< > R-2000+B
MECHANICAL UNIT
OPERATOR'S MANUAL
B-82234EN/12
•
Original Instructions
Thank you very much for purchasing FANUC Robot.
Before using the Robot, be sure to read the "FANUC Robot SAFETY HANDBOOK (B-80687EN)"
and understand the content.
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.
• The appearance and specifications of this product are subject to change without notice.
The products in this manual are controlled based on Japan's “Foreign Exchange and
Foreign Trade Law". The export from Japan may be subject to an export license by the
government of Japan. Further, re-export to another country may be subject to the license
of the government of the country from where the product is re-exported. Furthermore, the
product may also be controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual, we endeavor to include all pertinent matters. There are, however, a very
large number of operations that must not or cannot be performed, and if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as being possible are "not possible".
SAFETY PRECAUTIONS
B-82234EN/12
SAFETY PRECAUTIONS
This chapter describes the precautions which must be observed to ensure the safe use of the robot.
Before attempting to use the robot, be sure to read this chapter thoroughly.
Before using the functions related to robot operation, read the relevant operator's manual to become familiar
with those functions.
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.
In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.
1
WORKING PERSON
The personnel can be classified as follows.
Operator:
 Turns robot controller power ON/OFF
 Starts robot program from operator’s panel
Programmer or teaching operator:
 Operates the robot
 Teaches robot inside the safety fence
Maintenance engineer:
 Operates the robot
 Teaches robot inside the safety fence
 Maintenance (adjustment, replacement)
-
An operator cannot work inside the safety fence.
A programmer, teaching operator, and maintenance engineer can work inside the safety fence. The
working activities inside the safety fence include lifting, setting, teaching, adjusting, maintenance, etc.
To work inside the fence, the person must be trained on proper robot operation.
During the operation, programming, and maintenance of your robotic system, the programmer, teaching
operator and maintenance engineer should take additional care of their safety by using the following safety
precautions.
-
Use adequate clothing or uniforms during system operation
Wear safety shoes
Use helmet
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SAFETY PRECAUTIONS
2
B-82234EN/12
DEFINITION OF WARNING, CAUTION AND
NOTE
To ensure the safety of working persons and prevent damage to the machine, this manual indicates each
precaution on safety with "Warning" or "Caution" according to its severity. Supplementary information is
indicated by "Note". Read the contents of each "Warning", "Caution" and "Note" before attempting to use
the robots.
Symbol
WARNING
CAUTION
NOTE

3
Definitions
Used if hazard resulting in the death or serious injury of the user will be expected to
occur if he or she fails to follow the approved procedure.
Used if a hazard resulting in the minor or moderate injury of the user, or equipment
damage may be expected to occur if he or she fails to follow the approved procedure.
Used if a supplementary explanation not related to any of WARNING and CAUTION is
to be indicated.
Check this manual thoroughly, and keep it handy for the future reference.
WORKING PERSON SAFETY
Working person safety is the primary safety consideration. Because it is very dangerous to enter the
operating space of the robot during automatic operation, adequate safety precautions must be observed.
The following lists the general safety precautions. Careful consideration must be made to ensure working
person safety.
(1) Have the robot system working persons 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, it is possible that the robot is still in a ready to move state, and is
waiting for a signal. In this state, the robot is regarded as still in motion. To ensure working person
safety, provide the system with an alarm to indicate visually or aurally that the robot is in motion.
(3) Install a safety fence with a gate so that no working person can enter the work area without passing
through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that the
robot is stopped as the safety gate is opened.
The controller is designed to receive this interlocking signal of the door switch. When the gate is
opened and this signal received, the controller stops the robot (Please refer to "STOP TYPE OF
ROBOT" in SAFETY PRECAUTIONS for detail of stop type). For connection, see Fig.3 (a) and
Fig.3 (b).
(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and 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 a working person enters the work area.
(8) If necessary, install a safety lock so that no one except the working person in charge can turn on the
power of the robot.
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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.
(10) Operators should be ungloved while manipulating the operator’s panel or teach pendant. Operation
with gloved fingers could cause an operation error.
(11) Programs, system variables, and other information can be saved on memory card or USB memories.
Be sure to save the data periodically in case the data is lost in an accident.
(12) The robot should be transported and installed by accurately following the procedures recommended by
FANUC. Wrong transportation or installation may cause the robot to fall, resulting in severe injury to
workers.
(13) In the first operation of the robot after installation, the operation should be restricted to low speeds.
Then, the speed should be gradually increased to check the operation of the robot.
(14) Before the robot is started, it should be checked that no one is in the area of the safety fence. At the
same time, a check must be made to ensure that there is no risk of hazardous situations. If detected,
such a situation should be eliminated before the operation.
(15) When the robot is used, the following precautions should be taken. Otherwise, the robot and peripheral
equipment can be adversely affected, or workers can be severely injured.
Avoid using the robot in a flammable environment.
Avoid using the robot in an explosive environment.
Avoid using the robot in an environment full of radiation.
Avoid using the robot under water or at high humidity.
Avoid using the robot to carry a person or animal.
Avoid using the robot as a stepladder. (Never climb up on or hang from the robot.)
(16) When connecting the peripheral devices related to stop(safety fence etc.) and each signal (external
emergency , fence etc.) of robot. be sure to confirm the stop movement and do not take the wrong
connection.
(17) When preparing trestle, please consider security for installation and maintenance work in high place
according to Fig.3 (c). Please consider footstep and safety belt mounting position.
RP1
Pulsecoder
RI/RO,XHBK,XROT
RM1
Motor power/brake
EARTH
Safety fence
Interlocking device and safety plug that are activated if the
gate is opened.
Fig.3 (a) Safety fence and safety gate
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Dual chain
デュアルチェーン仕様の場合
Emergency stop board
or Panel board
(Note)
EAS1
For the R-30iB, the R-30iB Mate
Terminals EAS1,EAS11,EAS2,EAS21 are provided on the
emergency stop board.
EAS11
For the R-30iA
Terminals EAS1,EAS11,EAS2,EAS21 are provided on the
emergency stop board or connector panel
EAS2
EAS21
For the R-30iA Mate
Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2
are provided on the emergency stop board or in the connector
panel of CRM65 (Open air type).
Single chain
シングルチェーン仕様の場合
Panel board
Refer to the ELECTRICAL CONNCETIONS Chapter
of CONNECTION of controller maintenance manual for details.
FENCE1
FENCE2
Fig. 3 (b) Connection diagram for the signal of the safety fence
Hook for safety belt
Fence
Steps
Trestle
Footstep
for maintenance
Fig.3 (c) Footstep for maintenance
3.1
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) If you don’t need to operate the robot, turn the power off the robot controller, or press the
“EMERGENCY STOP” button, and then proceed your work.
(2) Operate the robot system outside of safety fence
(3) Install a safety fence with a safety gate to prevent any worker other than the operator from entering the
work area unexpectedly and the worker from entering a hazardous area.
(4) Install one or more necessary quantity of EMERGENCY STOP button(s) within the operator’s reach
in appropriate location(s) based on the system layout.
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The robot controller is designed to be connected to an external EMERGENCY STOP button.
With this connection, the controller stops the robot operation (Please refer to "STOP TYPE OF
ROBOT" in SAFETY for detail of stop type). when the external EMERGENCY STOP button is
pressed. See the diagram below for connection.
Dual
chain
デュアルチェーン仕様の場合
External stop button
外部非常停止ボタン
Emergency stop board
or Panel board
EES1
EES11
EES2
EES21
Single
chain
シングルチェーン仕様の場合
External stop button
外部非常停止ボタン
Panel board
EMGIN1
EMGIN2
(Note)
Connect EES1 and EES11, EES2 and EES21 or EMGIN1
and EMGIN2
For the R-30iB, the R-30iB Mate
EES1,EES11,EES2,EES21 are on the emergency stop board
For the R-30iA
EES1,EES11,EES2,EES21 or EMGIN1, EMGIN2 are on the
panel board.
For the R-30iA Mate
Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2
are provided on the emergency stop board or in the connector
panel of CRM65 (Open air type).
Refer to the ELECTRICAL CONNCETIONS Chapter
of CONNECTION of controller maintenance manual for
Fig.3.1 Connection diagram for external emergency stop button
3.2
SAFETY OF THE PROGRAMMER
While teaching the robot, the operator must enter the operating space of the robot. Please ensure the safety
of programmer.
(1) Unless it is specifically necessary to enter the robot operating space, 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
condition.
(3) If it is inevitable to enter the robot operating space 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 operating space.
(5) Programming must be done outside of the safety fence as far as possible. If programming needs to be
done in the area of the safety fence, the programmer must take the following precautions:
Before entering the safety fence area, ensure that there is no risk of hazardous situation in the
area.
Be ready to press the emergency stop button whenever it is necessary.
Operate the Robot at low speed.
Before starting programming, check the entire system status to ensure that no remote instruction
to the peripheral equipment or motion would harm user .
Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the
automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety fence
for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent other
people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened with the
automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY
PRECAUTIONS for detail of stop type). After the switch is set to a teach mode, the safety gate is disabled. The
programmer should understand that the safety gate is disabled and is responsible for keeping other people from
entering the inside of the safety fence.
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Teach pendant is provided with a switch to enable/disable robot operation from teach pendant and DEADMAN switch
as well as emergency stop button. These button and switch function as follows:
(1) Emergency stop button: Causes the stop of the robot (Please refer to "STOP TYPE OF ROBOT" in SAFETY
PRECAUTIONS for detail of stop type) when pressed.
(2) DEADMAN switch: Functions are different depending on the teach pendant enable/disable switch setting status.
(a)
Enable: Servo power is turned off and robot stops when the operator releases the DEADMAN switch or
when the operator presses the switch strongly.
(b)
Disable: The DEADMAN switch is disabled.
(Note)The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or
presses the pendant strongly in case of emergency. The R-30iB/R-30iB Mate/R-30iA/R-30iA Mate
employs a 3-position DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN
switch is pressed to its intermediate point. When the operator releases the DEADMAN switch or presses
the switch strongly, the robot stops immediately.
The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the
teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator should
make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely.
Based on the risk assessment by FANUC, number of operation of DEADMAN switch should not exceed about 10000
times per year.
The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the validity
of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator panel, the
teach pendant enable switch and the remote condition on the software.
For the R-30iB/R-30iB Mate/R-30iA Controller or CE or RIA specification of the R-30iA Mate Controller
Mode
Teach pendant
enable switch
Software
remote
condition
Local
Remote
Local
Off
Remote
Local
On
Remote
T1, T2
mode
Local
Off
Remote
T1,T2 mode: DEADMAN switch is effective.
On
AUTO
mode
Teach pendant
Operator panel
Peripheral device
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
For the standard specification of R-30iA Mate Controller
Teach pendant enable switch
Software remote condition
Teach pendant
Peripheral device
On
Ignored
Local
Remote
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Off
(6) (Only when R-30iB/R-30iB Mate /R-30iA Controller or CE or RIA specification of R-30iA Mate
controller is selected.) To start the system using the operator panel, make certain that nobody is in the
robot operating space and that there are no abnormal conditions in the robot operating space.
(7) When a program is completed, be sure to carry out the test operation according to the following
procedure.
(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.
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(e) After checking the completeness of the program through the test operation above, execute it in
the automatic operation mode.
(8) While operating the system in the automatic operation mode, the teach pendant operator must leave the
safety fence.
3.3
SAFETY OF THE MAINTENANCE ENGINEER
For the safety of maintenance engineer personnel, pay utmost attention to the following.
(1) During operation, never enter the robot work area.
(2) A hazardous situation may arise when the robot or the system, are kept with their power-on during
maintenance operations. Therefore, for any maintenance operation, the robot and the system should be
put into the power-off state. If necessary, a lock should be in place in order to prevent any other person
from turning on the robot and/or the system. In case maintenance needs to be executed in the power-on
state, the emergency stop button must be pressed.
(3) If it becomes necessary to enter the robot operation range while the power is on, press the emergency
stop button on the operator panel, or the teach pendant before entering the range. The maintenance
personnel must indicate that maintenance work is in progress and be careful not to allow other people
to operate the robot carelessly.
(4) When entering the area enclosed by the safety fence, the maintenance worker must check the entire
system in order to make sure no dangerous situations exist. In case the worker needs to enter the safety
area whilst a dangerous situation exists, extreme care must be taken, and entire system status must be
carefully monitored.
(5) Before the maintenance of the pneumatic system is started, the supply pressure should be shut off and
the pressure in the piping should be reduced to zero.
(6) Before the start of teaching, check that the robot and its peripheral devices are all in the normal
operating condition.
(7) Do not operate the robot in the automatic mode while anybody is in the robot work area.
(8) When you maintain the robot alongside a wall or instrument, or when multiple workers are working
nearby, make certain that their escape path is not obstructed.
(9) 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.
(10) If necessary, have a worker who is familiar with the robot system stand beside the operator panel and
observe the work being performed. If any danger arises, the worker should be ready to press the
EMERGENCY STOP button at any time.
(11) When replacing a part, please contact FANUC service center. If a wrong procedure is followed, an
accident may occur, causing damage to the robot and injury to the worker.
(12) When replacing or reinstalling components, take care to prevent foreign matter from entering the
system.
(13) When handling each unit or printed circuit board in the controller during inspection, turn off the circuit
breaker to protect against electric shock.If there are two cabinets, turn off the both circuit breaker.
(14) A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction or
damage would occur. Especially, a fuse that is not recommended by FANUC should not be used. Such
a fuse may cause a fire.
(15) When restarting the robot system after completing maintenance work, make sure in advance that there
is no person in the work area and that the robot and the peripheral devices are not abnormal.
(16) When a motor or brake is removed, the robot arm should be supported with a crane or other equipment
beforehand so that the arm would not fall during the removal.
(17) Whenever grease is spilled on the floor, it should be removed as quickly as possible to prevent
dangerous falls.
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(18) The following parts are heated. If a maintenance worker needs to touch such a part in the heated state,
the worker should wear heat-resistant gloves or use other protective tools.
Servo motor
Inside the controller
Reducer
Gearbox
Wrist unit
(19) Maintenance should be done under suitable light. Care must be taken that the light would not cause
any danger.
(20) When a motor, reducer, or other heavy load is handled, a crane or other equipment should be used to
protect maintenance workers from excessive load. Otherwise, the maintenance workers would be
severely injured.
(21) The robot should not be stepped on or climbed up during maintenance. If it is attempted, the robot
would be adversely affected. In addition, a misstep can cause injury to the worker.
(22) When performing maintenance work in high place, secure a footstep and wear safety belt.
(23) After the maintenance is completed, spilled oil or water and metal chips should be removed from the
floor around the robot and within the safety fence.
(24) When a part is replaced, all bolts and other related components should put back into their original
places. A careful check must be given to ensure that no components are missing or left not mounted.
(25) In case robot motion is required during maintenance, the following precautions should be taken :
Foresee an escape route. And during the maintenance motion itself, monitor continuously the
whole system so that your escape route will not become blocked by the robot, or by peripheral
equipment.
Always pay attention to potentially dangerous situations, and be prepared to press the
emergencystop button whenever necessary.
(26) The robot should be periodically inspected. (Refer to the robot mechanical manual and controller
maintenance manual.) A failure to do the periodical inspection can adversely affect the performance or
service life of the robot and may cause an accident
(27) After a part is replaced, a test execution should be given for the robot according to a predetermined
method. (See TESTING section of “Controller operator’s manual”.) During the test execution, the
maintenance staff should work outside the safety fence.
4
4.1
SAFETY OF THE TOOLS AND PERIPHERAL
DEVICES
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.
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4.2
PRECAUTIONS FOR MECHANISM
(1) Keep the component cells of the robot system clean, operate the robot where insulated from the
influence of grease, water, and dust.
(2) Don’t use unconfirmed liquid for cutting fluid and cleaning fluid.
(3) Adopt limit switches or mechanical stoppers to limit the robot motion, and avoid the robot from
collisions against peripheral devices or tools.
(4) Observe the following precautions about the mechanical unit cables. Failure to follow precautions may
cause mechanical troubles.

Use mechanical unit cable that have required user interface.

Do not add user cable or hose to inside of mechanical unit.

Please do not obstruct the movement of the mechanical unit when cables are added to outside of
mechanical unit.

In the case of the model that a cable is exposed, please do not perform remodeling (Adding a
protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the
cable.

When installing user peripheral equipment on the robot mechanical unit, please pay attention that
equipment does not interfere with the robot itself.
(5) The frequent power-off stop for the robot during operation causes the trouble of the robot. Please avoid
the system construction that power-off stop would be operated routinely. (Refer to bad case example.)
Please perform power-off stop after reducing the speed of the robot and stopping it by hold stop or
cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in SAFETY
PRECAUTIONS for detail of stop type.)
(Bad case example)

Whenever poor product is generated, a line stops by emergency stop and power-off of the robot is
incurred.

When alteration is necessary, safety switch is operated by opening safety fence and power-off
stop is incurred for the robot during operation.

An operator pushes the emergency stop button frequently, and a line stops.

An area sensor or a mat switch connected to safety signal operates routinely and power-off stop is
incurred for the robot.

Power-off stop is regularly incurred due to an inappropriate setting for Dual Check Safety (DCS).
(6) Power-off stop of Robot is executed when collision detection alarm (SRVO-050) etc. occurs. Please
try to avoid unnecessary power-off stops. It may cause the trouble of the robot, too. So remove the
causes of the alarm.
(7) In case of washing robot, perform air purge constantly when robot is in washing booth. Please refer to
piping and wiring to the end effector chapter of mechanical unit operator’s manual about purge air inlet
and purge pressure.
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5
SAFETY OF THE ROBOT MECHANISM
5.1
PRECAUTIONS IN OPERATION
(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.
(2) Before pressing the jog key, be sure you know in advance what motion the robot will perform in the
jog mode.
5.2
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.
5.3
PRECAUTIONS FOR MECHANISMS
Keep the work area of the robot clean, and operate the robot in an environment free of grease, water, and
dust.
5.4
PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER IN
EMERGENCY OR ABNORMAL SITUATIONS
(1) For emergency or abnormal situations (e.g. persons trapped in or pinched by the robot), brake release
unit can be used to move the robot axes without drive power.
Please order following unit and cable.
Name
Brake release unit
Robot connection cable
Power cable
Specification
A05B-2450-J350 (Input Voltage AC100-115V single-phase)
A05B-2450-J351 (Input Voltage AC200-240V single-phase)
A05B-2450-J360 (5m)
A05B-2450-J361 (10m)
A05B-2525-J010 (5m) (AC100-115V Power plug) (*)
A05B-2525-J011 (10m) (AC100-115V Power plug) (*)
A05B-2450-J364 (5m) (AC100-115V or AC200-240V No power plug)
A05B-2450-J365 (10m) (AC100-115V or AC200-240V No power plug)
(*) These do not support CE marking.
(2) Please make sure that adequate numbers of brake release units are available and readily accessible for
robot system before installation.
(3) Regarding how to use brake release unit, please refer to Robot controller maintenance manual.
NOTE
Robot systems installed without adequate number of brake release units or similar
means are not in compliance with EN ISO 10218-1 and the Machinery Directive and
therefore cannot bear the CE marking.
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WARNING
Robot arm would fall down by releasing its brake because of the gravity. Especially
because spring balancer is used for J2-axis, it is hard to predict J2-arm movement
by the condition of Robot posture and end effector. 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,220U ,220US and 165CF)
In case of releasing motor brake
Method of supporting robot arm
Eyebolt (M10) 2pcs
2 slings
？
Eyebolt (M10) 1pc
1 leverblock
Eyebolt (M10) 1pc
1 leverblock
Eyebolt (M10) 1pc
1 leverblock
Eyebolt (M12) 1pc
1 leverblock
？
Unpredictable
Fig. 5.4 (a) Releasing J2 motor brake and measures
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H)
In case of releasing motor brake
Method of supporting robot arm
Eyebolt (M10) 2pcs
2 slings
Fall down
Fig. 5.4 (b) Releasing J3 motor brake and measures
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H)
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In case of releaseing motor brake
Method of supporing Robot Arm
Wind sling around the J5-axis reducer （sling 1pc）
Remove this plate.
？
Eyebolt (M10) 2pcs
2 leverblocks
Eyebolt (M10) 1pc
1 leverblock
Eyebolt (M12) 1pc
1 leverblock
？
Unpredictable
Fig. 5.4 (c) Releasing J2 motor brake and measures (R-2000iB/210FS)
In case of releaseing motor brake
Method of supporing Robot Arm
Wind sling around the J5-axis reducer （sling 1pc）
Fall down
Fig. 5.4 (d) Releasing J3 motor brake and measures (R-2000iB/210FS)
s-12
SAFETY PRECAUTIONS
B-82234EN/12
落下down
Fall
落下 down
Fall
Supporting method of arm for
R-2000iB/150U
R-2000iB/150U
R-2000iB/220U
R-2000iB/220U
R-2000iB/170CF(天吊り設置時)
R-2000iB/170CF
(Upside-down)
のアーム支持方法
Supporting method of arm for
R-2000iB/165CF
R-2000iB/165CF
R-2000iB/170CF(床置き設置時)
R-2000iB/170CF (Floor mount)
のアーム支持方法
Fig. 5.4 (e) Releasing J2 and J3 motor brake and measures (R-2000iB/170CF,150U,220U,165CF)
Method of supporing Robot Arm
In case of releaseing motor brake
Wind sling around the J5-axis reducer （sling 1pc）
Fall down
Fig. 5.4 (f) Releasing J2 and J3 motor brake and measures (R-2000iB/220US)
6
SAFETY OF THE END EFFECTOR
6.1
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.
s-13
SAFETY PRECAUTIONS
7
B-82234EN/12
STOP TYPE OF ROBOT
The following three robot stop types exist:
Power-Off Stop (Category 0 following IEC 60204-1)
Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is
moving, and the motion path of the deceleration is uncontrolled.
The following processing is performed at Power-Off stop.
An alarm is generated and servo power is turned off.
Execution of the program is paused.
Frequent Power-Off stop of the robot during operation can cause mechanical problems of the robot.
Avoid system designs that require routine or frequent Power-Off stop conditions.
Controlled stop (Category 1 following IEC 60204-1)
The robot is decelerated until it stops, and servo power is turned off.
The following processing is performed at Controlled stop.
The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. Execution of the
program is paused.
An alarm is generated and servo power is turned off.
Hold (Category 2 following IEC 60204-1)
The robot is decelerated until it stops, and servo power remains on.
The following processing is performed at Hold.
The robot operation is decelerated until it stops. Execution of the program is paused.
WARNING
The stopping distance and stopping time of Controlled stop are longer than the
stopping distance and stopping time of Power-Off stop. A risk assessment for the
whole robot system, which takes into consideration the increased stopping
distance and stopping time, is necessary when Controlled stop is used.
When the emergency stop button is pressed or the FENCE is open, the stop type of robot is Power-Off stop
or Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop pattern
is different according to the controller type or option configuration.
There are the following 3 Stop patterns.
Stop
pattern
A
B
C
P-Stop:
C-Stop:
-:
Mode
Emergency
stop
button
External
Emergency
stop
FENCE open
SVOFF input
Servo
disconnect
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
C-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
C-Stop
P-Stop
P-Stop
C-Stop
P-Stop
C-Stop
-
C-Stop
C-Stop
C-Stop
P-Stop
P-Stop
P-Stop
C-Stop
C-Stop
C-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
C-Stop
P-Stop
P-Stop
AUTO
T1
T2
AUTO
T1
T2
AUTO
T1
T2
Power-Off stop
Controlled stop
Disable
s-14
SAFETY PRECAUTIONS
B-82234EN/12
The following table indicates the Stop pattern according to the controller type or option configuration.
R-30iB
Option
Standard
Controlled stop by E-Stop
A (*)
C (*)
(A05B-2600-J570)
(*) R-30iB does not have servo disconnect.
Option
Standard
Stop type set (Stop pattern C)
(A05B-2500-J570)
Standard
(Single)
R-30iA
Standard
RIA
(Dual)
type
CE
type
R-30iA Mate
RIA
Standard
type
CE
type
B (*)
A
A
A
A (**)
A
A
N/A
N/A
C
C
N/A
C
C
(*) R-30iA standard (single) does not have servo disconnect.
(**) R-30iA Mate Standard does not have servo disconnect, and the stop type of SVOFF input is
Power-Off stop.
The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please refer
to "Software version" in operator's manual of controller for the detail of software version screen.
"Controlled stop by E-Stop" option
When "Controlled stop by E-Stop" (A05B-2600-J570) option (In case of R-30iA/R-30iA Mate, it is Stop
type set (Stop pattern C) (A05B-2500-J570)) is specified, the stop type of the following alarms becomes
Controlled stop but only in AUTO mode. In T1 or T2 mode, the stop type is Power-Off stop which is the
normal operation of the system.
Alarm
SRVO-001 Operator panel E-stop
SRVO-002 Teach pendant E-stop
SRVO-007 External emergency stops
SRVO-194 Servo disconnect
SRVO-218 Ext. E-stop/Servo Disconnect
SRVO-408 DCS SSO Ext Emergency Stop
SRVO-409 DCS SSO Servo Disconnect
Condition
Operator panel emergency stop is pressed.
Teach pendant emergency stop is pressed.
External emergency stop input (EES1-EES11, EES2-EES21) is
open. (R-30iA/R-30iB controller)
Servo disconnect input (SD4-SD41, SD5-SD51) is open.
(R-30iA controller)
External emergency stop input (EES1-EES11, EES2-EES21) is
open. (R-30iA Mate/R-30iB controller)
In DCS Safe I/O connect function, SSO[3] is OFF.
In DCS Safe I/O connect function, SSO[4] is OFF.
Controlled stop is different from Power-Off stop as follows:
In Controlled stop, the robot is stopped on the program path. This function is effective for a system
where the robot can interfere with other devices if it deviates from the program path.
In Controlled stop, physical impact is less than Power-Off stop. This function is effective for systems
where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be minimized.
The stopping distance and stopping time of Controlled stop is longer than the stopping distance and
stopping time of Power-Off stop, depending on the robot model and axis. Please refer to the operator's
manual of a particular robot model for the data of stopping distance and stopping time.
In case of R-30iA or R-30iA Mate, this function is available only in CE or RIA type hardware.
When this option is loaded, this function cannot be disabled.
The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.
s-15
SAFETY PRECAUTIONS
B-82234EN/12
WARNING
The stopping distance and stopping time of Controlled stop are longer than the
stopping distance and stopping time of Power-Off stop. A risk assessment for the
whole robot system, which takes into consideration the increased stopping
distance and stopping time, is necessary when this option is loaded.
8
(1)
WARNING & CAUTION LABEL
Greasing and degreasing label
1)
必ず排脂口を開けて給脂して下さい。
Ｏｐｅｎ ｔｈｅ ｇｒｅａｓｅ ｏｕｔｌｅｔ
ａｔ ｇｒｅａｓｉｎｇ．
必须在排脂口打开的状态下供脂。
2)
手動式ポンプを使用して給脂を行って
下さい。
Ｕｓｅ ａ ｈａｎｄ ｐｕｍｐ ａｔ
ｇｒｅａｓｉｎｇ．
请使用手动式供脂泵进行供脂。
3）
必ず指定グリスを使用して下さい。
Ｕｓｅ ｄｅｓｉｇｎａｔｅｄ ｇｒｅａｓｅ
ａｔ ｇｒｅａｓｉｎｇ．
必须使用指定的润滑脂。
Fig. 8 (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 Chapter 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.
s-16
SAFETY PRECAUTIONS
B-82234EN/12
(2)
Disassembly prohibitive label
Fig. 8 (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. 8 (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.
s-17
SAFETY PRECAUTIONS
(4)
B-82234EN/12
High-temperature warning label
Fig. 8 (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. 8 (e) Transportation label (R-2000iB/165F, 210F, 250F, 210WE,125L, 175L, 100H, 150U, 220U,210FS,220US)
s-18
SAFETY PRECAUTIONS
B-82234EN/12
>2500kg
<1200kg x2
>2500kg
>1000kg x4
>630kg x4
Fig. 8 (f) Transportation label (R-2000iB/185L)
>2500kg
<1200kg x2
<1200kg x2
>2500kg
>1000kg x4
>630kg x4
Fig. 8 (g) Transportation label (R-2000iB/165R, 200R, 100P)
>2500kg
<550kg x4
>2500kg
>1000kg x4
>630kg x4
Fig. 8 (h) Transportation label (R-2000iB/170CF)
s-19
SAFETY PRECAUTIONS
B-82234EN/12
>2500kg
<600kg X4
>2500kg
>1000kg X4
>630kg X4
Fig. 8 (i) Transportation label (R-2000iB/165CF)
Description
When transporting the robot, observe the instructions indicated on this label.
1)


2)



