 1536 1632 1728 1824 1920 2016 2112 2208 2304 2400 2496 2592 2688 2784 2880 2976 3072
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Item
○
○
○
○
○
1
○
○
○
○
○
2
○
○
○
○
○
3
○
○
○
○
○
4
○
○
○
○
○
5
●
●
●
6
●
●
7
●
●
8
●
●
9
●
●
10
●
●
Overhaul
●
11
12
13
14
●
●
●
●
15
●
16
17
18
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
19
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
20
○
○
○
○
○
○
○
○
○
○
21
22
●
- 239 -
A.PERIODIC MAINTENANCE TABLE
FANUC Robot
R-2000iB/170CF
Working time (H)
Items
1
APPENDIX
Check the mechanical cable.
(damaged or twisted)
Check the motor connector.
(loosening)
Check
time
B-82234EN/07
Periodic Maintenance Table
Grease First
3
6
9
1
amount check months months months year
320
960 1920 2880 3840
2
years
4800
5760
6720
7680
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery. ∗
0.1H
―
1.0H
5500 ml
0.5H
2700 ml
0.5H
2700 ml
0.5H
340 ml
1.0H
2100 ml
2
3 Tighten the end effector bolt.
Tighten the cover and main
Replacing grease of J1 axis
reducer∗
Replacing grease of J2 axis
8
reducer∗
Replacing grease of J3 axis
9
reducer∗
Replacing grease of J3-axis
10
gear box∗
Replacing grease of J4-axis
11
gear box∗
Replacing grease of
12 reducer(J4/J5/J6-axis) for wrist
axis∗
7
8640
9600 10560
●
11
12
3200ml
8
9
10
13
7
Point of grease nipple
14
15 ∗
16
17
Replacing cable of mechanical
unit ∗
Check the robot cable and
19 teach pendant cable
Control unit
18
4.0H
―
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
20 Cleaning the ventilator
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
21 Check the source voltage ∗
0.2H
―
○
22 Replacing battery ∗
0.1H
―
○
* Refer to this manual or controller MAINTENANCE MANUAL.
●: requires exchange of parts
○: does not require exchange of parts
- 240 -
○
○
○
○
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/07
3
4
5
6
7
8
years
years
years
years
years
years
1152 1248 1344 1440 1536 1632 1728 1824 1920 2016 2112 2208 2304 2400 2496 2592 2688 2784 2880 2976 3072
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Item
○
○
○
○
○
1
○
○
○
○
○
2
○
○
○
○
○
3
○
○
○
○
○
4
○
○
○
○
○
5
●
●
●
6
●
●
7
●
●
8
●
●
9
●
●
10
●
●
Overhaul
●
11
12
13
14
15
16
17
18
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
19
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
20
○
○
○
○
○
○
○
○
○
○
21
22
●
- 241 -
A.PERIODIC MAINTENANCE TABLE
FANUC Robot
R-2000iB/100P
Working time (H)
Items
1
APPENDIX
Check the mechanical cable.
(damaged or twisted)
Check the motor connector.
(loosening)
Check
time
B-82234EN/07
Periodic Maintenance Table
Grease First
3
6
9
1
amount check months months months year
320
960 1920 2880 3840
2
years
4800
5760
6720
7680
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery. ∗
0.1H
―
1.0H
5500 ml
0.5H
3500 ml
0.5H
2640 ml
0.5H
1900 ml
1.0H
4900 ml
2
3 Tighten the end effector bolt.
Tighten the cover and main
Replacing grease of J1 axis
reducer∗
Replacing grease of J2 axis
8
reducer∗
Replacing grease of J3 axis
9
reducer∗
Replacing grease of J4-axis
10
gear box∗
Replacing grease of
11 reducer(J4/J5/J6-axis) for wrist
axis∗
7
8640
9600 10560
●
12
13
Point of grease nipple
14
0.1H
10 ml
each
4.0H
―
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
20 Cleaning the ventilator
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
21 Check the source voltage ∗
0.2H
―
○
22 Replacing battery ∗
0.1H
―
15 Greasing to balancer bushing∗
●
●
16
17
Replacing cable of mechanical
unit ∗
Check the robot cable and
19 teach pendant cable
Control unit
18
○
* Refer to this manual or controller MAINTENANCE MANUAL.