Using a forklift
Use a forklift having a load capacity of 2500 kg or greater.
Keep the total weight of the robot to be transported to within 2200 kg, because the withstand load of
the forklift bracket (option) is 5390 N (550 kgf).
Using a crane
Use a crane with a load capacity of 2500 kg or greater.
Use four slings each with each load capacity of 9800 N (1000 kgf) or greater.
Use at least four eyebolts with each load capacity of 6174 N (630 kgf) or greater.
CAUTION
Transportation labels are model-specific. Before transporting the robot, see the
transportation label affixed to the J2 base side.
See Subsection 1.1 TRANSPORTATION for explanations about the posture a
specific model should take when it is transported.
s-20
SAFETY PRECAUTIONS
B-82234EN/12
(6)
Balancer replacement label
150kg
J2=0°
Fig.8 (j) Balancer replacement label (R-2000iB/165F,210F,185L,250F,210WE,125L,175L,100H,210FS)
300kg
J2=-90°
Fig. 8 (k)
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, 185L, 250F,
210WE, 210FS, 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, 185L, 250F, 210WE, 125L, 175L ,100H, 210FS 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, 170CF, 150U and 220U have no balancer.
CAUTION
For information about balancer replacement, contact your local FANUC
representative.
s-21
SAFETY PRECAUTIONS
(7)
B-82234EN/12
Operating space and payload label
In the case of CE specification, the following label is added:
+180DEG
-180DEG
0DEG
J5-axis rotation center
3045
J5轴旋转中心
Motion range
of J5-axis
rotation center
370
J5轴旋转中心
动作范围
2655
1919
MAX. PAYLOAD : 165kg
Fig. 8 (l) Operating space and payload 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
禁止 横向拉拽吊环螺钉
Fig. 8 (m) Transportation caution label (for eyebolt option)
Description
Do not pull eyebolts sideways when transporting the robot.
s-22
SAFETY PRECAUTIONS
B-82234EN/12
アイボルトを横引
しないこと
輸送部材に衝撃を
与えないこと
輸送部材にチェーン
などを掛けないこと
Do not pull eyebolt
sideways
Do not have impact
on this part
Do not chain, pry,
or strap on this part
禁止横向拉拽吊环螺钉
禁止撞击搬运用部件
禁止在搬运用部件上使用锁链
等物品固定或者搬运机器人
Fig. 8 (n) Transportation prohibitive label
Description
Keep the following in mind when transporting the robot.
1)
2)
3)
(9)
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.
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．
安装完机器人之后，请务必将搬运用部件拆下。
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)
搬运时请务必将工件拆下。
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．
务必按照说明书上记载的姿势搬运机器人。
Transport Equipment
Fig. 8 (o) 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.
s-23
SAFETY PRECAUTIONS
(10)
B-82234EN/12
High voltage attention label(R-2000iB/210WE)
内部高電圧注意
CAUTION
HIGH VOLTAGE INSIDE
注意内部有高电压
ファナックのサービスマン以外は
このカバーを開けてはいけません。
Do not open this cover except
the repair person of FANUC.
除了发那科的维修人员，禁止打开此盖。
Fig. 8 (p) High voltage attention label
Description
Do not open this cover except the repair person of FANUC.
(11)
Battery case attention label(R-2000iB/210WE)
Fig. 8 (q) Battery case cover attention label
Description
Battery case is inside. For replacing batteries, open this cover. Once you open this, you should replace
bolts and a gasket with new ones.
s-24
PREFACE
B-82234EN/12
PREFACE
This manual explains maintenance procedures for the following mechanical units:
Model name
Mechanical unit
specification No.
Maximum load
FANUC Robot R-2000iB/165F
FANUC Robot R-2000iB/210F
FANUC Robot R-2000iB/185L
FANUC Robot R-2000iB/250F
FANUC Robot R-2000iB/165R
FANUC Robot R-2000iB/200R
FANUC Robot R-2000iB/100P
FANUC Robot R-2000iB/170CF
FANUC Robot R-2000iB/210WE
FANUC Robot R-2000iB/210WE
FANUC Robot R-2000iB/125L
FANUC Robot R-2000iB/175L
FANUC Robot R-2000iB/100H
FANUC Robot R-2000iB/150U
FANUC Robot R-2000iB/220U
FANUC Robot R-2000iB/210FS
FANUC Robot R-2000iB/220US
FANUC Robot R-2000iB/165CF
A05B-1329-B201
A05B-1329-B205
A05B-1329-B211
A05B-1329-B215
A05B-1329-B221
A05B-1329-B225
A05B-1329-B231
A05B-1329-B241
A05B-1329-B255
A05B-1329-B256
A05B-1329-B261
A05B-1329-B265
A05B-1329-B271
A05B-1329-B291
A05B-1329-B295
A05B-1329-B305
A05B-1329-B395
A05B-1324-B541
165kg
210kg
185kg
250kg
165kg
200kg
100kg
170kg
210kg
210kg
125kg
175kg
100kg
150kg
220kg
210kg
220kg
165kg
The label stating the mechanical unit specification number is affixed in the position shown below.
Before reading this manual, verify the specification number of the mechanical unit.
(1)
TYPE
NO.
DATE
(2)
(3)
(4)
WEIGHT
(5)
kg
Position of label indicating mechanical unit specification number
p-1
PREFACE
B-82234EN/12
TABLE 1
CONTENTS
LETTERS
(1)
(2)
(3)
(4)
MODEL NAME
TYPE
No.
DATE
FANUC Robot
R-2000iB/165F
FANUC Robot
R-2000iB/210F
FANUC Robot
R-2000iB/185L
FANUC Robot
R-2000iB/250F
FANUC Robot
R-2000iB-165R
FANUC Robot
R-2000iB-200R
FANUC Robot
R-2000iB/100P
FANUC Robot
R-2000iB/170CF
FANUC Robot
R-2000iB/210WE
FANUC Robot
R-2000iB/210WE
FANUC Robot
R-2000iB/125L
FANUC Robot
R-2000iB/175L
FANUC Robot
R-2000iB/100H
FANUC Robot
R-2000iB/150U
FANUC Robot
R-2000iB/220U
FANUC Robot
R-2000iB/210FS
FANUC Robot
R-2000iB/220US
FUNUC Robot
R-2000iB/165CF
(5)
WEIGHT kg
(Without
controller)
A05B-1329-B201
1170
A05B-1329-B205
1240
A05B-1329-B211
1290
A05B-1329-B215
1270
A05B-1329-B221
1480
A05B-1329-B225
1540
A05B-1329-B231
1560
A05B-1329-B241
800
A05B-1329-B255
A05B-1329-B256
SERIAL NO.
IS PRINTED
PRODUCTION
YEAR AND
MONTH ARE
PRINTED
1280
1280
A05B-1329-B261
1190
A05B-1329-B265
1260
A05B-1329-B271
1150
A05B-1329-B291
1070
A05B-1329-B295
1150
A05B-1329-B305
1250
A05B-1329-B395
1160
A05B-1324-B541
1050
p -2
PREFACE
B-82234EN/12
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
Intended readers :
Operator, System designer
Topics :
Safety items for robot system design, Operation,
Maintenance
Intended readers :
Operator, programmer, Teaching operator,
Maintenance engineer, System designer
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-83124EN-1
HANDLING TOOL
B-83124EN-2
DISPENSE TOOL
B-83124EN-4
Servo Gun Function
B-82634EN
Maintenance manual
B-82595EN
B-82595EN-1
(For Europe)
B-82595EN-2
(For RIA)
R-30iB controller
Topics :
Robot functions, Operations, Programming, Setup,
Interfaces, Alarms
Use :
Robot operation, Teaching, System design
Intended readers :
Maintenance engineer, system designer
Topics :
Installation, connection to the controller,
maintenance
OPERATOR'S MANUAL
(Basic Operation)
B-83284EN
OPERATOR'S MANUAL
(Alarm Code List)
B-83284EN-1
Optional Function
OPERATOR'S MANUAL
B-83284EN-2
Spot Welding Function
OPERATOR’S MANUAL
B-83284EN-4
Dispense Function
OPERATOR’S MANUAL
B-83284EN-5
Servo Gun Function
OPERATOR’S MANUAL
B-83264EN
Maintenance manual
B-83195EN
Use :
installation, start-up, connection, maintenance
Intended readers :
Operator, programmer, Teaching operator,
Maintenance engineer, System designer
Topics :
Robot functions, Operations, Programming, Setup,
Interfaces, Alarms
Use :
Robot operation, Teaching, System design
Intended readers :
Maintenance engineer, system designer
Topics :
Installation, connection to the controller,
maintenance
Use :
installation, start-up, connection, maintenance
This manual uses following terms.
Name
Connection cable between robot and controller
Robot mechanical unit
Terms in this manual
Robot connection cable
Mechanical unit
p-3
TABLE OF CONTENTS
B-82234EN/12
TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1
PREFACE ....................................................................................................p-1
1
TRANSPORTATION AND INSTALLATION ........................................... 1
1.1
TRANSPORTATION ...................................................................................... 1
1.1.1
1.2
INSTALLATION ........................................................................................... 28
1.2.1
1.3
1.4
2
3.3
3.4
3.5
3.6
4.3
4.4
4.5
END EFFECTOR INSTALLATION TO WRIST .......................................... 121
INSTALLING A FANUC/SPECIAL FLANGE ADAPTER
(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 100H) .......................... 129
EQUIPMENT MOUNTING FACE .............................................................. 129
LOAD SETTING ........................................................................................ 140
INERTIA LOAD SETTING ......................................................................... 142
AIR SUPPLY (OPTION) ............................................................................ 144
AIR PIPING (OPTION) .............................................................................. 149
INTERFACE FOR OPTION CABLE (OPTION) ......................................... 150
INSTALLING THE AIR PURGE KIT .......................................................... 172
AXIS LIMITS SETUP ........................................................................... 173
6.1
6.2
6.3
6.4
7
ROBOT CONFIGURATION ......................................................................... 40
MECHANICAL UNIT EXTERNAL DIMENSIONS AND
OPERATING SPACE .................................................................................. 53
ZERO POINT POSITION AND MOTION LIMIT ........................................... 70
WRIST LOAD CONDITIONS ....................................................................... 79
LOAD CONDITIONS ON J2 BASE, J3 ARM AND J3 CASING ................. 109
ATTENTION ABOUT 210WE .................................................................... 120
PIPING AND WIRING TO THE END EFFECTOR............................... 144
5.1
5.2
5.3
5.4
6
CONNECTION WITH THE CONTROLLER ................................................. 38
EQUIPMENT INSTALLATION TO THE ROBOT ................................ 121
4.1
4.2
5
MAINTENANCE AREA ................................................................................ 35
INSTALLATION CONDITIONS .................................................................... 37
BASIC SPECIFICATIONS..................................................................... 40
3.1
3.2
4
Installation Method................................................................................................. 28
CONNECTION WITH THE CONTROLLER .......................................... 38
2.1
3
Transportation with an End Effector Attached ....................................................... 27
SETTING MOTION LIMITATION BY SOFTWARE .................................... 174
ADJUSTABLE MECHANICAL STOPPER AND LIMIT SWITCH
SETTING ................................................................................................... 175
CHANGING THE MOTION RANGE BY THE LIMIT SWITCH
(OPTION) .................................................................................................. 187
ADJUSTING LIMIT SWITCH (OPTION) .................................................... 190
CHECKS AND MAINTENANCE ......................................................... 193
c-1
TABLE OF CONTENTS
7.1
PERIODIC MAINTENANCE ...................................................................... 193
7.1.1
7.1.2
7.2
7.3.4
8
Greasing the Balancer Bush (1 year (3840 hours) Periodic Maintenance) .......... 203
Replacing the Batteries(1.5 Year (5760 hours) Periodic Maintenance) ............... 204
Replacing the Grease of the Drive Mechanism(3 years (11520 hours)
Periodic Maintenance or 1 year (3840 hours) Periodic Maintenance) ................. 207
Procedure for Releasing Remaining Pressure from the Grease Bath ................... 215
STORAGE ................................................................................................. 217
MASTERING ....................................................................................... 218
8.1
8.2
8.3
8.4
8.5
8.6
8.7
8.8
8.9
9
Confirmation of Oil Seepage ................................................................................ 197
Confirmation of the Air Control Set or Air Purge Kit.......................................... 198
Check the Mechanical Unit Cables and Connectors ............................................ 199
Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper .......... 201
Confirm There is No Breakage on Purge Piping .................................................. 202
MAINTENANCE......................................................................................... 203
7.3.1
7.3.2
7.3.3
7.4
Daily Checks ........................................................................................................ 193
Periodic Check and Maintenance ......................................................................... 194
CHECK POINTS ........................................................................................ 197
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.3
B-82234EN/12
OVEWVIEW .............................................................................................. 218
RESETTING ALARMS AND PREPARING FOR MASTERING ................. 219
ZERO POSITION MASTERING ................................................................ 220
QUICK MASTERING ................................................................................. 233
QUICK MASTERING FOR SINGLE AXIS ................................................. 235
SINGLE AXIS MASTERING ...................................................................... 237
MASTERING DATA ENTRY ...................................................................... 239
VISION AXIS MASTERING ....................................................................... 240
CHECKING THE MASTERING ................................................................. 244
TROUBLESHOOTING ........................................................................ 245
9.1
FAILURES, CAUSES AND MEASURES ................................................... 245
10 SEVERE DUST/LIQUID PROTECTION PACKAGE ........................... 252
10.1
10.2
SEVERE DUST/LIQUID PROTECTION PACKAGE(OPTION) .................. 252
CONFIGURATION OF THE SEVERE DUST/LIQUID
PROTECTION PACKAGE ......................................................................... 252
APPENDIX
A
PERIODIC MAINTENANCE TABLE ................................................... 257
B
MOUNTING BOLT TORQUE LIST ..................................................... 274
c-2
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
1
TRANSPORTATION AND INSTALLATION
1.1
TRANSPORTATION
Use a crane or a forklift to transport the robot. When transporting the robot, be sure to change the posture
of the robot to that shown below and lift by using the eyebolts and the transport equipment at their points.
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
(1) Transportation using a crane (Fig. 1.1 (b) to (s))
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/185L, 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 for the R-2000iB/165R, 200R, 100P. (There is no type installed on the J2
base in other models.)
CAUTION
When lifting the robot, be careful not to damage motors, connectors, or cables of
the robot by slings.
(2) Transportation using a fork lift (Fig. 1.1 (t) to (ah))
The robot is transported with the specific transport equipment attached.
For the R-2000iB/165F, 210F, 250F, 165R, 200R, 100P, 210WE, 125L, 175L, 100H, 150U, 220U,
210FS and 220US 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/185L, 170CF and 165CF,there is a type of transport equipment to be attached to
the J1 base.
Transport equipments are prepared as an option.
-1-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
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.
WARNING
Detach the end effectors and the floor plate before transporting the robot. If the robot
need to be transported with the floor plate or end effectors attached, take the
following precautions:
･ The entire position of center of gravity is changed by installing the end effector and
the floor plate. Please note the balance enough.
･ The end effector swings by the vibration when transported, and there is a
possibility that an excessive load acts on the robot. Secure the end effector firmly
according to Subsection 1.1.1.
･ When you lift robot with the floor plate installed, please lift up not the robot but the
floor plate.
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 transport equipment only to transport the robot with a forklift. Do
not use the forklift transport equipment to secure the robot.
Before moving the robot by using transport equipment, check the bolts on the
transport equipment and tighten any loose bolts if any.
In case of
R-2000iB/165F,210F,185L,250F,165R,200R,125L,175L,100H,150U,220U,210F
S,220US,165CF, when J1/J2-axis motor covers (option) are installed, be sure to
remove them before transporting robot with a crane.
(In case of R-2000iB/210WE, motor cover is installed normally. )
-2-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robotロボット輸送姿勢
posture on transportation
Note)
1. Machine
mass.
注）
1.機構部の質量
R-2000iB/165F
: 1170kg
, R-2000iB/150U
: 1070kg : 1070 kg
R-2000iB/165F
: 1170
kg , R-2000iB/150U
2. Eyebolt
complied with JIS
1168.
2.アイボルトは、JIS
BB
1168に準拠したものを使用すること.
3. Quantity
eyebolt 4 pcs, sling 4 pcs
3.アイボルトを4個、スリングを4本用意すること.
J1
J2
J3
J4
J5
J6
Crane
クレーン
Capacity
min.: 2.5
ton 以上
可搬質量：
2.5トン
J1
J2
J3
J4
J5
J6
0°または±180°
AXIS
0º or ±180º
-60°
AXIS -60º
0°
AXIS 0º
0º
0°
AXIS 0º
0°
AXIS -0º
0°
AXIS
スリング
Sling
可搬質量：
Capacity
min. : 1.0トン/本
1.0 ton/sling 以上
1689.5
1575.5
Center
of
ロボット重心
gravity
477
348
317
305
Eyebolt (M20)
アイボルト(M20)
(4個)
外側のタップに取り付けること
(4 pcs)
I
t ll t th
tt
Fig. 1.1 (b) Transportation using a crane (R-2000iB/165F, 150U)
-3-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot
posture on transportation
ロボット輸送姿勢
Note)
注）
1.機構部の質量
: 1240 kg
1. Machine
mass.: 1240kg
2.アイボルトは、JIS
1168に準拠したものを使用すること.
2. Eyebolt
complied withBJIS
B 1168.
3.アイボルトを4個、スリングを4本用意すること.
3. Quantity eyebolt 4 pcs, sling 4 pcs
J1 J1
J2 J2
J3 J3
J4 J4
Crane
クレーン
可搬質量：
2.5トン
以上
Capacity min.:
2.5 ton
J5 J5
J6
スリング
可搬質量：
1.0トン/本 以上
Sling
Capacity min. : 1.0 ton/sling
J6
0°または±180°
AXIS0º or ±180º
-60°
AXIS -60º
0°
AXIS
0º
0º
0°
AXIS
0º
0°
AXIS
-0º
0°
AXIS
1710.5
1575.5
Center of
ロボット重心
gravity
477
348
Eyebolt (M20)
アイボルト(M20)
(4個)
外側のタップに取り付けること
(4 pcs)
Fig. 1.1 (c) Transportation using a crane (R-2000iB/210F)
-4-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robotロボット輸送姿勢
posture on transportation
Note)
注）
1.機構部の質量
: 1290 kg
1. Machine
mass.: 1290kg
2.アイボルトは、JIS B 1168に準拠したものを使用すること.
2. Eyebolt complied with JIS B 1168.
3.アイボルトを4個、スリングを4本用意すること.
3. Quantity
eyebolt 4 pcs, sling 4 pcs
J1
J2
J3 J3
J4 J4
J5
J5
J6
J6
J1
J2
Crane
クレーン
可搬質量：
2.5トン
Capacity
min.:
2.5 ton以上
0°または±180°
AXIS0º or ±180º
-60°
AXIS -60º
0°
AXIS 0º
0°
AXIS 0º
0°
AXIS 0º
-0º
0°
AXIS
スリング
Sling
可搬質量： 1.0トン/本 以上
Capacity min. : 1.0 ton/sling
2120
1576
ロボット重心
Center
of
gravity
Transport
輸送部材
equipment
(オプション)
(OPTION)
Woods
木材
477
595
621
628
Eyebolt (M20)
(4 pcs)
アイボルト (M20) (4個)
Use
woods to prevent
スリングがパルスコーダに当る時は、当て木などを使用して、
パルスコーダに当らないようにして下さい。
Sling
interfere with Pulsecoder.
Fig. 1.1 (d) Transportation using a crane (R-2000iB/185L)
-5-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot ロボット輸送姿勢
posture on transportation
Note)
1. Machine
mass.
注）
1.機構部の質量
R-2000iB/250F
:1270kg,
R-2000iB/220U
:1150kg,: 1150 kg
R-2000iB/250F
: 1270
kg , R-2000iB/220U
2. Eyebolt
complied
with JIS
B 1168.
2.アイボルトは、JIS
B 1168に準拠したものを使用すること.
3. Quantity
eyebolt 4 pcs, sling 4 pcs
3.アイボルトを4個、スリングを4本用意すること.
J1
J2
J3
J4
J5
J6
Crane
クレーン
Capacity min.:
2.5 ton以上
可搬質量：
2.5トン
J1
J2
J3
J4
J5
J6
0°または±180°
AXIS
0º or ±180º
-60°
AXIS -60º
0°
AXIS 0º
0°
AXIS 0º
0º
0°
AXIS
-0º
0°
AXIS
スリング
Sling
可搬質量：
1.0トン/本
以上
Capacity min.
: 1.0 ton/sling
1710
1576
Center of
ロボット重心
gravity
477
317
348
305
Eyebolt (M20)
pcs)
アイボルト
(M20)(4(4個)
外側のタップに取り付けること
Install to the out taps
Fig. 1.1 (e) Transportation using a crane (R-2000iB/250F,220U)
-6-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture
on transportation
ロボット輸送姿勢
0°
0º
-120°
-120º
49°
49º 0°
0º-49°
-49º0°
J1 AXIS
J1 J2 AXIS
J2 J3 AXIS
J3 J4 AXIS
J4 J5 AXIS
J5 J6 AXIS
Crane
クレーン
Capacity min.:
2.5 ton 以上
可搬質量：
2.5トン
スリング
Sling
可搬質量：
Capacity min.1.0トン/本
: 1.0 ton/sling以上
J6
-0º
Centerロボット重心
of gravity
1853
Center
of gravity
ロボット重心
2022
1242
Eyebolt
M20 (4
pcs)
アイボルト(M20)
(4個)
Transport equipment
輸送部材
(option)
(オプション)
Note)
1. Machine mass. 1480kg注） 1.機構部の質量は、仕様一覧を参照のこと.
2. Eyebolt complied with JIS 2.アイボルトは、JIS
B 1168.
B 1168に準拠したものを使用すること.
3.アイボルトを4個、スリングを4本用意すること.
3. Quantity eyebolt 4 pcs, sling
4 pcs
Fig. 1.1 (f) Transportation using a crane (R-2000iB/165R J1 base type)
-7-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Note)
Eyebolt M20
注）
1.機構部の質量 : 1540 kg
1. Machine
mass. 1480kg
2.アイボルトは、JIS
B 1168に準拠したものを使用すること.
2. Eyebolt
complied with JIS B 1168.(4 pcs)
3.アイボルトを4個、スリングを4本用意すること.
Robot posture
on transportation
ロボット輸送姿勢
3. Quantity eyebolt 4 pcs, sling 4pcs
J1
J2
J3
J4
J5
J6
J1
クレーン
可搬質量： 2.5トン 以上
J2
J3
J4
Crane
スリング
Capacity min.: 2.5 ton
J5
可搬質量： 1.0トン/本 以上
J6
AXIS
0º
AXIS
-120º
AXIS 49º
AXIS 0º
AXIS -49º
AXIS -0º
0°
-120°
49°
0°
-49°
0°
Sling
Capacity min. : 1.0 ton/sling
1852
Center of
ロボット
gravity
重心
2042
1242
Eyebolt M20
アイボルト(M20)
(4個)
(4
pcs)
輸送部材
Transport
(オプション)
equipment (option)
Fig. 1.1 (g) Transportation using a crane (R-2000iB/200R J1 base type)
注）Note)
1.機構部の質量 : 1560 kg
B 1168に準拠したものを使用すること.
1.2.アイボルトは、JIS
Machine mass.
1560kg
3.アイボルトを4個、スリングを4本用意すること.
2. Eyebolt complied with JIS B 1168.
3. Quantity eyebolt 4 pcs, sling 4 pcs
クレーン
可搬質量： 2.5トン 以上
Robot posture
on transportation
ロボット輸送姿勢
J1
J2
J3
Crane
スリング
Capacity
min.: 1.0トン/本
2.5 ton
可搬質量：
以上
J4
Sling
Capacity min. : 1.0 ton/sling
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
0º-120°
-120º41°
0°
41º-41°
0º
J5
-41º
J6
-0º
0°
Center of
gravity
Center of
ロボット重心
gravity
1831
ロボット重心
2207
1242
Transport equipment (option)
輸送部材
(オプション)
Eyebolt M20 (4 pcs)
アイボルト(M20) (4個)
Fig. 1.1 (h) Transportation using a crane (R-2000iB/100P J1 base type)
-8-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Crane
クレーン
Capacity min.: 2.5 ton
可搬質量： 2.5トン 以上
Sling スリング
1.0トン/本 以上
Capacity可搬質量：
min. : 1.0 ton/sling
Robot postureロボット輸送姿勢
on transportation
J1
J2
J3
J4
J1
J2
J3
J4
J5
J6
0°or ±180°
AXIS
-55°
AXIS
0º or ±180º
0°
AXIS -55º
0°
AXIS
0º
0°
AXIS
0º
0°
AXIS
J5
0º
J6
-0º
Center
of
ロボット重心
gravity
1021
Transport
輸送部材equipment
(オプション)
(option)
1156
1211
Note)
注） １．機構部の質量は、仕様一覧を参照のこと.
1. Machine
mass. 800kg
B 1168に準拠したものを使用すること.
2. Eyebolt２．アイボルトは、JIS
complied with JIS B 1168.
3. Quantity
eyebolt 4 pcs, sling 4 pcs
３．アイボルトを4個、スリングを4本用意すること.
Eyebolt
M20 (4 pcs)
アイボルト(M20)
(4個)
Fig. 1.1 (i) Transportation using a crane (R-2000iB/170CF)
-9-
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture on transportation
ロボット輸送姿勢
Note)
注）
1.機構部の質量
: 1280, kg
1. Machine
mass : 1280kg
2.アイボルトは、JIS
1168に準拠したものを使用すること.
2. Eyebolt
complied with B
JIS
B 1168.
3.アイボルトを4個、スリングを4本用意すること.
3. Quantity
eyebolt 4 pcs, sling 4 pcs
4. If4.J1/J2軸モータカバーはスリングと干渉する場合は、外すこと.
the J1/J2-axis motor interfere with slings, remove it.
J1 J1
J2
J3
J3
J4
J4
J5
J6 J5
J6
J2
Crane
クレーン
可搬質量：
2.5トン
Capacity min.:
2.5 ton以上
スリング
Sling
可搬質量：
1.0トン/本 以上
0°または±180°
AXIS0º or ±180º
-60°
AXIS -60º
0°
AXIS 0º
0º
0°
AXIS 0º
0°
AXIS -0º
0°
AXIS
Capacity min. : 1.0 ton/sling
1710
Center of
ロボット重心
1577
gravity
348
317
305
Eyebolt
(M20)
(4 （4個)
pcs)
アイボルト
M20
Install
to the out taps
外側のタップに取り付けること
Fig. 1.1 (j) Transportation using a crane (R-2000iB/210WE)
- 10 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Note)
注） 1.機構部の質量 : 1480 kg
1. Machine
mass. : 1480kg B 1168に準拠したものを使用すること.
2.アイボルトは、JIS
3.アイボルトを4個、スリングを4本用意すること.
2. Eyebolt
complied with JIS B 1168.
4.輸eyebolt
送時は必
ず輸sling
送姿勢
にて運搬すること.
3. Quantity
4 pcs,
4 pcs
輸送時は全て
のツーplease
ルを取be
り外
すこto
と.transport
4. When5.transporting
a robot,
sure
6.設posture
置後は必
輸送部材を取り外すこと.
it by the
forず
transportation.
5. When transporting a robot, remove all tools.
6. Be sure to remove transport equipment after setting robot up.
Robot posture
on transportation
ロボット輸送姿勢
J1
クレーン
可搬質量：
2.5トン 以上
Crane
J2
J3
J4
Capacity min.: 2.5 ton
スリング
可搬質量：
1.0トン/本 以上
Sling
J5
J6
J1
J2
J3
J4
J5
J6
任意
AXIS
Arbitrary
AXIS
-120°
-120º
AXIS
49°
49º
AXIS
0°
0º
-49°
AXIS
-49º
AXIS
0°
-0º
Capacity min. : 1.0 ton/sling
1852
Center
of gravity
ロボット重心
1207
Transport equipment
輸送部材
(オプション)
(option)
2023
アイボルト
M20 (4
(4個)
Eyebolt M20
pcs)
Fig. 1.1 (k) Transportation using a crane (R-2000iB/165R J2 base type)
Note)
注）1.1.機構部の質量
kg.
Machine mass.: :1540
1540kg
B 1168に準拠したものを使用すること.
2.2.アイボルトは、JIS
Eyebolt complied with
JIS B 1168.
3.3.アイボルトを4個、スリングを4本用意すること.
Quantity eyebolt 4 pcs, sling 4 pcs
輸送時transporting
は必ず輸送姿
勢にてplease
運搬する
と. to transport it
4.4.When
a robot,
beこsure
5.輸by
送the
時はposture
全てのツ
ー
ル
を取り外すこと.
for transportation.
設置後transporting
は必ず輸送部
材を取remove
り外すこと.
5.6.When
a robot,
all tools.
6. Be sure to remove transport equipment after setting robot up.
クレーン
Crane
可搬質量：
2.5トン 以上
Robot ロボット輸送姿勢
posture on transportation
J1 J1 AXIS
J2 J2 AXIS
J3 J3 AXIS
J4 J4 AXIS
J5
Capacity min.: 2.5 ton
J6
スリング
可搬質量：
1.0トン/本 以上
Sling
J5 AXIS
J6 AXIS
Arbitrary
0°
-120°
-120º
49º 49°
0º 0°
-49°
-49º
0°
-0º
Capacity min. : 1.0 ton/sling
1852
Center
ロボット of
gravity
重心
1207
2042
アイボルト
M20M20
(4個)
Eyebolt
(4 pcs)
Transport
輸送部材
(オプション)
(option)
equipment
Fig. 1.1 (l) Transportation using a crane (R-2000iB/200R J2 base type)
- 11 -
1.TRANSPORTATION AND INSTALLATION
Crane
クレーン
Capacity min.: 2.5 ton
可搬質量：
2.5トン以上
Sling
スリング
Capacity min. : 1.0 ton/sling
可搬質量：
1.0トン/本 以上
B-82234EN/12
Robotロボット輸送姿勢
posture on transportation
J1 J1 AXIS Arbitrary任意
J2 J2 AXIS
-120º -120°
J3 J3 AXIS
J4 J4 AXIS
J5 J5 AXIS
J6 J6 AXIS
Center of
gravity
ロボット重心
41º
41°
0°
-41º -41°
0º
-0º
0°
1831
Center of
ロボット重心
gravity
Transport
輸送部材 equipment
(option)
(オプション)
1207
アイボルト
M20(4(4個)
Eyebolt
M20
pcs)
2207
Note)
1. Machine mass. 1540kg 注） 1.機構部の質量は、仕様一覧を参照のこと.
2.アイボルトは、JIS B 1168に準拠したものを使用すること.
2. Eyebolt complied with JIS B 1168.
3. Quantity eyebolt 4 pcs, sling 43.アイボルトを4個、スリングを4本用意すること.
pcs
4.輸送
は必to
ずtransport
輸送 姿勢itにby
てthe
運搬
すること.
4. When transporting a robot, please
be時sure
posture
for transportation.
5.輸送all
時はtools.
全てのワークを取り外すこと.
5. When transporting a robot, remove
6. Be sure to remove transport equipment
up.
6.設置後はafter
必ずsetting
輸送 部robot
材を 取
り外すこと.
Fig. 1.1 (m) Transportation using a crane (R-2000iB/100P J2 base type)
- 12 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture
on transportation
ロボット輸送姿勢
Note)
注）
1.機構部の質量
: 1190 kg
1. Machine
mass. : 1190kg
2.アイボルトは、JIS
B 1168に準拠したものを使用すること.
2. Eyebolt
complied with JIS
B 1168.
3.アイボルトを4個、スリングを4本用意すること.
3. Quantity
eyebolt 4 pcs, sling 4 pcs
J1
J2
J3
J4
J5
Crane
クレーン
Capacity
min.: 2.5トン
2.5 ton 以上
可搬質量：
J6
J1
J2
J3
J4
J5
J6
AXIS
0º or ±180º
AXIS
-60º
0º
AXIS
0º
AXIS
0º
AXIS
-0º
AXIS
0°または±180°
-60°
0°
0°
0°
0°
スリング
Sling
可搬質量： 1.0トン/本 以上
Capacity min. : 1.0 ton/sling
2044.5
1575.5
Center of
ロボット重心
gravity
477
348
317
305
アイボルト(M20)
Eyebolt
(M20) (4個)
(4 pcs)
外側のタップに取り付けること
Install
to the out taps
Fig. 1.1 (n) Transportation using a crane (R-2000iB/125L)
- 13 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture on
transportation
ロボット輸送姿勢
Note)
1. Machine mass. : 1260kg
2. Eyebolt
complied with
JIS kg
B 1168.
注）
1.機構部の質量
: 1260
3. Quantity
eyebolt 4 pcs,Bsling
4 pcs
2.アイボルトは、JIS
1168に準拠したものを使用すること.
J1
J2
3.アイボルトを4個、スリングを4本用意すること.
J3
J4
J5
Crane
クレーン
Capacity
min.:2.5トン
2.5 ton以上
可搬質量：
J6
J1
0º or AXIS
±180º
J2 -60º
AXIS
0º
J3 AXIS
0º
J4 AXIS
0º
J5 -0º
AXIS
J6 AXIS
0°または±180°
-60°
0°
0°
0°
0°
スリング
Sling
可搬質量： 1.0トン/本 以上
Capacity min. : 1.0 ton/sling
1809
1565
Center
of
ロボット重心
gravity
477
317
348
305
Eyebolt (M20) (4 pcs)
アイボルト(M20) (4個)
Install to the out taps
外側のタップに取り付けること
Fig. 1.1 (o) Transportation using a crane (R-2000iB/175L)
- 14 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Note)
1. Machine
mass. : 1150kg
注）
1.機構部の質量
: 1150 kg
2. Eyebolt
complied with JISB B1168に準拠したものを使用すること.
1168.
2.アイボルトは、JIS
3. Quantity eyebolt 4 pcs, sling 4 pcs
3.アイボルトを4個、スリングを4本用意すること.
Robot posture on transportation
ロボット輸送姿勢
J1
J2
クレーン
Crane
可搬質量：
2.5トン
Capacity min.:
2.5 ton以上
J3
スリング
Sling
可搬質量：
1.0トン/本 以上
J5
J4
J6
Capacity min. : 1.0 ton/sling
J1
J2
J3
J4
J5
0º or ±180º
AXIS
AXIS-60º
0º
AXIS0º
AXIS0º
AXIS-0º
0°または±180°
-60°
0°
0°
0°
1590
1844.2
Center
of
ロボット重心
gravity
477
348
Eyebolt (M20)
(4 pcs)
アイボルト(M20)
(4個)
外側のタップに取り付けること
Install to the out taps
Fig. 1.1 (p) Transportation using a crane (R-2000iB/100H)
- 15 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture on transportation
ロボット輸送姿勢
Note)
1. Machine mass. : 1250kg
注） 1.機構部の質量 : 1250 kg
2. Eyebolt complied with JIS B 1168.
2.アイボルトは、JIS
1168に準拠したものを使用すること.
3. Quantity
eyebolt 4 pcs,Bsling
4 pcs
3.アイボルトを4個、スリングを4本用意すること.
J1
J2
J3
Crane
クレーン
Capacity
min.: 2.5
ton 以上
可搬質量：
2.5トン
J4
J5
スリング
J6
Sling
可搬質量： 1.0トン/本 以上
Capacity min. : 1.0 ton/sling
J1
J2
J3
J4
J5
J6
0º or ±180º
AXIS
AXIS-60º
AXIS0º
0º
AXIS0º
AXIS-0º
AXIS
0°または±180°
-60°
0°
0°
0°
0°
1804
1590
Center
of
ロボット重心
gravity
573
348
473
305
Eyebolt
(M20) (4 pcs)
アイボルト(M20) (4個)
Install
to the out taps
外側のタップに取り付けること
Fig. 1.1 (q) Transportation using a crane (R-2000iB/210FS)
- 16 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Note)
1. Machine mass. : 1160kg
2. Eyebolt complied with JIS B 1168.
注）
1.機構部の質量
: 1160
3. Quantity
eyebolt 4 pcs,
slingkg
4 pcs
ロボット輸送姿勢
Robot posture on transportation
2.アイボルトは、JIS B 1168に準拠したものを使用すること.
3.アイボルトを4個、スリングを4本用意すること.
J1
J2
J3
J4
Crane
クレーン
Capacity min.:2.5トン
2.5 ton 以上
可搬質量：
J5
J6
スリング
Sling
可搬質量：
Capacity min. 1.0トン/本
: 1.0 ton/sling以上
J1
J2
J3
J4
J5
J6
0º or ±180º
AXIS
-64º
AXIS
0º
AXIS
0º
AXIS
0º
-0º
AXIS
AXIS
0°または±180°
-64°
0°
0°
0°
0°
1804
Center of
ロボット重心
1524
gravity
477
557
515
Eyebolt (M20)
pcs)
アイボルト
M20 (4
(4個)
外側のタップに取付けること
Install to the out taps
Fig. 1.1 (r) Transportation using a crane (R-2000iB/220US)
- 17 -
305
1.TRANSPORTATION AND INSTALLATION
Note)
注)Machine mass. 1050kg
1.
1. 機構部の質量
: 1050
2. Eyebolt
complied with
JIS kg
B 1168.
2. アイボルトはJIS
B1168に準拠したものを使用すること
3. Quantity
eyebolt 4 pcs,
sling 4 pcs
3.
アイボルトを4個、スリングを4本用意すること
4. Be sure to place the cable protection plate to
4. 必ず保護プレートを装着し、スリングがケーブルを圧縮しない
Prevent
the slings from compressing cables.
ようにすること
B-82234EN/12
Robot postureロボット輸送姿勢
on transportation
J1
J2
J3
J4
J5
Crane
クレーン
Capacity
min.: 2.5 ton
J6
可搬質量： 2.5トン 以上
Sling スリング
Capacity
min. : 1.0 ton/sling
可搬質量：
1.0トン/本 以上
J1 AXIS
J2 AXIS
J3 AXIS
-55º
J4 AXIS
0º
J5 AXIS
J6 AXIS
0º
0°
-55°
0º
0°
0º
0°
0°
0°
-0º
1040
485
Center of
ロボット重心
1314
gravity
Center of
gravity
ロボット重心
348
423
Eyebolt (M20)
(4 pcs)
アイボルト
(M20)
Install to the out taps
外側のタップに取り付けること
Fig. 1.1 (s) Transportation using a crane (R-2000iB/165CF)
- 18 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot
posture on
transportation
ROBOT
POSTURE
ON TRANSPORTATION
J1
Note)
1. See the list of specification for machine mass.
.
.
J2
J3
J4
NOTE)
J5
See the list of specifications for machine weight.
J6
J1
J2
J3
J4
J5
J6
0º or ±180º
0°or ±180°
-60°
AXIS -60º
AXIS 0º
AXIS 0º
AXIS 0º
0º
AXIS
AXIS
0°
0°
0°
0°
Center of
Center
gravity of gravity
of
CenterCenter
of gravity
gravity
100
200
Transport
Transport equipment
equipment
（OPTION）
(option)
956
Forklift
Forklift
Capacity
: minmin
2.52.5ton
Capacity:
ton
Fig. 1.1 (t) Transportation using a forklift
(R-2000iB/165F,210F,250F,210WE,125L,175L,150U,220U J1 base type)
Robot posture on transportation
J1
Note)
NOTE)
1. See the list of specification for machine mass.
J2
2. There is a case that LOCTITE is attached to the bolt
In that the
case,list
do of
notspecification
spoil the head offor
themachine
bolt when weight.
detaching it.
1.See
.
J3
2.There is a case that LOCTITE is attached to the bolt.
In that case,do not spoil the head of the bolt when detaching it.
J4
J5
J6
ROBOT POSTURE
ON TRANSPORTATION
J1
J2
J3
J4
J5
J6
Arbitrary
AXIS-60º
AXIS 0º
AXIS 0º
AXIS 0º
0º
AXIS
AXIS
Arbitrary
-60°
0°
0°
0°
0°
Center of
Center
of gravity
gravity
of
Center of Center
gravity
gravity
100
200
Transport
Transport
equipment
(OPTION)
equipment
868
Forklift
Forklift
Capacity:
min2.5
2.5 ton
ton
Capacity
: min
(option)
Fig. 1.1 (u) Transportation using a forklift
(R-2000iB/165F,210F,250F,210WE,125L,175L,150U,220U J2 base type)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 19 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture
on transportation
ロボット輸送姿勢
J1
Note)
注)
機構部の質量 : 1290 kg
J2
1. Machine mass. : 1290 kg
J3
J4
J5
J6
J1
J2
J3
J4
J5
J6
AXIS
0º or ±180º
AXIS
-60º
AXIS0º
0º
AXIS
0º
AXIS0º
AXIS
0°または±180°
-60°
0°
0°
0°
0°
Center ロボット重心
of gravity
Center of
gravity
ロボット重心
100
200
1249
Forklift
フォークリフト
可搬質量：
2.5トン
Capacity
: min
2.5 以上
ton
Transport
equipment
輸送部材
(option)
(オプション)
Fig. 1.1 (v) Transportation using a forklift (R-2000iB/185L J1 base type)
Robot posture
on transportation
ロボット輸送姿勢
Note)
J1
注)
機構部の質量
1. Machine
mass. :
iB/165R :1480kg: 1480 kg
R-2000
R-2000iB/165R
iB/200R :1540kg: 1540 kg
R-2000
R-2000iB/200R
J2
J3
J4
J5
J6
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
0º
-120º
49º
0º
-49º
-0º
-120°
49°
0°
-49°
0°
Center
of gravity
ロボット重心
Center of
ロボット重心
gravity
100
200
Forklift
フォークリフト
Capacity
: min
2.5以上
ton
可搬質量:
2.5トン
1242
Transport equipment
輸送部材
(option)
(オプション)
Fig. 1.1 (w) Transportation using a forklift (R-2000iB/165R,200R J1 base type)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 20 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture
on transportation
ロボット輸送姿勢
Note)
注)
機構部の質量 : 1560 kg
1. Machine mass. : 1560 kg
J1
J2
J3
J4
J5
J6
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
-120°
41°
41º
0°
0º
-41º -41°
0°
-0º
0º
-120º
Center
of gravity
ロボット重心
Center
of gravity
ロボット重心
100
200
1242
Forklift
フォークリフト
可搬質量：
Capacity :2.5トン
min 以上
2.5
t
Transport
輸送部材
(オプション)
(option)
equipment
Fig. 1.1 (x) Transportation using a forklift (R-2000iB/100P J1 base type)
Robot posture
on transportation
ロボット輸送姿勢
Note)
注)
1.機構部の質量
1.
Machine
mass. :
R-2000iB/165R
:1480kg : 1480 kg
R-2000iB/165R
R-2000iB/200R
:1540kg : 1540 kg
R-2000iB/200R
2. When2.transporting
robot,
please
be運
sure
輸送時は必aず
輸 送姿
勢に て
搬すtoるtransport
こと. it by the posture for
transportation.
3.輸送時は全てのツールを取り外すこと.
3. When4.
transporting
a
robot,
remove
all
tools.
設置後は必ず輸送部材を取り外すこと.
4. Be sure to remove transport equipment after setting robot up.
J1
J2
J2
J3J3
J4J4
J5J5
J6J6
J1
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
任意
Arbitrary
-120º
49º
0º
-49º
-0º
-120°
49°
0°
-49°
0°
Center ofロボット重心
gravity
Center
of gravity
ロボット重心
100
200
465
73
1207
Forklift
フォークリフト
Capacity : min
2.5 ton
可搬質量：
2.5トン
以上
Transport
輸送部材
(オプション)
(option)
equipment
Fig. 1.1 (y) Transportation using a forklift (R-2000iB/165R,200R J2 base type)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 21 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture
on transportation
ロボット輸送姿勢
Note)
1.注)
Machine
mass. : 1560kg: 1560 kg
1.機構部の質量
2. When2.
transporting
please
be
to こ
transport
it by the posture for
輸送時は必aずrobot,
輸送姿
勢にて
運sure
搬する
と.
transportation.
3.輸送時は全てのツールを取り外すこと,
3. When4.
transporting
robot,
remove
allり外
tools.
設置後は必aず
輸送部
材を取
すこと.
4. Be sure to remove transport equipment after setting robot up.
J1
J2
J2
J3
J3
J4
J4
J5 J5
J6 J6
J1
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
-120°
-120º
41°
41º
0°
0º
-41º -41°
0º
-0º
0°
Center
of gravity
ロボット重心
ロボット重心
Center
of gravity
100
200
Transport
輸送部材 equipment
(option)
(オプション)
1207
Forklift
フォークリフト
Capacity :2.5トン
min 2.5以上
ton
可搬質量：
Fig. 1.1 (z) Transportation using a forklift (R-2000iB/100P J2 base type)
Robot posture
on transportation
ロボット輸送姿勢
Note)
1. Machine
mass. : 1150 kg
注) 機構部の質量
J1
: 1150 kg
J2
J3
J4
J5
J6
J1
J2
J3
J4
J5
AXIS
0º or ±180º
AXIS-60º
AXIS 0º
0º
AXIS 0º
AXIS 0º
0°または±180°
-60°
0°
0°
0°
Center of
ロボット重心
gravity
100
200
1156
Transport
輸送部材
(オプション)
equipment
(
Forklift
フォークリフト
Capacity
: min
2.5 ton
可搬質量:
2.5トン以上
)
Fig. 1.1 (aa) Transportation using a forklift (R-2000iB/100H J1 base type)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 22 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robotロボット輸送姿勢
posture on transportation
Note)
注)
1. mass.
機構部の質量
: 1150 kg
1. Machine
: 1150 kg
り付
ボルトに
は緩み止
め剤
が塗布されている場合があ
2. There2.
is a 取
case
thatけ
LOCTITE
is attached
to the
bolt.
るので、取り外しの際はボルトの頭をなめないよう注意す
In that case, do not spoil the head of the bolt when detaching it.
ること.
J1
J2
J3
J4
J5
J6
J1
J2
J3
J4
J5
任意
AXISArbitrary
AXIS -60º
0º
AXIS 0º
AXIS 0º
AXIS 0º
-60°
0°
0°
0°
Center of
ロボット重心
gravity
100
200
Transport
輸送部材
(オプション)
equipment
1068
(
Forklift
フォークリフト
Capacity
: min
2.5 ton
可搬質量:
2.5トン
以上
)
Fig. 1.1 (ab) Transportation using a forklift (R-2000iB/100H J2 base type)
Robot postureロボット輸送姿勢
on transportation
J1
Note)
注)
1. Machine mass. : 800 kg
J2
機構部の質量 : 800 kg
J3
J4
J5
J6
J1
J2
J3
J4
J5
J6
AXIS
0º or ±180º
AXIS-55º
0º
AXIS0º
AXIS0º
0º
AXIS
AXIS
0°or ±180°
-55°
0°
0°
0°
0°
Center of
ロボット重心
gravity
100
200
1156
Transport
輸送部材(オプション)
equipment
(option)
Forklift
フォークリフト
Capacity
2.5以上
ton
可搬質量:: min
2.5トン
Fig. 1.1 (ac) Transportation using a forklift (R-2000iB/170CF)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 23 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture on transportation
ロボット輸送姿勢
J1 J1
J2 J2
J3 J3
J4
J4
J5
J6 J5
J6
Note)
注） 機構部の質量
: 1250 kg
1. Machine
mass. : 1250 kg
0°または±180°
AXIS0º or ±180º
-60°
AXIS -60º
0°
AXIS 0º
0º
0°
AXIS
0º
0°
AXIS 0º
0°
AXIS
Center of
gravity
ロボット重心
100
Center of
ロボット重心
gravity
200
Transport
1156
輸送部材
equipment
（オプション）
(option)
Forklift
フォークリフト
Capacity : min
2.5 ton
可搬質量：
2.5トン
以上
Fig. 1.1 (ad) Transportation using a forklift (R-2000iB/210FS J1 base type)
Robot ロボット輸送姿勢
posture on transportation
J1
Note)
注） 機構部の質量 : 1250 kg
1. Machine mass. : 1250 kg
J2
J3
J4
J5
J6
J1
J2
J3
J4
J5
J6
AXISArbitrary
AXIS -60º
AXIS 0º
0º
AXIS 0º
AXIS 0º
AXIS
任意
-60°
0°
0°
0°
0°
Center of
gravity
ロボット重心
200
Center of
gravity
100
ロボット重心
Transport
輸送部材
（オプション）
equipment
(option)
1068
Forklift
フォークリフト
可搬質量：
以上
Capacity : 2.5トン
min 2.5 ton
Fig. 1.1 (ae) Transportation using a forklift (R-2000iB/210FS J2 base type)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 24 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Robot posture
on transportation
ロボット輸送姿勢
J1
J2
J3
J4
J5
J6
J1
Note)
注） 機構部の質量は、仕様一覧を参照のこと.
1. Machine mass. : 1160 kg
J2
J3
J4
J5
J6
0°または±180°
AXIS
0º or ±180º
-64°
AXIS-64º
0°
AXIS 0º
0°
AXIS 0º
0º
0°
AXIS 0º
0°
AXIS
Center of
ロボット重心
gravity
100
Center
of gravity
ロボット重心
Transport equipment
200
1156
輸送部材
(option)
(オプション)
Forklift
フォークリフト
Capacity
: min
2.5 ton
可搬質量
: 2.5トン以上
Fig. 1.1 (af) Transportation using a forklift (R-2000iB/220US J1 base type)
Robot posture
on transportation
ロボット輸送姿勢
Note)
1. Machine
mass. : 1160 kg
注） 機構部の質量
: 1160 kg
J1
J2
J3
J4
J5
J6
J1
J2
J3
J4
J5
J6
AXISArbitrary
AXIS -64º
AXIS 0º
AXIS 0º
AXIS 0º
0º
AXIS
任意
-64°
0°
0°
0°
0°
Center of
ロボット重心
gravity
Center of
ロボット重心
100
gravity
200
1068
Transport
輸送部材 equipment
(オプション)
(option)
Forklift
フォークリフト
Capacity
: min 2.5 ton
可搬質量 : 2.5トン以上
Fig. 1.1 (ag) Transportation using a forklift (R-2000iB/220US J2 base type)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 25 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
ROBOT POSTURE ON TRANSPORTATION
NOTE）
１．See the list of specification for machine weight.
J1
J2
J3
J4
J5
J6
AXIS
AXIS
AXIS
AXIS
AXIS
AXIS
0°
-55°
0°
0°
0°
0°
Center of
gravity
100
Center of
gravity
200
1160
Forklift
Capacity min. 2.5 ton
Transport
equipment
(OPTION)
Fig. 1.1 (ah) Transportation using a forklift (R-2000iB/165CF)
CAUTION
Be careful not to strike the transport equipment strongly with the forklift forks.
- 26 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
1.1.1
Transportation with an End Effector Attached
When transporting a robot with an end effector such as a welding gun or hand attached, secure the arm
with wood. If the arm is not secured, the end effector may oscillate for a cause such as vibration during
transportation, 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
If the user cannot prepare a material for securing the arm, an optional securing fixture kit for
transportation is available.
Specification: A05B-1329-K011 (R-2000iB/165F, 210F, 185L, 250F, 125L, 100H, 150U, 220U)
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 POSTURE DURING TRANSPORTING,
REFFER TO FOLLOWING TABLE.
J2
-60°
to -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 fixture kit for transportation
- 27 -
1.TRANSPORTATION AND INSTALLATION
1.2
B-82234EN/12
INSTALLATION
Fig. 1.2 shows the robot base dimensions. Avoid placing any object in front of the robot on the locating
surface to facilitate the installation of the mastering fixture.(Shaded portion)
(Locating
surface)
(Locating
surface)
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-24 through
38 facing depth 5
(Locating
Surface)
Front
For mounting
transportation equipment
or eyebolt 8-M20 through
Fig. 1.2
1.2.1
Dimensions of the robot base
Installation Method
There are three methods for installation of the robot as given below. Select a method according to the
customer's installation environment, and install the robot.
-
Installation method I Fig. 1.2.1 (a)
The floor plate is imbedded in concrete and fastened with twelve M20 (Tensile strength 400N/mm2
or more) chemical anchors. Also fasten the base plate to the robot base using eight M2065 bolts
(Tensile strength 1200N/mm2 or more). Next, position the robot, and weld the base plate to the floor
plate. (Floor length is 10 to 15mm.) ( The base plate is prepared as the option.)
-
Installation 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 (Tensile strength 400N/mm2 or more) and the inclination of the floor plate is
adjusted with the four fixing screws. The robot is positioned with the robot base pushed against the
three 20 parallel pins inserted into the base and the robot base is fastened on the floor plate with
eight M20 x 65 bolts (Tensile strength 1200N/mm2 or more).
-
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.
- 28 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
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.
The following parts are required to install the robot.
Required parts
Robot mounting
bolts
Plain washers
Chemical anchors
Floor plate
Base plates
Fixing screws
Nuts
Parallel pins
Remarks
M20X65 (Tensile strength 1200N/mm2 or more)
8pcs
For M20 (HRC 35 or more, thickness between 4
and 5 mm) 8pcs
M20 (HRC 35 or more, tensile strength
400N/mm2 or more) 12 pcs
Thickness 32t 1pc
Thickness 32t 4pcs
M20
4 pcs
M20
4 pcs
φ20
3 pcs
Methods I
Methods II
Methods III
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
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.
- 29 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
1200
270
230
270
12-φ24
230
270
270
555
1200
230
230
260
185
185
230
555
8-M20
Front
Welding
part
Floor plate
185
Floor plate
Note) Burt the floor plate in concrete
Fig. 1.2.1 (a) Installation methodⅠ
- 30 -
200
Depth
Base plate
Base plate
Robot mounting bolts
M20X65(8pcs)
Strength classification 12.9
Tightening torque 529.2Nm
(54kgfm)
Welding after positioning
10 to 15
32
Chemical anchor
M20(12pcs)
Strength classification 4.8
Tightening torque
186.2Nm
(19kgfm)
555
32
185
555
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
1200
358
290
270
230
270
12-φ24
230
0
3-φ20H8 +0.033
315
1200
230
250
270
B
B
450
Front
A
185
450
185
450
555
Chemical anchor
M20(12pcs)
Strength classification 4.8
Tightening torque
186.2Nm
(19kgfm)
555
φ38
（reference）
200
Depth
32
Mounting
Nut
M20(each 4 pcs)
Robot mounting bolts
M20X65(8pcs)
Strength classification 12.9
Tightening torque 529.2Nm
(54kgfm)
Straight pin
h7A20X60 (3pcs)
SECTION AA
SECTION BB
Fig. 1.2.1 (b)
28
（reference）
42
（reference）
A
5（reference）
555
185
185
230
250
270
555
8-M20
Installation methodⅡ
- 31 -
1.TRANSPORTATION AND INSTALLATION
Fig. 1.2.1 (c) Installation method Ⅲ
- 32 -
B-82234EN/12
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Fig. 1.2.1 (d) and Table 1.2.1 (a) indicate the force and moment applied to the base plate at the time of
Power-off stop of the robot. Table 1.2.1 (b),(c) indicate the stopping distance and time of the J1 to J3 axis
until the robot stopping by Power-Off stop or by Controlled stop after input of the stop signal. Refer to
the data when considering the strength of the installation face.
Table 1.2.1 (a) Force and moment during Power-Off stop
R-2000iB/165F
R-2000iB/210F,210WE
62.72 (6400)
73.50(7500)
Force in vertical
direction
FV [kN(kgf)]
37.24 (3800)
41.16 (4200)
R-2000iB/185L
74.48 (7600)
R-2000iB/250F
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/220U
R-2000iB/210FS
R-2000iB/220US
R-2000iB/165CF
75.46 (7700)
75.46 (7700)
84.28 (8600)
77.42 (7900)
37.24 (3800)
61.74 (6300)
71.54 (7300)
53.90(5500)
63.70(6500)
69.58 (7100)
72.52 (7400)
68.60 (7000)
31.36 (3200)
Model
Vertical moment
MV [kNm(kgfm)]
24.50(2500)
25.48 (2600)
Force in horizontal
direction
FH [kN(kgf)]
26.46 (2700)
27.44 (2800)
39.20 (4000)
25.48 (2600)
25.48 (2600)
41.16 (4200)
39.20(4000)
41.16 (4200)
38.22 (3900)
33.32 (3400)
35.28 (3600)
38.22 (3900)
34.30(3500)
36.26 (3700)
38.22 (3900)
41.16 (4200)
35.28 (3600)
29.40(3000)
25.48 (2600)
25.48 (2600)
25.48 (2600)
25.48 (2600)
9.80(1000)
24.50(2500)
25.48 (2600)
19.60(2000)
23.52 (2400)
24.50 (2500)
25.48 (2600)
25.48 (2600)
17.64 (1800)
28.42 (2900)
28.42 (2900)
27.44 (2800)
26.46 (2700)
22.54 (2300)
25.48 (2600)
26.46 (2700)
25.48 (2600)
26.46 (2700)
26.46 (2700)
29.40 (3000)
27.44 (2800)
17.64 (1800)
Horizontal moment
MH [kNm(kgfm)]
Table 1.2.1 (b) Stopping time and distance until the robot stopping by Power-Off stop after input of stop signal
Model
R-2000iB/165F
R-2000iB/210F,210WE
R-2000iB/185L
R-2000iB/250F
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/220U
R-2000iB/210FS
R-2000iB/220US
R-2000iB/165CF
J1-axis
372
22.2 (0.39)
335
16.4 (0.29)
526
24.8 (0.43)
494
22.9 (0.40)
519
26.8 (0.47)
483
22.2 (0.39)
542
30.2 (0.53)
448
26.6 (0.46)
370
20.5 (0.36)
380
19.2 (0.34)
435
29.2 (0.51)
359
19.9(0.35)
476
21.1 (0.37)
455
26.2 (0.46)
464
21.7 (0.38)
300
17.4 (0.30)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
*Max speed and max inertia posture
- 33 -
J2-axis
333
15.0 (0.26)
271
14.2 (0.25)
422
16.8 (0.29)
422
17.2 (0.30)
352
15.3 (0.27)
267
10.7 (0.19)
349
15.9 (0.28)
203
9.8 (0.17)
375
18.7 (0.33)
403
17.4 (0.30)
316
16.6 (0.29)
246
7.9(0.14)
356
14.3 (0.25)
304
11.7 (0.20)
302
12.8 (0.22)
231
10.2 (0.18)
J3-axis
145
7.5 (0.13)
151
8.4 (0.15)
190
8.9 (0.16)
246
9.3 (0.16)
202
8.5 (0.15)
169
8.3 (0.14)
282
13.1 (0.23)
135
8.0(0.13)
200
9.0 (0.16)
210
9.5 (0.17)
186
11.2 (0.20)
177
9.4 (0.16)
206
10.5 (0.18)
198
9.5 (0.17)
186
9.7 (0.17)
140
8.2 (0.14)
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Table 1.2.1 (c) Stopping time and distance until the robot stopping by Controlled stop after input of stop signal
Model
R-2000iB/165F
R-2000iB/210F,210WE
R-2000iB/185L
R-2000iB/250F
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/220U
R-2000iB/210FS
R-2000iB/220US
R-2000iB/165CF
J1-axis
720
41.0 (0.72)
623
35.1 (0.61)
854
42.0 (0.73)
854
43.6 (0.76)
838
47.9 (0.84)
818
40.2 (0.70)
856
49.0 (0.85)
544
34.2 (0.60)
730
44.0 (0.77)
840
40.5 (0.71)
702
47.9 (0.84)
705
41.0 (0.72)
964
49.1 (0.86)
1070
56.3 (0.99)
965
56.7 (0.99)
478
26.2 (0.46)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
Stopping time [ms]
Stopping distance [deg] (rad)
J2-axis
868
39.8 (0.69)
632
33.7 (0.59)
854
33.4 (0.58)
854
32.9 (0.57)
944
41.1 (0.72)
866
37.1 (0.65)
960
39.0 (0.68)
664
34.7 (0.61)
785
44.7 (0.78)
900
37.5 (0.65)
826
48.6 (0.85)
789
31.6 (0.55)
956
38.9 (0.68)
1035
41.8 (0.73)
1015
37.8 (0.66)
317
17.3 (0.30)
*Max speed and max inertia posture
MV
FV
FH
MH
Fig. 1.2.1 (d) Force and moment during Power-Off stop
- 34 -
J3-axis
778
42.8 (0.75)
640
35.1 (0.61)
854
33.4 (0.58)
854
37.8 (0.66)
894
47.8 (0.83)
842
40.9 (0.71)
950
49.0 (0.85)
569
33.8 (0.59)
740
44.1 (0.77)
905
46.5 (0.81)
713
48.1 (0.84)
748
41.2 (0.72)
948
47.8 (0.83)
1022
47.1 (0.82)
1010
47.5 (0.83)
384
16.2 (0.28)
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
1.3
MAINTENANCE AREA
Fig. 1.3 (a) to (e) show the maintenance area of the mechanical unit. Dotted line area is necessary for
mastering .Be sure to leave enough room for the robot to be mastered.
See Chapter 8 for the mastering.
Maintenance area (mechanical unit)
300
300
600
300
300
403
600
197
1500
Mastering area
377
423
348
652
800
1000
Fig. 1.3 (a) Maintenance area (R-2000iB/165F, 210F, 185L, 250F, 125L, 175L, 100H, 150U, 220U, 210FS, 220US)
Maintenance area (mechanical unit)
300
300
600
300
542
600
750
208
2200
Mastering area
377
423
800
348
852
1200
Fig. 1.3 (b) Maintenance area (R-2000iB/165R, 200R, 100P)
- 35 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
300
300
600
300
300
403
600
197
Maintenance area (mechanical unit)
1500
Mastering area
348
762
1140
652
1000
Fig. 1.3 (c) Maintenance area (R-2000iB/210WE)
Maintenance area (mechanical unit)
300
250
550
300
300
305
620
315
1200
Mastering area
327
423
348
750
402
750
Fig. 1.3 (d) Maintenance area (R-2000iB/170CF)
- 36 -
1.TRANSPORTATION AND INSTALLATION
B-82234EN/12
Maintenance area (mechanical unit)
350
650
350
300
305
350
650
345
1400
Mastering area
377
423
348
800
502
850
Fig. 1.3 (e) Maintenance area (R-2000iB/165CF)
1.4
INSTALLATION CONDITIONS
See Section 2.1 and caution below about robot installation specifications.




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.
CAUTION
Damage of the cable jacket can cause water intrusion. Take care when installing
the cable and exchange it if it is damaged.
- 37 -
2.CONNECTION WITH THE CONTROLLER
B-82234EN/12
2
CONNECTION WITH THE CONTROLLER
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.
WARNING
Before turning on controller power, be sure to connect robot mechanical unit and
controller with the earth line. Otherwise, there is the risk of electrical shock.
CAUTION
1 Before connecting the cables, be sure to turn off the controller power.
2 Don’t use 10m or longer coiled cable without untying. The long coiled cable will
heat and damage itself.
Controller
制御装置
Robot mechanical
unit
ロボット
機構部
Robotロボット接続ケーブル
connection cable
(power,
signal cables and earth line)
(動力、信号ケーブル、アース線)
A
Air
エア
Power
line
動力線
Earth
terminal
アース端子
オプション
Option
詳細 A
Signal
信号線 line
Fig. 2.1 (a) Cable connection (Except R-2000iB/210WE)
- 38 -
2.CONNECTION WITH THE CONTROLLER
B-82234EN/12
Controller
Robot mechanical unit
Robot
Robot connection cable
(power,
signal
earth line)
Power
andcables
signaland
cable
earth cable
Purge air
Air
Power cable
Signal cable
B
Earth terminal
Detail B
Fig. 2.1 (b) Cable connection (R-2000iB/210WE)
- 39 -
3.BASIC SPECIFICATION
B-82234EN/12
3
BASIC SPECIFICATIONS
3.1
ROBOT CONFIGURATION
エンドエフェクタ取付面
End effector
AC servo motor (M6)
J6軸用ACサーボモータ (M6)
for J6-axis
AC servo motor (M5)
for J5-axis
J5軸用ACサーボモータ (M5)
Wrist unit
手首ユニット
mounting face
AC
servo motor (M4)
J4軸用ACサーボモータ
(M4)
for J4-axis
J3
J3アーム
arm
AC servo motor (M3)
J3軸用ACサーボモータ
(M3)
for J3-axis
J3ケーシング
J3
casing
AC servo motor (M1)(M1)
J1軸用ACサーボモータ
J2J2アーム
arm
for J1-axis
バランサ
Balancer
AC
servo motor (M2)
J2軸用ACサーボモータ
(M2)
for J2-axis
J2ユニット
J2 unit
J1ユニット
J1
unit
+
X
J4 +
J5
+
J3
Y
J6
-
+
Z
-
J2
-
+
+
(*)(*)All
axes are 0 at this posture.
この姿勢が全軸0°になります。
J1
-
Fig. 3.1 (a) Mechanical unit configuration, each axis coordinates, and mechanical interface coordinates
(R-2000iB/165F,210F,185L,250F,210WE,125L,175L,150U,220U)
NOTE
1 There is no balancer for R-2000iB/150U and 220U.
2 Zero point of mechanical interface coordinates is the end effector mounting
face center.
- 40 -
3.BASIC SPECIFICATION
B-82234EN/12
AC
servo motor (M5) (M5)
J5軸用ACサーボモータ
for J5-axis
AC servo motor (M4)
J4軸用ACサーボモータ
(M4)
AC servo motor (M6)
J6軸用ACサーボモータ (M6)
for J6-axis
for J4-axis
AC servo motor (M1)
J1軸用ACサーボモータ
(M1)
for J1-axis
J2アーム
J2
arm
Balancer
バランサ
AC servo motor (M3)
for J3-axis
J3軸用ACサーボモータ (M3)
J3ケーシング
J3 casing
J2
unit
J2ユニット
Wrist unit
手首ユニット
J1ユニット
J1 unit
J3
arm
J3アーム
J2軸用ACサーボモータ
AC servo motor (M2) (M2)
for J2-axis
End effector
エンドエフェクタ取付面
mounting face
-
J2
+
-
J1
+
+
J3
-
(*) All axes are
at this posture.
(*)0
この姿勢が全軸0°になります。
Y
+
J4
+
J5
-X
+
Z - J6
Fig. 3.1 (b) Mechanical unit configuration, each axis coordinates, and mechanical interface coordinates
(R-2000iB/165R,200R,100P)
NOTE
Zero point of mechanical interface coordinates is the end effector mounting face
center.
- 41 -
3.BASIC SPECIFICATION
B-82234EN/12
J3 casing
J3ケーシング
End effector
J5軸用ACサーボモータ(M5)
AC servo motor (M5)
AC servo motor (M3)
J3軸用ACサーボモータ(M3)
エンドエフェクタ取付面
mounting face
for J5-axis
Wrist unit
手首ユニット
for J3-axis
AC servo motor (M4)
J6軸用ACサーボモータ(M6)
for J4-axis
AC servo motor (M4)
J4軸用ACサーボモータ(M4)
for J4-axis
AC servo motor (M1)
J1軸用ACサーボモータ(M1)
for J1-axis
J3
arm
J3アーム
J2
arm
J2アーム
AC servo motor (M2)
J2軸用ACサーボモータ(M2)
for J2-axis
J2
unit
J2ユニット
J1
unit
J1ユニット
X
J4 +
J5
J6
+
+
+
J2
-
J3 Y
Z
+
+
-
J1
(*)(*)
Allこの姿勢が全軸0°になります。
axes are 0 at this posture.
Fig. 3.1 (c)
Mechanical unit configuration, each axis coordinates, and mechanical interface coordinates
(R-2000iB/170CF)
NOTE
Zero point of mechanical interface coordinates is the end effector mounting face
center.
- 42 -
3.BASIC SPECIFICATION
B-82234EN/12
AC
servo motor (M5)
J5軸用ACサーボモータ(M5)
for J5-axis
AC servo motor (M4)
J4軸用ACサーボモータ(M4)
for J4-axis
End effector
エンドエフェクタ取付面
mounting face
AC servo motor (M3)
J3軸用ACサーボモータ(M3)
for J3-axis
J3
arm
J3アーム
J3 casing
J3ケーシング
AC servo motor (M1)
J1軸用ACサーボモータ(M1)
for J1-axis
Balancer
バランサ
J2 arm
J2アーム
AC servo motor (M2)
J2軸用ACサーボモータ(M2)
for J2-axis
J2
unit
J2ユニット
J1
unit
J1ユニット
+
X
+
J3
J4
J5
-
-
+
Z
Y
-
J2
-
+
+
(*) (*)
All この姿勢が全軸0°になります。
axes are 0 at this posture.
J1
-
Fig. 3.1 (d) Mechanical unit configuration, each axis coordinates, and mechanical interface coordinates
(R-2000iB/100H)
NOTE
Zero point of mechanical interface coordinates is the end effector mounting face
center.
- 43 -
3.BASIC SPECIFICATION
B-82234EN/12
End effector
エンドエフェクタ取付面
J3アーム
J3
arm
mounting face
Wrist unit
手首ユニット
AC servo motor (M4)(M4)
J4軸用ACサーボモータ
for J4-axis
AC servo motor (M5)
for J5-axis
J6軸用ACサーボモータ
AC
servo motor (M6) (M6)
for J6-axis
J5軸用ACサーボモータ (M5)
AC servo motor (M3)
for J3-axis
J3軸用ACサーボモータ (M3)
J3ケーシング
J3
casing
AC servo motor (M1)
J1軸用ACサーボモータ
(M1)
J2J2アーム
arm
for J1-axis
Balancer
バランサ
AC
servo motor (M2) (M2)
J2軸用ACサーボモータ
for J2-axis
J2ユニット
J2
unit
J1ユニット
J1
unit
X
J4 ＋
－
＋
＋
J5
－
J6
－
＋
Z
J3
Y
－
－
J2
＋
＋
－
Fig. 3.1 (e)
(*)(*)この姿勢が全軸0°になります。
All axes are 0 at this posture.
J1
Mechanical unit configuration, each axis coordinates, and mechanical interface coordinates
(R-2000iB/210FS,220US)
NOTE
1 There is no balancer for R-2000iB/220US.
2 Zero point of mechanical interface coordinates is the end effector mounting
face center.
- 44 -
3.BASIC SPECIFICATION
B-82234EN/12
J3ケーシング
AC servo motor (M5)
J5軸用ACサーボモータ (M5)
for
J5-axis
(M6)
( 6) J6軸用ACサーボモータ
AC servo motor (M6)
for J6-axis(M6)
J3 casing
AC servo motor (M4)
for J4-axis
J4軸用ACサーボモータ (M4)
Wrist unit
手首ユニット
End
effector
エンドエフェクタ
mounting
face
取付面
AC
servo motor (M3)
J3軸用ACサーボモータ
(M3)
for J3-axis
J2アーム
J2 arm
AC
servo motor (M1)(M1)
J1軸用ACサーボモータ
for J1-axis
AC servo motor (M2)
J2軸用ACサーボモータ
(M2)
for J2-axis
50
J2ユニット
J2 unit
30
J1 unit
J1ユニット
X
X
Z Y
Fig. 3.1 (f)
Mechanical unit configuration and mechanical interface coordinates (R-2000iB/165CF)
NOTE
Zero point of mechanical interface coordinates is the end effector mounting face
center.
- 45 -
3.BASIC SPECIFICATION
B-82234EN/12
Specifications (1/6)
R-2000iB/165F
Model
R-2000iB/210F,210WE
R-2000iB/185L
Type
Articulated Type
Controlled axis
Installation
6 axes(J1,J2,J3,J4,J5,J6)
Floor mount
180( 3.14rad)
-180(-3.14rad)
76( 1.33rad)
180( 3.14rad)
-180(-3.14rad)
76( 1.33rad)
-60°(-1.05rad)
Upper limit
Lower limit
Upper limit
J1-axis
J2-axis
J3-axis
Motion range
J4-axis
J5-axis
J6-axis
Max. speed
(Note 1)
Max. load
capacity
Allowable load
moment at wrist
180( 3.14rad)
-180(-3.14rad)
76( 1.33rad)
Lower limit
-60°(-1.05rad)
-60°(-1.05rad)
Upper limit
230( 4.01rad)
230( 4.01rad)
225°(3.93rad)
Lower limit
Upper limit
Lower limit
Upper limit
Lower limit
Upper limit
-132(-2.30rad)
360( 6.28rad)
-360(-6.28rad)
125( 2.18rad)
-125(-2.18rad)
360( 6.28rad)
-132(-2.30rad)
360( 6.28rad)
-360(-6.28rad)
125( 2.18rad)/
-125(-2.18rad)
360( 6.28rad)
-121°(-2.11rad)
360( 6.28rad)
-360(-6.28rad)
125( 2.18rad)
-125(-2.18rad)
360( 6.28rad)
-360(-6.28rad)
-360(-6.28rad)
-360(-6.28rad)
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
Lower limit
110/s (1.92rad/s)
110/s (1.92rad/s)
110/s (1.92rad/s)
150/s (2.62rad/s)
150/s (2.62rad/s)
220/s (3.84rad/s)
95/s (1.66rad/s)
90/s (1.57rad/s)
95/s (1.66rad/s)
120/s (2.09rad/s)
120/s (2.09rad/s)
190/s (3.32rad/s)
95/s (1.66rad/s)
85°/s (1.48rad/s)
88°/s (1.54rad/s)
120/s (2.09rad/s)
120/s (2.09rad/s)
190/s (3.32rad/s)
At wrist
165kg
210kg
185kg
On J3 arm
On J3 casing
On J2 base
J4
J5
J6
25kg
550kg
921N・m (94kgf・m)
921N・m (94kgf・m)
461N・m (47kgf・m)
Note 2) 78.4kg・m2
(800kgf・cm・s2)
Note 2) 117.6kg・m2
(1200kgf・cm・s2)
Note 2) 78.4kg・m2
(800kgf・cm・s2)
Note 2) 117.6kg・m2
(1200kgf・cm・s2)
Note 2) 40.2kg・m2
(410kgf・cm・s2)
Note 2) 98kg・m2
(1000kgf・cm・s2)
25kg
550kg
1333N・m (136kgf・m)
1333N・m (136kgf・m)
706N・m (72kgf・m)
Note 2) 141.1kg・m2
(1440kgf・cm・s2)
Note 2) 225.4kg・m2
(2300kgf・cm・s2)
Note 2) 141.1kg・m2
(1440kgf・cm・s2)
Note 2) 225.4kg・m2
(2300kgf・cm・s2)
Note 2) 78.4kg・m2
(800kgf・cm・s2)
Note 2) 196kg・m2
(2000kgf・cm・s2)
25kg
550kg
1225N・m (125kgf・m)
1225N・m (125kgf・m)
706N・m (72kgf・m)
Note 2) 141.1kg・m2
(1440kgf・cm・s2)
Note 2) 225.4kg・m2
(2300kgf・cm・s2)
Note 2) 141.1kg・m2
(1440kgf・cm・s2)
Note 2) 225.4kg・m2
(2300kgf・cm・s2)
Note 2) 78.4kg・m2
(800kgf・cm・s2)
Note 2) 196kg・m2
(2000kgf・cm・s2)
J4
Allowable load
inertia at wrist
J5
J6
Drive method
Repeatability
Electric servo drive by AC servo motor
±0.3mm
1240kg（210F）
Weight of machine unit
1170kg
1290kg
/1280kg(210WE)
Acoustic noise level
71.3dB (Note 3)
Ambient temperature:
0 - 45°C (Note 4)
Ambient humidity:
Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Height:
Up to 1000 meters above the sea level required,
Installation environment
no particular provision for attitude.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (Note 5)
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) 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.
Note 3) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured with the
following conditions.
Maximum load and speed
Operating mode is AUTO
Note 4) When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment that is less than 0ºC in a
holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be high immediately
after starting the operation. In this case, we recommend performing the warm up operation for several minutes.
Note 5) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold
temperatures, severe vibrations,
heavy dust, cutting oil splash and or other foreign substances.
±0.2mm
- 46 -
3.BASIC SPECIFICATION
B-82234EN/12
Specifications (2/6)
R-2000iB/250F
Model
Type
Controlled axis
Installation
Motion range
Max. speed
(Note 1)
Max. load
capacity
Allowable load
moment at wrist
R-2000iB/200R
Articulated Type
6 axes(J1,J2,J3,J4,J5,J6)
Upper limit
J1-axis
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
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
At wrist
On J3 arm
On J3 casing
On J2 base
J4
J5
J6
J4
Allowable load
inertia at wrist
R-2000iB/165R
J5
J6
Drive method
Repeatability
Weight of machine unit
Acoustic noise level
Installation environment
Floor mount
Rack mount
180( 3.14rad)
180( 3.14rad)
180( 3.14rad)
-180(-3.14rad)
-180(-3.14rad)
-180(-3.14rad)
76( 1.33rad)
65( 1.13rad)
65( 1.13rad)
-60°(-1.05rad)
-120°(-2.09rad)
-120°(-2.09rad)
225(3.93rad)
270°( 4.71rad)
270( 4.71rad)
-132°(-2.36rad)
-95°(-1.66rad)
-95°(-1.66rad)
360( 6.28rad)
360( 6.28rad)
360( 6.28rad)
-360(-6.28rad)
-360(-6.28rad)
-360(-6.28rad)
125( 2.18rad)
125( 2.18rad)
125( 2.18rad)
-125(-2.18rad)
-125(-2.18rad)
-125(-2.18rad)
360( 6.28rad)
360( 6.28rad)
360( 6.28rad)
-360(-6.28rad)
-360(-6.28rad)
-360(-6.28rad)
95/s (1.66rad/s)
110/s (1.92rad/s)
90/s (1.57rad/s)
85/s (1.48rad/s)
100/s (1.75rad/s)
85/s (1.48rad/s)
88/s (1.54rad/s)
110/s (1.92rad/s)
95/s (1.66rad/s)
120/s (2.09rad/s)
150/s (2.62rad/s)
120/s (2.09rad/s)
120/s (2.09rad/s)
150/s (2.62rad/s)
120/s (2.09rad/s)
190/s (3.32rad/s)
220/s (3.84rad/s)
190/s (3.32rad/s)
250kg
165kg
200kg
25kg
25kg
550kg
550kg
550kg
1382N・m (141kgf・m)
921N・m (94kgf・m)
1333N・m (136kgf・m)
1382N・m (141kgf・m)
921N・m (94kgf・m)
1333N・m (136kgf・m)
715N・m (73kgf・m)
461N・m (47kgf・m)
706N・m (72kgf・m)
Note 2) 141.1kg・m2
(1440kgf・cm・s2)
78.4kg・m2
141.4kg・m2
2
2
(800kgf・cm・s )
(1440kgf・cm・s2)
Note 2) 225.4kg・m
(2300kgf・cm・s2)
Note 2) 141.1kg・m2
(1440kgf・cm・s2)
78.4kg・m2
141.4kg・m2
(800kgf・cm・s2)
(1440kgf・cm・s2)
Note 2) 225.4kg・m2
(2300kgf・cm・s2)
Note 2) 78.4kg･m2
(800kgf･cm･s2)
40.2kg・m2
78.4kg・m2
(410kgf・cm・s2)
(800kgf・cm・s2)
Note 2) 196kg･m2
(2000kgf･cm･s2)
Electric servo drive by AC servo motor
±0.3mm
1270kg
1480kg
1540kg
71.3dB (Note 3)
Ambient temperature:
0 - 45°C (Note 4)
Ambient humidity:
Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Height:
Up to 1000 meters above the sea level required,
no particular provision for attitude.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (Note 5)
Note 1) I In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) 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.
Note 3) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured
with the following conditions.
Maximum load and speed
Operating mode is AUTO
Note 4) When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment that is less than
0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be
high immediately after starting the operation. In this case, we recommend performing the warm up operation for several minutes.
Note 5) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe
vibrations, heavy dust, cutting oil splash and or other foreign substances.
- 47 -
3.BASIC SPECIFICATION
B-82234EN/12
Specifications (3/6)
R-2000iB/100P
Model
R-2000iB/170CF
Type
Controlled axis
6 axes(J1,J2,J3,J4,J5,J6)
Installation
J1-axis
J2-axis
J3-axis
Motion range
J4-axis
J5-axis
J6-axis
Max. speed
(Note 1)
Max. load
capacity
R-2000iB/125L
Articulated Type
Rack mount
Floor mount(or top mount)
Floor mount
Upper limit
180( 3.14rad)
180( 3.14rad)
180( 3.14rad)
-180 (-3.14rad)
Lower limit
-180 (-3.14rad)
-180 (-3.14rad)
Upper limit
65 (1.13rad)
135( 2.35rad)
76(1.33rad)
Lower limit
-120(-2.09rad)
-55°(-0.96rad)
-60°(-1.05rad)
Upper limit
270(4.71rad)
220( 3.84rad)
230(4.01rad)
Lower limit
-95(-1.66rad)
-112°(-1.95rad)
-122.5°(-2.14rad)
Upper limit
360( 6.28rad)
360(6.28rad)
360(6.28rad)
Lower limit
-360(-6.28rad)
-360(-6.28rad)
-360(-6.28rad)
Upper limit
125( 2.18rad)
125( 2.18rad)
125( 2.18rad)
Lower limit
-125(-2.18rad)
-125(-2.18rad)
-125(-2.18rad)
Upper limit
360( 6.28rad)
360(6.28rad)
360(6.28rad)
Lower limit
-360(-6.28rad)
-360(-6.28rad)
-360(-6.28rad)
J1-axis
110/s (1.92rad/s)
110/s (1.92rad/s)
110/s (1.92rad/s)
J2-axis
90/s (1.57rad/s)
110/s (1.92rad/s)
110/s (1.92rad/s)
J3-axis
110/s (1.92rad/s)
110/s (1.92rad/s)
110/s (1.92rad/s)
J4-axis
120/s (2.09rad/s)
150/s (2.62rad/s)
170/s (2.97rad/s)
J5-axis
120/s (2.09rad/s)
150/s (2.62rad/s)
170/s (2.97rad/s)
J6-axis
190/s (3.32rad/s)
220/s (3.84rad/s)
260/s (4.54rad/s)
At wrist
100kg
170kg
125kg
On J3 arm
-
-
20kg
On J3 casing
25kg
25kg
－
On J2 base
550kg
550kg (Floor mount only)
550kg
J4
980N・m (100kgf・m)
921N・m (94kgf・m)
588N・m (60kgf・m)
J5
980N・m (100kgf・m)
921N・m (94kgf・m)
588N・m (60kgf・m)
J6
706N・m (72kgf・m)
461N・m (47kgf・m)
343N・m (35kgf・m)
J4
225.4kg・m
2
(2300kgf・cm・s )
J5
225.4kg・m
2
(2300kgf・cm・s )
J6
196kg・m
2
(2000kgf・cm・s )
Allowable load
moment at wrist
Allowable load
inertia at wrist
2
Drive method
2
78.4kg・m
2
(800kgf・cm・s )
2
58.8kg・m
2
(600kgf・cm・s )
2
78.4kg・m
2
(800kgf・cm・s )
2
58.8kg・m
2
(600kgf・cm・s )
2
22.5kg・m
2
(230kgf・cm・s )
40.2kg・m
2
(410kgf・cm・s )
2
2
2
Electric servo drive by AC servo motor
Repeatability
±0.3mm
±0.15mm
±0.2mm
Weight of machine unit
1560kg
800kg
1190kg
Acoustic noise level
Installation environment
71.3dB (Note 2)
Ambient temperature:0 - 45°C (Note 3)
Ambient humidity:
Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Height:
Up to 1000 meters above the sea level required,
no particular provision for attitude.
2
Vibration acceleration : 4.9m/s (0.5G) or less
Free of corrosive gases (Note 3)
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured with the
following conditions.
-
Maximum load and speed
Operating mode is AUTO
Note 3) When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment that is
less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive
mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for
several minutes.
Note 4) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures,
severe vibrations, heavy dust, cutting oil splash and or other foreign substances.
- 48 -
3.BASIC SPECIFICATION
B-82234EN/12
Specifications (4/6)
R-2000iB/175L
Model
Type
R-2000iB/100H
R-2000iB/150U
Articulated Type
Controlled axis
6 axes(J1,J2,J3,J4,J5,J6)
Installation
J1-axis
J2-axis
J3-axis
Motion range
J4-axis
J5-axis
J6-axis
5 axes (J1,J2,J3,J4,J5)
6 axes (J1,J2,J3,J4,J5,J6)
Floor mount
Upside-down
Upper limit
180( 3.14rad)
180( 3.14rad)
180( 3.14rad)
-180(-3.14rad)
Lower limit
-180(-3.14rad)
-180(-3.14rad)
Upper limit
76( 1.33rad)
76( 1.33rad)
76( 1.33rad)
Lower limit
-60 (-1.05rad)
-60 (-1.05rad)
-60 (-1.05rad)
Upper limit
230(4.01rad)
230( 4.01rad)
230( 4.01rad)
Lower limit
-126.1°(-2.20rad)
-132°(-2.30rad)
-132°(-2.30rad)
Upper limit
360( 6.28rad)
125( 2.18rad)
360( 6.28rad)
Lower limit
-360°(-6.28rad)
-125(-2.18rad)
-360(-6.28rad)
Upper limit
125( 2.18rad)
360( 6.28rad)
125( 2.18rad)
Lower limit
-125(-2.18rad)
-360(-6.28rad)
-125(-2.18rad)
Upper limit
360( 6.28rad)
Lower limit
-360°(-6.28rad)
360( 6.28rad)
－
-360 (-6.28rad)
J1-axis
95°/s (1.66rad/s)
130/s (2.27rad/s)
110/s (1.92rad/s)
J2-axis
90°/s (1.57rad/s)
130/s (2.27rad/s)
85/s (1.48rad/s)
Max. speed
J3-axis
95°/s (1.66rad/s)
130/s (2.27rad/s)
110/s (1.92rad/s)
(Note 1)
J4-axis
120°/s (2.09rad/s)
170/s (2.97rad/s)
150/s (2.62rad/s)
J5-axis
120°/s (2.09rad/s)
360/s (6.28rad/s)
150/s (2.62rad/s)
Max. load
capacity
J6-axis
190°/s (3.32rad/s)
－
220/s (3.84rad/s)
At wrist
175kg
100kg
150kg
On J3 arm
20kg
－
10kg
On J2 base
550kg
550kg
－
J4
1225N・m (125kgf・m)
441N・m (45kgf・m)
833N・m (85kgf・m)
J5
1225N・m (125kgf・m)
245N・m (25kgf・m)
833N・m (85kgf・m)
J6
706N・m (72kgf・m)
2
225.4kg・m
2
(2300kgf・cm・s )
2
225.4kg・m
2
(2300kgf・cm・s )
2
196kg・m
2
(2000kgf・cm・s )
－
2
39.2kg・m
2
(400kgf・cm・s )
2
15.7kg・m
2
(160kgf・cm・s )
421N・m (43kgf・m)
2
78.4kg・m
2
(800kgf・cm・s )
2
78.4kg・m
2
(800kgf・cm・s )
2
40.2kg・m
2
(2000kgf・cm・s )
Allowable load
moment at wrist
J4
Allowable load
J5
inertia at wrist
J6
Drive method
－
Electric servo drive by AC servo motor
Repeatability
±0.3mm
Weight of machine unit
1260kg
±0.2mm
1150kg
1070kg
Acoustic noise level
71.3dB (Note 2)
Installation environment
Ambient temperature:0 - 45°C (Note 3)
Ambient humidity:
Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Height:
Up to 1000 meters above the sea level required,
no particular provision for attitude.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (Note 4)
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured with the
following conditions.
Maximum load and speed
Operating mode is AUTO
Note 3) When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment that is
less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive
mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for
several minutes.
Note 4) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures,
severe vibrations, heavy dust, cutting oil splash and or other foreign substances.
- 49 -
3.BASIC SPECIFICATION
B-82234EN/12
Specifications (5/6)
R-2000iB/220U
Model
Type
R-2000iB/210FS
R-2000iB/220US
Articulated Type
6 axes (J1,J2,J3,J4,J5,J6)
Controlled axis
Installation
J1-axis
J2-axis
J3-axis
Motion range
J4-axis
J5-axis
J6-axis
Upside-down
Floor mount
Upside-down
Upper limit
180( 3.14rad)
180( 3.14rad)
180( 3.14rad)
-180(-3.14rad)
Lower limit
-180(-3.14rad)
-180(-3.14rad)
Upper limit
76( 1.33rad)
76( 1.33rad)
76( 1.33rad)
Lower limit
-60 (-1.05rad)
-60 (-1.05rad)
-60 (-1.05rad)
Upper limit
230(4.01rad)
100( 1.74rad)
100( 1.74rad)
Lower limit
-132(-2.30rad)
-134(-2.34rad)
-134(-2.34rad)
Upper limit
360( 6.28rad)
210( 3.66rad)
210( 3.66rad)
Lower limit
-360°(-6.28rad)
-210(-3.66rad)
-210(-3.66rad)
Upper limit
125( 2.18rad)
125( 2.18rad)
125( 2.18rad)
Lower limit
-125(-2.18rad)
-125(-2.18rad)
-125(-2.18rad)
Upper limit
360( 6.28rad)
210( 3.66rad)
210( 3.66rad)
Lower limit
-360°(-6.28rad)
-210(-3.66rad)
-210(-3.66rad)
J1-axis
95/s (1.66rad/s)
110/s (1.92rad/s)
110/s (1.92rad/s)
J2-axis
85/s (1.48rad/s)
90/s (1.57rad/s)
85/s (1.48rad/s)
Max. speed
J3-axis
95/s (1.66rad/s)
95/s (1.66rad/s)
95/s (1.66rad/s)
(Note 1)
J4-axis
120/s (2.09rad/s)
130/s (2.27rad/s)
130/s (2.27rad/s)
J5-axis
120/s (2.09rad/s)
130/s (2.27rad/s)
130/s (2.27rad/s)
J6-axis
190/s (3.32rad/s)
200/s (3.49rad/s)
200/s (3.49rad/s)
At wrist
220kg
210kg
220kg
On J3 arm
25kg
－
－
Max. load
capacity
On J2 base
－
550kg
－
J4
1333N･m (136kgf･m)
1333N･m (136kgf･m)
1333N･m (136kgf･m)
J5
1333N･m (136kgf･m)
1333N･m (136kgf･m)
1333N･m (136kgf･m)
J6
706N･m (72kgf･m)
706N･m (72kgf･m)
706N･m (72kgf･m)
Allowable load
moment at wrist
J4
Allowable load
inertia at wrist
J5
J6
141.1kg･m
2
141.1kg･m
2
(1440kgf･cm･s )
141.1kg･m
2
78.4kg･m
2
(1440kgf･cm･s )
2
2
Drive method
Electric servo drive by AC servo motor
Repeatability
±0.3mm
Weight of machine unit
Acoustic noise level
Installation environment
1150kg
1250kg
2
2
2
(1440kgf･cm･s )
78.4kg･m
2
(800kgf･cm･s )
2
(1440kgf･cm･s )
141.1kg･m
2
(1440kgf･cm･s )
78.4kg･m
2
(800kgf･cm･s )
141.1kg･m
2
141.1kg･m
2
(1440kgf･cm･s )
2
2
2
(800kgf･cm･s )
1160kg
71.3dB (Note 2)
73.5dB (Note 2)
Ambient temperature: 0 - 45°C (Note 3)
Ambient humidity:
Normally 75%RH or less. No dew, nor frost allowed.
Short time (within one month) Max 95%RH
Height:
Up to 1,000 meters above the sea level required,
no particular provision for attitude.
2
Vibration acceleration : 4.9m/s (0.5G) or less
Free of corrosive gases (Note 4)
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured with the
following conditions.
Maximum load and speed
Operating mode is AUTO
Note 3) When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment that is
less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive
mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for
several minutes.
Note 4) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures,
severe vibrations, heavy dust, cutting oil splash and or other foreign substances.
- 50 -
3.BASIC SPECIFICATION
B-82234EN/12
Specifications (6/6)
R-2000iB/165CF
Model
Type
Articulated Type
Controlled axis
6 axes (J1,J2,J3,J4,J5,J6)
Installation
Floor mount
J1-axis
J2-axis
J3-axis
Motion range
J4-axis
J5-axis
J6-axis
Upper limit
180( 3.14rad)
Lower limit
-180(-3.14rad)
Upper limit
110( 1.92rad)
Lower limit
-55°(-0.96rad)
Upper limit
120(2.09rad)
Lower limit
-130°(-2.27rad)
Upper limit
360( 6.28rad)
Lower limit
-360(-6.28rad)
Upper limit
125( 2.18rad)
Lower limit
-125(-2.18rad)
Upper limit
360( 6.28rad)
Lower limit
-360(-6.28rad)
J1-axis
110/s (1.92rad/s)
J2-axis
90/s (1.57rad/s)
Max. speed
J3-axis
100/s (1.75rad/s)
(Note 1)
J4-axis
130/s (2.27rad/s)
J5-axis
130/s (2.27rad/s)
Max. load
capacity
J6-axis
210/s (3.67rad/s)
At wrist
165kg
On J3 casing
25kg
On J2 base
550kg
J4
911N･m (93kgf･m)
J5
911N･m (93kgf･m)
Allowable load
moment at wrist
Allowable load
inertia at wrist
J6
451N･m (46kgf･m)
J4
88.2kg･m (800kgf･cm･s )
J5
88.2kg･m (800kgf･cm･s )
2
2
2
2
2
2
44.1kg･m (450kgf･cm･s )
J6
Drive method
Electric servo drive by AC servo motor
Repeatability
±0.15mm
Weight of machine unit
1050kg
Acoustic noise level
78.1dB (Note 2)
Installation environment
Ambient temperature:
0 - 45°C (Note 3)
Ambient humidity:
Normally 75%RH or less. No dew, nor frost
allowed.
Short time (within one month) Max 95%RH
Height:
Up to 1000 meters above the sea level required,
no particular provision for attitude.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (Note 4)
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201 (EN31201). This value is measured with the
following conditions.
-
Maximum load and speed
-
Operating mode is AUTO
Note 3) When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment that is
less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive
mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for
several minutes.
Note 4) Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures,
severe vibrations, heavy dust, cutting oil splash and or other foreign substances.
- 51 -
3.BASIC SPECIFICATION
B-82234EN/12
The following table lists the IEC60529-based Severe dust/liquid protection characteristics of the
R-2000iB.
Standard
J3 arm and wrist section
Drive unit of the main body
Main body
(*) Except some connectors
Main body : IP 54(*)
本体部：IP54
IP67
IP66
IP54 (*)
IP67
IP66
IP56
J3J3アーム+手首部：IP67
arm + Wrist : IP 67
Standard
標準
Fig. 3.1 (g)
Severe dust/liquid protection package (option)
Main body : IP 56
本体部：IP56
J3 arm + Wrist : IP 67
J3アーム+手首部：IP67
Severe dust/liquid
protection package (option)
防塵防滴強化パッケージ
Severe dust/liquid protection characteristics of R-2000iB
NOTE
Definition of IP code
Definition of IP 67
6=Dust-tight
7=Protection from water immersion
Definition of IP 66
6=Dust-tight
6=Protection from powerful water jets
Definition of IP 54
5=Dust-protected
4=Protection from splashing water
Definition of IP 56
5=Dust-protected
6=Protection from powerful water jets
Performance of resistant chemicals and resistant solvents
1
The robot (including severe dust/liquid protection model) cannot be used with the following liquids.
Potentially these liquids will cause irreversible damage to the rubber parts (such as: gaskets, oil seals,
O-rings etc.). (As exception to this only liquids tested and approved by FANUC can be used with the
robot.)
(a) Organic solvents
(b) Coolant including chlorine / gasoline
(c) Amine type detergent
(d) Acid, alkali and liquid causing rust
(e) Other liquids or solutions, that will harm NBR
- 52 -
3.BASIC SPECIFICATION
B-82234EN/12
2
When the robots work in the environment, using water or liquid, complete draining of J1 base must
be done. Incomplete draining of J1 base will make the robot break down.
Don not use unconfirmed liquid.
Do not use the robot immersed in water, neither temporary nor permanent. Robot must not be wet
permanently. *Example : in case motor surface is exposed to water for a long time, liquid may
invade inside the motor and cause failure.
3
4
Please refer to Section 3.6 for R-2000iB/210WE.
3.2
MECHANICAL UNIT EXTERNAL DIMENSIONS AND
OPERATING SPACE
Fig. 3.2 (a) to (q) show the robot operating space. When installing peripheral devices, be careful not to
interfere with the robot and its operating space.
58
2
252.5
R
+180DEG
0 DEG
-180DEG
R 2655
Operating space of
J5-axis rotation
center
J5軸回転中心動作範囲
1280
215
814
J5-axis
rotation
J5軸回転中心
center
60°
35°
312
°
0
3
2
76
°
1075
215°
19°
23 0°
10°
J3軸後部干渉領域
3045
225
J3-axis rear side
interference area
370
670
°
132
1919
Fig. 3.2 (a)
2655
Operating space (R-2000iB/165F)
- 53 -
3.BASIC SPECIFICATION
B-82234EN/12
62
0
284
R
+180DEG.
0 DEG.
-180DEG.
R 2655
1280
225
J3-axis rear side
J3軸後部干渉領域
interference
area
235
J5-axis rotation
J5軸回転中心
814
312
v
-60
v
-35
76
-10 DEG.
1075
215v
3045
center
230v
v
2v
J5軸回転中心
動作範囲
Operating space of
J5-axis rotation
center
370
670
-13
1919
Fig. 3.2 (b)
2655
Operating space (R-2000iB/210F)
- 54 -
3.BASIC SPECIFICATION
B-82234EN/12
71
0
284
R
+180DEG
0 DEG
-180DEG
R 306
0
J3-axis rear side
interference area
814
J5-axis rotation
J5軸回転中心
center
312
-50v
v
76
v
1D
-12
EG
.
Operating
space of
J5軸回転中心
動作範囲
J5-axis
rotation
center
775
670
-4 0
-8 DEG.
225v
1075
v.
215
3450
J3軸後部干渉領域
235
225
1690
2216
Fig. 3.2 (c)
3060
Operating space (R-2000iB/185L)
- 55 -
3.BASIC SPECIFICATION
B-82234EN/12
284
R7
10
+180DEG
0 DEG
-180DEG
R 2655
1280
225
J3-axis rear side
interference
area
J3軸後部干渉領域
235
814
3045
v
215
J5-axis
rotation
J5軸回転中心
center
312
v
-40
1075
- 50v
76
-10v
225v
v.
2v
J5軸回転中心
動作範囲
Operating space of
J5-axis rotation
center
370
670
-13
1811
Fig. 3.2 (d)
2655
Operating space (R-2000iB/250F)
- 56 -
3.BASIC SPECIFICATION
B-82234EN/12
R
72
7
+180DEG
0DEG
-180DEG
R 3095
0
27
Operating
space of
J5軸回転中心動作範囲
J5-axis rotation
center
1883
°
°
41
°
270
720
1075
2975
J3-axis
rear side
J3軸後部干渉領域
interference area
225
1280
65
°
600
80
°
15°
0°
12 5°
7
64 °
Fig. 3.2 (e)
3095
Operating space (R-2000iB/165R)
- 57 -
1674
°
95
1098
rotation
center
215
J5-axis
J5軸回転中心
3.BASIC SPECIFICATION
B-82234EN/12
R
72
7
0 DEG.
+180 DEG.
-180 DEG.
R 3095
J5軸回転中心動作範囲
Operating
space of
J5-axis rotation
center
J3-axis rear side
J3軸後部干渉領域
interference
area
2975
1883
EG
.
G.
DE
0D
0
27
27
720
1075
225
-12
0D
EG
.
5
-7
DE
EG
.
.
80
D
235
J5-axis
rotation
J5軸回転中心
center
-9
5
G
DE
.
-10 DEG.
1117
Fig. 3.2 (f)
3095
Operating space (R-2000iB/200R)
- 58 -
1674
G
DE
1280
600
G.
65
3.BASIC SPECIFICATION
B-82234EN/12
R
72
7
+180 DEG.
0 DEG.
-180 DEG.
R 3500
Operating space of
J5-axis
rotation
J5軸回転中心動作範囲
center
EG
0D
.
27
1883
27
0
720
3380
J3-axis
rear side
J3軸後部干渉領域
interference area
DE
G.
1075
225
-1
20
5
-7
G.
DE
DE
65
DE
G.
600
G.
G.
DE
-9
5
.
J5-axis
rotation
J5軸回転中心
center
1522
Fig. 3.2 (g)
3500
Operating space (R-2000iB/100P)
- 59 -
235
G.
DE
EG
-8 D
2079
1690
82
3.BASIC SPECIFICATION
252.5
B-82234EN/12
+180DEG
0 DEG
-180DEG
R 1520
300
J3-axis rear side
J3軸後部干渉領域
interference area
215
670
326
J5-axis
rotation
J5軸回転中心
center
1720
210
°
°
°
135
55
Operating space of
J5軸回転中心動作範囲
J5-axis rotation
center
°
98
821
Fig. 3.2 (h)
1520
Operating space (R-2000iB/170CF)
- 60 -
559
11
2°
500
550
22
0°
30 °
3.BASIC SPECIFICATION
B-82234EN/12
284
R6
22
+180DEG
0 DEG
-180DEG
R 2655
1280
225
J3-axis rear side
interference
area
J3軸後部干渉領域
J5-axis
J5軸回転中心
rotation
center
230 DEG.
3045
814
312
.
DEG
-60
EG.
D
- 35
76
-10 DEG.
DEG.
1075
2 15
235
DE
G.
.
EG
2 D
J5軸回転中心
動作範囲
Operating space of
J5-axis rotation
center
370
670
-13
1919
Fig. 3.2 (i)
2655
Operating space (R-2000iB/210WE)
- 61 -
3.BASIC SPECIFICATION
B-82234EN/12
58
2
252.5
R
+180DEG
0 DEG
-180DEG
R 3005
Operating space of
J5-axis rotation
center
J5軸回転中心動作範囲
J3-axis rear side
interference area
J5-axis
J5軸回転中心
rotation
center
814
312
1075
60°
35°
76
°
7.8°
215
°
19°
230°
3395
J3軸後部干渉領域
215
225
1635
°
720
670
123
2269
Fig. 3.2 (j)
3005
Operating space (R-2000iB/125L)
- 62 -
3.BASIC SPECIFICATION
B-82234EN/12
62
0
284
R
+180 DEG.
0 DEG.
-180 DEG.
R 2852
Operating
space of
J5軸回転中心動作範囲
J5-axis rotation
center
1480
814
D
-35
EG.
76
DE
G.
9 DEG.
312
670
-6
0
DE
G.
215 DEG.
1075
19 DEG.
230
DE
G.
J5-axis
J5軸回転中心
rotation
center
3242
225
J3-axis rear side
interference
area
J3軸後部干渉領域
235
6
12
G.
DE
567
(0,0)
2116
Fig. 3.2 (k)
2852
Operating space (R-2000iB/175L)
- 63 -
3.BASIC SPECIFICATION
B-82234EN/12
58
2
252.5
R
+180DEG.
0 DEG.
-180DEG.
R 2655
1280
225
J3-axis rear side
J3軸後部干渉領域
interference
area
215
J4-axis
814
J4軸回転中心
rotation
.
3045
DEG
230
center
312
G.
-60
G.
DE
-35
DEG
.
76
DE
G
-10 DEG.
1075
215 DE
.
.
DEG
Operating space of
J4軸回転中心動作範囲
J4-axis rotation
center
370
670
2
-13
1919
Fig. 3.2 (l)
2655
Operating space (R-2000iB/100H)
- 64 -
3.BASIC SPECIFICATION
B-82234EN/12
312
814
-13
.
EG
2D
670
670
370
Operating space of
J5軸回転中心動作範囲
J5-axis
rotation center
(+665,+337)
.
DEG
-60 DEG.
0
3
-
J5-axis
rotation
J5軸回転中心
center
230
225
The robot may not rest
負荷条件・姿勢によっては
depending
on its load
停止できない場合があります。
condition and posture
215
1280
215 DEG.
3045
1075
G.
DE
-10 DEG
76
(+665,+1004)
DE
G.
The
robot may not rest
負荷条件・姿勢によっては
停止できない場合があります。
depending
on its load
condition and posture
J3軸後部干渉領域
J3-axis rear side
interference area
252
2655
1919
R 2655
-180DEG.
0 DEG.
+180DEG.
R
Fig. 3.2 (m)
53
4
Operating space (R-2000iB/150U)
- 65 -
3.BASIC SPECIFICATION
B-82234EN/12
814
370
312
J5軸回転中心動作範囲
Operating space of
J5-axis
670
rotation
.
EG
19
°
76
.
D EG
- 60 G .
DE
-35
.5°
1075
15.5°
64
147.7°
215 DEG.
.
DEG
J3-axis rear side
J3軸後部干渉領域
interference area
225
23 0
°
1.3
3045
2D
47.3
°
- 13
235
1280
J5-axis
J5軸回転中心
rotation
center
2470
1053
55
9
284
R
0 DEG.
+180DEG.
-180DEG.
0
R 247
R
Fig. 3.2 (n)
53
4
Operating space (R-2000iB/220U)
- 66 -
3.BASIC SPECIFICATION
B-82234EN/12
62
0
432
R
+180DEG.
0DEG.
-180DEG.
R 2605
1230
235
225
J3-axis rear side
interference
area
J3軸後部干渉領域
J5-axis
rotation
J5軸回転中心
center
937
1075
G
.4DE
-20
G.
DE
-60
EG.
-10.4D
312
.
2995
100D
EG.
DE
76
G.
G.
J5軸回転中心
動作範囲
Operating space
of J5-axis rotation
center
320
670
DE
3.9
-13
1054
Fig. 3.2 (o)
2605
Operating space (R-2000iB/210FS)
- 67 -
3.BASIC SPECIFICATION
320
B-82234EN/12
670
J3-axis rear side
J5軸回転中心
動作範囲
interference area
.
EG
G
DE
76
-45
.4D
EG .
3.9D
-13
.
G.
DE
-60
E G.
.4D
-20
225
235
.
EG
0D
10
937
Operating
space of
J3軸後部干渉領域
J5-axis rotation
center
2995
1075
14.1DEG.
312
1230
J5-axis
J5軸回転中心
rotation
center
2443
1054
R
55
9
-180DEG.
0DEG.
+180DEG.
R
3
R 244
53
4
Fig. 3.2 (p)
Operating space (R-2000iB/220US)
- 68 -
3.BASIC SPECIFICATION
B-82234EN/12
429
R1
+180 DEG
-180 DEG
0 DEG
55
R3
620
240
J5-axis
J5軸回転中心
rotation
center
463
1818
50° ° 28.8
°
35
J3-axis
rear side
J3軸後部干渉領域
interference area
22°
0°
0°
11
550
12
25°
250
1125.75
600
Operating
space of
J5軸回転中心動作範囲
J5-axis rotation center
.
125
5°
210
423
348
767
Fig. 3.2 (q)
1429
Operating space (R-2000iB/165CF)
- 69 -
3.BASIC SPECIFICATION
3.3
B-82234EN/12
ZERO POINT POSITION AND MOTION LIMIT
Zero point and motion range are provided for each controlled axis. Exceeding the software motion limit
of a controlled axis is called overtravel (OT). Overtravel is detected at both ends of the motion limit for
each axis. The robot cannot exceed the motion range unless there is a loss of zero point position due to
abnormalities in servo system or system error. In addition, the motion range limit by a mechanical stopper
or limit switch is also prepared to improve safety.
Only in case of J1 for R-2000iB/165F, 210F, 185L, 250F, 165R, 200R, 100P, 170CF, 210WE, 125L,
175L, 100H, 150U, 210FS, 220US robot stops by transforming mechanical stopper.
In case of J1 to J3 for R-2000iB/165CF, robot stops by transforming mechanical stopper.
Be sure to exchange transformed stopper to new one. Don’t reconstruct the mechanical stopper. There is a
possibility that the robot doesn't stop normally. Tighten bolts with regulated torque referring to Appendix
B [MOUNTING BOLT TORQUE LIST].
Replace mechanical stopper of J1-axis referring to Fig.3.3 (a),(b) for R-2000iB/165F, 210F, 185L, 250F,
165R, 200R, 100P, 170CF, 210WE, 125L, 175L, 100H, 150U, 210FS, 220US.
Replace mechanical stopper of J1 to J3-axis referring to Fig.3.3 (d) for R-2000iB/165CF.
J5-axis mechanical stopper
(Upper and lower (2 locations))
(Movable side)
(*) It is J4-axis for R-2000iB/100H.
J5-axis mechanical stopper
(Upper and lower (2 locations))
(Fixed side)
(*) It is J4-axis for R-2000iB/100H.
J3-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Movable side)
J1-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Fixed side)
J1-axis mechanical stopper (Movable side)
Stopper：A290-7329-X215
Bolt：M12X35(4)
Washer (4)
In case of 210WE
Coating bolt : A97L-0218-0432#12X35 (4)
Washer
: A97L-0218-0435#M12H (4)
Fig. 3.3 (a) Position of mechanical stopper
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H,150U,220U)
- 70 -
3.BASIC SPECIFICATION
B-82234EN/12
J5-axis mechanical stopper
(Upper and lower (2 locations))
(Fixed side)
J3-axis mechanical stopper
(Movable side)
J5-axis mechanical stopper
(Upper and lower (2 locations))
(Movable side)
J2-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Movable side)
J1-axis mechanical stopper
(Movable side)
Stopper：A290-7329-X215
Bolt ：M12X35(4)
Washer (4)
J3-axis mechanical stopper
(Both of right and left)
(Fixed side)
Fig. 3.3 (b)
Position of mechanical stopper
(R-2000iB/170CF)
J5-axis mechanical stopper
(Movable side)
(Upper and lower (2 locations))
J5-axis mechanical stopper
(Fixed side)
(Upper and lower (2 locations))
J3-axis mechanical stopper
(Movable side)
J3-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper
(Movable side)
J2-axis mechanical stopper
(Fixed side)
J1-axis mechanical stopper (Movable side)
Stopper：A290-7329-X215
Bolt：M12X35(4)
Washer (4)
Fig. 3.3 (c)
Position of mechanical stopper
- 71 -
J1-axis mechanical stopper
(Fixed side)
(R-2000iB/210FS,220US)
3.BASIC SPECIFICATION
B-82234EN/12
J2-axis mechanical stopper
(Fixed side)
J5-axis mechanical stopper
（Upper side and lower side) (Fixed side)
J5-axis mechanical stopper
（Upper side and lower side)
(Movable side)
J3-axis mechanical stopper (Movable side)
Stopper：A290-7321-X405
Bolt：M12X75(3)
Washer (3)
J3-axis mechanical stopper
(Fixed side)
J2-axis mechanical stopper (Movable side)
Stopper：A290-7318-X318
Bolt：M12X100 (4)
Washer (4)
J1-axis
mechanical stopper
(Fixed side)
80
J1-axis mechanical stopper (Movable side)
Stopper：A290-7321-X215
Bolt：M12X55(3)
Washer (3)
Spacer：A290-7321-X216
80
Fig. 3.3 (d)
Position of mechanical stopper
(R-2000iB/165CF)
Fig.3.3 (e) to (r) show the zero point and motion limit, LS detection position, and maximum stopping
distance (stopping distance in condition of max.speed and max.load) of each axis.
R-2000iB/210WE does not support limit switch option.
*
The motion range can be changed.
Chapter 6, "AXIS LIMIT SETUP".
For information on how to change the motion range, see
180°
-197v
The maximum stopping distance (posiiton)
-180.5°Limit switch detection position
±180° Stroke end
0°
+180.5°Limit switch detection position
+197v
The maximum stopping distance (posiiton)
180°
(NOTE) Limit switch of J1-axis is an option.
Fig. 3.3 (e)
J1-axis motion limit
- 72 -
3.BASIC SPECIFICATION
B-82234EN/12
0°
60°
-60°Stroke end (Lower limit)
76
°
+76°Stroke end (Upper limit)
4°
-60.5°Limit switch detection position
-63.8°
The maximum stopping
distance (position)
+76.5°Limit switch detection position
4°
+81.3°
The maximum stopping
distance (position)
(NOTE） The limit switch of J2-axis is an option.
Motion limit is restricted by the position of the J3-axis.
Fig. 3.3 (f) J2-axis motion limit
(R-2000iB/165F, 210F, 185L, 250F, 210WE,125L, 175L, 100H, 150U, 220U,210FS,220US)
-120°Stroke end (Lower limit)
-120.5°
Limit switch detection position
12
0°
-123.8°
The maximum stopping
distance (position)
65
°
0°
+65°Stroke 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 (g)
+65.5°
Limit switch detection position
-70.3°
The maximum stopping
distance (position)
J2-axis motion limit (R-2000iB/165R,200R,100P)
- 73 -
3.BASIC SPECIFICATION
B-82234EN/12
0°
-55v Stroke end(Lower limit)