●: requires exchange of parts
○: does not require exchange of parts
- 242 -
○
○
○
○
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/07
3
4
5
6
7
8
years
years
years
years
years
years
1152 1248 1344 1440 1536 1632 1728 1824 1920 2016 2112 2208 2304 2400 2496 2592 2688 2784 2880 2976 3072
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Item
○
○
○
○
○
1
○
○
○
○
○
2
○
○
○
○
○
3
○
○
○
○
○
4
○
○
○
○
○
5
●
●
●
6
●
●
7
●
●
8
●
●
9
●
●
10
●
●
Overhaul
●
11
12
13
14
●
●
●
●
15
●
16
17
18
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
19
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
20
○
○
○
○
○
○
○
○
○
○
21
22
●
- 243 -
A.PERIODIC MAINTENANCE TABLE
FANUC Robot
R-2000iB/100H
Working time (H)
Items
1
APPENDIX
Check the mechanical cable.
(damaged or twisted)
Check the motor connector.
(loosening)
Check
time
B-82234EN/07
Periodic Maintenance Table
Grease First
3
6
9
1
amount check months months months year
320
960 1920 2880 3840
2
years
4800
5760
6720
7680
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery. ∗
0.1H
―
1.0H
5500 ml
0.5H
3500 ml
0.5H
2500 ml
0.5H
1900 ml
1.0H
2400 ml
2
3 Tighten the end effector bolt.
Tighten the cover and main
Replacing grease of J1 axis
reducer∗
Replacing grease of J2 axis
8
reducer∗
Replacing grease of J3 axis
9
reducer∗
Replacing grease of J4-axis
10
gear box∗
Replacing grease of
11 reducer(J4/J5-axis) for wrist
axis∗
7
8640
9600 10560
●
12
Point of grease nipple
13
14
0.1H
10 ml
each
4.0H
―
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
20 Cleaning the ventilator
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
21 Check the source voltage ∗
0.2H
―
○
22 Replacing battery ∗
0.1H
―
15 Greasing to balancer bushing∗
16
17
Replacing cable of mechanical
unit ∗
Check the robot cable and
19 teach pendant cable
Control unit
18
○
* Refer to this manual or controller MAINTENANCE MANUAL.
●: requires exchange of parts
○: does not require exchange of parts
- 244 -
○
○
○
○
APPENDIX
B-82234EN/07
A.PERIODIC MAINTENANCE TABLE
3
4
5
6
years
years
years
years
8
years
7
1152 1248 1344 1440 1536
1728 1824 1920 2016
2208 2304 2400 2496 2592 years 2784 2880 2976 3072
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
16320
21120
0
26880
Item
○
○
○
○
○
1
○
○
○
○
○
2
○
○
○
○
○
3
○
○
○
○
○
4
○
○
○
○
○
5
●
●
●
6
●
●
7
●
●
8
●
●
9
●
●
10
●
●
Overhaul
●
11
12
13
14
●
●
●
●
15
●
16
17
18
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
19
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
20
○
○
○
○
○
○
○
○
○
○
21
22
●
- 245 -
A.PERIODIC MAINTENANCE TABLE
FANUC Robot
R-2000iB/165CF
Working time (H)
Items
1
APPENDIX
Check the mechanical cable.
(damaged or twisted)
Check the motor connector.
(loosening)
Check
time
B-82234EN/07
Periodic Maintenance Table
3
6
9
1
Grease First
amount check months months months year
960
1920
2880
3840
320
2
years
4800
5760
6720
7680
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery. ∗
0.1H
―
1.0H
4100 ml
0.5H
2600 ml
0.5H
1600 ml
0.5H
3950 ml
1.0H
400 ml
2
3 Tighten the end effector bolt.
Tighten the cover and main
Replacing grease of J1 axis
reducer∗
Replacing grease of J2 axis
8
reducer∗
Replacing grease of J3 axis
9
reducer∗
Replacing grease of J4-axis
10 gear box(J4/J5-axis) for wrist
axis∗
Replacing grease of
11
reducer(J6-axis) for wrist axis∗
7
8640
9600 10560
●
12
13
Point of grease nipple
14
15
16
17
Replacing cable of mechanical
unit ∗
Check the robot cable and
19 teach pendant cable
Control unit
18
4.0H
―
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
20 Cleaning the ventilator
0.2H
―
○
○
○
○
○
○
○
○
○
○
○
○
21 Check the source voltage ∗
0.2H
―
○
22 Replacing battery ∗
0.1H
―
○
* Refer to this manual or controller MAINTENANCE MANUAL.