55
°
135
°
-59v
The maximum stopping
distance (position)
+135v Stroke end(Upper limit)
+139v
The maximum stopping
distance (position)
Fig. 3.3 (h)
(NOTE)
Motion limit is restricted by the position of J3-axis.
J2-axis motion limit (R-2000iB/170CF)
-55°Stroke end (Lower limit)
-55.5°Limit swtich detection position
-58.8°
The maximum stoppoing
distance (position)
+110°Stroke end (Upper limit)
-110.5°Limit swtich detection position
-115.3°
The maximum stoppoing
distance (position)
(NOTE）
The limit switch of J2-axis is an option.
Motion limit is restricted by the position of the J3-axis.
Fig. 3.3 (i)
J2-axis motion limit (R-2000iB/165CF)
- 74 -
3.BASIC SPECIFICATION
B-82234EN/12
19
5°
0°
79°
J2+J3=+195°
Stroke end (Upper limit)
J2+J3=-79°
Stroke end (Lower limit)
J2+J3=+195.5°
Limit switch detection position
J2+J3=-80.7°
The maximum stopping
distance (position)
J2+J3=+197.5°
The maximum stopping
distance (position)
J2+J3=-79.5°
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 (j) J3-axis motion limit
(R-2000iB/165F, 210F, 185L, 250F, 165R, 200R, 100P, 210WE, 125L, 175L, 100H, 150U)
23
5°
0°
0°
5 5°
125°
J2+J3=235v
Stroke end(Upper limit)
J2+J3=-55v
Stroke end(Lower limit)
J2+J3=-59v
The maximum stopping
distance (position)
J2+J3=239v
The maximum stopping
distance (position)
(NOTE)
Motion limit is restricted by the position of J2-axis.
Fig. 3.3 (k)
J3-axis motion limit (R-2000iB/170CF)
- 75 -
3.BASIC SPECIFICATION
B-82234EN/12
100
J2+J3=-+100°
Stroke end (Upper limit)
v
J2+J3=+105°
The maximum stopping
distance (position)
0v
v
79
J2+J3=-79°
Stroke end (Lower limit)
J2+J3=-83°
The maximum stopping
distance (position)
(NOTE） Motion limit is restricted by the position of the J2-axis.
Fig. 3.3 (l)
J3-axis motion limit (R-2000iB/210FS,220US)
120°
J2+J3=+120°
Stroke end (Upper limit)
B
0°
A
J2+J3=+120.5°
Limit switch detection
position
A'
B'
J2+J3=+122.5°
The maximum stopping
distance (position)
75°
J2+J3=-75°
Stroke end (Lower limit)
J2+J3=-75.5°
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.
J2+J3=-76.7°
The maximum
stopping distance
(position)
Fig. 3.3 (m)
J3-axis motion limit (R-2000iB/165CF)
- 76 -
3.BASIC SPECIFICATION
B-82234EN/12
+125° Stroke end （Upper limit）
(Except R-2000iB/165CF)
Stroke end (Upper limit) and
the maximum stopping distance (position)
(R-2000iB/165CF)
°
1 25
+126.6° The maximum stopping distance (position)
(Except R-2000iB/165CF)
0°
125
-126.6° The maximum stopping distance (position)
(Except R-2000iB/165CF)
°
-125° Stroke end （Lower limit）
(Except R-2000iB/165CF)
Stroke end (Lower limit) and
the maximum stopping distance (position)
(R-2000iB/165CF)
Fig. 3.3 (n)
J5-axis motion limit (It is J4-axis for R-2000iB/100H)
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 (o) J4-axis motion limit
(for R-2000iB/100H,210FS,220US is not included)
Fig. 3.3 (p) J6-axis motion limit
(It is J5-axis for R-2000iB/100H except 210FS,220US)
- 77 -
3.BASIC SPECIFICATION
B-82234EN/12
Software restriction
Software restriction
0v
0v
- 210°
+210v
- 210°
+210v
(NOTE) J4-axis does not have the limit switch and the
mechanical unit
(NOTE) J6-axis does not have the limit switch and the
mechanical unit
Fig. 3.3 (q) J4-axis motion limit
( R-2000iB/210FS,220US)
Fig. 3.3 (r) J6-axis motion limit
(R-2000iB/210FS,220US)
- 78 -
3.BASIC SPECIFICATION
B-82234EN/12
3.4
WRIST LOAD CONDITIONS
Fig. 3.4 (a) to (ad) are diagrams showing the allowable load that can be applied to the wrist section.
・ Apply a load within the region indicated in the graph.
・ Apply the conditions of the allowable load moment and the allowable load inertia. See Section 3.1
about the allowable load moment and the allowable load inertia.
・ See Section 4.1 about mounting of end effector.
Z [cm]
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
Fig. 3.4 (a)
40
37.8
30
27.7
20
50
60
X, Y [cm]
Wrist load diagram (ISO flange)(R-2000iB/165F, 165R, 170CF)
- 79 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (Insulated ISO flange)(R-2000iB/165F, 165R, 170CF)
- 80 -
3.BASIC SPECIFICATION
B-82234EN/12
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)
- 81 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
77.7
66.3
57.3
70
60
120kg
140kg
160kg
50
41.3
180kg
40
210kg
30
20
39.4
10
49.4
40
Fig. 3.4 (d)
50
60
X,Y [cm]
56.5
30
34.3
20
43.8
50.0
80
Wrist load diagram (ISO flange)(R-2000iB/210F,200R,210WE)
- 82 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (Insulated ISO flange)(R-2000iB/210F, 200R)
- 83 -
3.BASIC SPECIFICATION
B-82234EN/12
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)
- 84 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
100kg
84.0
80
69.9
120kg
70
59.2
140kg
60
50.9
160kg
50
40
185kg
30
49.5
20
56.7
10
66.5
30
40
Fig. 3.4 (g)
50
43.9
20
38.5
42.6
60
X,Y [cm]
Wrist load diagram (ISO flange)(R-2000iB/185L)
- 85 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
81.7
100kg
80
70
120kg
67.6
56.9
48.6
60
50
140kg
160kg
40
40.3
185kg
30
49.5
20
56.7
10
66.5
40
Fig. 3.4 (h)
50
43.9
30
38.5
20
60
X,Y [cm]
Wrist load diagram (Insulated ISO flange)(R-2000iB/185L)
- 86 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
80
60
53.9
37.0
32.9
170kg
50
200kg
40
230kg
30
250kg
35.9
20
41.6
10
49.5
20
30
29.2
44.3
140kg
Fig. 3.4 (i)
40
50
60
31.5
66.7
70
Wrist load diagram (ISO flange)(R-2000iB/250F)
- 87 -
X,Y [cm]
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
80
70
140kg
64.4
60
170kg
51.6
42.0
50
200kg
40
230kg
30.6
30
250kg
35.9
20
41.6
10
49.5
30
29.2
20
Fig. 3.4 (j)
40
31.5
34.7
50
60
X,Y [cm]
Wrist load diagram (Insulated ISO flange)(R-2000iB/250F)
- 88 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (k)
Wrist load diagram (ISO flange)(R-2000iB/100P)
- 89 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (l)
Wrist load diagram (Insulated ISO flange)(R-2000iB/100P)
- 90 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (m)
Wrist load diagram (FANUC/Special flange)(R-2000iB/100P)
- 91 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (n)
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)
- 92 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
80
50kg
71.3
70
60
50.9
70kg
50
40
100kg
30
110kg
20
31.3
125kg
10
60.5
Fig. 3.4 (o)
40
50
46.0
30
34.0
37.2
20
28.0
38.1
33.3
29.3
24.2
90kg
60
X,Y [cm]
Wrist load diagram (Insulated ISO flange)(R-2000iB/125L)
- 93 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (p)
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)
- 94 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
100
100kg
90.6
90
80
120kg
74.8
70
60
50
160kg
175kg
40
30
20
41.1
50.6
10
58.3
20
30
40
50
Fig. 3.4 (q)
60
Wrist load diagram (ISO flange)(R-2000iB/175L)
- 95 -
70
X,Y [cm]
68.7
53.6
47.9
140kg
44.7
62.9
3.BASIC SPECIFICATION
B-82234EN/12
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 (r)
60
70
X,Y [cm]
68.7
30
44.7
20
Wrist load diagram (Insulated ISO flange)(R-2000iB/175L)
- 96 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (s)
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)
- 97 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (t)
40
29.6
30
25.0
27.1
20
50
60
X,Y [cm]
Wrist load diagram (FANUC/Special flange)(R-2000iB/100H)
- 98 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (u)
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)
- 99 -
3.BASIC SPECIFICATION
B-82234EN/12
Z (cm)
90
80
75.3
70kg
70
59.1
60 90kg
50 110kg
47.8
150kg
30
20
10
Fig. 3.4 (v)
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 (Insulated ISO flange)(R-2000iB/150U)
- 100 -
3.BASIC SPECIFICATION
B-82234EN/12
Z (cm)
90
80
75.1
70kg
70
40 130kg
150kg
30
20
10
10
20
Fig. 3.4 (w)
40
30
Wrist load diagram
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
(FANUC/Special flange)(R-2000iB/150U)
- 101 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
80
180kg
77.7
160kg
140kg
66.3
70
120kg
57.3
50.0
44.5
60
50
41.3
40
38.3
30
220kg
20
210kg
200kg
10
Fig. 3.4 (x)
60
70
X, Y [cm]
56.5
50
49.4
40
39.4
43.8
30
32.7
34.3
36.0
20
Wrist load diagram (ISO flange)(R-2000iB/220U)
- 102 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
75.4
80
160kg
180kg
140kg
70
64.0
120kg
60
55.0
50
47.7
42.2
40
30
20
210kg
220kg
200kg
10
Fig. 3.4 (y)
60
70
X, Y [cm]
56.5
50
49.4
40
39.4
43.8
30
34.3
36.0
20
32.7
39.0
36.0
Wrist load diagram (Insulated ISO flange)(R-2000iB/220U)
- 103 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
77.0
80
120kg
70
140kg
60
160kg
65.8
57.0
49.8
50
41.3
180kg
40
38.9
210kg
30
220kg
(R-2000iB/220US)
20
39.5
10
49.6
Fig. 3.4 (z)
50
60
X,Y [cm]
57.0
40
44.0
30
32.8
34.3
20
Wrist load diagram (ISO flange)(R-2000iB/210FS,220US)
- 104 -
3.BASIC SPECIFICATION
B-82234EN/12
Z [cm]
90
80
120kg
74.7
70
63.5
60
54.7
47.5
39.0
36.6
140kg
160kg
50
40
30
180kg
210kg
220kg
(R-2000iB/220US)
20
39.5
10
49.6
Fig. 3.4 (aa)
50
60
X,Y [cm]
57.0
40
44.0
30
32.8
34.3
20
Wrist load diagram (Insulated ISO flange)(R-2000iB/210FS,220US)
- 105 -
3.BASIC SPECIFICATION
B-82234EN/12
Z(ｃｍ)
80
70
59.1
48.3
44.0
60 100ｋｇ
50 120ｋｇ
130ｋｇ
40
165ｋｇ
30
20
10
30
Fig. 3.4 (ab)
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)
- 106 -
3.BASIC SPECIFICATION
B-82234EN/12
Z(ｃｍ)
80
70
60
58.1
47.3
43.0
100ｋｇ
50
120ｋｇ
130ｋｇ
40
30
165ｋｇ
20
10
30
Fig. 3.4 (ac)
40
50
60 X,Y(ｃｍ)
43.3
20
34.4
37.0
10
27.8
31.3
Wrist load diagram (Insulated ISO flange) (R-2000iB/165CF)
- 107 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (ad)
Wrist load diagram (FANUC/special flange) (R-2000iB/165CF)
- 108 -
3.BASIC SPECIFICATION
B-82234EN/12
3.5
LOAD CONDITIONS ON J2 BASE, J3 ARM AND J3
CASING
Table 3.5 and Fig. 3.5 (a) to (j) show J2 base, J3 arm and J3 casing load condition.
Table 3.5 J2 base / J3 arm /J3 casing load condition
J2 base
J3 arm
J3 casing
Figure
R-2000iB/165F,210F,250F,
210WE
○
○
X
Fig. 3.5 (a)
R-2000iB/185L
○
X
○
Fig. 3.5 (b)
R-2000iB/165R,100P
○
X
○
Fig. 3.5 (c)
R-2000iB/200R
○
X
X
Fig. 3.5 (d)
R-2000iB/170CF
○
X
○
Fig. 3.5 (e)
R-2000iB/125L,175L
○
○
X
Fig. 3.5 (f)
R-2000iB/100H
○
X
X
Fig. 3.5 (g)
R-2000iB/150U,220U
X
○
X
Fig. 3.5 (h)
R-2000iB/210FS
○
X
X
Fig. 3.5 (i)
R-2000iB/220US
X
X
X
-
R-2000iB/165CF
○
X
○
Fig. 3.5 (j)
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.
Interference
干渉
- 109 -
3.BASIC SPECIFICATION
B-82234EN/12
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 base / J3 arm load condition(R-2000iB/165F, 210F, 250F, 210WE)
- 110 -
3.BASIC SPECIFICATION
R
50
0
B-82234EN/12
Load capacity on the J3 casing 25kg (valve or the like)
200
200
Load capacity on the J2 base 550kg
（welding transformer or the like）
Fig. 3.5 (b)
J2 base / J3 casing load condition(R-2000iB/185L)
- 111 -
3.BASIC SPECIFICATION
00
Load capacity on the
J3 casing : 25kg
(valve or the like)
200
200
R5
B-82234EN/12
Load capacity on the
J2 base : 550kg
(welding transformer
or the like)
Fig. 3.5 (c)
J2 base / J3 casing load condition (R-2000iB/165R, 100P)
- 112 -
3.BASIC SPECIFICATION
B-82234EN/12
R5
00
Load capacity on the
J2 base : 550kg
(welding transformer
or the like)
Fig. 3.5 (d)
J2 base load condition (R-2000iB/200R)
- 113 -
3.BASIC SPECIFICATION
R
50
0
170
260
B-82234EN/12
Load capacity on J3 casing 25kg
Load capacity on the J2 base 550kg
(Floor mount only)
Fig. 3.5 (e)
J2 base / J3 casing load condition (R-2000iB/170CF)
- 114 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (f)
J2 base / J3 arm load condition(R-2000iB/125L, 175L)
- 115 -
3.BASIC SPECIFICATION
R
B-82234EN/12
0
50
Load capacity on the
J2 base : 550kg
(peripherals
or the like)
Fig. 3.5 (g)
J2 base load condition (R-2000iB/100H)
- 116 -
3.BASIC SPECIFICATION
B-82234EN/12
150
Load capacity on the J3 arm
10kg (R-2000iB/150U)
25kg (R-2000iB/220U)
(valve or the like)
600
Fig. 3.5 (h)
J2 base load condition (R-2000iB/150U,220U)
- 117 -
3.BASIC SPECIFICATION
B-82234EN/12
R
0
50
Load capacity on the J2 base : 550kg
（Welding transformer or the like）
Fig. 3.5 (i)
J2 base load condition (R-2000iB/210FS)
- 118 -
3.BASIC SPECIFICATION
B-82234EN/12
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 (j)
J2 base / J3 casing load condition (R-2000iB/165CF)
- 119 -
3.BASIC SPECIFICATION
3.6
B-82234EN/12
ATTENTION ABOUT 210WE
1
The liquids below cannot be applied because they may cause deterioration or corrosion of the rubber
parts (such as gasket, oil seals, and O-rings) used in the robot. (As exception to this only liquids
tested and approved by FANUC can be used with 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 base.
A failure may be caused if the J1 base is kept immersed in water due to poor drainage.
3
4
Replace gaskets by new one when it is removed when replacing part and check.
Don’t use unconfirmed liquid for cutting fluid and cleaning fluid.
Liquid model name
Manufacturer name
QUAKERCLEAN 624JBS
Quaker Chemical Corporation
QUAKERCLEAN 624CP
Quaker Chemical Corporation
HOUGHTO CLEAN 130F
HOUGHTON BRASIL LTDA.
5
6
7
8
Permissible concentration
5.0％
Diluted to 20 parts of water
5.0％
Diluted to 20 parts of water
5.0％
Diluted to 20 parts of water
Note that applying a cleaning liquid not included in the specification or one beyond its permissible
concentration or temperature even if it is included in the specification to the robot may results in
serious damage to the robot.
Be sure to perform air purge by regulated pressure.(See Section 5.4.) Please do the air purge
whenever the robot is stopping or the power supply is cut. The air purge stop causes the flood and
the be dewy in the mechanism. Don’t apply factory air without any filter. Remove water and oil in
compressed air using air purge kit (option).
Robot cannot be used in the condition that cleaning fluid splash on the robot.
Do not use the robot immersed in water, neither temporary nor permanent. Robot must not be wet
permanently.
- 120 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
4
EQUIPMENT INSTALLATION TO THE ROBOT
4.1
END EFFECTOR INSTALLATION TO WRIST
Fig. 4.1 (b) to (m) show the figures 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 effector mounting face. When using the insulated 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
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.
CAUTION
When a FANUC flange or special flange is used, be sure to use ten bolts to
install an end effector. (Except R-2000iB/165CF)
CAUTION
For the R-2000iB/210F, 185L, 250F, 200R, 100P, 210WE, 175L,
220U,210FS,220US it is desirable to attach the end effector with 10 bolts.
CAUTION
In case of R-2000iB/210F,185L,250F,210WE,200R,100P,175L,220U, please pay special
attention when mounting peripheral equipment to J6.
Such equipment must not get in
touch with the protection metal plate for the oil seal (located at the wrist flange root side,
as shown in Fig.4.1 (a)). Indeed, if force is applied to this equipment and consequently
the protection metal plate is moved, this may cause damage to the oil seal, as well as J6
axis calibration may become impossible.
- 121 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
Protection metal plate
for the oil seal
Wrist unit spec. : A290-7324-T515
Protection metal plate
for the oil seal
Wrist unit spec. : A290-7329-T515 (Except R-2000iB/210WE)
A290-7329-T555 (R-2000iB/210WE)
Fig. 4.1 (a) Protection metal plate for oil seal
6-D tap depth E
Equally spaced on F
circumference
2- G depth H
ISO flange
(Complied with ISO 9409-1-A125)
Fig. 4.1 (b)
ISO flange
(R-2000iB/165F,165R, 170CF, 125L,100H,150U)
- 122 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
6-D tap depth E
Equally spaced on F
circumference
2-  G depth H
Insulated ISO flange
(Complied with ISO 9409-1-A125)
Fig. 4.1 (c)
Insulated ISO flange (R-2000iB/165F, 165R, 170CF, 125L,150U)
10-D tap depth E
30°
30°
°
30
°
30
8
60
10
110
φF
30
°
°
30
Fu0.05
30°
240
30°
2-OG depth H
FANUC flange
A05B-1329-K051
A
B
C
D
E
F
G
H
Fig. 4.1 (d)
φ60H7 +0.030
0
0
φ110h7 -0.035
10
M10
DP16
90
10H7 +0.015
0
DP12
FANUC／special flange
Special flange
A05B-1329-K052
A
B
C
D
E
F
G
H
φ76G7 +0.040
+0.010
φ108f8 -0.036
-0.090
11
M10
DP16
92
9H7 +0.015
0
DP12
(R-2000iB/165F, 165R, 170CF, 125L,100H,150U)
CAUTION
When a FANUC flange or special flange is used, be sure to use ten bolts to
install an end effector.
- 123 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
2-OG depth H
30°
OF
30
°
14.5
A
Fu0.05
126
10 or less]
10-D tap depth E
°
30
10
30v
126
C
B
30
°
30
°
235
30°
ISO flange
A05B-1329-H051
30v
Protection metal plate
for oil seal
A φ80H7 +0.030
0
0
B φ160h8 -0.063
C 10
D M10
E DP18
F 125
G 10H7 +0.015
0
H DP12
(Complied with ISO 9409-1-A125)
Fig. 4.1 (e)
ISO flange
(R-2000iB/210F,185L,250F,200R,100P,175L,220U)
CAUTION
When R-2000iB/210F,185L,250F,200R,100P or 175L is specified, use ten bolts
to install an end effector, if possible.
37.5
6-D tap depth E
Equally spaced on OF
circumference
B
Fu0.05
189
10
C
2-φG depth H
154.5
Insulated ISO flange
A05B-1329-H151
Protection metal plate
for oil seal
A φ80H7 +0.030
0
0
B φ160h8 -0.063
C 10
D M10
E DP16
F 125
G 10H7 +0.015
0
H DP12
(Complied with ISO 9409-1-A125)
Fig. 4.1 (f)
Insulated ISO flange (R-2000iB/210F,185L,250F,200R,100P,175L,220U)
- 124 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
30°
39.5
10-D tap depth E
30
°
Fu0.05
30
°
10
3 0v
2-OG depth 8
C
A
189
B
8
OF
°
30
260
30°
Protection metal plate
for oil seal
FANUC flange
A05B-1329-K051
Special flange
A05B-1329-K052
A φ60H7 +0.030
0
0
B φ110h7 -0.035
C 10
D M10
E DP16
F 90
G 10H7 +0.015
0
H DP12
A φ76G7 +0.040
+0.010
B φ108f8 -0.036
-0.090
C 11
D M10
E DP16
F 92 +0.015
G 9H7 0
H DP12
Fig. 4.1 (g)
°
30
30 v
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.
30v
30v
2-F depth G
30
10-C depth D
30
v
v
E u 0.05
189
B
14.5
A
10
30
v
30°
235
30
v
O
30v
5
12
3 0v
ISO flange
A05B-1329-H051
Protection metal plate
for oil seal
A φ80
B φ160
C M10
D DP16
E 125
F 10H7 +0.015
0
G DP12
(Complied with ISO 9409-1-A125)
Fig. 4.1 (h)
ISO flange (R-2000iB/210WE)
CAUTION
In case of R-2000iB/210WE, it is impossible to use fitness portion of inside
diameter and outside diameter. Please use locating pin for mounting of end
effector.
- 125 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
2-OG depth H
30°
30°
Cable clamp
30
°
30
8
°
10-D depth E
F u 0.05
B
O90 MAX
Cable
°
30
235
30
21 MAX
30°
°
30°
OF
ISO flange
A05B-1329-H051
A －
0
B O160h8 -0.063
C －
D M10
E DP16
F 125
G 10H7 +0.015
0
H DP12
（Complied with ISO 9409-1-A125）
Fig. 4.1 (i)
ISO flange (R-2000iB/210FS,220US)
CAUTION
It is necessary to prepare hollow diameter larger than φ90 and work space for
the tool side to form and replace cables.
2-OG depth H
21MAX
6-D depth E
E.Q.S.P
(2)
Cable clamp
F u 0.05
B
O90 MAX
Cable
258
OF
Insulated ISO flange
A05B-1329-H152
A －
B O170
C －
D M10
E DP16
F 125
G 10H7 +0.015
0
H DP12
（Complied with ISO 9409-1-A125）
Fig. 4.1 (j)
Insulated ISO flange (R-2000iB/210FS,220US)
CAUTION
It is necessary to prepare hollow diameter larger than φ60 and forming
cable space for the tool side.
It is necessary to prepare hollow diameter larger than φ90 and work space for
the tool side to replace cables without removing the tool.
- 126 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
2-G depth H
6-D tap depth E
Equally spaced on  F
Circumference
ISO flange
(Complied with ISO 9409-1-A125)
Fig. 4.1 (k)
ISO flange (R-2000iB/165CF)
6-D top depth E
Equally spaced on F
Circumference
2- G depth H
Insulated ISO flange
(Complied with ISO 9409-1-A125)
Fig. 4.1 (l)
Insulated ISO flange (R-2000iB/165CF)
- 127 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
6-D top depth E
Equally spaced on  F
Circumference
2-G depth H
FANUC flange
Fig. 4.1 (m)
Special flange
FANUC / special flange (R-2000iB/165CF)
- 128 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
4.2
INSTALLING A FANUC/SPECIAL FLANGE ADAPTER
(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 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, 100H).
1.
2.
Press the pin into the adapter. At this time, apply LOCTITE 601 to the fitting surface.
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
1
ADAPTER
2
3
4
BOLT
WASHER
PIN
4.3
Specifications
Q’ty
LOCTITE
A290-7324-X551 (FANUC)
1
A290-7324-X552 (SPECIAL)
A6-BA-10X20
6
LT263
A97L-0001-0823#M10H
6
JB-PH-H7A-10X18S45C
1
LT601
Fig. 4.2 Installing a FANUC/Special flange adapter
(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 100H)
2
Torque N-m
(kgf cm)
73.5±3.4(750±35)
EQUIPMENT MOUNTING FACE
As shown in Fig. 4.3 (a) to (l), 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. Please do not tighten both with the tightening bolts used for mechanical
unit.
- 129 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
CAUTION
Equipments should be installed on robot in a way it does not interfere with the
mechanical unit cables. If equipments interfere, the mechanical unit cable might
be disconnected, and unexpected troubles might occur.
CAUTION
When using a user tap shown in Fig. 4.3 (a) - (l), keep the center of gravity
position of the equipment according to Section 3.5.
184.5
67
4-M10 tap depth 15
248.5
45
80
6-M10 tap depth 15
422.5
30
170
170
367
2-M12 tap depth 18
(Both side)
60
55
55
184.5
172
33
4-M12 tap depth 18
250
4-M10 tap depth 15
2-M12 tap depth 20
2-M12 tap depth 20
75
395
530
50
306
138
97
50
60
117.5
25
377
25
25
117.5
25
79
79
60
6-M12 tap depth 20
4-M12 tap depth 18
(Both side)
60.5
25
167.5
25 25
25
155
Fig. 4.3 (a)
Equipment mounting faces(R-2000iB/165F,210F,250F,150U,220U)
- 130 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
184.5
67
4-M10 tap depth 15
248.5
45
80
6-M10 tap depth 15
30
367
422.5
170
535
4-M12 tap depth 18
(Both side)
60
55
55
184.5
4-M10 tap depth 15
33
250
172
2-M12 tap depth 20
530
75
50
138
2-M12 tap depth 20
306
306
97
395
50
4-M12 tap depth 18
25
4-M12 tap depth 18
377
25
6-M12 tap depth 20
155
Fig. 4.3 (b)
60
60
25
60.5
25
155
25
25
167.5
25
377
Equipment mounting faces(R-2000iB/185L)
- 131 -
79
117.5
25
79
117.5
79
79
60
60
6-M12 tap depth 20
4-M12 tap depth 18
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
M12 tap depth 18
50
117
2-M12 tap depth 20
79
50
4-M12 tap depth 20
367
268
25
125
30
117.5
236
95
25 25
377
18
117.5
25
167.5
2-M12 tap depth 18
248.5
60
60
395
79
250
4-M12 tap depth 18(Both side)
4-M12 tap depth 18
67
422.5
184.5
170
80
170
60
184.5
55
55
33
4-M10 tap depth 15
45
Fig. 4.3 (c)
6-M10 tap depth 15
Equipment mounting faces (R-2000iB/165R)
- 132 -
172
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
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 (d)
Equipment mounting faces (R-2000iB/200R)
- 133 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
236
50
6-M12 tap depth 20
253.5165.5
27
27 27
155
377
18
27
30
268
155
377
2525 25
117.5
25
117.5
367
248.5 248.5
60
236
79
4-M12 tap depth 18
4-M12 tap depth 20
2-M12 tap depth 20
95125
50
30
79
117
367
6-M12 tap depth 20
B-82234EN/12
60
60
79
4-M12 tap depth 18
55
250
395
4-M12 tap depth 18
172
60
422.5
67 184.5
55
33
184.5
170
4-M10 tap depth 15
80
45
4-M10 tap depth 15
535
45
45
6-M10 tap depth 15
Fig. 4.3 (e)
Equipment mounting faces (R-2000iB/100P)
- 134 -
4-M12 tap depth 18
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
184.5
67
4-M10 tap depth 15
248.5
45
80
6-M10 tap depth 15
30
422.5
367
170
170
4-M12 tap depth 18
(Both side)
60
55
55
184.5
172
15
33
250
4-M10 tap depth
306
306
395
4-M12 tap depth 18
25
4-M12 tap depth 18
377
25
155
Fig. 4.3 (f)
60
60
6-M12 tap depth 20
60.5
25
155
167.5
25
25
25
79
117.5
25
79
117.5
25
79
79
60
60
6-M12 tap depth 20
4-M12 tap depth 18
377
Equipment mounting faces(R-2000iB/210WE)
WARNING
In case of R-2000iB/210WE, All of the above mentioned taps for the equipment
are protected by antirust treatment or metal plate when robot is shipped. If these
taps are used, be sure to perform antirust treatment or attach metal plate which
is installed when robot is shipped again to prevent rust.
- 135 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
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 (g)
Equipment mounting faces(R-2000iB/125L)
- 136 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
367
30
367
4-M10 tap depth 15
6-M10 tap depth 15
2-M12 tap depth 18
(both side)
45
184.5 67
422.5
170
340
60
55
55
184.5
45
45
80
248.5 248.5
30
172
33
4-M12 tap depth 18
250
4-M10 tap depth 15
530
75
6-M12 tap depth 20
2-M12 tap depth 20
50
117.5
25
25 25
377
117.5
25
25
25
167.5
25
25
60.5
155
377
4-M12 tap depth 18
79
79
60
60
306
138
97
50
395
2-M12 tap depth 20
155
Equipment mounting faces(R-2000iB/175L)
22.5
248.5
22.5
Fig. 4.3 (h)
4-M12 tap depth 18
2-M10 tap depth 15
30
367
220.5
4-M12 tap depth 18
(both side)
95
95
67
335
40
40
153.5
465
20
2-M12 tap depth 20
30
30
136
115
20
465
2-M12
tap depth 20
4-M12
tap depth 18
377
117.5 117.5
25
25
25
60
60
155
377
4-M12 tap depth 18
155
Fig. 4.3 (i)
79
25
79
79
79
60
60
6-M12 tap depth 20
Equipment mounting faces (R-2000iB/170CF)
- 137 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
184.5
B-82234EN/12
67
4-M10 tap depth 15
2-M12 tap depth 18 30
(both side)
367
422.5
170 170
60
55
55
184.5
45
80
6-M10 tap depth 15
172
4-M12 tap depth 18
33
250
4-M10 tap depth 15
50
530
75
50
2-M12 tap depth 20
138
60
117.5
25
377
117.5
25 25
25
79
79
60
306
97
6-M12 tap depth 20
395
2-M12 tap depth 20
4-M12 tap depth 18 (both side)
155
Fig. 4.3 (j)
Equipment mounting faces(R-2000iB/100H)
- 138 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
30
248.5
30
B-82234EN/12
2-M10 tap depth 15
147
30
367
4-M12 tap depth 18
(Both side)
35
65
434.5
65
4-M8 tap depth 16
32.5
32.5
481.5
2-M10 tap depth 15
75
50
138
306
306
2-M12 tap depth 20
25
25
155
155
Fig. 4.3 (k)
167.5
25
25
2-M12 tap depth 18
25
60.5
79
79
117.5
25
60
60
25
79
117.5
60
6-M12 tap depth 20
6-M12 tap depth 20
4-M12 tap depth 18
25
377
Equipment mounting faces(R-2000iB/210F,220US)
4-M10 tap depth15
4-M12 tap depth18
4-M12 tap depth 20
2-M12 tap depth20
2-M12 tap depth15
2-M12 tap depth 20
6-M12 tap depth 20
2-M12 tap depth 18
2-M12 tap depth 18
2-M12 tap depth 18
Fig. 4.3 (l)
Equipment mounting faces (R-2000iB/165CF)
- 139 -
2-M12 tap depth18
4.EQUIPMENT INSTALLATION TO THE ROBOT
4.4
B-82234EN/12
LOAD SETTING
NOTE
Set load condition parameter before operating the robot. Do not operate the
robot in over payload reduction. Don’t exceed allowable payload including
connection cables and its swing. Otherwise troubles such as degradation of
reducer life may occur. Don’t exceed allowable payload including connection
cables and its swing.
NOTE WHEN PERFORMING LOAD ESTIMATION AFTER PARTS
REPLACEMENT
If wrist axes (J5/J6-axis) motors or reducers are replaced, estimation accuracy
may go down. Perform the calibration for load estimation before performing load
estimation. Refer to below.
Section 9.15 “LOAD ESTIMATION” in R-30iA Controller
Spot tool+ OPERATOR’S MANUAL (B-83124EN-1).
Section 9.15 “LOAD ESTIMATION” in R-30iA Controller
Handling tool OPERATOR’S MANUAL (B-83124EN-2).
Section 9.15 “LOAD ESTIMATION” in R-30iA Controller
Arc tool OPERATOR’S MANUAL (B-83124EN-3).
Section 9.15 “LOAD ESTIMATION” in R-30iA Controller
Dispense tool OPERATOR’S MANUAL (B-83124EN-4).
Chapter 9 “LOAD ESTIMATION” in R-30iB/R-30iB Mate
Controller Optional Function OPERATOR’S MANUAL (B-83284EN-2).
The operation motion performance screens include the MOTION PERFORMANCE screen, MOTION
PAYLOAD SET screen, and payload information and equipment information on the robot.
1
2
3
4
Press [MENU] key to display the screen menu.
Select “6 SYSTEM” on the next page,
Press the F1 ([TYPE]) key to display screen switch menu.
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
- 140 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
5
Ten different pieces of payload information can be set using condition No. 1 to 10 on this screen.
Place the cursor on one of the numbers, and press F3 (DETAIL). The MOTION PAYLOAD SET
screen appears.
MOTION PAYLOAD SET
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
Center of robot
ロボットの
end effector mounting face
X
X
エンドエフェクタ取付面
中心
y
Z
xg (cm)
Iy (kgf・cm・s2 )
Mass
m (kg)
質量m(kg)
Center of
重心
gravity
Center
重心of
gravity
Iz (kgf・cm・s2 )
yg (cm)
Ix (kgf・cm・s )
2
zg (cm)
Fig. 4.4 Standard tool coordinate
6
7
8
9
Set the payload, gravity center position, and inertia around the gravity center on the MOTION
PAYLOAD SET screen. The X, Y, and Z directions displayed on this screen correspond to the
respective standard tool coordinates (with no tool coordinate system set up). When values are
entered, the following message appears: “Path and Cycletime will change. Set it?” Respond to the
message with F4 ([YES]) or F5 ([NO]).
Pressing F3 ([NUMBER]) will bring you to the MOTION PAYLOAD SET screen for another
condition number. For a multigroup system, pressing F2 ([GROUP]) will bring you to the MOTION
PAYLOAD SET screen for another group
Press [PREV] key to return to the MOTION PERFORMANCE screen. Press F5 ([SETIND]), and
enter the desired payload setting condition number.
On the MOTION PERFORMANCE screen, press 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 ]
10
GROUP
JOINT 100%
550.00
25.00
DEFAULT HELP
Specify the weight of the load on the J2 base and J3 arm as follows:
ARMLOAD AXIS #1[kg]: Weight of the load on the J2 base
ARMLOAD AXIS #3[kg]: Weight of the load on the J3 arm (or J3 casing)
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.
- 141 -
4.EQUIPMENT INSTALLATION TO THE ROBOT
4.5
B-82234EN/12
INERTIA LOAD SETTING
For the R-2000iB/165F,210F,185L and 250F, there are two parameter settings depending on the
magnitude of load inertia. (By default, the parameter settings for the standard inertia mode are made.)
Standard inertia mode
78.4kg・m2
(800kgf･cm･s2)
141.1kg･m2
(1440kgf･cm･s2)
78.4kg・m2
(800kgf･cm･s2)
141.1kg･m2
(1440kgf･cm･s2)
40.2kg･m2
(410kgf･cm･s2)
78.4kg・m2
(800kgf･cm･s2)
165F
J4-axis
Wrist unit
allowable load
inertia
210F,185L,250F
,210WE
165F
J5-axis
210F,185L,250F,
210WE
165F
J6-axis
210F,185L,250F
,210WE
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
(1000kgf･cm･s2)
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.
R-2000iB/165F,210F,250F,210WE do not support high inertia depending on version of software.
R-2000iB/185L do not support standard inertia depending on version of software.
Refer to Table 4.5 (a) to (d).
Table 4.5 (a) Support for R-2000iB/165F high inertia mode
Software series
V7.10P
(7DA0)
Software edition
‐
When solution arm is selected
When solution arm is not selected
Not supported
(*2)
Not supported
(*2)
V7.20P
(7DA1)
Edition 21 or
earlier
Not
supported (*2)
Not
supported(*2)
V7.30P or later
(7DA3)
‐
Edition 22 or later
Supported
(*1)
Not supported
(*2)
Supported (*1)
Not
supported(*2)
Table 4.5 (b) Support for R-2000iB/210F,210WE high inertia mode
Software series
V7.10P
(7DA0)
Software edition
‐
When solution arm is selected or not
selected
Not supported
(*2)
V7.20P
(7DA1)
Edition 21 or
earlier
Not
supported (*2)
V7.30P or later
(7DA3)
Edition 22 or later
‐
Supported (*1)
Supported (*1)
R-2000iB/210WE does not support the solution arm.
Table 4.5 (c) Support for R-2000iB/250F high inertia mode
Software series
Software edition
V7.50P
(7DA5)
Edition 04 or
Edition 05 or
earlier
later
Not
supported (*2)
- 142 -
Supported (*1)
V7.70P
(7DA7)
‐
Supported (*1)
4.EQUIPMENT INSTALLATION TO THE ROBOT
B-82234EN/12
Table 4.5 (d) Support for R-2000iB/185L standard inertia mode
Software series
Software edition
V7.50P
(7DA5)
Edition 06 or
Edition 07 or
earlier
later
Not
supported (*3)
Supported (*1)
V7.70P
(7DA7)
‐
Supported (*1)
(*1) Both of the standard inertia mode and the high inertia mode are supported. The parameter is
automatically set according to the load value set in Section 4.4.
(*2) The high inertia mode is not supported. Use a value within the range allowable in the standard
inertia mode.
(*3) The standard inertia mode is not supported. Use a value within the range allowable in the high
inertia mode.
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.
- 143 -
5.PIPING AND WIRING TO THE END EFFECTOR
5
B-82234EN/12
PIPING AND WIRING TO THE END
EFFECTOR
WARNING
・ Use mechanical unit cables that have required user interface.
・ Don’t add user cable or hose to inside of mechanical unit.
・ Please do not obstruct the movement of the mechanical unit cable when cables are
added to outside of mechanical unit.
・ Please do not perform remodeling (Adding a protective cover and fix an outside cable
more) obstructing the behavior of the outcrop of the cable.
・ Please do not interfere with the other parts of mechanical unit when equipment is
installed in the robot.
・ Cut unnecessary length of wire rod of end effector (hand) cable. Make insulation
processing like winding acetate tape.
・ If you can not prevent electrostatic charge of work and end effector, keep away an
end effector (a hand) cable from an end effector and a work as much as possible,
when wiring it. When they come to close unavoidable, please insulate the cable from
the end effector and work piece.
・ Be sure to seal connectors of hand side and robot side and terminal parts of cables,
to prevent water from entering the mechanical unit. Also, attach cover to unused
connector.
・ Check that connectors are tight and cable jackets are not damaged routinely.
・ When precautions are not followed, damage to cables might occur. Cable failure may
result in incorrect function of end effector, robot faults, or damage to robot electrical
hardware. In addition, electric shock could occur when touching the power cables.
End effector (hand) cable
Cut unnecessary length of unused wire rod
Insulation processing
Fig. 5 Treatment method of end effector (hand) cable
5.1
AIR SUPPLY (OPTION)
Robot has air inlets and air outlets openings on the back of the J1 base and the front or side of the J3
casing for supplying air pressure to the end effector. The connector is a Rc1/2 female (ISO).
Because coupling are not supplied, it will be necessary to prepare couplings which suit to the hose size.
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
Four
line
: Panel
union4 xpcs
4 or
Quad
airair
line
: panel
union
air line
: Panel
union
x 2 or
DualDual
air line
: panel
union
2 pcs
Single
air line
: Panel
union
x1
Single
air line
: panel
union
1 pc
Rc1/2
Female
(Air
outlet
side)
Rc1/2 female (Air outlet side)
Air tube
tube x4 4pcs
or 2oror2 1pcs or 1 pc
Air
Outside diameter
12mm
Outside
diameter:12
mm
Inside diameter : 8mm
Inside diameter 8 mm
Quadairairline
line: Panel
: panel
union
Four
union
x 44 pcs or
Dual air
air line
line: :Panel
panelunion
unionx 22 pcs or
Dual
Single
Single air
airline
line: :Panel
panelunion
unionx 11 pc
Rc1/2
(Air inlet
inletside)
side)
Rc1/2 Female
female (Air
Fig. 5.1 (a)
Air supply (option) (R-2000iB / 165F, 210F, 185L, 250F, 125L, 175L, 100H, 150U, 220U)
Air
Airtube
tube
Outside diameter
diameter 12 mm
Outside
Inside diameter
Inside diameter 8 mm
Dual
panel union
union22pcs or
Dual air line
line :: Panel
Single air
air line
Single
line :: Panel
panelunion
union11pc
Rc1 / 2 Female (Air inlet side)
Rc1/2 female (Air inlet side)
Fig. 5.1 (b)
Dual
line : Panel
2
Dual air
lineair: panel
unionunion
2 pcs or
line : Panel
SingleSingle
air lineair: panel
unionunion
1 pc  1
Ro1 / 2 Female (Air outlet side)
Rc1/2 female (Air outlet side)
Air supply (option) (R-2000iB/165R,200R,100P)
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5.PIPING AND WIRING TO THE END EFFECTOR
Purge air inlet
Rc 1/2 female
B-82234EN/12
Air inlet A1 to end effector
Air inlet B1 to end effector
Dual air line: panel union X 2
Rc 1/2 female (Air outlet side)
Detail A
A
Dual air line: panel union X 2
Rc 1/2 female (Air inlet side)
Fig. 5.1 (c)
Purge air inlet A
Rc 1/2 female
Air
Airttube
tube×2
2 pcs
Outside diameter 12mm
Outside
diameter 12 mm
Inside diameter 8mm
Inside diameter 8 mm
Air supply (option) (R-2000iB/210WE)(A05B-1329-B255)
Air inlet A1 to end effector
Air inlet B1 to end effector
Purge air inlet B
Rc 1/2 female
Purge air inlet C
Rc 1/2 female
Dual air line : panel union X 2
Rc 1/2 female (Air outlet side)
Air
tube 2 pcs
Air tube X 2
Outside
diameter
Outside diameter
12mm 12 mm
Inside diameter 8mm
Inside
diameter 8 mm
Detail A
A
Fig. 5.1 (d)
Dual air line : panel union X 2
Rc 1/2 female (Air inlet side)
Air supply (option) (R-2000iB/210WE)(A05B-1329-B256)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
Dual air line : panel union 2 pcs or
Dual air line : Panel union X 2
Single
line :Panel
panelunion
unionX 11 pc
Single air
air line:
Rc1/2
female
(Air
outlet
Rc 1/2 Female(Air outletside)
side)
Air tube
tubeX2
or or 1 pc
Air
2 pcs
Air tubeX1
Outside
diameter 12 mm
Outside diameter 12mm
Inside
diameter 88mm
mm
Inside diameter
Dual air line : panel union 2 pcs or
Dual air line : Panel union X 2
Single
air line
line: :Panel
panelunion
unionX11pc
Single air
Rc1/2
(Air inlet side)
Rc 1/2female
Femal(Air
side)
Fig. 5.1 (e)
Air supply (option) (R-2000iB/170CF)
Dual air line ： Panel union 2 pcs
Single air line ： Panel union 1 pc
Rc1/2 Female （Air outlet side） A
Cut off
It is connected to A.
Air tube 2 pcs
Air tube 1 pc
Outside diameter 12mm
Inside diameter 8mm
Air tube 2 pcs
Air tube 1 pc
Outside diameter 12mm
Inside diameter 8mm
Dual air line ： Panel union 2 pcs
Single air line ： Panel union 1 pc
Rc1/2 Female （Air inet side） A
J1-axis-J3-axis option
Fig. 5.1 (f)
J4-axis-J6-axis option
Air supply (option) (R-2000iB/210FS,220US)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
Single
line: :panel
Panel union
union 22pcs or
Dual
airairline
Dual airair
line
: Panel
union
 1 1 pc
Single