●: requires exchange of parts
○: does not require exchange of parts
- 246 -
○
○
○
○
APPENDIX
B-82234EN/07
A.PERIODIC MAINTENANCE TABLE
3
4
5
6
7
8
years
years
years
years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
○
○
○
○
○
1
○
○
○
○
○
2
○
○
○
○
○
3
○
○
○
○
○
4
○
○
○
○
○
5
●
●
●
6
●
●
7
●
●
8
●
●
9
●
●
10
●
●
●
●
Overhaul
●
11
12
13
14
15
16
17
18
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
19
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
20
○
○
○
○
○
○
○
○
○
○
21
22
●
- 247 -
B. BOLT TIGHTENING TORQUE TABLE
B
APPENDIX
B-82234EN/07
BOLT TIGHTENING TORQUE TABLE
NOTE
When applying Loctite to the important bolt tightening
points, make sure that it is applied to the entire
longitudinal portion in the engaging section of the
female threads. If it is applied to the male threads, the
bolts may be loosened because sufficient effects
cannot be obtained. Remove the dust within the bolts
and taps and wipe oil off the engaging section. Make
sure that there is no solvent in the taps.
- 248 -
APPENDIX
B-82234EN/07
B. BOLT TIGHTENING TORQUE TABLE
Those bolts for which no tightening torque is specified must be
tightened according to the following table.
Table B Recommended Bolt Tightening Torques
Unit : Nm (kgf⋅cm)
Nominal
diameter
M3
M4
M5
M6
M8
M10
M12
(M14)
M16
(M18)
M20
(M22)
M24
(M27)
M30
M36
Hexagon socket head bolt
(Steel : strength rating of 12.9)
Hexagon socket head bolt
(Stainless)
Hexagon socket head pan bolt
Hexagon socket head
countersunk bolt
(Steel : strength rating of 12.9)
Tightening torque
Upper limit
Lower limit
Tightening torque
Upper limit
Lower limit
Tightening torque
Upper limit
Lower limit
0.76(7.7)
1.8(18)
3.4(35)
5.8(60)
14(145)
27(280)
48(490)
76(780)
120(1200)
160(1650)
230(2300)






1.8(18)
4.0(41)
7.9(81)
14(140)
32(330)










1.8(18)
4.0(41)
7.9(81)
14(140)
32(330)
66(670)
110(1150)
180(1850)
270(2800)
380(3900)
530(5400)
730(7450)
930(9500)
1400(14000)
1800(18500)
3200(33000)
1.3(13)
2.8(29)
5.6(57)
9.6(98)
23(230)
46(470)
78(800)
130(1300)
190(1900)
260(2700)
370(3800)
510(5200)
650(6600)
940(9800)
1300(13000)
2300(23000)
- 249 -
0.53(5.4)
1.3(13)
2.5(25)
4.1(42)
9.8(100)
19(195)
33(340)
53(545)
82(840)
110(1150)
160(1600)






1.3(13)
2.8(29)
5.6(57)
9.6(98)
23(230)










INDEX
B-82234EN/07
INDEX
<Number>
<I>
1.5-year (5,760 hours) checks ....................................... 181
INERTIA LOAD SETTING......................................... 123
3-month (960 hours) checks .......................................... 177
INSTALLATION ........................................................... 26
3-year (11,520 hours) checks ........................................ 181
Installation method ......................................................... 27
INSTALLATION SPECIFICATIONS ........................... 37
<A>
INSTALLING A FANUC/SPECIAL
ADJUSTING LIMIT SWITCH (OPTION)................... 171
FLANGE ADAPTER (R-2000iB/165F, 210F,
AIR PIPING (OPTION)................................................ 130
165R, 200R, 100P, 125L, 175L,100H) ......................... 110
AIR SUPPLY (OPTION).............................................. 126
INTERFACE FOR OPTION CABLE
AXIS LIMITS SETUP .................................................. 152
(OPTION) ..................................................................... 132
<B>
<L>
BASIC SPECIFICATIONS ............................................ 40
LOAD CONDITIONS ON J2-AXIS BASE
BOLT TIGHTENING TORQUE TABLE .................... 248
AND J3-AXIS ARM....................................................... 90
<C>
LOAD SETTING.......................................................... 121
CHANGING THE MOTION RANGE BY
<M>
THE LIMIT SWITCH (OPTION)................................. 167
MAINTENANCE ......................................................... 181
CHECKS AND MAINTENANCE ............................... 175
MAINTENANCE AREA ............................................... 33
CONFIGURATION OF THE SEVERE
MASTERING ............................................................... 197
DUST/LIQUID PROTECTION PACKAGE ................ 230
MASTERING DATA ENTRY ..................................... 217
CONNECTION WITH THE
MECHANICAL COUPLING OF END
CONTROLLER ......................................................... 38,39
EFFECTOR TO WRIST............................................... 100
<D>
MECHANICAL COUPLING TO THE
ROBOT........................................................................... 99