line
: panel
union
Rc1 / 2 Female (Air outlet side)
Rc1/2 female (Air outlet side)
Air tube 2 pcs or 1 pc
Air tube  2 or 1
Outside
diameter
12 mm
Outside
diameter
12mm
InsideInside
diameter
8 mm
diameter
8mm
Dual
union22pcs or
Singleair
airline
line:: panel
Panel union
Dual airair
line
: Panel
union
 1 1 pc
Single
line
: panel
union
Rc1 / 2female
Female(Air
(Air inlet
inlet side)
Rc1/2
side)
Fig. 5.1 (g)
Air supply (option) (R-2000iB/165CF)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
5.2
AIR PIPING (OPTION)
Fig. 5.2 (a) shows how to connect air hose to the robot. If the air control set is specified as an option, the
air hose between the mechanical unit and the air control set is provided. Mount the air control set using
the information in Fig. 5.2 (b).
Elbow nipple
R3/8
R3/8
Straight nipple
R3/8
In dotted line
Air control set (Option)
Air hose 3m
Outer 12mm Inner 8mm
Fig. 5.2 (a)
Air piping (option)
Air control set
70
For the lubricator of air control set, fill in turbine oil #90 to #140 to the specified level. The machine tool
builder is required to prepare mounting bolts.
64
Air filter
Lubricator
Fig. 5.2 (b)
Air control set option
NOTE
The capacity of the air control set is as follows.
These values must not be exceeded.
Supply air pressure
Air pressure
Amount of consumption
2
0.49 to 0.69MPa(5 to 7kgf/cm )，
2
Setting: 0.49MPa(5kgf/cm )
Maximum instantaneous amount 150Nl/min(0.15Nm3/min)
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5.PIPING AND WIRING TO THE END EFFECTOR
5.3
B-82234EN/12
INTERFACE FOR OPTION CABLE (OPTION)
Fig. 5.3 (a) to (e) show the position of the option cable interface. Fig. 5.3 (f) to (m) show the option
cable interface.
EE interface (RI/RO), I/O Unit-MODEL B interface and user cable (signal lines, signal line usable to the
force sensor, power lines, signal usable to force sensor and 3D Laser Vision sensor), DeviceNet cable
(signal lines, power lines), additional axis motor cable(Pulsecoder line) ,additional axis motor
cable(power and brake), 3DL sensor cable, camera cable and acceleration sensor cable are prepared as
options.
NOTE
Each option cable is written as shown below on the connector panel.
EE(RI/RO) interface : EE
I/O Unit Model B : I/O
User cable (signal) : AS
User cable (signal usable to force sensor) : ASH
User cable (signal usable to force sensor and 3D Laser Vision sensor) : ASi
User cable (power) : AP
DeviceNet cable (signal) : DS
DeviceNet cable (power) : DP
Additional axis motor cable (Pulsecoder) : ARP
Additional axis motor cable (power, brake) : ARM
3DL sensor cable : SEN
Camera cable : CAM
Acceleration sensor cable : LVS
NOTE
In case of R-2000iB/210WE, option cable in this section cannot be used.
A
C
B
Fig. 5.3 (a) Interface for option cable (OPTION)
(R-2000iB/165F, 210F, 185L, 250F, 125L, 175L, 100H, 150U, 220U)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
C
B
A
Fig. 5.3 (b) Interface for option cable (OPTION) (R-2000iB/165R, 200R,100P)
A
C
B
Fig. 5.3 (c) Interface for option cable (OPTION) (R-2000iB/170CF)
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5.PIPING AND WIRING TO THE END EFFECTOR
A
B-82234EN/12
C
Please refer to specification
for details of pin layout and
connector specification.
B
J4-axis-J6-axis option
J1-axis-J3-axis option
Fig. 5.3 (d)
Interface for option cable (OPTION) (R-2000iB/210FS,220US)
A
C
B
D
Fig. 5.3 (e)
Interface for option cable (OPTION) (R-2000iB/165CF)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
J1 base connector panel (Input)
J3 casing connector panel (Output)
(Air inlet)
User cable (signal)
interface
EE interface
(RI/RO)
User cable (power)
interface
(Air outlet)
User cable (power)
interface
VIEW A
User cable (signal)
interface
VIEW B
With user cable (signa/power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Standard:A05B-1329-H201/CE:A05B-1329-H501
R-2000iB/165R,200R Standard:A05B-1329-H301/CE:A05B-1329-H601
R-2000iB/100P Standard:A05B-1329-H901/CE:A05B-1329-H921
R-2000iB/100H Standard:A05B-1329-H211/CE:A05B-1329-H511
R-2000iB/220U CE:A05B-1329-H781
J3 casing connector panel (Output)
J1 base connector panel (Input)
J2 base connector panel (Output)
(Air inlet)
EE interface
(RI/RO)
Devicenet cable
(signal) interface
Devicenet cable
(power) interface
Devicenet cable
(signal) interface
(Air outlet)
Devicenet cable
(signal) interface
Devicenet cable
(power) interface
Devicenet cable
(power) interface
VIEW A
With devicenet cable (signal/power)
VIEW C
VIEW B
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Standard:A05B-1329-H202/CE:A05B-1329-H502
R-2000iB/165R,200R Standard:A05B-1329-H302/CE:A05B-1329-H602
R-2000iB/100P Stanadard:A05B-1329-H902/CE:A05B-1329-H922
R-2000iB/100H Stanadard:A05B-1329-H212/CE:A05B-1329-H512
R-2000iB/220U CE:A05B-1329-H782
J1 base connector panel (Input)
J3 casing connector panel (Output)
EE interface
(RI/RO)
(Air inlet)
I/O unit MODEL B
interface
User cable (power)
interface
(Air outlet)
I/O unit MODEL B
interface
User cable (power)
interface
VIEW B
VIEW A
With I/O unit MODEL B and user cable (power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Standard:A05B-1329-H203/CE:A05B-1329-H503
R-2000iB/165R,200R Standard:A05B-1329-H303/CE:A05B-1329-H603
R-2000iB/100P Standard:A05B-1329-H903/CE:A05B-1329-H923
R-2000iB/100H Standard:A05B-1329-H213/CE:A05B-1329-H513
J3 casing connector panel (Output)
J1 base connector panel (Input)
Additional axis motor cable
(Pulsecoder) interface
EE interface
(RI/RO)
(Air inlet)
(Air outlet)
Additional axis motor cable
(Pulsecoder) interface
Additional axis motor cable
(power,brake) interface
VIEW A
VIEW B
Additional axis motor cable
(power,brake) interface
Withd additional axis motor cable (Pulsecoder/power,brake)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Stanadard:A05B-1329-H204/CE:A05B-1329-H504
R-2000iB/165R,200R Standard:A05B-1329-H304/CE:A05B-1329-H604
R-2000iB/100P Standard:A05B-1329-H904/CE:A05B-1329-H924
R-2000iB/100H Standard:A05B-1329-H214/CE:A05B-1329-H514
R-2000iB/220U CE:A05B-1329-H784
Fig. 5.3 (f) Interface for option cable
(R-2000iB/165F, 210F, 185L,250F,165R, 200R,100P,125L,175L,100H,150U,220U)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
J1 base panel（Input)
J3 casing panel （Output)
Additional axis motor cable
(Pulsecoder line)
interface
User cable (signal line)
interface
(Air inlet)
User cable (signal line)
interface
Additional axis motor cable
(Pulsecoder line)
interface
(Air outlet)
Additional axis motor cable
(power,brake line)
interface
VIEW A
Additional axis motor cable
(power,brake line)
interface
VIEW B
With user cable (signal line) and additional axis motor cable
Spec. of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H207
R-2000iB/165R,200R CE:A05B-1329-H307
J1 base panel（Input)
J3 casing panel （Output)
EE interface
(RI/RO)
User cable (signal line usable
to the 3DL sensor and force sensor)
interface
(Air inlet)
User cable (signal line usable
to the 3DL sensor and force sensor)
interface
Camera cable
interface
(Air outlet)
VIEW A
VIEW B
Camera cable
interface
With user cable (sinagl line usable to the 3DL sensor and force sensor) and camera
(for iRVision camera package)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H209
R-2000iB/165R,200R CE:A05B-1329-H309
J1 base panel（Input)
J3 casing panel （Output)
(Air inlet)
(Air outlet)
User cable (signal)
interface
VIEW A
User cable (signal)
interface
VIEW B
With user cable (signal) and AIRX2
Spec. of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U Standard:A05B-1329-H210
J1 base panel（Input)
J3 casing panel （Output)
(Air outlet)
(Air inlet)
User cable (signal line usable
to the 3DL sensor and force sensor) Camera cable
interface
interface
EE interface
(RI/RO)
User cable (signal line usable
to the 3DL sensor and force sensor)
interface
Camera cable
interface
VIEW A
VIEW B
With camera cable (usable to force sensor and 3DL sensor)
Spec. of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE：A05B-1329-H215
R-2000iB/165R,200R CE：A05B-1329-H315
J1 base panel（Input)
J3 casing panel （Output)
3DL sensor
interface
3DL sensor
interface
(Air inlet)
User cable (signal)
interface
Camera cable
interface
User cable (signal)
interface
User cable (power)
interface
(Air outlet)
3DL sensor
interface
VIEW A
Camera cable
interface
User cable (power)
interface
VIEW B
Withd 3DL sensor, camera,LED light and user cable (signal/power) and without EE(RI/RO)
Spec of cables
R-2000iB/165F,185L,250F,210F,125L,175L,150U CE:A05B-1329-H801
R-2000iB/165R,200R CE:A05B-1329-H851
Fig. 5.3 (g)
Interface for option cable (R-2000iB/165F, 210F, 185L, 250F, 165R, 200R,125L,175L,150U)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
J1 base panel（Input)
J3 casing panel （Output)
3DL sensor
interface
3DL sensor
interface
User cable (signal)
interface
(Air inlet)
Camera cable
interface
User cable (signal)
interface
(Air outlet)
EE interface
(RI/RO)
LED light
interface
VIEW A
Camera cable
interface
VIEW B
With 3DL sensor,camera,LED light and user cable (signal)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H802
R-2000iB/165R,200R CE: A05B-1329-H852
J1 base panel（Input)
J3 casing panel （Output)
Additional axis motor cable (Pulsecoder)
interface
(Air inlet)
Additional axis motor cable (Pulsecoder)
interface
User cable (signal)
interface
Camera cable
interface
User cable (signal)
interface
(Air outlet)
VIEW A
Additional axis motor cable (power,brake)
interface
VIEW B
Camera cable
interface
Additional axis motor cable (power,brake)
interface
With additional axis motor cable,camera and user cable (signal) and without EE(RI/RO)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H804
J1 base panel (Input)
J3 casing panel (Output)
3DL sensor
interface
(Air inlet)
User cable
(signal usable to
the force sensor)
User cable
(signal usable to
the force sensor)
3DL sensor
interface
(Air outlet)
Camera cable
interface
VIEW A
User cable
(power)
Camera cable
interface
VIEW B
User cable
(power)
With user cable (signal usable to the force sensor/power) , 3DL sensora and camera
and withouout EE(RI/RO)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE: A05B-1329-H808
R-2000iB/165R,200R CE:A05B-1329-H858
J1 base panel (Input)
J3 casing panel (Output)
(Air inlet)
3DL sensor
User cable
(signal usable to interface
the force sensor)
3DL sensor
interface
User cable
(signal usable to
the force sensor)
(Air outlet)
Camera cable
interface
EE interface
(RI/RO)
VIEW A
VIEW B
Camera cable
interface
With user cable (signal usable to the force senor), 3DL sensor and camera
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U
R-2000iB/165R,200R CE:A05B-1329-H859
Fig. 5.3 (h)
CE:A05B-1329-H809
Interface for option cable (R-2000iB/165F, 210F, 185L, 250F, 165R, 200R, 125L,175L, 150U)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
J1 base connector panel (Input)
J3 casing connector panel (Output)
(Air outlet)
(Air inlet)
User cable (signal)
interface
User cable (power)
interface
EE interface
(RI/RO)
User cable (signal)
interface
User cable (power)
interface
DETAIL A
VIEW B
With user cable (signal/power)
Spec of cable
Standard：A05B-1329-H401/CE:A05B-1329-H701
J3 casing connector panel (Output)
J1 base connector panel (Input)
Devicenet cable
(signal) interface
(Air outlet)
J2 base connector panel (Output)
(Air inlet)
Devicenet cable
(power) interface
Devicenet cable
(power) interface
Devicenet cable
(signal) interface
EE interface
(RI/RO)
Devicenet cable
(signal) interface
Devicenet cable
(power) interface
DETAIL A
VIEW B
With devicenet cable (signal/power)
VIEW C
Spec of cable
Standard：A05B-1329-H402/CE：A05B-1329-H702
J1 base connector panel (Input)
J3 casing connector panel (Output)
(Air outlet)
(Air inlet)
User cable (power)
interface
I/O Unit MODEL B
interface
EE interface
(RI/RO)
I/O Unit MODEL B
interface
User cable (power)
interface
VIEW B
DETAIL A
With I/O Unit MODEL B and user cable (power)
Spec of cable
Standard:A05B-1329-H403/CE:A05B-1329-H703
J1 base connector panel (Input)
J3 casing connector panel (Output)
(Air outlet)
Additional axis motor cable
(power,brake) interface
(Air inlet)
Additional axis motor cable
(pulsecoder) interface
Additional axis motor cable
(pulsecoder) interface
EE interface
(RI/RO)
DETAIL A
VIEW B
Additional axis motor cable
(power,brake) interface
With additional axis motor cable (pulsecoder/power,brake)
Spec of cable
Standard：A05B-1329-H404/CE：A05B-1329-H704
Fig. 5.3 (i)
Interface for option cable (R-2000iB/170CF)
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5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
J1 base connector panel (Input)
J3 casing connector panel (Output)
EE interface
(RI/RO)
(Air inlet)
User cable (signal)
interface
(Air outlet)
User cable (power)
interface
User cable (signal)
interface
User cable (power)
interface
VIEW A
With user cable (signal/power)
VIEW B
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H521
R-2000iB/165R,200R :A05B-1329-H621
J1 base connector panel (Input)
J3 casing connector panel (Output)
EE interface
(RI/RO)
J2 base connector panel (Output)
(Air inlet)
Devicenet cable
(power) interface
Devicenet cable
(signal) interface
Devicenet cable
(signal) interface
Devicenet cable
(power) interface
(Air outlet)
Devicenet cable
(power) interface
VIEW A
Withd devicenet cable (signal/power)
Devicenet cable
(signal) interface
VIEW B
VIEW C
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H522
R-2000iB/165R,200R CE:A05B-1329-H622
J1 base connector panel (Input)
J3 casing connector panel (Output)
(Air inlet)
EE interface
(RI/RO)
I/O Unit MODEL B
interface
(Air outlet)
User cable (power)
interface
I/O Unit MODEL B
interface
User cable (power)
interface
VIEW B
VIEW A
With I/O unit MODEL B and user cable (power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H523
R-2000iB/165R,200R CE:A05B-1329-H623
J1 base connector panel (Input)
J3 casing connector panel (Output)
EE interface
(RI/RO)
(Air outlet)
(Air inlet)
Additional axis motor cable
(pulsecoder) interface
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 (pulsecoder/power,brake)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H524
R-2000iB/165R,200R CE:A05B-1329-H624
Fig. 5.3 (j)
Interface for option cable (R-2000iB/165F, 210F, 185L, 250F, 165R, 200R,125L,175L,150U)
(Severe dust/ liquid protection package) (option)
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5.PIPING AND WIRING TO THE END EFFECTOR
J3 casing connector panel (Output)
B-82234EN/12
J1 base connector panel (Input)
(Air outlet)
(Air inlet)
User cable (signal)
interface
User cable (power)
interface
User cable (signal)
interface
EE interface
(RI/RO)
User cable (power)
interface
DETAIL A
VIEW B
With user cable (signal/poer)
Spec of cable : A05B-1329-H741
J3 casing connector panel (Output)
J1 base connector panel (Input)
(Air inlet)
Devicenet cable
(signal) interface
(Air outlet)
J2 base connector panel (Output)
Devicenet cable
(power) interface
Devicenet cable
(power) interface
Devicenet cable
(signal) interface
EE interface
(RI/RO)
Devicenet cable
(signal) interface
Devicenet cable
(power) interface
DETAIL A
VIEW C
VIEW B
With devicenet cable (signal/power)
Spec of cable：A05B-1329-H742
J3 casing connector panel (Output)
J1 base connector panel (Input)
(Air outlet)
(Air inlet)
User cable (power)
interface
I/O Unit MODEL B
inerface
I/O Unit MODEL B User cable (power)
interface
inerface
EE interface
(RI/RO)
VIEW B
DETAIL A
With I/O Unit MODEL B,user cable(power)
Spec of cable：A05B-1329-H743
J3 casing connector panel (Output)
J1 base connector panel (Input)
(Air outlet)
(Air inlet)
Additional axis motor cable
(power,brake) interface
Additional axis motor cable
(pulsecoder) interface
Additional axis motor cable
(pulsecoder) interface
EE interface
(RI/RO)
VIEW B
DETAIL A
Additional axis motor cable
(power,brake) interface
With additional axis motor cable (pulsecoder/power,brake)
Spec of cable：A05B-1329-H744
Fig. 5.3 (k) Interface for option cable (R-2000iB/170CF)
(Severe dust/ liquid protection package) (option)
- 158 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
J3 casing
connector plate (output
side)
J3ケーシング分線板
(出力側)
J1
base connector plate
(input side)
J1ベース分線板
(入力側)
(エア出口)
(エア入口)
(Air
inlet)
(Air outlet)
付加軸用モータケーブル
Additional
axis motor cable (Pulsecoder line)
(パルスコーダ線)インタフェース
interface
ユーザケーブル
(信号線)
User
cable (signal
line)
インタフェース
interface
Additional
axis motor cable (power, brake line)
付加軸用モータケーブル
(パワー、ブレーキ線)インタフェース
interface
Additional
axis motor cable
付加軸用モータケーブル
(パルスコーダ線)インタフェース
(Pulsecoder line) interface
EE interface (RI/RO)
DETAIL
詳細AA
Additional
axis motor cable
付加軸用モータケーブル
(パワー、ブレーキ線)インタフェース
(power,
brake line) interface
User
cable (signal
line)
ユーザケーブル
(信号線)
インタフェース
interface
VIEW
B
矢視B
With
additional axis motor cable (Pulsecoder line, power, brake line)
付加軸モータケーブル(パルスコーダ線、パワー、ブレーキ線、
and
user cable (signal)
ユーザケーブル(信号線)付きの場合
ケーブル仕様
Cable
spec.
R-2000iB/210FS : CE仕様:A05B-1329-H762
R-2000iB/210FS
: CE spec. A05B-1329-H762
R-2000iB/220US : CE仕様:A05B-1329-H772
R-2000iB/220US
: CE spec. A05B-1329-H772
J3
casing connector plate (output
side)
J3ケーシング分線板
(出力側)
(エア出口)
(Air
outlet)
J1 base connector plate
(input side)
J1ベース分線板
(入力側)
Additional
axis motor cable
付加軸用モータケーブル
(パルスコーダ線,)(加速度センサ用含む）
(Pulsecoder
line) (including acceleration
インタフェース
sensor) interface
(エア入口)
(Air
inlet)
付加軸用モータケーブル
Additional
axis motor cable (Pulsecoder line)
(パルスコーダ線,)(加速度用センサ含む）
User
cable (signal
line)
ユーザケーブル
(信号線)
インタフェース
interface
インタフェース
interface
Acceleration
sensor
加速度センサ用
ケーブル
cable
付加軸用モータケーブル
Additional
axis motor cable (power, brake line)
(パワー、ブレーキ線)インタフェース
interface
User
cable (signal
line)
ユーザケーブル
(信号線)
インタフェース
interface
付加軸用モータケーブル
Additional
axis motor cable
(パワー、ブレーキ線)インタフェース
(power, brake line) interface
VIEW
B
矢視B
DETAIL A
詳細A
With additional axis motor cable (Pulsecoder line& acceleration sensor, power,
付加軸モータケーブル(パルスコーダ線+加速度センサ./パワー、ブレーキ線、
brake line) and user cable (signal)
ユーザケーブル(信号線)付きの場合
ケーブル仕様
Cable spec.
R-2000iB/210FS
: CE仕様:A05B-1329-H763
R-2000iB/210FS
: CE spec. A05B-1329-H763
R-2000iB/220US : CE仕様:A05B-1329-H773
R-2000iB/220US : CE spec. A05B-1329-H773
J3 casing
connector plate (output(出力側)
side)
J3ケーシング分線板
J1
base connector plate
(input side)
J1ベース分線板
(入力側)
デバイスネットケーブル
DeviceNet
cable (signal line)
(信号線)インタフェース
interface
(Air(エア出口)
outlet)
DeviceNet
cable (signal line)
デバイスネットケーブル
(信号線)インタフェース
interface
(エア入口)
(Air
inlet)
加速度センサ用
Acceleration
sensor
ケーブル
cable
デバイスネットケーブル
DeviceNet cable
(power line)
(動力線)インタフェース
interface
Additional
axis motor cable (power, brake line)
付加軸用モータケーブル
(パワー、ブレーキ線)インタフェース
interface
Additional
axis motor
付加軸用モータケーブル
(パルスコーダ線)インタフェース
cable
(Pulsecoder line)
interface
Additional axis motor cable (Pulsecoder line)
付加軸用モータケーブル
(パルスコーダ線)インタフェース
interface
デバイスネットケーブル
DeviceNet cable (power line)
付加軸用モータケーブル
(動力線)インタフェース
Additional
axis motor cable
(パワー、ブレーキ線)インタフェースinterface
(power, brake line) interface
VIEW
B
矢視B
詳細A
With additional axis motor cable (Pulsecoder line& acceleration sensor, power,
付加軸モータケーブル(パルスコーダ線+加速度センサ/パワー、ブレーキ線),
brake
line)
デバイスネットケーブル(信号線/動力線)付きの場合
and
DeviceNet cable (signal/power)
DETAIL A
ケーブル仕様
Cable
spec.
R-2000iB/210FS
: CE仕様:A05B-1329-H766
R-2000iB/210FS : CE spec. A05B-1329-H766
J3 casing
connector plate (output
side)
J3ケーシング分線板
(出力側)
(Air(エア出口)
outlet)
J1
base connector plate
(input side)
J1ベース分線板
(入力側)
(エア入口)
(Air
inlet)
EEEEインタフェース
interface (RI/RO)
User cable (signal line usable
ユーザケーブル
To force (力センサ・立体センサ
sensor and 3D Laser
対応信号線)インタフェース
Vision sensor)
interface
User
cable (signal line usable
ユーザケーブル
(力センサ・立体センサ対応信号線)
To
force sensor and 3D Laser
インタフェース
Vision sensor) interface
AP2
DETAIL
詳細AA
Userユーザケーブル(動力線)
cable (power line)
インタフェース
interface
ユーザケーブル(動力線)
User
cable (power line)
インタフェース
interface
VIEW
B
矢視B
ユーザケーブル(力センサ・立体センサ対応信号線/動力線),EEインタフェース
With
user cable (signal usable to force sensor and 3D Laser Vision sensor) and
付きの場合
EE
interface
ケーブル仕様
Cable
spec.
R-2000iB/210FS
: CE仕様:A05B-1329-H767
R-2000iB/210FS : CE spec. A05B-1329-H767
Fig. 5.3 (l)
Interface for option cable(R-2000iB/210FS,220US)
- 159 -
5.PIPING AND WIRING TO THE END EFFECTOR
J3 casing panel (Output)
B-82234EN/12
J1 base panel (Input)
User cable (signal)
interface
(Air outlet)
I/O
AIR
A2
EE interface
(RI/RO)
AS1
EE
AIR
B2
AP2
AP1
AIR A1 AIR B1
AS2
(Air inlet)
User cable (power)
interface
User cable (signal)
interface
DETAIL A
User cable (power)
interface
DETAIL B
With user cable (signal/power)
Spec of cable：A05B-1324-H291
J3 casing panel (Output)
J1 base panel (Input)
J2 base panel (Output)
EE interface
(RI/RO)
(Air outlet)
EE
A IR2
DP1
DS1
AIR A1
DP3
Devicenet cable
（signal)
interface
DS2
Devicenet cable
（signal)
interface
AS2
Devicenet cable
（power)
interface
DETAIL A
Devicenet cable
（power)
interface
DP2
DS3
(Air inlet)
Devicenet cable
（power)
interface
DETAIL B
Devicenet cable
（signal)
interface
VIEW C
With devicenet cable (signal/power)
Spec of cable:A05B-1324-H292
J3 casing panel (Output)
(Air outlet)
J1 base panel (Input)
J2 base panel (Output)
I/O Unit MODEL B
interface
I/O
I/O
AIR
A2
EE interface
(RI/RO)
EE
RM1
RP1
AP1
AIR A1 AIR B1
AIR
B2
AP2
AS1
AS2
DETAIL A
I/O Unit MODEL B
interface
User cable (power)
interface
(Air inlet)
User cable (power)
interface
DETAIL B
DETAIL D
With I/O Unit MODEL B, user cable (power)
Spec of cable:A05B-1324-H293
J3 casing panel (Output)
J1 base panel (Input)
I/
Additional axis motor cable
(pulsecoder) interface
(Air outlet)
EE interface
(RI/RO)
AIR
A2
ARP1
EE
ARM1
AIR A1 AIR B1
AIR
B2
O
ARM2
ARP2
Additional axis motor cable
(pulsecoder) interface
Additional axis motor cable
(power,brake) interface
DETAIL A
(Air inlet)
Additional axis motor cable
(power,brake) interface
DETAIL B
With additional axis motor cable (pulsecoder/power,brake)
Spec of cable：A05B-1324-H294
Fig. 5.3 (m)
Interface for option cable (R-2000iB/165CF)
- 160 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
1
EE interface (RI/RO) (Option) Fig. 5.3 (n) and Fig. 5.3 (o) show the pin layout for the EE interface
(RI/RO). When severe dust/liquid protection package is specified, the connector has guide pins and
bushes for preventing improper insertion. For cables prepared by the user, use these guide pins and
bushes.
EE interface (RI/RO) (Output)
W2524F (Fujikura Ltd.)
4
RO4
9
RI1
3
RO3
8
0V(A1)
2
RO2
7
XHBK
1
RO1
6
RO6
5
RO5
End
effector
15
RI5
14
13
12
11
10
RI3
XPPABN
RI4
RI2
RI8
20
19
18
17
16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1)
RI6
24
23
22
21
RI7
0V(A2)
RO8
RO7
Outside FANUC delivery scope
XHBK : Hand broken
Controller
XPPABN : Pneumatic pressure abnormal
Fig. 5.3 (n)
Pin layout for EE interface(RI/RO) (Option)
EEインタフェース(RI/RO)
(出力側)
EE
interface (RI/RO) (output
side)
TYPE Han24DD(ハーティング(株))
FFTYPE
Han24DD (Harting K.K.)
End
エンド
エフェクタ
effector
G
21
22
23
24
RO7
RO8
0V(A2)
RI7
17
18
19
20
24VF(A1)
24VF(A2)
24VF(A3)
24VF(A4)
13
14
15
16
RI8
XPPABN
RI5
RI6
9
10
11
12
RI1
RI2
RI3
RI4
5
6
7
8
RO5
RO6
XHBK
0V(A1)
1
2
3
4
RO1
RO2
RO3
RO4
Outside
FANUC delivery scope
お客様にてご用意下さい。
XHBK : Hand
:ハンド破断検出信号
XHBK
broken
XPPABN
: Pneumatic pressure abnormal
XPPABN: 空気圧異常信号
Controller
制御装置
1番ピン
No.1
pin
ブッシュ
Bush
ガイドピン
Guide
pin
EE
interface (RI/RO)
EEインタフェース(RI/RO)
出力側
output
side
Fig. 5.3 (o) Pin layout for EE interface (RI/RO)(Severe dust/liquid protection package)
CAUTION
For wiring of the peripheral device to the EE interface, refer to the ELECTRICAL
CONNECSTIONS Chapter of CONTROLLER MAINTENANCE MANUAL, too.
- 161 -
5.PIPING AND WIRING TO THE END EFFECTOR
2
B-82234EN/12
I/O Unit-MODEL B interface (Option)
Fig. 5.3 (p) and Fig. 5.3 (q) show the pin layout for the I/O Unit-MODEL B interface.
End
Effector
I/O unit MODEL B
Basic （＋extend unit）
I/O unit model B interface (output side)
JMWR2516F (Fujikura)
4
3
0VSIGNAL
0VLOGIC
9
8
2
7
13
1
+24VSIGNAL +24VLOGIC
12
6
11
5
10
(XHBK) (XPPABN)
16
15
14
S-
FG
S+
0
Please prepare by user.
I/O unit MODEL B
interface unit
Fig. 5.3 (p)
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 (q)
Pin layout for I/O Unit-MODEL B interface (Severe dust/ liquid protection package) (option)
- 162 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
3
User cable (signal line) (AS) Interface (option)
Fig. 5.3 (r) shows the pin layout for the user cable (signal line) interface.
The connector has a code pin for preventing improper insertion. The code pin is required for the
cable which is prepared by the user.
User cabel (signal) interface (output)
F TYPE Han 24DD(HARTING K.K.)
G
21
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
etc.
Outside FANUC dellivery scope
User cabel (signal) interface (input)
F TYPE Han 24DD(HARTING K.K.)
G
1
5
9
13
17
21
S1
S5
S9
S13
S17
S21
2
6
10
14
18
22
S2
S6
S10
S14
S18
S22
3
7
11
15
19
23
S3
S7
S11
S15
S19
S23
4
8
12
16
20
24
S4
S8
S12
S16
S20
S24
0.4mm×24
2
Outside FANUC delivery scope
Code pin
No.1 pin
No,1 pin
Code pin
User cable (signal) interface
User cable (signal) interface
input
Fig. 5.3 (r)
output
Pin layout for user cable (signal line) (AS) interface and code pin layout (option)
- 163 -
5.PIPING AND WIRING TO THE END EFFECTOR
4
B-82234EN/12
User cable (signal line usable to force sensor and 3D Laser Vision sensor) (ASi) Interface (option)
Fig. 5.3 (s) shows the pin layout for the user cable (signal line usable to force sensor and 3D Laser
Vision sensor) interface.
The connector has a code pin for preventing improper insertion. The code pin is required for the
cable which is prepared by the user.
User cabel (signal usable to force sensor and 3D Laser Vision sensor)
interface (output)
F TYPE Han 24DD(HARTING K.K.)
G
FG
21
17
13
9
5
1
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
etc.
Outside FANUC dellivery scope
User cabel (signal usable to force sensor and 3D Laser Vision sensor)
interface (input)
F TYPE Han 24DD(HARTING K.K.)
G
FG
1
5
9
13
17
21
S1
S5
S9
S13
S17
S21
2
6
10
14
18
22
S2
S6
S10
S14
S18
S22
3
7
11
15
19
23
S3
S7
S11
S15
S19
S23
4
8
12
16
20
24
S4
S8
S12
S16
S20
S24
0.5mm×18
0.4mm×6 ( part)
2
2
Outside FANUC dellivery scope
Code pin
No.1 pin
No.1 pin
Code pin
User cabel (signal usable to force sensor and 3D Laser Vision sensor) interface
input
Fig. 5.3 (s)
User cabel (signal usable to force sensor and 3D Laser Vision sensor) interface
output
Pin layout for user cable (signal line usable to force sensor and 3D Laser Vision sensor) (ASi)
interface and code pin layout (option)
- 164 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
5
User cable (power line) (AP) Interface (option)
Fig. 5.3 (o) shows the pin layout for the user cable (power line) interface.
The connector has a code pin for preventing improper insertion. The code pin is required for the
cable which is prepared by the user.
User cabel (power) interface (output)
F TYPE Han 15D (HARTING K.K>)
C1
B1
P11
P6
C2
B2
A2
P12
P7
P2
C3
B3
A3
P13
P8
P3
A1
P1
C4
B4
A4
P14
P9
P4
C5
B5
A5
P15
P10
P5
End effector
etc.
G
FG
Outside FANUC dellivery scope
User cabel (power) interface (input)
F TYPE Han 15D (HARTING K.K>)
A1
B1
C1
P1
P6
P11
A2
B2
C2
P2
P7
P12
A3
B3
C3
P3
P8
P13
A4
B4
C4
P4
P9
P14
A5
B5
C5
P5
P10
P15
1.25mm×15
2
G
FG
Outside FANUC dellivery scope
Code pin
A No.1 pin
A No.1 pin
Code pin
User cable (power) interface
input
Fig. 5.3 (t)
User cable (power) interface
output
Pin layout for user cable (power line) (AP) interface and code pin layout (option)
- 165 -
5.PIPING AND WIRING TO THE END EFFECTOR
6
B-82234EN/12
DeviceNet cable (signal line) (DS) interface (option)
Fig. 5.3 (u) shows the pin layout for the DeviceNet cable (signal line) interface.
DeviceNet cable (signal) interface (J2-axis output side)
5PIN FEMALE RECEPTACLE （Fujikura.Ltd）
3
V2
4
V+
1 DRAIN WIRE 5
CAN H
CAN L
DeviceNet cable (signal) interface (J3-axis output side)
5PIN FEMALE RECEPTACLE （Fujikura.Ltd）
3
V2
4
V+
DRAIN
WIRE
1
5
CAN H
CAN L
DeviceNet cable (signal) interface (J1-axis input side)
5PIN MALE RECEPTACLE （Fujikura.Ltd）
3
V2
4
V+
1 DRAIN WIRE 5
Fig. 5.3 (u)
7
CAN H
CAN L
Pin layout for DeviceNet cable (signal line) (DS) interface (option)
DeviceNet cable (power line) (DP) interface (option) Fig. 5.3 (q) shows the pin layout for the
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 (v)
Pin layout for DeviceNet cable (power line) (DP) interface (option)
- 166 -
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
8
Additional axis motor cable (Pulsecoder cable) (ARP) interface (option)
Fig. 5.3 (w) shows the pin layout of the additional axis motor cable (Pulsecoder cable) interface.
The connector has a code pin for preventing improper insertion.
Additional axis motor cable (Pulsecoder) interface (outlet)
FEMALE TYPE Han24DD (HARTING)
G
21
22
23
24
17
18
19
20
13
14
15
16
G
9 5V(J7A1) 5
10 5V(J7A2) 6
7
11
12 6V(BT7) 8
Additional
axis motor
0V(J7A1) 1 SPDJ7
0V(J7A2) 2 XSPDJ7
3 PRQJ7
0V(BT7) 4 XPRQJ7
Additional axis motor cable (Pulsecoder) interface (inlet)
MALE TYPE Han24DD (HARTING)
Controller
1
2
3
4
G
G
SPDJ7 5 0V(J7A1) 9 5V(J7A1) 13
XSPDJ7 6 0V(J7A2) 10 5V(J7A2) 14
11
15
PRQJ7 7
16
12
XPRQJ7 8
17
18
19
20
21
22
23
24
6V(BT7)
Battery
box
0V(BT7)
Code pin
No.1 pin
No.1 pin
Code pin
Additional axis motor cable (Pulsecoder)
interface code pin posiiton (inlet)
Fig. 5.3 (w)
ARP
SPD
XSPD
PRQ
XPRQ
Additional axis motor cable (Pulsecoder)
interface code pin posiiton (outlet)
Pin layout of the additional axis motor cable (Pulsecoder cable) (ARP) interface
and layout position of the code pin (option)
Table 5.3 (a) Comparative table of signal name according to the motor
α motor,β motor
αi , αi –B motor, βi, βi-B motor
SD
*SD
REQ
*REQ
RD
*RD
- 167 -
5.PIPING AND WIRING TO THE END EFFECTOR
9
B-82234EN/12
Additional axis motor cable (power and brake cables) (ARM) interface (option)
Fig. 5.3 (x) 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)
FEMALE TYPE Han15D (HARTING)
C1
C2
C3
C4
C5
B1 BK(J7) A1
B2 BKC(J7) A2
A3
B3
B4
A4
B5
A5
G
G
Additional
axismotor
J7U1
J7V1
J7W1
J7G1
Additional axis motor cable (power,brake) interface (inlet)
MALE TYPE Han15D (HARTING)
Controller
A1
A2
A3
A4
A5
J7U1
J7V1
J7W1
J7G1
B1 BK(J7) C1
B2 BKC(J7) C2
B3
C3
B4
C4
B5
C5
G
G
Code pin
A1 pin
A1 pin
Code pin
Additional axis motor cable (power,brake)
interface code pin posiiton (inlet)
Fig. 5.3 (x)
Additional axis motor cable (power,brake)
interface code pin posiiton (outlet)
Pin layout of the additional axis motor cable (power and brake cables) (ARM)
interface and layout position of the code pin (option)
Connector specifications
Table 5.3 (a)
Cable
Connector specifications (Mechanical unit side)
Input side (J1 base)
Output side (J3 casing)
AS
ASH
Housing
Insert
Contact
Code pin
───
───
09 30 006 0301
09 16 024 3001 (Han 24DD M)
09 15 000 6103
09 30 000 9901
AP
Housing
Insert
Contact
Code pin
09 20 010 0301
09 21 015 3001 (Han 15D M)
09 15 000 6101
09 30 000 9901
EE(RI/RO)
I/O
EE(RI/RO)
When a
severe
dust/liquid
protection
package is
selected
───
- 168 -
Housing
Insert
Contact
Code pin
JMWR2524F
JMWR2516F
09 30 006 0301
09 16 024 3101 (Han 24DD F)
09 15 000 6203
09 30 000 9901
Housing
Insert
Contact
Code pin
09 20 010 0301
09 21 015 3101 (Han 15D F)
09 15 000 6201
09 30 000 9901
Housing
Insert
Contact
Guide pin
Bushing
09 30 006 0301
09 16 024 3101 (Han 24DD F)
09 15 000 6204
09 33 000 9908
09 33 000 9909
Maker
/dealer
Fujikura
Ltd.
HARTING
K.K.
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
Table 5.3 (b)
Connector specifications (User side) (1/2)
Cable
Input side (J1 base)
Output side (J3 casing)
RI/RO
───
JMSP2524M
Straight (Appendix)
(FANUC spec. : A63L-0001-0234#S2524M)
JMLP2524M
Angle
───
JMSP2516M
Straight (Appendix)
(FANUC spec.: A63L-0001-0234#S2516M)
JMLP2516M
Angle plug
I/O
Hood
Select
one
AS (Signal)
ASH(signal
usable to the
force sensor)
Insert
Top entry
09 16 024 3101 (Han 24DD F)
09 15 000 6204 AWG 26-22
6203 AWG 20
6205 AWG 18
6202 AWG 18
Select
6201 AWG 16
one
6206 AWG 14
09 00 000 5083
5086
Clamp
5090
5094 etc.
Select one
Many other types are available
Code pin 09 30 000 9901
09 20 015 1541
Side entry
0540
Hood
0541
1440
Top entry
Select
0440
one
0441
Contact
Select
one
Clamp
Select
one
Code pin
Fujikura
Ltd.
Side entry
Hood
The same
Insert
09 16 024 3001 (Han 24DD M)
Contact
Insert
AP (Power)
09 30 006 1540
1541
0542
0543
1440
1441
0442
0443
Maker
/dealer
09 21 015 3101 (Han 15D F)
09 15 000 6204 AWG 26-22
6203 AWG 20
6205 AWG 18
6202 AWG 18
6201 AWG 16
6206 AWG 14
09 00 000 5083
5086
5090
5094 etc.
Many other types are available
09 30 000 9901
- 169 -
Contact
Clamp
Code pin
Hood
Insert
Contact
Clamp
09 15 000 6104
6103
6105
6102
6101
6106
AWG 26-22
AWG 20
AWG 18
AWG 18
AWG 16
AWG 14
The same
HARTIN
G
K.K
09 30 000 9901
The same
09 21 015 3001 (Han 15D M)
09 15 000 6104
6103
6105
6102
6101
6106
AWG 26-22
AWG 20
AWG 18
AWG 18
AWG 16
AWG 14
The same
Code pin 09 30 000 9901
5.PIPING AND WIRING TO THE END EFFECTOR
Table 5.3 (c)
Cable
Connector specifications (User side) (2/2)
Output side (J3 casing)
Maker
/dealer
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)
(Appendix)
Insert
(FANUC specification :
A63L-0001-0453#24DDM)
09 15 000 6104
(Appendix)AWG 26-22
(FANUC specification :
A63L-0001-0453#CA6140
Contact
6103
AWG 20
(24 pcs)
6105
AWG 18
6102
AWG 18
6101
AWG 16
6106
AWG 14
151D
152D(Appendix)
(FANUC specification :
Clamp
A63L-0001-0453#A-152D)
153D
09 33 000 9908 (Appendix)
Guide pin
(FANUC specification :
(2 pcs)
A63L-0001-0453#A-9908)
09 33 000 9909 (Appendix)
Bushing
(FANUC specification :
(2 pcs)
A63L-0001-0453#A-9909)
HARTING
K.K
Input side (J1 base)
RI /RO
(When a
severe
dust/liquid
protection
package is
selected)
B-82234EN/12
──
Table 5.3 (d)
Cable
DS
DP
Connector specifications (DeviceNet cable, Mechanical unit side)
Maker
Output side Maker Output side
Input side (J1 base)
/dealer
(J2 base)
/dealer (J3 casing)
CM03A-R5P-S-2
Housing 09 30 006 0301 (Han 6E)
09 32 010 3001 (Han 10EE M)
Insert
Contact 09 33 000 6104
Fujikura CM03A-PR5SLtd.
S-2
HARTING CM03A-PR4SElectronic S-2
CO., LTD.
- 170 -
Fujikura
Ltd.
Fujikura
Ltd.
CM03A-PR5SS-2
CM03A-PR4SS-2
Maker
/dealer
Fujikura
Ltd.
Fujikura
Ltd.
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
Table 5.3 (e)
Connector specifications (DeviceNet cable, User side)
Output
Output
Maker
Maker
side
side
Input side (J1 base)
/dealer
/dealer
(J3 casing)
(J2 base)
Cable
MINI connector for use on the device net
5-pin, FEMALE
CM03-P5S
Fujikura
Ltd.
09 30 006 1540 (Han 6E) Side entry
1541
0542
Select
0543
just
one
1440
Top entry
1441
0442
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
5086
Select
5090
just
5094
one
Many other types are available.
HARTING
Electro
nic CO.,
LTD.
DS
Hood
DP
Table 5.3 (f)
Cable
MINI
connector
for use on
the device
net 5-pin,
MALE
CM03-J5P
MINI
connector
for use on
the device
net 4-pin,
MALE
CM03-J4P
Fujikura
Ltd.
Fujikura
Ltd.
MINI
connector
for use on
the device
net 5-pin,
MALE
CM03-J5P
MINI
connector for
use on the
device
net4-pin,
MALE
CM03-J4P
Input side (J1 base)
Output side (J3 casing)
ARP
09 30 006 0301
09 16 024 3001 (Han 24DD M)
09 15 000 6103
09 30 000 9901
Housing
Insert
Contact
Code pin
09 30 006 0301
09 16 024 3101 (Han 24DD F)
09 15 000 6203
09 30 000 9901
ARM
Housing
Insert
Contact
Code pin
09 20 010 0301
09 21 015 3001 (Han 15D M)
09 15 000 6101
09 30 000 9901
Housing
Insert
Contact
Code pin
09 20 010 0301
09 21 015 3101 (Han 15D F)
09 15 000 6201
09 30 000 9901
Cable
Cable
LMP1
Fujikura
Ltd.
Fuji
kura Ltd.
Connector specifications (Additional axis motor cable, Mechanical unit side)
Housing
Insert
Contact
Code pin
LMP1
Maker
/dealer
Table 5.3 (g) Connector specifications (3DL sensor)
Input side (J1 base)
Output side (J3 casing)
───
JMWR1303M
Table 5.3 (h)
Connector specifications (3DL sensor)
Input side (J1 base)
Output side (J3 casing)
JMSP1303F Straight plug
(FANUC specification
A63L-0001-0234#S1303F)
JMLP1303F Angle plug
───
- 171 -
Maker
/dealer
HARTING
K.K
Maker/dealer
Fujikura Ltd.
Maker/dealer
Fujikura Ltd.
5.PIPING AND WIRING TO THE END EFFECTOR
B-82234EN/12
NOTE
For details, such as the dimensions, of the parts listed above, refer to the related
catalogs offered by the respective manufactures, or contact your local FANUC
representative.
5.4
INSTALLING THE AIR PURGE KIT
In case of R-2000iB/210WE,be sure to use air purge kit.
Air purge kit is preparatory as the option, and use it, please. Use the prepared air purge kit.
Set the air purge pressure to 20 kPa (0.02 MPa , 0.2 kgf/cm2).
NOTE
1 It is recommended that a dedicated air pressure source be used for an air purge. Do not
use the same air pressure source for both the air purge kit and others. Otherwise, the
dryer capacity is exceeded and water or oil remains in air, causing serious damage to
the robot.
2 After installing the robot, perform an air purge at all times.
Even when the robot is not operated, an air purge is required if it is placed in a bad
condition such as water splash on the robot or it s humid in washing booth.
220
100
60
242
140
70
2-O11
308
158
31
It is connected to dry air
(J1 connector panel)
102
70
Pneumatic
air outlet
Pressure gauge
170.8
Air inlet
(O10 Air tube)
180
Air outlet
(O6 Air tube)
91.1
282
2-O7
57.2
Pressure adjustment knob
Fig 5.4 Regulator kit for air purge external dimensions
- 172 -
6.AXIS LIMITS SETUP
B-82234EN/12
6
AXIS LIMITS SETUP
By setting the motion range of each axes, you can change the robot’s motion range from the standard
values. Changing the motion range of robot is effective under following circumstances:

Used motion range of robot is limited.

There’s an area where tool and peripheral devices interfere with robot.

The length of cables and hoses attached for application is limited.
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 adjustable mechanical stopper ((J1, J2, J3 axis) option)

Axis limit switches ((J1, J2, J3 axis) option)
WARNING
Changing the motion 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.
2 For the J1, J2, and J3 axes, do not count merely on software-based limits to the
movable range when changing the movable range of the robot. When changing the
movable range, 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.
3 Mechanical stoppers are physical obstacles. For J1 to J3 axis, it is possible to
re-position the adjustable mechanical stoppers. But the robot cannot move
beyond them. For J5 axis (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.
4 For changing J2 andJ3 axes interference angles, only adjustable mechanical
stoppers are available; a software-specified movable range cannot be changed.
5 Adjustable mechanical stoppers (J1, J2, and J3 axes) are deformed in a collision to
stop the robot. Once a stopper is subject to a collision, it can no longer assure its
original strength and, therefore, may not stop the robot. When this happens, replace
it with a new one.
1
- 173 -
6.AXIS LIMITS SETUP
6.1
B-82234EN/12
SETTING MOTION LIMITATION BY SOFTWARE
Upper and lower axis limits about motion range can be changed by software settings. The limits can be
set for all axes. The robot stops the motion if the robot reaches to the limits.
Setting procedure
1
2
3
4
Press [MENU] key to display the screen menu.
Select [0 NEXT] and press [6 SYSTEM].
Press F1 [TYPE].
Select [Axis Limits]. The following screen will be displayed.
WARNING
1 0.00 indicates the robot does not have these axes.
2 Do not depend on J1, J2, and J3 axes limit software settings to control the
motion range of your robot. Use the axis limit switches or adjustable mechanical
stopper also; otherwise injury to personnel or damage to equipment could occur.
System Axis Limits
Group1
AXIS
GROUP
1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
1
LOWER
-180.00
-60.00
-132.00
-360.00
-125.00
-360.00
0.00
0.00
0.00
JOINT 100%
1/16
UPPER
180.00
deg
76.00
deg
230.00
deg
360.00
deg
125.00
deg
360.00
deg
0.00
mm
0.00
mm
0.00
mm
[ TYPE]
5
Type the new value using the numeric keys on the teach pendant.
System Axis Limits
Group1
AXIS
GROUP
2
1
LOWER
-60.00
JOINT 100%
1/16
UPPER
76.00
deg
[ TYPE]
6
7
Perform the setting for all axes.
Turn off the controller and then turn it back on again in the cold start mode so the new information
can be used.
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.
- 174 -
6.AXIS LIMITS SETUP
B-82234EN/12
6.2
ADJUSTABLE MECHANICAL STOPPER AND LIMIT
SWITCH SETTING
For the J1, J2, and J3 axes, Adjustable mechanical stopper (option) can be installed in addition to standard
mechanical stopper. It is possible to re-position adjustable mechanical stoppers. The limit switch-based
movable range can be changed by changing the dog positions. Change the position of the adjustable
mechanical stoppers according to the desired movable range.
Table 6.2 (a) motion range that can be set by the adjustable mechanical stopper and space between the
upper and lower limits (1/5)
R-2000iB/165F, 210F, 185L, 250F,210WE,125L, 175L,
Item
100H, 150U,220U
J1 axis mechanical stopper,
limit switch
(R-2000iB/210WE does not
support limit switch)
J2 axis mechanical stopper
Upper limit
Lower limit
Space between the
upper and lower limits
Upper limit
Lower limit
J2 axis limit switch
(R-2000iB/210WE does not
support 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
(R-2000iB/210WE does not
support limit switch)
Space between the
upper and lower limits
Upper limit
Lower limit
Space between the
upper and lower limits
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 set to -60°, minus side
dog can not be set)
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 set to -60°, plus side dog can not be
set)
A space of 15or more is required.
Settable in steps of 15 in the range of -45º 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 set to -75°or -60°, minus side dog
can not be set)
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 set to +180°or +195°, plus side dog
can not be set)
A space of 30 or more is required.
- 175 -
6.AXIS LIMITS SETUP
B-82234EN/12
Table 6.2 (b) motion range that can be set by the adjustable mechanical stopper and space between the
upper and lower limits (2/5)
R-2000iB/165R, 200R, 100P
Item
J1 axis mechanical stopper,
limit switch
J2 axis mechanical stopper
Upper limit
Lower limit
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
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 -120 to +60. Also
settable to the upper limit +65of the standard movable
range. (When it is set to –120°, minus side
dog can not be set)
Settable in steps of 15 in the range of -120 to +60.
Also settable to the lower limit -120 of the standard
movable range. (When it is set to +60°, plus side dog
can not be set)
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 set to –75°or –60°, minus
side dog can not be set)
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 set to +180°or +195°, plus
side dog can not be set)
A space of 30 or more is required.
- 176 -
6.AXIS LIMITS SETUP
B-82234EN/12
Table 6.2 (c) motion range that can be set by the adjustable mechanical stopper and space between the
upper and lower limits (3/5)
R-2000iB/170CF
Item
J1 axis mechanical stopper,
limit switch
J2 axis mechanical stopper
Upper limit
Lower limit
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 30 or more is required.
Space between the
upper and lower limits
It doesn't correspond to R-2000iB/170CF
Upper limit
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.
Lower limit
J3 axis (J2+J3) limit switch
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.
Space between the
upper and lower limits
It doesn't correspond to R-2000iB/170CF
Table 6.2 (d) motion range that can be set by the adjustable mechanical stopper and space between the
upper and lower limits (4/5)
R-2000iB/210FS,220US
Item
J1 axis mechanical stopper,
limit switch
J2 axis mechanical stopper
Upper limit
Lower limit
Space between the
upper and lower limits
Upper limit
Lower limit
J2 axis limit switch
J3 axis (J2+J3) mechanical
stopper
J3 axis (J2+J3) limit switch
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.
Space between the
upper and lower limits
It doesn't correspond to R-2000iB/210FS,220US
Settable in steps of 15 in the range of -45º to +90. A
Upper limit
mechanical stopper is also provided at the upper limit
+100 of the standard movable range.
Lower limit
Settable in steps of 15 in the range of -60 to +75. A
mechanical stopper is also provided at the lower limit -79
of the standard movable range.
Space between the
A space of 30 or more is required.
upper and lower limits
It doesn't correspond to R-2000iB/210FS,220US
- 177 -
6.AXIS LIMITS SETUP
B-82234EN/12
Table 6.2 (e) motion range that can be set by the adjustable mechanical stopper and space between the
upper and lower limits (5/5)
R-2000iB/165CF
Item
J1 axis mechanical stopper,
limit switch
J2 axis mechanical stopper
Upper limit
Lower limit
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
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, you must change it by zero
degree mastering so that 0 is included.
- 178 -
6.AXIS LIMITS SETUP
B-82234EN/12
Note 1 on attachning the J1-axis mechanical stopper
The motion range limited by the J1-axis mechanical stopper can be changed in steps of 7.5°
by changing the installation hole.Select the appropriate installation hole corresponding to the
desired limit angle with reference to the following figure.
(1) Limit angle
(2) Limit angle
15°× N
( N = 0, ±1, ±2, … ）
7.5°+ 15°× N
(N = 0, ±1, ±2, … )
Installation hole
Installation hole
Installation hole
Installation hole
Except R-2000iB/165CF
R-2000iB/165CF
Except R-2000iB/165CF
FRONT
R-2000iB/165CF
FRONT
+165°±180°-165°
+150°
-150°
+135°
+172.5° -172.5°
+157.5°
-157.5°
+142.5°
-142.5°
-135°
+120°
+127.5°
-127.5°
-120°
+112.5°
+105°
-105°
+90°
-112.5°
+97.5°
-97.5°
+82.5°
-82.5°
-90°
-75°
+75°
+60°
+45°
+15°
±0°
-52.5°
+52.5°
-45°
-30°
+30°
-67.5°
+67.5°
-60°
-37.5°
+37.5°
+22.5°+7.5° -7.5°-22.5°
-15°
Note 2 on attaching the J1-axis mechanical stopper
The fixing direction on the J1 stopper should be changed according to the direction (+or-) of the axis limit.Change the mounting
direction by interchanging the front and back sides of stopper
J1 stopper
Note the mounting direction
Mounting position
(long side)
Minus
Mounting position
(long side)
Mounting
position
(short side)
Plus
Mounting
position
(short side)
Minus limit stopper
Projection point
Plus limit stopper
Swing stopper
Projection point
J1-axis mechanical stopper
Except R-2000iB/165CF
limit
Motion
J1-axis mechanical stopper
R-2000iB/165CF
(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
165F,210F,185L, 250F, 170CF,210WE,125L, 175L,100H,150U,220U,210FS,220US
165R, 200R, 100P
165CF
- 179 -
A290-7329-X215
A290-7329-Y215
A290-7321-X215
6.AXIS LIMITS SETUP
B-82234EN/12
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)
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,185L,250F,210WE,125L,175L,100H,150U,220U,210FS,220US)
+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,185L,250F,210WE,125L,175L,100H,150U,220U,210FS,220US)
- 180 -
6.AXIS LIMITS SETUP
B-82234EN/12
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 stopper
(NOTE)
J2-axis leff view
A minimum space of 15 is required between the plus side stopper and
minus side stopper.
Fig. 6.2 (f)
Mounting the J2-axis mechanical stopper (R-2000iB/165R,200R,100P)
- 181 -
6.AXIS LIMITS SETUP
B-82234EN/12
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°
-45°
+75°
+30°
+45°
+90°
+60°
+105°
+75°
+120°
+90°
+120°
+105°
Mounting position of plus side stopper
Mounting position of minus side stopper
(NOTE)
J2-axis left view
A minimum space of 30°is required between the plus side stopper and minus side stopper.
Fig. 6.2 (h)
Mounting the J2-axis mechanical stopper (R-2000iB/170CF)
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)
- 182 -
6.AXIS LIMITS SETUP
B-82234EN/12
Mark
Mark
Minus side stopper
Plus side stopper
Fig. 6.2 (j) J3-axis mechanical stopper (option)
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H,150U,220U,210FS,220US)
+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,185L,250F,165R,200R,100P,210WE,125L,175L,100H,150U,220U)
- 183 -
6.AXIS LIMITS SETUP
B-82234EN/12
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°
-45°
+30°
+120°
-30°
+105°
-15°
+15°
+0°
+90°
+0°
-15°
+75°
+60°
+15°
+30°
Mounting position of plus side stopper
+45°
Mounting position of minus side stopper
(NOTE)
J3-axis left view
A minimum space of 30°is required between the plus side stopper and minus side stopper.
Fig. 6.2 (m)
Mounting the J3-axis mechanical stopper (R-2000iB/170CF)
- 184 -
6.AXIS LIMITS SETUP
B-82234EN/12
+90v
+75v
-60v
+60v
-45v
+45v
-30v
+30v
0v
-30v
-15v
+75v
+15v
0v
-15v
-45v
+15v
+45v
+30v
Mounting position of plus side stopper
+60v
Mounting position of minus side stopper
（NOTE） J3-axis left view
A minimum space of 30°is required between the plus side stopper and minus side stopper.
Fig. 6.2 (n)
Mounting the J3-axis mechanical stopper (R-2000iB/210FS,220US)
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 (o)
Mounting the J3-axis mechanical stopper (R-2000iB/165CF)
The adjustable mechanical stopper is a mechanism that can be adjusted in its position. The robot can
work safely inside the adjusted motion range, up to the maximum range as shown in Table 6.2 (f)
A robot attempting to travel beyond this set range of motion, will be stopped by these stoppers, by
collision; and therefore the robot will remain contained within the setup range.
Stopping the robot will cause the mechanical stopper to be “transformed” (permanently damaged). Be
sure to replace the deformed stopper before using the robot again.
Table 6.2 (f) The maximum stopping distance(position ) of movable mechanical stopper
Plus side
Minus side
+17º
-17º
J1-axis
+12º
-12º
J2-axis
+7.6º
-6.8º
J3-axis
- 185 -
6.AXIS LIMITS SETUP
B-82234EN/12
The maximum stopping
distantance (position)
17°
The maximum stopping
distantance (position)
17°
Specified motiron range
of minus side
Specified motiron range
of plus side
Fig. 6.2 (p)
The maximum stopping distance of movable mechanical stopper of J1-axis
The maximum stopping
最大停止距離
(位置)
12°
Specified
motion range
指定動作範囲
Distance (position)
The
maximum stopping
最大停止距離
(位置)
Distance (position)
12°
Fig. 6.2 (q)
The maximum stopping distance of movable mechanical stopper of J2-axis
Specified指定動作範囲
motion range
7 .6
°
(位置)
The最大停止距離
maximum stopping
Distance (position)
US
MINUS
6.8°
PL
最大停止距離
The
maximum(位置)
stopping
Distance (position)
Fig. 6.2 (r) The maximum stopping distance of movable mechanical stopper of J3-axis
- 186 -
6.AXIS LIMITS SETUP
B-82234EN/12
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)
- 187 -
6.AXIS LIMITS SETUP
B-82234EN/12
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°
-30°
-15°
(*1)
-60°
+0°
-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 15°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,185L,250F,125L,175L,100H,150U,220U)
-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°
Dog mounting position at plus side
+60°
(*2)
Dog mounting position at minus 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)
- 188 -
6.AXIS LIMITS SETUP
B-82234EN/12
J2 arm (Right side)
Mounting position of plus side dog
(NOTE)
Mounting position of minus side dog
J2-axis right 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°
+150°
+175°
+135°
+150°
+120°
+135°
+105°
+120°
-79°
+90°
+105°
-75°
(＊1)
+75°
-75°
+90°
-60°
(＊1)
+60°
-60°
-45°
-15°
+0°
+60°
-30°
+30°
-30°
+75°
-45°
+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,185L,250F,165R,200R,100P,125L,175L,100H,150U,220U)
J3 casing
(left side)
J3 casing
(left side)
Mounting of minus side dog
Mounting of plus 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)
- 189 -
6.AXIS LIMITS SETUP
6.4
B-82234EN/12
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 that hold the limit switch.
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 controller power, then turn it on again to restart the controller.
Limit switch
(Adjusting
horizontal
direction)
(Adjusting
vertical
direction)
PT: Pre-travel (Moving before operation)
OT: Over-travel (Moving over operation)
(NOTE)
J1 base top view
Fig. 6.4 (a) Adjusting J1-axis limit switch (option)
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,125L,175L,100H,150U,220U,210FS,220US)
- 190 -
6.AXIS LIMITS SETUP
B-82234EN/12
Limit switch
Adjusting horizontal direction
Adjusting vertical direction
Pre-travel (Moving before operation)
Over-travel (Moving over operation)
(NOTE)
Fig. 6.4 (b)
J1 base top view
Adjusting J1-axis limit switch (option) (R-2000iB/165CF)
(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,185L,250F,200R,100P,125L,175L,100H,150U,220U)
- 191 -
6.AXIS LIMITS SETUP
B-82234EN/12
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)
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 side view
Fig. 6.4 (e) Adjusting J3-axis limit switch (option)
(R-2000iB/165F, 210F,185L,250F,165R, 200R,100P,125L,175L,100H,150U,220U)
Limit switch
J3-axis
(right side)
(For adjustment in the radial direction)
(NOTE)
Fig. 6.4 (f)
J3-axis right side view
Adjusting J3-axis limit switch (option) (R-2000iB/165CF)
- 192 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
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. In cases where robot use
exceeds 3840 hours/year, adjust the given maintenance frequencies
accordingly. The ratio of actual operation time/year vs. the 3840 hours/year
should be used to calculate the new (higher) frequencies. For example, when
using the robot 7680 hours a year, the maintenance frequency should be
doubled – i.e. the time interval should be divided by 2.
7.1
PERIODIC MAINTENANCE
7.1.1
Daily Checks
Clean each part, and visually check component parts for damage before daily system operation. Check the
following items when necessary.
Check items
Oil seepage
Air control set
Vibration,
Abnormal
noises
Repeatability
Peripheral
devices for
proper
operation
Brakes for
each axis
Warnings
Check points and management
Check there is oil on the sealed part of each joint. If there is an oil seepage, clean them.
⇒”7.2.1 Confirmation of oil seepage”
( When air control set is used)
⇒”7.2.2 Confirmation of the air control set”
Check whether vibration or abnormal noises occur.
When vibration or abnormal noises occur, perform measures referring to the following section:
⇒”9.1 TROUBLESHOOTING”(symptom：Vibration, Noise)
Check to see that the taught positions of the robot have not deviated from the previous taught
positions. When displacement occurs, perform the measures as described in the following
section:
⇒”9.1 TROUBLESHOOTING ”(symptom：Displacement)
Check whether the peripheral devices operate properly according to commands from the robot
and the peripheral devices.
Check that the end effector drops within 0.2 mm when servo power is turned off.
If the end effector (hand) drops, perform the measures as described in the following section:
⇒”9.1 TROUBLESHOOTING ”(symptom：Dropping axis)
Check whether unexpected warnings occur in the alarm screen on the teach pendant. If
unexpected warnings occur, perform the measures as described in the following manual:
⇒”R-30iB/R-30iB Mate CONTROLLER OPERATOR’S MANUAL (Alarm Code
List)(B-83284EN-1) or R-30iA/R-30iA Mate CONTROLLER OPERATOR’S MANUAL (Alarm
Code List)(B-83124EN-6)”
- 193 -
7.CHECKS AND MAINTENANCE
7.1.2
B-82234EN/12
Periodic Check and Maintenance
Check the following items at the intervals recommended below based on the total operating time or the
accumulated operating time, whichever comes first.
Check and maintenance
intervals
(Operation time, Operation
accumulated time)
1
month
320h
3
months
960h
○
○
1
year
3840h
Only
1st
1.5
years
5760h
2
years
7680
h
3
years
11520h
Check and maintenance
item
Check points, management and
maintenance method
Periodic
maintenance
table No.
4
years
15360h
Cleaning the controller
ventilation
system
Confirm the controller ventilation
system is not dusty. If dust has
accumulated, remove it.
Check for external
damage or
peeling paint
Check whether the robot has
external damage or peeling paint
due to the interference with the
peripheral devices. If an
interference occurs, eliminate the
cause. Also, if the external damage
is serious, and causes a problem in
which the robot will not operate,
replace the damaged parts.
Check whether the cable protection
sheaths of the mechanical unit cable
have holes or tears. If damage is are
found, replace the cable protection
sheath. If the cable protection sheath is
damaged due to the interference with
peripheral devices, eliminate the
cause.
⇒”7.2.3 Check the mechanical
unit cable and connectors”
Check whether wear debris is
generated on the following parts.
・Balancer rod, support part of in
frond and behind of the balancer
・J1-axis swing stopper rotation
part
If serious wear occurs on the part
that generated the wear debris,
replace the part.
Check whether the robot is
subjected to water or cutting oils. If
water is found, remove the cause
and wipe off the liquid.
Check whether the cable connected
to the teach pendant, operation box
and robot are unevenly twisted or
damaged. If damage is found,
replace the damaged cables.
27
check
○
○
Check damages
of the cable
protection sheaths
○
Check wear debris of the
balancer and J1-axis
swing stopper
○
○
Only
1st
check
Check for water
○
Check for damages
to the teach pendant cable,
the operation box connection
cable
or the robot connection cable
- 194 -
1
2
3
4
27
7.CHECKS AND MAINTENANCE
B-82234EN/12
Check and maintenance
intervals
(Operation time, Operation
accumulated time)
1
month
320h
3
months
960h
1
year
3840h
○
○
Only
1st
1.5
years
5760h
2
years
7680
h
3
years
11520h
Check and maintenance
item
Check points, management and
maintenance method
Check for damage to the
mechanical unit cable
(movable part)
Observe the movable part of the
mechanical unit cable, and check
for damage. Also, check whether
the cables are excessively bent or
unevenly twisted.
⇒”7.2.3 Check the mechanical
unit cable and connectors”
Check whether the end effector
connection cables are unevenly
twisted or damaged. If damage is
found, replace the damaged cables.
Check the connection of each axis
motor and other exposed
connectors.
⇒”7.2.3 Check the mechanical
unit cable and connectors”
Retighten the end effector mounting
bolts.
Refer to the following section for
tightening torque information:
⇒”4.1 END EFFECTOR
INSTALLATION TO WRIST”
Retighten the robot installation
bolts, bolts to be removed for
inspection, and bolts exposed to the
outside. Refer to the recommended
bolt tightening torque guidelines at
the end of the manual. An adhesive
to prevent bolts from loosening is
applied to some bolts. If the bolts
are tightened with greater than the
recommended torque, the adhesive
might be removed.
Therefore, follow the recommended
bolt tightening torque guidelines
when retightening the bolts.
Check that there is no evidence of a
collision on the mechanical stopper,
the adjustable mechanical stopper,
and check the looseness of the
stopper mounting bolts.
Check that the J1-axis swing stopper
rotates smoothly.
⇒”7.2.4 Check the mechanical
stopper and the adjustable
mechanical stopper”
○
○
1st
Check for damage to the
end effector (hand)
connection cable
Check
○
○
Only
1st
Check the connection of
each axis motor and other
exposed connectors
check
○
○
Only
Retightening the end
effector mounting bolts
1st
check
○
○
Only
Retightening the external
main bolts
1st
check
○
Only
1st
○
table No.
4
years
15360h
check
Only
Periodic
maintenance
Check the mechanical
stopper and the adjustable
mechanical stopper
check
- 195 -
5
6
7
8
9
10
7.CHECKS AND MAINTENANCE
Check and maintenance
intervals
(Operation time, Operation
accumulated time)
1
month
320h
3
months
960h
1
year
3840h
○
○
1.5
years
5760h
2
years
7680
h
3
years
11520h
1st
check
○
Only
1st
check
○
○
○
Check and maintenance
item
Check points, management and
maintenance method
Periodic
maintenance
table No.
4
years
15360h
Clean spatters,
sawdust and dust
Only
○
B-82234EN/12
○
○
(*)
(*)
○
Check that spatters, sawdust, or dust
does not exist on the robot main
body. If dust has accumulated,
remove it. Especially, clean the robot
movable parts well (each joint, the
balancer rod. the support part of in
front and behind of the balancer, and
the cable protection sheaths).
Check the operation of the
(When cooling fans are installed on
cooling fan
the each axis motor) Check whether
the cooling fans are operating
correctly. If the cooling fans do not
operate, replace them.
Greasing to the balancer bush
Supply grease to the balancer bush.
⇒”7.3.1 Greasing the Balancer
Bush”
Replacing the mechanical
Replace the mechanical unit
unit batteries
batteries
⇒”7.3.2 Replacing the
batteries”
Replacing the grease of each Replace the grease of each axis
axis reducer
reducer
(*) Periodic interval differs according to the model.
Except 210WE: 3 years (11520 hours)
210WE : 1 year (3840 hours)
Check the purge piping
(210WE)
Only
1st
check
○ Replacing the major axis
solution arm cable
(210FS,220US)
○
Replacing wrist integrated
cable
○ Replacing the mechanical
unit cable
○ Replacing the controller
batteries
- 196 -
⇒”7.3.3 Replacing the Grease
of the Drive Mechanism”
Confirm there is no breakage on
purge piping.
⇒”7.2.5 Confirm there is no
breakage on purge piping”
Replace the major axis solution arm
cable
Contact your local FANUC
representative for information
regarding replacing the cable.
Replace the wrist integrated cable.
Contact your local FANUC
representative for information
regarding replacing the cable.
Replace the mechanical unit cable.
Contact your local FANUC
representative for information
regarding replacing the cable.
Replace the controller batteries
⇒Chapter 7 Replacing
batteries of R-30iB
CONTROLLER MAINTENANCE
MANUAL (B-83195EN) or R-30iB
Mate CONTROLLER
MAINTENANCE MANUAL
(B-83525EN) or R-30iA
CONTROLLER MAINTENANCE
MANUAL (B-82595EN)”
11
12
13
14
15 to 21
22
23
24
25
23
7.CHECKS AND MAINTENANCE
B-82234EN/12
7.2
CHECK POINTS
7.2.1
Confirmation of Oil Seepage
Check items
Check to see whether there is an oil seepage on the rotating parts of each joint axis.
Fig. 7.2.1 Check points of oil seepage
Management
・ Oil might accumulate on the outside of the seal lip depending on the movement condition or
environment of the axis. If the oil changes to a state of liquid, the oil might fall depending on the
axis movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis
components before you operate the robot.
・ Also, drive mechanisms might become hot and the internal pressure of the grease bath might rise
by frequent repetitive movement and use in high temperature environments. In these cases,
normal internal pressure can be achieved by venting the grease outlet. (When opening the grease
outlet, refer to Subsection 7.3.3 and ensure that grease is not expelled onto the machine or
tooling.)
・ If you must wipe oil frequently, and opening the grease outlet does not stop the seepage perform
the measures below.
⇒”9.1 TROUBLESHOOTING ”(symptom：Grease leakage)
- 197 -
7.CHECKS AND MAINTENANCE
7.2.2
B-82234EN/12
Confirmation of the Air Control Set or Air Purge Kit
When an air control set or air purge kit is used, check the items below.
Item
Check items
Check points
1
Air pressure
2
Lubricator oil mist
quantity
3
In case of
air control
set
Lubricator oil level
4
Leakage from hose
5
Drain
6
Supply pressure
7
8
In case of
air purge
kit
Dryer
Drain
Check air pressure using the pressure gauge on the air regulator
as shown in Fig.7.2.2 (a). If it does not meet the specified pressure
of 0.49 to 0.69 MPa (5-7 kgf/cm2), adjust it using the regulator
pressure-setting handle.
Check the number of oil drops during operation. If it does not meet
the specified value (1 drop/10-20 sec), adjust it using the handle
for lubricator adjustment. The lubricator becomes empty in about
10 to 20 days under normal operation.
Check to see that the lubricator level is within the specified level
shown meet the specified pressure of 10 KPa (0.1kgf/cm2), adjust
it using the regulator pressure-setting handle.
Check the joints, tubes, etc. for leaks. Retighten the joints or
replace parts, as required.
Check the drain and release it. When quantity of the drain is
remarkable, examine the setting of the air dryer to the air supply
side.
Check the supply pressure using the air
purge kit shown in Fig.7.1.1 (c). If it does not
2
meet the specified pressure of 20 KPa (0.2kgf/cm ),
adjust it using the regulator pressure setting handle.
Check whether the color of the dew point checker is blue. When it
is not blue, identify the cause and replace the dryer. Maintenance
for air purge kit, refer to the operator’s manual attached kit.
Check drain, When quantity of the drain is remarkable, examine
the setting of the air dryer to the air supply side.
Lubricator
Oil inlet
Handle for
lubricator adjustment
Lubricator
oil drop amount
check
Lubricator
Filter
Regulator
pressure
setting
Fig. 7.2.2 (a)
Pressure gauge
Air control set (option)
- 198 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
4-7X114-7x11 長丸穴
Air
outlet
空気出力口
Length round hole
(O6エアチューブ)
(φ6
Air tube)
圧力計 gauge
Pressure
Pneumatic
一次空圧源
air outlet
Air
inlet
空気入力口
(O10エアチューブ)
(φ10
Air tube)
Handle
for
圧力調整用ノブ
S
O
O
S
Lubricator adjustment
Fig. 7.2.2 (b) Air purge kit (option)
7.2.3
Check the Mechanical Unit Cables and Connectors
Check points of the mechanical unit cables
Fixed part cables can 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.
Remove the cover.
Fig. 7.2.3 (a) Check points of the mechanical unit cables
- 199 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
Check items
＜Cable protection sheath＞
・ Check that no holes or tears exist on the cable protection sheaths.
・ If there is damage as shown in Fig.7.2.3 (b), replace the cable protection sheaths.
Fig. 7.2.3 (b) Damages on the cable protection sheath
＜Cables＞
・ Check that there is no wear or damage on the cable jacket.
・ If the inside wire rods are exposed due to wear or damage, replace the cables.
Open the
Check the
sheath
jacket
If the jacket has damage as
shown in here, replace the cable.
Fig. 7.2.3 (c) Cable check method
Inspection points of the connectors
・ Power/brake connectors of the motor exposed externally
・ Robot connection cables, earth terminal and user cables
Check items
・ Circular connector:
・ Square connector:
・ Earth terminal:
Check the connector for tightness by turning it manually.
Check the connector for engagement of its lever.
Check the connector for tightness.
- 200 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
Fig. 7.2.3 (d)
7.2.4