Daily checks.................................................................. 176
MECHANICAL UNIT OPERATION AREA
<E>
AND INTERFERENCE AREA...................................... 50
EQUIPMENT MOUNTING FACE .............................. 111
<N>
<F>
NOTES ON SPECIFYING SEVERE
FAILURES, CAUSES AND MEASURES................... 221
DUST/LIQUID PROTECTION PACKAGE ................ 231
<G>
<O>
GENERAL .................................................................... 198
OVERVIEW ................................................................. 220
Grease Replacement Procedure for the Wrist
<P>
(R-2000iB/165CF) ........................................................ 192
Grease Replacement Procedure for the Wrist
PERIODIC MAINTENANCE ...................................... 176
(R-2000iB/165F, 210F, 165R, 200R, 100P,
PERIODIC MAINTENANCE TABLE ........................ 235
170CF,125L, 175L, 100H, 150U) ................................. 185
PIPING AND WIRING TO THE END
Greasing the Balancer Shaft (1 year (3840
EFFECTOR .................................................................. 125
hours) Periodic Maintenance) ....................................... 182
PREFACE...................................................................... p-1
Procedure for Releasing Residual Pressure
<H>
from the Grease Bath .................................................... 193
HARD STOPPER AND LIMIT SWITCH
SETTING ...................................................................... 154
i-1
INDEX
B-82234EN/07
<Q>
QUICK MASTERING .................................................. 211
<R>
Replacing the Batteries(1.5 Year checks) ..................... 182
Replacing the Grease of the Drive
Mechanism(3 years (11,520 hours) checks) .................. 183
RESETTING ALARMS AND PREPARING
FOR MASTERING....................................................... 200
ROBOT CONFIGURATION.......................................... 41
<S>
SAFETY PRECAUTIONS ............................................ s-1
SETTING MOTION LIMITATION BY
SOFTWARE ................................................................. 153
SEVERE DUST/LIQUID PROTECTION
CHARACTERISTICS .................................................. 229
SEVERE DUST/LIQUID PROTECTION
PACKAGE.................................................................... 228
SEVERE DUST/LIQUID PROTECTION
PACKAGE (OPTION).................................................. 228
SINGLE AXIS MASTERING ...................................... 213
STORAGE .................................................................... 196
<T>
TRANSPORTATION .......................................................2
TRANSPORTATION AND
INSTALLATION..............................................................1
Transportation with an End Effector Attached
........................................................................................ 24
TROUBLESHOOTING ................................................ 219
<W>
WRIST LOAD CONDITIONS ....................................... 67
<Z>
ZERO POINT POSITION AND MOTION
LIMIT ............................................................................. 61
ZERO POSITION MASTERING ................................. 201
i-2
Revision Record
FANUC Robot R-2000iB MECHANICAL UNIT OPERATOR’S MANUAL (B-82234EN)
05
04
03
02
Jul.,2007
- Addition of the R-2000iB/100H
- Addition of the R-2000iB/165F, 210F with high inertia
mode.
- Correction of errors
May, 2007
- Change the name of controller
(from R-J3iC to R-30iA)
- Addition description about J2 base type transport
equipment option for rack mount type robot
- Correction of errors
Dec., 2006
- Addition of the R-2000iB/100P and 175L
- Correction of errors
- Change the manufacture name of Daiichi Denshi
Kogyo K.K to Fujikura Ltd.
Sep.,2006
- Addition of R-2000iB/165R, 200R, and 165CF
- Change of the alarm release method
- Addition of the procedure for releasing the residual
pressure in the grease
- Modification to the troubleshooting table
- Addition of descriptions about a severe dust/liquid
protection package
01
Apr.,2006
Edition
Date
Contents
Mar.,2008
- Addition of R-2000iB/170CF,150U
- Change the coordinate system wrist payload diagram
- Revise
06
Dec.,2007
- Addition of a note on safety
- Addition of notes on transportation with an end
effector attached
- Addition of notes on transport equipment of the J2
base type for floor-mount robots
Edition
Date
Contents
07