Connector Inspection points
Check of Fixed Mechanical Stopper and Adjustable
Mechanical Stopper
Check that there is no evidence of a collision on the mechanical stopper and the adjustable
mechanical stopper. If there is evidence of a collision on the stopper, replace the parts.
Check the tightness of the stopper mounting bolts. If they are loose, retighten them.
Be sure to check the tightness of the mounting bolts of the J1-axis swing stopper.
Check that J1-axis swing stopper rotates smoothly.
Refer to Section 6.2 of the operator’s manual for details regarding the adjustable mechanical stopper.
2
Plus side stopper
Minus side stopper
Check the tightness of bolts.
Confirm the smooth rotation
of the swing stopper.
Check the tightness of bolts.
J3-axis adjustable mechanical stopper (option)
Plus side stopper
Minus side stopper
J1-axis fixed mechanical stopper (option)
J1-axis adjustable mechanical stopper (option)
J2-axis adjustable mechanical stopper (option)
Fig. 7.2.4 Check of fixed mechanical stopper and adjustable mechanical stopper
- 201 -
7.CHECKS AND MAINTENANCE
7.2.5
B-82234EN/12
Confirm There is No Breakage on Purge Piping
Check that there is no evidence of a collision on the mechanical stopper and the adjustable
Connection part of piping
Purge air piping route
Movable part of piping
Rc1/2 Female （Purge air inlet side）
Fig. 7.2.5 (a) Confirming the purge piping (R-2000iB/210WE)(A05B-1329-B255)
Connection part of piping
Purge air piping route
Movable part of piping
Rc1/2 Female (Purge air inlet side)
Fig. 7.2.5 (b) Confirming the purge piping (R-2000iB/210WE)(A05B-1329-B256)
- 202 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
7.3
MAINTENANCE
7.3.1
Greasing the Balancer Bush (1 year (3840 hours) Periodic
Maintenance)
Be sure to grease the balancer bush at specified intervals as shown in Tables 7.3.1 (a) and 7.3.1 (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. 7.3.1 shows the greasing points of the
balancer bush.
Table 7.3.1 (a) Greasing the balancer bush
Recommended grease
Amount of grease
Showa Shell Sekiyu K. K.
Alvania grease S2 Specification:
A97L-0001-0179#2
10 ml for each
(two points)
Greasing interval
1 year or every 3840 hours of
accumulated operation
Table 7.3.1 (b) Grease alternative to Alvania grease S2
Mobile
JX Nippon Oil & Energy Corporation
JX Nippon Oil & Energy Corporation
Idemitsu Kosan Co., Ltd.
Cosmo Oil Co., Ltd.
Showa Shell Sekiyu K.K.
Mobilux EP2
Multinoc 2
Epinoc AP-2
Eponex grease No. 2
Dynamax No. 2
Shell Gadus S2 V100 2
Greasing the balancer bush
Grease nipple
Right side
Left side
Fig. 7.3.1 Balancer bush greasing points
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H,210FS)
NOTE
For the R-2000iB/170CF,150U,220U,165CF, no balancer is provided.
- 203 -
7.CHECKS AND MAINTENANCE
7.3.2
B-82234EN/12
Replacing the Batteries(1.5 Year (5760 hours) Periodic
Maintenance)
The position data of each axis is preserved by the backup batteries. The batteries need to be replaced
every 1.5 year. Also use the following procedure to replace when the backup battery voltage drop alarm
occurs.
Procedure of replacing the battery
1
Keep the power on. Press the EMERGENCY STOP button to stop the robot motion.
CAUTION
Be sure to keep the power supply turning 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. 7.3.2 (a) and (b))
Take out the old batteries from the battery case.
Insert new batteries into the battery case while observing their correct orientation.
Close the battery case cap.
CAUTION
When using a robot with the severe dust/liquid protection option, remove the
cover from the battery case as shown in Fig.7.3.2 (c) to replace the battery. After
replacing the battery, reinstall the cover. At this time, please be sure to replace
gasket with new one for severe dust/liquid protection.
CAUTION
In case of 210WE, remove J1 base side cover and replace the battery referring
to Fig.7.3.2 (d). After replacing the battery, reinstall the cover. In this time,
replace gasket by new one for sealing up characteristics of battery store space.
- 204 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
Battery spec:A98L-0031-0005
(1.5V, D battery (alkali) 4 pcs)
Battery case
Case cap
Fig. 7.3.2 (a) Replacing the battery
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,125L,175L,100H,220U,210FS,220US)
Battery spec:A98L-0031-0005
(1.5V, D battery (alkali) 4 pcs)
Battery case
Fig. 7.3.2 (b)
Replacing the battery (R-2000iB/165CF)
- 205 -
Case cap
7.CHECKS AND MAINTENANCE
B-82234EN/12
Gasket
A290-7125-X820
(This is attached to plate)
Plate
Bolt
M4X10SUS (6 pcs)
Fig. 7.3.2 (c) Removing the battery cover plate (When severe dust/liquid protection is specified.)
(R-2000iB/165F,210F,185L,250F,165R,200R,170CF,125L,175L,150U)
Bolt
A6-BA-4X10SUS (8 pcs)
Plate
Gasket
A290-7329-Z224
Battery case
Battery spec. :A98L-0031-0005
(1.5V D battery 4 pcs)
Fig. 7.3.2 (d)
Case cap
Replacing the battery (R-2000iB/210WE)
- 206 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
7.3.3
Replacing the Grease of the Drive Mechanism(3 years (11520
hours) Periodic Maintenance or 1 year (3840 hours) Periodic
Maintenance)
According to below, replace the grease of the reducers of J1, J2, and J3 axes, the J4-axis gearbox, and the
wrist at the intervals based on every 3 years or 11520 hours (every 1 year or 3840 hours for 210WE),
whichever comes first. See table 7.3.3 (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/185L
R-2000iB/250F
R-2000iB/200R
R-2000iB/175L
R-2000iB/220U
R-2000iB/100P
R-2000iB/170CF
R-2000iB/100H
R-2000iB/210FS
R-2000iB/220US
R-2000iB/165CF
Table 7.3.3 (a) Grease for 3-years (11520 hours) periodical replacement
Greasing
Quantity
Gun tip pressure
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
wrist 1
wrist 2
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
4900g(5500ml)
3100g(3500ml)
2200g(2500ml)
1700g(1900ml)
2100g(2400ml)
700g(800ml)
4900g(5500ml)
3100g(3500ml)
2350g(2640ml)
1700g(1900ml)
wrist 1
3400g(3800ml)
wrist 2
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
wrist 1
wrist 2
J1-axis reducer
J2-axis reducer
J3-axis reducer
J3-axis gearbox
J4-axis gearbox
wrist 1
wrist 2
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
wrist 1
wrist 2
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
wrist 1
wrist 2
J1-axis gearbox
J2-axis gearbox
J3-axis gearbox
J4-axis gearbox
wrist 1
wrist 2
1000g(1100ml)
4900g(5500ml)
3100g(3500ml)
2200g(2500ml)
1700g(1900ml)
3400g(3800ml)
1000g(1100ml)
4700g(5300ml)
2400g(2700ml)
2400g(2700ml)
300g(340ml)
1900g(2100ml)
2100g(2400ml)
700g(800ml)
4900g(5500ml)
3100g(3500ml)
2200g(2500ml)
1700g(1900ml)
1400g(1600ml)
700g(800ml)
4900g(5500ml)
3100g(3500ml)
2350g(2640ml)
1700g(1890ml)
2500g(2780ml)
500g(560ml)
3600g (4100ml)
2300g (2600ml)
1400g (1600ml)
3400g (3950ml)
350g (400ml)
- 207 -
0.15MPa or less
(NOTE)
Grease name
Kyodo yushi
VIGOGREASE RE0
Spec :
A98L-0040-0174
7.CHECKS AND MAINTENANCE
Models
B-82234EN/12
Table 7.3.3 (b) Grease for 1-year (3840 hours) periodical replacement
Greasing
Quantity
Gun tip pressure
R-2000iB/210WE
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
wrist 1
wrist 2
4900g (5500ml)
3100g (3500ml)
2350g (2640ml)
1700g (1900ml)
3400g (3800ml)
1000g (1100ml)
Grease name
Kyodo yushi
VIGOGREASE RE0
Spec :
A98L-0040-0174
0.15MPa or less
(NOTE)
NOTE
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 posture indicated below.
Table 7.3.3 (c) Postures for greasing
(R-2000iB/165F,210F,185L,250F,210WE,125L,175L,100H,150U,220U,210FS,220US,165CF)
Supply position
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
Wrist
Posture
J1
J2
Arbitrary
Arbitrary
0°
0°
Arbitrary
Table 7.3.3 (d)
Supply position
J1-axis reducer
J2-axis reducer
J3-axis reducer
J4-axis gearbox
Wrist
J1-axis reducer
J2-axis reducer
J3-axis reducer
J3-axis gearbox
J4-axis gearbox
Wrist
J4
J5
J6
Arbitrary
Arbitrary
Arbitrary
0°
0°
0°
J4
J5
J6
Arbitrary
Arbitrary
Arbitrary
0°
0°
0°
J4
J5
J6
Arbitrary
Arbitrary
Arbitrary
0°
0°
0°
Arbitrary
0°
0°
0°
Postures for greasing (R-2000iB/165R,200R,100P)
Posture
J1
J2
Arbitrary
Arbitrary
-90°
-90°
J3
Arbitrary
Table 7.3.3 (e)
Supply position
J3
Arbitrary
90°
90°
90°
Postures for greasing (R-2000iB/170CF)
Posture
J1
Arbitrary
J2
J3
Arbitrary
0°
0°
0°
Arbitrary
- 208 -
Arbitrary
0°
0°
0°
0°
7.CHECKS AND MAINTENANCE
B-82234EN/12
Grease replacement procedure of the J1, J2, J3-axis reducer
1
2
3
4
5
Move the robot to the greasing posture described in Table 7.3.3 (c) ,(d) and (e).
Turn off the controller power.
Remove the seal bolt from grease outlet.(Fig.7.3.3 (a) to 7.3.3 (f))
Supply new grease through the wrist grease inlet until new grease is output from wrist grease outlet.
Release remaining pressure using the procedure given in Subsection 7.3.4.
J2-axis reducer outlet
M12x15 (Seal bolt)
J2-axis reducer inlet
Grease nipple
Left side
Right side
J1-axis reducer inlet
Grease nipple
J1-axis reducer outlet
M12x15 (Seal bolt)
Fig. 7.3.3 (a) Replacing grease of the J1/J2-axis reducer
(R-2000iB/165F, 210F, 185L, 250F, 165R, 200R, 100P, 170CF,210WE,125L,175L,100H, 150U,220U,210FS,220US)
J1-axis reducer inlet
Grease nipple
J2-axis reducer outlet
Seal bolt
J2-axis reducer inlet
Grease nipple
J1-axis reducer outlet
Grease nipple
(Rear of connector panel)
Fig. 7.3.3 (b)
Replacing grease of the J1/J2-axis reducer (R-2000iB/165CF)
- 209 -
7.CHECKS AND MAINTENANCE
B-82234EN/12
J3-axis reducer outlet
Seal bolt
J3-axis reducer inlet
Grease nipple
Left side
Right side
Fig. 7.3.3 (c) Replacing grease of the J3-axis reducer
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,210WE,125L,175L,100H,150U,220U)
J3-axis reducer and
J3-axis gearbox grease outlet
M12X5(Seal bolt)
J3-axis reducer grease inlet
Grease nipple
J3-axis gearbox grease inlet
Grease nipple
Fig. 7.3.3 (d)
Replacing grease of the J3-axis reducer (R-2000iB/170CF)
J3-axis reducer grease outlet
M12×15 (seal bolt)
J3-axis reducer grease inlet
Grease nipple
Fig. 7.3.3 (e)
Replacing grease of the J3-axis reducer (R-2000iB/210FS,220US)
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7.CHECKS AND MAINTENANCE
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J3-axis reducer outlet
M6X8 (seal bolt)
J3-axis reducer inlet
Grease nipple
Fig. 7.3.3 (f)
Replacing grease of the J3-axis reducer (R-2000iB/165CF)
Grease Replacement Procedure for the J4-axis gearbox
(R-2000iB/165F, 210F, 185L, 250F, 165R, 200R, 100P, 170CF, 210WE, 125L,
175L, 100H, 150U,220U)
1
2
3
4
5
Move the robot to the greasing posture described in Table 7.3.3 (c),(d) and (e).
Turn off the controller power.
Remove the seal bolt from the grease outlet and the air inlet.(Fig. 7.3.3 (f))
Supply new grease until new grease is output from the grease outlet.
Release remaining pressure using the procedure given in Subsection 7.3.4.
J4-axis gearbox air inlet
M12x15 (seal bolt)
J4-axis gearbox outlet
M12x15 (seal bolt)
J4-axis gearbox inlet
Grease nipple
Fig. 7.3.3 (g) Replacing grease of the J4-axis gearbox
(R-2000iB/165F,210F,185L,250F,165R,200R,100P,170CF,210WE,125L,175L,100H,150U,220U)
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7.CHECKS AND MAINTENANCE
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Grease Replacement Procedure for the J4-axis gearbox
(R-2000iB/210FS,220US,165CF)
1
2
3
4
5
Move the robot to the greasing posture described in Section 7.2.3 (c).
Turn off the controller power.
Remove the seal bolt from the grease outlet. (Fig. 7.3.3 (h),(i))
Supply new grease until new grease is output from the grease outlet.
Release remaining pressure using the procedure given in Subsection 7.3.4.
J4-axis gearbox grease outlet
M6×6 (seal bolt)
J4-axis gearbox grease inlet
Grease nipple
Fig. 7.3.3 (h)
Grease replacement for the J4-axis gearbox (R-2000iB/210FS,220US)
J4-axis gearbox Wrist Outlet 1
M6X8 (seal bolt)
J4-axis gearbox Wrist inlet 1
Grease nipple
Fig. 7.3.3 (i)
Grease replacement for the J4-axis gearbox (R-2000iB/165CF)
Grease Replacement Procedure for the Wrist (R-2000iB/165F, 210F, 185L,
250F, 165R, 200R, 100P, 170CF, 210WE, 125L, 175L, 100H, 150U, 220U)
1
2
3
4
5
6
7
8
Move the robot to the greasing posture described in table 7.3.3 (c).
Turn off the controller power.
Remove the sealant plug of wrist grease outlet 1 (Figs. 7.3.3 (j) and 7.3.3 (k)).
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, 185L, 250F, 200R, 100P, 210WE 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 remaining pressure using the procedure given in Subsection 7.3.4.
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7.CHECKS AND MAINTENANCE
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Wrist grease outlet 2
M6×6 （seal bolt）
Wrist grease outlet 2
R1/8（sealant plug)
Left side
Left side
Wrist grease outlet 1
R1/8(sealant plug)
Wrist grease inlet
grease nipple
Wrist grease outlet 1
R1/4 （selant plug）
Wrist grease inlet
grease nipple
Right side
Right side
Fig. 7.3.3 (j) Replacing grease of the wrist
(R-2000iB/165F,165R,170CF,125L,100H,150U)
Fig. 7.3.3 (k) Replacing grease of the wrist
(R-2000iB/210F,185L,250F,200R,100P,210WE,
175L,220U)
Grease Replacement Procedure for the Wrist (R-2000iB/210FS,220US)
1
2
3
4
5
6
7
8
Move the robot to the greasing posture described in table 7.3.3 (c).
Turn off the controller power.
Remove the seal bolt of wrist grease outlet 1 (Figs. 7.3.3 (l) ).
Supply grease to the wrist grease inlet 1 until new grease outputs from wrist grease outlet 1.
Attach the seal bolt to wrist grease outlet 1.
Next, remove the seal bolt of wrist grease outlet 2.
Supply new grease through the wrist grease inlet 2 until new grease is output from wrist grease
outlet 2.
Release remaining pressure using the procedure given in Subsection 7.3.4.
Wrist grease outlet 1
R1/4 （plug with sealant）
Wrist grease outlet 2
M6×6 (seal bolt)
Wrist grease inlet 1
grease nipple
Wrist grease inlet 2
grease nipple
Fig. 7.3.3 (l)
Replacing grease of the wrist (R-2000iB/210FS,220US)
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7.CHECKS AND MAINTENANCE
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Grease Replacement Procedure for the Wrist (R-2000iB/165CF)
1
2
3
4
5
Move the robot to the greasing posture described in table 7.3.3 (c).
Turn off the controller 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 remaining pressure using the procedure given in Subsection 7.3.4.
6
7
8
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 bolt)
Fig. 7.3.3 (m)
1
2
3
4
5
6
Replacing grease of the wrist (R-2000iB/165CF)
CAUTION
Failure to follow proper lubrication procedures may cause the suddenly increase
of the grease bath internal pressure and the damage to the seal, which could
lead to grease leakage and abnormal operation. When greasing, observe the
following cautions.
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 7.3.3 (a),(b)).
Use specified grease. Use of non-approved grease may damage the reducer or
lead to other problems.
After greasing, release remaining pressure from the grease bath using the
procedure given in Subsection 7.3.4, and then close the grease outlet.
To prevent the accident like slipping, fire, remove all the excess grease from the
floor and robot.
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7.3.4
Procedure for Releasing Remaining Pressure from the
Grease Bath
Release remaining pressure as described below.
Under the grease inlets and outlets, attach bags for collecting grease so that grease does not spatter when
it comes out of the inlets or outlets.
Grease replacement position
J1-axis reducer
J2-axis reducer
J3-axis reducer
J3-axis gearbox
J4-axis gearbox
(Except 210FS,220US)
J4-axis gearbox ( 210FS,220US)
Wrist
Wrist ( 210FS,220US)
OVR
Operating time
Open point
80 or more
90 or more
Motion angle
50%
50%
20 minutes
20 minutes
A
A
70 or more
50%
20 minutes
A
100%
20 minutes
B
100%
20 minutes
D
100%
10 minutes
C
50%⇒100%
*
10 minutes
D
J4: 60 or more
J5:120 or more
J6: 60 or more
J4: 60 or more
J4: 60 or more
J5:120 or more
J6: 60 or more
J5=±30º
J6=±180º
* If starting operation with OVR100%, grease is out rapidly. Increase override to 100% gradually
confirming the grease discharging speed.
In the case of A
Open the grease inlets and outlets and perform continuous operation.
In the case of B
Open the grease outlets only and perform continuous operation.
In the case of C
Open all of the grease inlets and outlets shown below and perform continuous operation.
In the case of D
Open the grease outlet and holes of Fig. 7.3.4 (c) , (d) and perform continuous operation.
Wrist grease outlet 2
R1/8 （plug with sealant）
Also open here
Left side
Wrist grease outlet 2
R1/8 (plug with sealant)
Wrist grease inlet
grease nipple
Right side
Fig. 7.3.4 (a) Open points for releasing remaining pressure from the wrist
(R-2000iB/165F,165R,170CF,125L,100H,150U)
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7.CHECKS AND MAINTENANCE
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Wrist grease outlet 2
M6×6 （seal bolt）
Also open here.
Left side
Wrist grease outolet 1
R1/4 （sealant plug）
Wrist grease inlet
grease nipple
Right side
Fig. 7.3.4 (b) Open points for releasing remaining pressure from the wrist
(R-2000iB/210F,185L,250F,200R,100P,210WE,175L,220U)
Also open here.
J4-axis gearbox grease outlet
M6×6 (seal bolt)
Fig. 7.3.4 (c) Open points for releasing remaining pressure from the J4-axis gearbox
(R-2000iB/210FS,220US)
Also open here.
Wrist grease outlet 2
M6×6 (seal bolt)
Wrist grease outlet 1
R1/4 （taper plug）
Fig. 7.3.4 (d) Open points for releasing remaining pressure from the wrist
(R-2000iB/210FS,220US)
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7.CHECKS AND MAINTENANCE
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Wrist
grease inlet 2
手首給脂口2
grease
nipple
グリ-スニップル
Also
open here
ここも開ける
Wrist
grease outlet 2
手首排脂口2
M6X8
(seal bolt)
M6X8(シールボルト)
Wrist
grease outlet 1
手首排脂口1
M6X8
(seal bolt)
M6X8(シールボルト)
Wrist
grease inlet 1
手首給脂口1
grease
nipple
グリ-スニップル
Fig. 7.3.4 (e) Open points for releasing remaining 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.) When you
supply grease to multiple axes, you can run the multiple axes at the same 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.
7.4
STORAGE
When storing the robot, place it on a level surface with the same posture for transportation. (See Section
1.1.)
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8.MASTERING
8
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MASTERING
Mastering is a manipulation performed associating the angle of each robot axis with the pulse count value
supplied from the absolute Pulsecoder connected to the corresponding axis motor. To be specific,
mastering is an operation for obtaining the pulse count value; corresponding to the zero position.
8.1
OVEWVIEW
The current position of the robot is determined according to the pulse count value supplied from the
Pulsecoder on each axis.
Mastering is factory-performed. It is unnecessary to perform mastering in daily operations. However,
mastering is required under the following conditions:
・
・
・
・
・
Motor replacement.
Pulsecoder replacement
Reducer replacement
Cable replacement
Batteries for pulse count backup in the mechanical unit have gone dead
WARNING
Robot data (including mastering data) and Pulsecoder data are backed up by
their respective backup batteries. Data will be lost if the batteries are gone
dead. Replace the batteries in the controller and mechanical units periodically.
Alarm will alert decreasing the battery voltage.
Types of Mastering
There are following mastering methods. If 7DC2 (V8.20P) or former software is installed, "Quick
Mastering for Single Axis" has not been supported.
Table 8.1 Type of mastering
Fixture position mastering
Zero-position mastering
(witness mark mastering)
Quick mastering
Quick mastering for single
axis
Single-axis mastering
Vision axis mastering
(option)
Mastering data entry
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
(witness mark) is attached to each robot axis. This mastering is performed with all
axes aligned to their respective witness marks.
This is performed at a user-specified position. The corresponding count value is
obtained from the rotation speed of the Pulsecoder connected to the relevant motor
and the rotation angle within one rotation. Quick mastering uses the fact that the
absolute value of a rotation angle within one rotation will not be lost. (All axes at the
same time)
This is performed at a user-specified position for one axis. The corresponding count
value is obtained from the rotation speed of the Pulsecoder connected to the
relevant motor and the rotation angle within one rotation. Quick mastering uses the
fact that the absolute value of a rotation angle within one rotation will not be lost.
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.
This is performed for one axis at a time with high precision by using vision. This is
useful in performing mastering on a specific axis.
Mastering data is entered directly.
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8.MASTERING
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Once mastering is performed, you must carry out positioning, or calibration. Positioning is an operation in
which the controller reads the current pulse count value to sense the current position of the robot.
This section describes zero-position mastering, quick mastering, single-axis mastering, vision axis
mastering , and mastering data entry. For more detailed mastering (fixture position mastering), contact
FANUC.
CAUTION
If mastering is performed incorrectly, the robot may behave unexpectedly. This is
very dangerous. For the reason, the Master/Cal screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5 [DONE] on the Master/Cal screen. The $MASTER_ENB
system variable is reset to 0 automatically. And the Master/Cal screen will
disappear.
NOTE
Before performing mastering, recommend to back up the current mastering data.
8.2
RESETTING ALARMS AND PREPARING FOR
MASTERING
Before performing mastering because a motor is replaced, you must release the relevant alarm and display
the positioning menu.
Alarm displayed
“Servo 062 BZAL” or “Servo 075 Pulse not established”
Procedure
Step
1
Display the positioning menu by following steps 1 to 6.
(1) Press [MENU] 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] key.
(5) Press F1 [TYPE], and select[Master/Cal] from the menu.
(6) Select the desired mastering type from the [Master/Cal] menu.
2
To reset the “Servo 062 BZAL” alarm, follow steps 1 to 5.
(1) Press [MENU] 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 [YES].
(5) Turn off the controller power and on again.
3
To reset the "Servo 075 Pulse not established" alarm, follow steps 1 to 2.
(1) When the controller power is turned on again, the message "Servo 075 Pulse not established"
appears again.
(2) Move the axis for which the message mentioned above has appeared till alarm disappears when
press [FAULT RESET] in either direction.
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8.MASTERING
8.3
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ZERO POSITION MASTERING
Zero-position mastering (witness mark mastering) is performed with all axes set at the 0-degree position.
A zero-position mark (witness mark) is attached to each robot axis.(Fig.8.3 (a) to (k)) This mastering is
performed with all axes set at the 0-degree position using their respective witness marks.
Zero-position mastering involves a visual check. It cannot be so accurate. It should be used only as a
quick-fix method.
Procedure of Zero-position Mastering
1.
2.
3.
4.
Press [MENU] key to display the screen menu.
Select [0 NEXT] and press [6 SYSTEM].
Press F1 [TYPE].
Select [Master/Cal].
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ]
5.
LOAD RES_PCA
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, cycle power of the controller.
6
Select Zero Position Master. Press F4, YES.
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <12200039> <2000319>
[ TYPE ] LOAD RES_PCA
DONE
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8.MASTERING
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7
Select [7 CALIBRATE] and press F4 [YES]. Mastering will be performed automatically.
Alternatively, turn off the controller power and on again. Turning on the power always causes
positioning to be performed.
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Robot Calibrated! Cur Jnt Ang(deg):
<
0.0000> <
0.0000> <
0.0000>
<
0.0000> <
0.0000> <
0.0000>
8.
After positioning is completed, press F5 [DONE].
DONE
F5
9.
Return brake control to original setting, and cycle power of the controller.
Axis
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
Table 8.3 Posture with position marks (witness mark) aligned
Position
0 deg
0 deg
0 deg(NOTE) When J2-axis is 0 deg.
0 deg
0 deg
0 deg
CAUTION
There is no J6-axis for R-2000iB/100H.
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8.MASTERING
Fig. 8.3 (a)
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Zero-position mark (witness mark) for each axis (R-2000iB/165F, 125L, 150U)
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Fig. 8.3 (b)
Zero-position mark (witness mark) for each axis (R-2000iB/210F, 175L)
(*) Wrist unit and vernier mark for R-2000iB/210F,175L differ depend on production time of robot.
Fig.8.3 (b) is in case of robot made before March,2010. Refer to Fig.8.3 (c) about robot which are
made after April,2010.
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8.MASTERING
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J6-axis
J5-axis
J3-axis
J4-axis
J2-axis
J1-axis
J2-axis
J1-axis
J3-axis
Vernier mark
Scribe mark
J4-axis
J5-axis
J6-axis
Fig. 8.3 (c)
Zero-position mark (witness mark) for each axis (R-2000iB/210F, 185L, 250F, 175L, 220U)
(*) Wrist unit and vernier mark for R-2000iB/210F ,175L differ depend on production time of robot.
Fig.8.3 (c) is in case of robot made after April,2010. Refer to Fig.8.3 (b) about robot which are made
before March,2010.
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Fig. 8.3 (d)
Zero-position mark (witness mark) for each axis (R-2000iB/165R)
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8.MASTERING
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J3-axis
J2-axis
J6-axis B
J1-axis
J4-axis
VIEW A
J5-axis
J6-axis A
A
Vernier mark
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis A
Scribe mark
Fig. 8.3 (e)
J6-axis B
Zero-position mark (witness mark) for each axis (R-2000iB/200R,100P)
(*) Wrist unit and vernier mark for R-2000iB/200R,100P differ depend on production time of robot.
Fig.8.3 (e) is in case of robot made before March,2010. Refer to Fig.8.3 (f) about robot which are
made after April,2010.
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8.MASTERING
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J3-axis
J6-axis
J2-axis
J1-axis
VIEW A
J4-axis
J5-axis
A
Vernier mark
J1-axis
J2-axis
J3-axis
J5-axis
J6-axis
Scribe mark
J4-axis
Fig. 8.3 (f)
Zero-position mark (witness mark) for each axis (R-2000iB/200R,100P)
(*) Wrist unit and vernier mark for R-2000iB/200R,100P differ depend on production time of robot.
Fig.8.3 (f) is in case of robot made after April,2010. Refer to Fig.8.3 (e) about robot which are made
before March,2010.
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8.MASTERING
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J3-axis B
J3-axis A
J4-axis
J6-axis
J2-axis B
J2-axis A
F
J5-axis
J1-axis
J1-ax si
J2-ax si A
J2-ax si B
J3-ax si A
Vernier mark
Scribe mark
Fig. 8.3 (g)
J5-ax si
J4-ax si
J6-ax si
Zero-position mark (witness mark) for each axis (R-2000iB/170CF)
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J3-ax si B
8.MASTERING
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A
J5-axis
J3-axis
J4-axis
J2-axis
J6-axis
View A
J1-axis
J1-axis
J2-axis
J4-axis
J5-axis
Fig. 8.3 (h)
J3-axis
J6-axis
Zero-position mark (witness mark) for each axis (R-2000iB/210WE)
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8.MASTERING
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J3-axis J4-axis
J5-axis
J2-axis
J1-axis
Vernier mark
J1-axis
J2-axis
J4-axis
J5-axis
J3-axis
mark
Scribing
Scribe
mark
Fig. 8.3 (i)
Zero-position mark (witness mark) for each axis (R-2000iB/100H)
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8.MASTERING
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J3-axis
J5-axis
J4-axis
J2-axis
J6-axis
J1-axis
Viernier mark
J1-axis
J2-axis
J3-axis
J5-axis
J6-axis
Scribe mark
J4-axis
Fig. 8.3 (j)
Zero-position mark (witness mark) for each axis (R-2000iB/210FS,220US)
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8.MASTERING
Fig. 8.3 (k)
B-82234EN/12
Zero-position mark (witness mark) for each axis (R-2000iB/165CF)
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8.MASTERING
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8.4
QUICK MASTERING
Quick mastering is performed at a user-specified position. The pulse count value is obtained from the
rotation speed of the Pulsecoder connected to the relevant motor and the rotation angle within one
rotation. Quick mastering uses the fact that the absolute value of a rotation angle within one rotation will
not be lost.
Quick mastering is factory-performed at the position indicated in Table 8.3. Do not change the setting
unless there is any problem.
If setting the robot at the position mentioned above is impossible, you must re-set the quick mastering
reference position using the following method. (It would be convenient to set up a marker that can work
in place of the witness mark.)
CAUTION
1 Quick mastering can be used, if the pulse count value is lost, for example,
because a low voltage has been detected on the backup battery for the pulse
counter.
2 Quick mastering cannot be used, after the Pulsecoder is replaced or after the
mastering data is lost from the robot controller.
Procedure Recording the Quick Mastering Reference Position
1
2
Select [6 SYSTEM].
Select [Master/Cal].
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ]
3
4
LOAD RES_PCA
DONE
Release brake control, and jog the robot to the quick mastering reference position.
Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
CAUTION
If the robot has lost mastering data due to mechanical disassembly or repair, you
cannot perform this procedure. In this case, perform Fixture position mastering
or zero –position mastering is required to restore mastering data.
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8.MASTERING
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Procedure of Quick Mastering
1
Display the Master/Cal screen.
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Robot Not Mastered!
Quick master? [NO]
2
3
Release brake control, and jog the robot to the quick mastering reference position.
Select [QUICK MASTER] and press [ENTER] key. Press F4 [YES]. Quick mastering data is
memorized.
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
4
5
Move the cursor to CALIBRATE and press [ENTER] key.
executed by cycling power.
After completing the calibration, press F5 Done.
Calibration is executed.
DONE
F5
6
Return brake control to original setting, and cycle power of the controller.
- 234 -
Calibration is
8.MASTERING
B-82234EN/12
8.5
QUICK MASTERING FOR SINGLE AXIS
Quick mastering is performed at a user-specified position for one axis. The pulse count value is obtained
from the rotation times of the Pulsecoder connected to the relevant motor and the rotation angle within
one rotation. Quick mastering uses the character that the absolute value of a rotation angle within one
rotation will not be lost.
Quick mastering is factory-performed at the position indicated in Table 8.3. Do not change the setting
unless there is any problem.
If setting the robot at the position mentioned above is impossible, you must re-set the quick mastering
reference position using the following method. (It would be convenient to set up a marker that can work
in place of the witness mark.)
CAUTION
1 Quick mastering can be used, if the pulse count value is lost, for example,
because a low voltage has been detected on the backup battery for the pulse
counter.
2 Quick mastering cannot be used, after the Pulsecoder is replaced or after the
mastering data is lost from the robot controller.
Procedure Recording the Quick Mastering Reference Position
1
2
Select [6 SYSTEM].
Select [Master/Cal]. The positioning screen appears.
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ]
3
4
LOAD RES_PCA
DONE
Release brake control, and jog the robot to the quick mastering reference position.
Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
CAUTION
If the robot has lost mastering data due to mechanical disassembly or repair, you
cannot perform this procedure. In this case, perform Fixture position mastering
or zero –position mastering is required to restore mastering data.
- 235 -
8.MASTERING
B-82234EN/12
Procedure of Quick Mastering
1
Display the Master/Cal screen.
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Robot Not Mastered!
Quick master? [NO]
2
Select [4 QUICK MASTER FOR SINGLE AXIS]. You will see the quick master for single axis
screen .
SINGLE AXIS MASTER
J1
J2
J3
J4
J5
J6
E1
E2
E3
ACTUAL POS
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
AUTO
(MSTR POS)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
JOINT 10%
1/9
(SEL) [ST]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[0]
(0)
[0]
(0)
[0]
(0)
[0]
EXEC
3
Move the cursor to the [SEL] column for the unmastered axis and press the numeric key [1].
Setting of [SEL] is available for one or more axes.
SINGLE AXIS MASTER
J5
J6
ACTUAL POS
0.000
0.000
AUTO
(MSTR POS)
(
0.000)
(
0.000)
JOINT 10%
1/9
(SEL) [ST]
(0)
[2]
(0)
[0]
EXEC
4
5
6
7
Turn off brake control, then jog the robot to the quick mastering reference position.
Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2.
Select [7 CALIBRATE] and press [ENTER] key. Calibration is executed. Calibration is executed
by cycling power.
After completing the calibration, press F5 Done.
DONE
F5
8
Return brake control to original setting, and cycle power of the controller.
- 236 -
8.MASTERING
B-82234EN/12
8.6
SINGLE AXIS MASTERING
Single axis mastering is performed for one axis at a time. The mastering position for each axis can be
specified by the user.
Single axis mastering can be used, if mastering data for a specific axis is lost, for example, because a low
voltage has been detected on the pulse counter backup battery or because the Pulsecoder has been
replaced.
SINGLE AXIS MASTER
J1
J2
J3
J4
J5
J6
E1
E2
E3
ACTUAL POS
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
AUTO
(MSTR POS)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
JOINT 10%
1/9
(SEL) [ST]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[0]
(0)
[0]
(0)
[0]
(0)
[0]
EXEC
Table 8.6
Item
Current position
(ACTUAL AXIS)
Mastering position
(MSTR 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.
Procedure of Single axis mastering
1
2
Select [6 SYSTEM].
Select [Master/Cal].
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ]
LOAD RES_PCA
- 237 -
DONE
8.MASTERING
3
B-82234EN/12
Select [4 Single Axis Master]. The following screen will be displayed.
SINGLE AXIS MASTER
J1
J2
J3
J4
J5
J6
E1
E2
E3
ACTUAL POS
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
AUTO
(MSTR POS)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
(
0.000)
JOINT 10%
1/9
(SEL) [ST]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[0]
(0)
[0]
(0)
[0]
(0)
[0]
EXEC
4
5
6
7
Move the cursor to the [SEL] column for the unmastered axis and press the numeric key [1].
Setting of [SEL] is available for one or more axes.
Turn off brake control, then jog the robot to the mastering position
Enter axis data for the mastering position.
Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2 or 1.
8
When single axis mastering is completed, press the previous page key to resume the previous screen.
SYSTEM Master/Cal
AUTO JOINT 10 %
TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ]
LOAD RES_PCA
DONE
9.
Select [7 CALIBRATE], then press F4 [YES]. Positioning is performed. Alternatively, turn off the
controller power and on again. Positioning is performed.
10. After positioning is completed, press F5 [DONE].
DONE
F5
11. Return brake control to original setting, and cycle power of the controller.
- 238 -
8.MASTERING
B-82234EN/12
8.7
MASTERING DATA ENTRY
This function enables mastering data values to be assigned directly to a system variable. It can be used if
mastering data has been lost but the pulse count is preserved.
Mastering data entry method
1
2
Press [MENU] key, then press [0 NEXT] and select [6 SYSTEM].
Press F1 [TYPE]. Select [Variables]. The system variable screen appears.
SYSTEM Variables
1
2
3
4
5
6
$AAVM_GRP
$AAVM_WRK
$ABSPOS_GRP
$ACC_MAXLMT
$ACC_MINLMT
$ACC_PRE_EXE
[ TYPE ]
3
AUTO
JOINT 10%
1/669
AAVM_GRP_T
AAVM_WRK_T
ABSPOS_GRP_T
0
0
0
DETAIL
Change the mastering data.
The mastering data is saved to the $DMR_GRP.$MASTER_COUN system variable.
SYSTEM Variables
135
136
AUTO
$DMR_GRP
$DMSW_CFG
JOINT 10%
1/669
DMR_GRP_T
DMSW_CFG_T
[ TYPE ]
4
Select $DMR_GRP.
SYSTEM Variables
$DMR_GRP
1
[1]
[ TYPE ]
AUTO
JOINT 10%
1/1
DMR_GRP_T
DETAIL
SYSTEM Variables
$DMR_GRP
1 $MASTER_DONE
2 $OT_MINUS
3 $OT_PLUS
4 $NASTER_COUN
5 $REF_DONE
6 $REF_POS
[ TYPE ]
AUTO
FALSE
[9] of BOOLEAN
[9] of BOOLEAN
[9] of INTEGER
FALSE
[9] of REAL
TRUE
- 239 -
JOINT 10%
1/29
FALSE
8.MASTERING
5
B-82234EN/12
Select $MASTER_COUN, and enter the mastering data you have recorded.
SYSTEM Variables
AUTO
$DMR_GRP[1].$MASTER_COUN
1
[1]
95678329
2
[2]
10223045
3
[3]
3020442
4
[4]
30405503
5
[5]
20497709
6
[6]
2039490
7
[7]
0
8
[8]
0
9
[9]
0
JOINT 10%
1/9
[ TYPE ]
6
7
Press the PREV key.
Set $MASTER_DONE to TRUE.
SYSTEM Variables
$DMR_GRP
1 $MASTER_DONE
2 $OT_MINUS
AUTO
TRUE
[9] of BOOLEAN
[ TYPE ]
8
9
JOINT 10%
1/29
TRUE
FALSE
Display the positioning screen, and select [6 CALIBRATE], then press F4 [YES].
After completing positioning, press F5 [DONE].
DONE
F5
8.8
VISION AXIS MASTERING
Single axis mastering can be performed with high precision by using vision axis master. Target mark have
cover plate as Fig. 8.8 (a), (b). Refer to Fig. 8.8 (c),(d) about target jig. Refer to VISION AXIS MASTER
chapter of iRCalibration OPERATOR’S MANUAL (B-83724EN) about vision axis master.
Refer to Table 8.8 about measurement position.
Measured
axis
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
Table 8.8 Measurement position for Vision Axis Mastering
posture
J1-axis
J2-axis
J3-axis
J4-axis
J5-axis
0°
Arbitrary
Arbitrary
Arbitrary
Arbitrary
Arbitrary
J6-axis
Arbitrary
0°
0°
0°
0°
0°
Reference data setting function is executed in the FANUC robot factory before shipping the robot.
There is not tool attached. However, the weight of a tool can cause an error in the reference data.
- 240 -
8.MASTERING
B-82234EN/12
After a tool is attached, the reference data setting function should be performed and saved again.
(This new reference data needs to be used if the mastering status needs to be recovered.)
J3
J2
J1
J1
J3
J2
J4
J5
J6
J4
J5
J6
Fig. 8.8 (a) Target mark (R-2000iB/165F,165R,125L)
- 241 -
8.MASTERING
B-82234EN/12
J3
J2
J1
J1
J2
J3
J4
J5
J4
J6
J5
J6
Fig. 8.8 (b) Target mark (R-2000iB/210F,185L,250F,200R,100P,175L,220U)
- 242 -
8.MASTERING
B-82234EN/12
Target assembly
A290-7329-V623
Target
A290-7329-Y871
Target
A290-7329-X892
Target assembly
A290-7329-V622
Fig. 8.8 (c)
Target
A290-7329-X871
Cover bolt
A97L-0218-0785#5-3-8 (2)
Pin
A290-7329-Y879 (2)
Target
A290-7329-Y880
Target jig (R-2000iB/165F,165R,125L)
Target assembly
A290-7329-V621
Target assembly
A290-7329-V622
Fig. 8.8 (d) Target jig
Target
A290-7329-X880
Spling plunger
A97L-0218-0787#PJH3-1.5 (2)
(R-2000iB/210F,185L,250F,200R,100P,175L,220U)
- 243 -
8.MASTERING
8.9
1
2
B-82234EN/12
CHECKING THE MASTERING
How to check the robot mastered properly.
Normally, the positioning will be performed automatically when the power is on. To check whether
mastering has been performed correctly, compare the actual robot position with the displayed
position. Follow the procedure described below.
(1) Reproduce a particular point in a program. Check whether the point agrees with the specified
position.
(2) Set all axes of the robot to their 0-degree (0 rad) positions. Check that the zero-degree position
marks indicated in Section 8.3 of OPERATOR’S MANUAL are aligned. No need of any visual
aid.
If the displayed and actual positions do not match, the counter value for a Pulsecoder may have been
invalidated as a result of an alarm described in 8.2. Alternatively, the mastering data in system
variable $DMR_GRP.$MASTER_COUN may have been overwritten as a result of an operation
error or some other reason.
Compare the data with the values indicated on the supplied data sheet. This system variable is
overwritten whenever mastering is performed. Whenever mastering is performed, record the value of
the system variable on the data sheet.
Alarm type displayed during mastering and their Solution methodology
(1) BZAL alarm
This alarm is alert if the Pulsecoder's backup battery voltage decreases to 0 V while the power
to the controller is disconnected. Furthermore, if Pulsecoder connector is removed for replacing
cables etc. this alarm is output as the voltage decreased to 0. Confirm if the alarm will
disappear by performing pulse reset (See Section 8.2.). And then turn off the controller power
on again check if the alarm disappears or not.
The battery may be drained if the alarm is still displayed. Perform pulse reset, turn off and on
the controller power after replacing the battery. Note that, if this alarm displayed, all the
original data held by the Pulsecoder will be lost. Mastering is required.
(2) BLAL alarm
Warn this alarm is output if the voltage of the Pulsecoder's backup battery has fallen to a level
where backup is no longer possible. If this alarm is output, fit a new battery immediately while
keeping the power turned on. Check whether the current position data is valid, using the
procedure described in 1.
(3) Alarm notification like CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR, STBERR, and
SPHAL may have trouble with Pulsecoder, contact your local FANUC representative.
- 244 -
9.TROUBLESHOOTING
B-82234EN/12
9
TROUBLESHOOTING
The cause of a failure in the mechanical unit may be difficult to localize, because failures can arise from
many interrelated factors. If you fail to take the correct measures, the failure may be aggravated. So, you
must analyze the symptoms of the failure precisely so that the true cause can be found.
9.1
FAILURES, CAUSES AND MEASURES
Table 9.1 shows the major troubleshooting that may occur in the mechanical unit and their probable
causes. If you cannot pinpoint a failure cause or which measures to take, contact your local FANUC
representative.
Table 9.1
Symptoms
Vibration
Noise
Descriptions
-
-
-
-
-
-
-
As the robot operates, its
base plate lifts off the
floor plate.
There is a gap between
the base plate and the
floor plate.
There is a crack in the
weld that fastens the
base plate to the floor
plate.
The J1 base lifts off the
base plate as the robot
operates.
There is a gap between
the J1 base and base
plate.
A J1 base retaining bolt is
loose.
The rack or floor plate
vibrates during operation
of the robot.
Troubleshooting
Causes
[Base plate and floor plate fastening]
It is likely that the base plate is
not securely fastened to the floor
plate because of poor welding.
If the base plate is not securely
fastened to the floor plate, it lifts
as the robot operates, allowing
the base and floor plates to
strike each other which, in turn,
leads to vibration.
[J1 base fastening]
It is likely that the robot J1 base
is not securely fastened to the
base plate.
Probable causes are a loose
bolt, an insufficient degree of
surface flatness, or foreign
material caught between the
base plate and floor plate.
If the robot is not securely
fastened to the floor plate, the J1
base lift from the ground. Thus
may cause the collision, and
lead to vibration.
[Rack or floor]
It is likely that the rack or floor is
not rigid enough.
If they are not rigid enough,
reaction forth deforms the rack
or floor, and responsible for the
vibration.
- 245 -
Measures
-
-
-
-
-
-
-
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 tolerance.
If there is any foreign
material between the J1
base and base plate,
eliminate them.
Apply adhesive between
the J1 base and base
plate.
Reinforce the rack or
floor to make it more
rigid.
If reinforcing the rack or
floor is impossible,
modify the robot control
program; doing so might
reduce the amount of
vibration.
9.TROUBLESHOOTING
Symptoms
B-82234EN/12
Descriptions
Vibration
Noise
(Continued)
-
-
-
-
-
Causes
Vibration becomes more
serious when the robot is
in a specific posture.
If the operating speed of
the robot is reduced,
vibration stops.
Vibration is most
noticeable when the robot
is accelerating.
Vibration occurs when
two or more axes operate
at the same time.
[Overload]
It is likely that the load on the
robot is heavier than the
maximum rating.
It is likely that the robot control
program is too demanding for
the robot hardware.
It is likely that the
ACCELERATION value is
excessive.
Vibration or noise was
first noticed after the
robot collided with an
object or the robot was
overloaded for a long
period.
The grease of the
vibrating or noise
occurring axis has not
been replaced for a long
period.
[Broken gear, bearing, or reducer]
It is likely that collision or
overload applied an excessive
force on the drive mechanism,
thus damaging the gear tooth
surface or rolling surface of a
bearing, or reducer.
Prolonged use with overloaded
may cause the fretting fatigue on
gear tooth surface or rolling
surface of bearing and reducer.
It is likely that foreign material
caught in a gear, bearing, or
within a reducer has caused
damage on the gear tooth
surface or rolling surface of the
bearing, or reducer.
It is likely that foreign material
caught in a gear, bearing, or
within a reducer has caused
vibration.
It is likely that, because the
grease has not been changed
for a long period, fretting
occurred on the gear tooth
surface or rolling surface of a
bearing, or reducer due to metal
fatigue by neglect greasing.
Above causes will bring to cyclical
vibration and noise.
- 246 -
-
-
-
-
-
-
Measures
Check the maximum
load that the robot can
handle or not. If the
robot is overloaded,
reduce the load, or
modify the robot control
program.
Vibration can be reduced
by re-modifying the robot
control program;
reducing speed or
acceleration with
minimizing the influence
on the entire cycle time.
Operate each axis at
individually to judge
which axis has been
vibrating.
Remove the motor, and
replace the gear, the
bearing, and the
reducer. For the
specification of parts and
the procedure of
replacement, contact
your local FANUC
representative.
Using the robot within its
maximum rating
prevents problems with
the drive mechanism.
Specific type and period
of grease change will
prevent troubles.
9.TROUBLESHOOTING
B-82234EN/12
Symptom
Vibration
Noise
(Continued)
Description
-
The cause of problem
cannot be identified from
examination of the floor,
rack, or mechanical unit.
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.
Pulsecoder defect may be the
cause of the vibration as the
motor cannot propagate the
accurate position to the
controller.
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 unit
has an intermittent break,
vibration might occur because
the motor cannot accurately
respond to commands.
If a Pulsecoder wire in a
movable part of the mechanical
unit has an intermittent break,
vibration might occur because
commands cannot be sent to
the motor accurately.
If a connection cable between
the mechanical unit and the
controller has an intermittent
break, vibration might occur.
If the power supply cable is
about to be snapped, vibration
might occur.
If the power source voltage
drops below the rating,
vibration might occur.
It may vibrate when the invalid
value parameter was set.
-
-
-
-
-
-
-
-
-
- 247 -
Measure
Refer to the Controller
Maintenance Manual for
troubleshooting related
to the controller and
amplifier.
Replace the Pulsecoder
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, refer to
Chapter 4.
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 whether the
sheath of the cable
connecting the
mechanical unit and
controller is damaged. If
so, replace the
connection cable, and
check whether vibration
still occurs.
Check whether the
sheath of the power
cable is damaged. If so,
replace the power cable,
and check whether
vibration still occurs.
Check that the robot is
supplied with the rated
voltage.
Check that the robot
control parameter is set
to a valid value. If it is
set to an invalid value,
correct them. Contact
your local FANUC
representative for further
information if necessary.
9.TROUBLESHOOTING
Symptom
Vibration
Noise
(Continued)
Description
-
There is some
relationship between the
vibration of the 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
B-82234EN/12
-
-
While the robot is not
supplied with power,
pushing it with the hand
causes tottering part of
the mechanical unit.
There is a gap on the
mounting face of the
mechanical unit.
Cause
Measure
[Noise from Peripheral]
If the robot is not grounded
properly, electrical noise is
induced on the grounding wire,
preventing commands from
being transferred accurately,
thus will lead to vibrate.
If the robot is grounded at an
unsuitable point, its grounding
potential becomes unstable,
and noise is likely to be
induced on the grounding line,
thus will lead to vibrate.
There 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.
-
Connect the grounding
wire firmly to ensure a
reliable ground potential
and prevent extraneous
electrical noise.
-
[Mechanical unit coupling bolt]
It is likely that overloading or a
collision has loosened a
mounting bolt in the robot
mechanical unit.
-
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 the following
retaining bolts tightness
for each axis. If any of
these bolts is loose,
apply LOCTITE and bolt
down with appropriate
torque.
- Motor
- Reducer
- Reducer shaft
- Base
- Arm
- Casing
- End effecter
- 248 -
-
9.TROUBLESHOOTING
B-82234EN/12
Symptom
Motor
overheating
Description
-
-
-
The motor overheated
due to the temperature
in the installation area
rose.
After a cover was
attached to the motor,
the motor overheated.
After changing the
Robot control program
or the load, the motor
overheat.
Cause
[Ambient temperature]
It is likely that the motor
overheated along with the
ambient temperature rose, and
could not dissipate the heat.
[Operating condition]
It is likely that the overcurrent
above the specified permissive
average current.
-
-
-
-
-
-
After a control
parameter (load setting
etc.) was changed, the
motor overheated.
-
Symptom other than
stated above
[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 unit 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 motor brake
failure locked on the break, and
cause the motor overloaded.
It is likely that a failure of the
motor prevented it from
delivering its rated
performance, thus causing an
excessive current to flow into
the motor.
It is likely that cooling fan is
broken.
-
-
-
-
-
- 249 -
Measure
Reducing the ambient
temperature is the most
effective means of
preventing overheat.
Having the surroundings
of the motor well
ventilated enables the
motor to release heat
efficiently, thus
preventing overheating.
If there is a source of
heat near the motor, it is
advisable to install
shielding to protect the
motor from heat
radiation.
Relaxing the robot
control program and
load condition is
effective to reduce the
average current. Thus,
prevent overheating.
The teach pendant can
monitor the average
current. Check the
average current when
the robot control
program launched.
As for load setting, Input
an appropriate
parameter referring to
Section 4.3 of the
operator’s manual.
Repair the mechanical
unit 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.
Judgment is possible if
the average current
decreased after
replacing the motor, the
former motor had been
defected.
If the cooling fan is
broken, replace it by new
one.
9.TROUBLESHOOTING
Symptom
Grease
leakage
B-82234EN/12
Description
-
Grease leaks from the
mechanical unit.
Cause
[Poor sealing]
Probable causes are a crack in
the casting, a broken O-ring, a
damaged oil seal, or a loose
seal bolt.
The casting may crack with
excessive force caused in
collision.
An O-ring can be damaged if it
is trapped or cut during
disassembling or
re-assembling.
An oil seal may be damaged if
extraneous dust scratches the
lip of the oil seal.
A loose seal bolt may allow
grease to leak along the
threads.
Problems with the grease
nipple or threads.
Measure
-
-
-
-
Dropping axis
-
An axis falls because
the brake went out.
An axis falls in standstill.
[Brake drive relay and motor]
It is likely that brake drive relay
contacts are stuck to each
other and keep the brake
current flowing, thus preventing
the brake from operating when
the motor is reenergized.
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
soak through the motor,
causing the brake to slip.
- 250 -
-
-
If the casting cracks,
sealant can be used as
a quick-fix to prevent
further grease leakage.
However, the component
must be replaced as
soon as possible, as the
crack will widen.
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.
Check whether the brake
drive relay contacts
stuck each other or not.
If they are found to be
stuck, replace the relay.
Replace the motor
confirmed following
symptoms.
Brake shoe is worn
out
brake main body is
damaged
Oil soak through the
motor
9.TROUBLESHOOTING
B-82234EN/12
Symptom
Displacement
Description
-
-
-
-
BZAL alarm
occurred
-
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 is displayed on
the teach pendant
screen
Cause
[Mechanical unit problems]
If the repeatability is unstable,
probable causes are a failure in
the drive mechanism or a loose
bolt, and so on.
If the repeatability is stable, it is
likely that collision by an
excessive load caused slip on
the fasting surface of each axis
arm, and reducer.
It is likely that the Pulsecoder 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 overwritten, and the
origin had misaligned.
-
The voltage of the memory
backup battery may be low.
The Pulsecoder cable may be
broken.
- 251 -
Measure
-
-
-
-
-
-
If the repeatability is
unstable, repair the
mechanical unit 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 Pulsecoder is
abnormal, replace the
motor or the Pulsecoder.
Correct the setting of the
peripheral unit position.
Correct the taught
program.
Re-enter the previous
optimal mastering data.
If optimal mastering data
is unavailable, perform
mastering again.
Replace the battery.
Replace the cable.
10.SEVERE DUST/LIQUID PROTECTION PACKAGE
10
10.1
B-82234EN/12
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.
Model
R-2000iB/165F, 125L
R-2000iB/210F, 175L
R-2000iB/165R
R-2000iB/200R
R-2000iB/170CF
R-2000iB/185L, 250F
R-2000iB/150U
10.2
Severe dust/liquid protection specification
A05B-1329-J801
A05B-1329-J802
A05B-1329-J803
A05B-1329-J804
A05B-1329-J805
A05B-1329-J806
A05B-1329-J807
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
Bolts
Black oxide finish steel bolt
Black oxide finish washer
Covers
J3 connector
panel
EE(RI/RO), I/O
connectors
Non-waterproof connector
Severe dust/liquid protection option
Main unit
J3 arm and wrist
FR coating bolt
FR coating bolt
Black chromate washer
Stainless bolt
Stainless bolt
Black chromate washer
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
- 252 -
10.SEVERE DUST/LIQUID PROTECTION PACKAGE
B-82234EN/12
防水 型
EE( RI/RO )
Water proof
EE(RI/RO)
コネク タ
connector
/J5/J
6軸
J3/J4/J5-axisJ3/J4
motor
cover
モータ カバー (上)
(upper)
J3/J4 /J5/J
6軸cover
J3/J4/J5-axis
motor
モータ カバー (下)
(lower)
J1軸motor
モータ カバー
J1-axis
cover
J2-axis
J2軸 モータmotor
カバー cover
Cable protection
ケーブ ル保sheath
護シー ト
Battery
box
cover
バッテ
リボッ
クスカ
バー
Fig. 10.2 Configuration of the severe dust/liquid protection package
- 253 -
APPENDIX
B-82234EN/12
A
APPENDIX
A.PERIODIC MAINTENANCE TABLE
PERIODIC MAINTENANCE TABLE
- 257 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/165F, 165R, 125L, 150U Periodic Maintenance Table
Working time (H) Check
time
Items
4800
5760
6720
2
years
7680
8640
9600 10560
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
0.1H
―
○
○
○
1.0H
―
○
○
○
0.1H
―
○
○
○
12 Check the fan (option)
0.1H
―
○
○
○
13 Greasing to balancer bush *1
0.1H
10ml
each
●
●
14 Replacing battery *1
1.0H
5500ml
0.5H
3500ml
0.5H
2500ml
0.5H
1900ml
1.0H
3200ml
1
2
3
4
5
6
7
8
Mechanical unit
Check for external
damage or peeling paint
Check damages
of the cable protection sheaths
Check wear debris of the
balancer and the J1-axis swing
stopper
Check for water
3
6
9
Grease First month month month
1
amount check
s
s
s year
320
960 1920 2880 3840
Check the mechanical unit
cable (Damaged or twisted)
Check the end effector (hand)
cable
Check the motor connector.
(Loosening)
Tighten the end effector bolt
Tighten the cover and main
9
bolt
Check the mechanical stopper
10 and adjustable mechanical
stopper
Clean spatters, sawdust and
11
dust
15
16
17
18
19
Replacing grease of J1-axis
reducer *1
Replacing grease of J2-axis
reducer *1
Replacing grease of J3-axis
reducer *1
Replacing grease of J4-axis
gearbox *1
Replacing grease of reducer
(J5/J6-axis) for wrist axis *1
●
19
18
17
13
13
16
15
Position of grease nipple
Controller
Replacing cable of mechanical
unit *
4.0H
―
26 Cleaning the ventilator
Check the robot cable, teach
27 pendant cable and robot
connecting cable
0.2H
―
0.2H
―
28 Replacing battery *
0.1H
―
25
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7 of
MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
(NOTE) R-2000iB/150U has no balancer
- 258 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
3
4
5
6
7
8
years
years
years
years
years
years
Item
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
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
2
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
3
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
4
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
○
○
○
○
○
12
●
●
●
●
●
●
●
Overhaul
○
●
●
13
14
●
●
15
●
●
16
●
●
17
●
●
18
●
●
19
25
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 259 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/210F, 185L, 250F, 200R, 175L, 220U
Periodic Maintenance Table
Working time (H)
First
3
6
9
1
check months months months year
320
960
1920 2880 3840
4800
5760
6720
2
years
7680
8640
9600
10560
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Check
time
Grease
amount
0.1H
―
○
○
○
0.1H
―
○
○
0.1H
―
○
0.1H
―
○
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
9 Tighten the cover and main bolt 0.1H
―
○
○
○
Items
Check for external
damage or peeling paint
Check damages
2
of the cable protection sheaths
Check wear debris of the
3 balancer and the J1-axis swing
stopper
4 Check for water
1
5
6
7
8
Check the mechanical unit
cable (Damaged or twisted)
Check the end effector (hand)
cable
Check the motor connector.
(Loosening)
Tighten the end effector bolt
Mechanical unit
Check the mechanical stopper
10 and adjustable mechanical
1.0H
―
○
○
○
stopper
Clean spatters, sawdust and
11 dust
0.1H
―
○
○
○
12 Check the fan (option)
0.1H
―
○
○
○
13 Greasing to balancer bush *1
0.1H
10cml
each
●
●
14 Replacing battery *1
0.1H
―
1.0H
5500ml
0.5H
3500ml
15
16
17
18
19
Replacing grease of J1-axis
reducer *1
Replacing grease of J2-axis
reducer *1
Replacing grease of J3-axis
reducer *1
Replacing grease of J4-axis
gearbox *1
Replacing grease of reducer
(J5/J6-axis) for wrist axis *1
0.5H
2640ml
0.5H
1900ml
1.0H
4900ml
●
19
18
13
17
13
16
15
Position of grease nipple
Controller
Replacing cable of mechanical
25 unit *1
4.0H
―
26 Cleaning the ventilator
0.2H
―
0.2H
―
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
○
Check the robot cable, teach
27 pendant cable and robot
○
○
○
connecting cable
28 Replacing battery *1
(*1) For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7
of MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
(NOTE) R-2000iB/220U has no balancer
- 260 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
3
4
5
6
7
8
years
years
years
years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
2
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
3
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
4
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
○
○
○
○
○
12
●
●
●
●
●
●
●
●
Overhaul
○
●
13
14
●
●
15
●
●
16
●
●
17
●
●
18
●
●
19
●
○
○
○
○
○
○
○
25
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 261 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/210WE
Working time (H)
4800
5760
6720
2
years
7680
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Grease
amount
0.1H
―
○
○
○
0.1H
―
○
○
0.1H
―
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
0.1H
―
○
○
○
1.0H
―
○
○
○
0.1H
―
○
○
○
13 Greasing to balancer bush *1
0.1H
10cml
each
●
●
14 Replacing battery *2
0.1H
―
Replacing grease of J1-axis
15 reducer *2
1.0H
5500ml
●
●
0.5H
3500ml
●
●
0.5H
2640ml
●
●
0.5H
1900ml
●
●
19 (J5/J6-axis) for wrist axis *1
1.0H
4900ml
●
●
22 Check the purge air piping *1
0.1H
―
○
○
25 unit *1
4.0H
―
26 Cleaning the ventilator
0.2H
―
0.2H
―
0.1H
―
1
2
3
5
6
Check for external
damage or peeling paint
Check damages
of the cable protection sheaths
Check wear debris of the
balancer and the J1-axis swing
stopper
Check the mechanical unit
cable. (Damaged or twisted)
Check the motor connector.
(Loosening)
7 Tighten the end effector bolt.
8
9
Mechanical unit
First
3
6
9
1
check months months months year
320
960
1920 2880 3840
Check
time
Items
10
11
Tighten the cover and main
bolt.
Check the mechanical stopper
and adjustable mechanical
stopper
Clean spatters, sawdust and
dust
Check the end effector (hand)
cable
Replacing grease of J2-axis
16 reducer *2
Replacing grease of J3-axis
17 reducer *2
Replacing grease of J4-axis
18 gearbox *2
Replacing grease of reducer
Replacing cable of mechanical
Controller
Periodic Maintenance Table
Check the robot cable, teach
27 pendant cable and robot
8640
9600
10560
●
○
○
○
○
○
○
○
○
○
○
○
○
○
connecting cable
28 Replacing battery *1
(*1) For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7
of MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
- 262 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
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
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
●
●
●
●
●
13
●
●
Overhaul
○
●
●
14
●
●
●
●
●
●
●
●
●
●
16
●
●
●
●
●
17
●
●
●
●
●
18
●
●
●
●
●
19
○
○
○
○
○
22
●
○
○
○
○
○
○
○
15
25
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 263 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/100P
Working time (H)
Items
1
2
3
4
Check for external
damage or peeling paint
Check damages
of the cable protection sheaths
Check wear debris of the
balancer and the J1-axis swing
stopper
Check for water
Periodic Maintenance Table
First
3
6
9
1
check months months months year
320
960
1920 2880 3840
4800
5760
6720
2
years
7680
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Check
time
Grease
amount
0.1H
―
○
○
○
0.1H
―
○
○
0.1H
―
○
0.1H
―
Check the mechanical unit
cable. (Damaged or twisted)
Check the motor connector.
(Loosening)
0.1H
―
○
0.2H
―
○
○
○
6 Tighten the end effector bolt.
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
0.1H
―
○
○
○
1.0H
―
○
○
○
0.1H
―
○
○
○
12 Greasing to balancer bush *1
0.1H
10ml
each
13 Replacing battery *2
0.1H
―
1.0H
5500ml
0.5H
3500ml
0.5H
2500ml
0.5H
1900ml
1.0H
4900ml
4
5
Tighten the cover and main
7 bolt.
8640
9600
10560
Check the mechanical stopper
Mechanical unit
8 and adjustable mechanical
stopper
Clean spatters, sawdust and
9 dust
Check the end effector (hand)
10 cable
11 Check the fan (option)
Replacing grease of J1-axis
14 reducer *2
15
16
17
18
Replacing grease of J2-axis
reducer *2
Replacing grease of J3-axis
reducer *2
Replacing grease of J4-axis
gearbox *2
Replacing grease of reducer
(J5/J6-axis) for wrist axis *1
●
13
16
17
18
15
19
19
20
21
Position of grease nipple
Replacing cable of mechanical
Controller
●
●
25 unit 
4.0H
―
26 Cleaning the ventilator
0.2H
―
27 pendant cable and robot
0.2H
―
connecting cable
28 Replacing battery *1
0.1H
―
Check the robot cable, teach
○
○
○
○
○
○
○
○
○
○
○
○
○
For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7 of
MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
- 264 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
3
4
5
6
7
8
years
years
years
2208 years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120
0
23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
2
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
3
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
4
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
○
○
○
○
○
●
●
●
●
●
●
●
Overhaul
○
●
●
12
13
14
●
●
15
●
●
16
●
●
17
●
●
18
●
●
19
25
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 265 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/170CF
Working time (H)
Periodic Maintenance Table
First
3
6
9
1
check months months months year
320
960
1920 2880 3840
4800
5760
6720
2
years
7680
8640
9600
10560
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Check
time
Grease
amount
0.1H
―
○
○
○
0.1H
―
○
○
3 J1-axis swing stopper
0.1H
―
○
4 Check for water
0.1H
―
○
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
0.1H
―
○
○
○
1.0H
―
○
○
○
0.1H
―
○
○
○
0.1H
―
1.0H
5300ml
0.5H
2700ml
0.5H
2700ml
0.5H
2100ml
0.5H
3200ml
0.5H
340ml
Items
Check for external
1 damage or peeling paint
Check damages
2 of the cable protection sheaths
Check wear debris of the
5
6
Check the mechanical cable.
(Damaged or twisted)
Check the motor connector.
(Loosening)
7 Tighten the end effector bolt.
Tighten the cover and main
8 bolt.
Check the mechanical stopper
Mechanical unit
9 and adjustable mechanical
stopper
Clean spatters, sawdust and
10 dust
Check the end effector (hand)
11 cable
14 Replacing battery. 
Replacing grease of J1-axis
15 reducer
16
17
18
19
20
Replacing grease of J2-axis
reducer
Replacing grease of J3-axis
reducer
Replacing grease of J4-axis
gearbox
Replacing grease of reducer
(J6-axis) for wrist axis
Replacing grease of J3-axis
gearbox
●
18
19
16
15
17
20
Position of grease nipple
Replacing cable of mechanical
4.0H
―
0.2H
―
27 Cleaning the ventilator
0.2H
―
28 Replacing battery 
0.1H
―
25 unit 
Controller
Check the robot cable, teach
26 pendant cable and robot
○
○
○
○
○
○
○
○
○
○
connecting cable
○
○
○
For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7 of
MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
- 266 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
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
14
●
●
15
●
●
16
●
●
17
●
●
18
●
●
19
●
●
20
25
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 267 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/100H
Items
Working time (H) Check
time
Check for external
damage or peeling paint
Check damages
2
of the cable protection sheaths
Check wear debris of the
3 balancer and the J1-axis swing
stopper
4 Check for water
1
5
6
7
8
Check the mechanical cable.
(Damaged or twisted)
Check the end effector (hand)
cable
Check the motor connector.
(Loosening).
Tighten the end effector bolt.
Mechanical unit
9 Tighten the cover and main bolt
Periodic Maintenance Table
3
6
9
First month month month
1
Grease check
s
s
s year
amount 320
960 1920 2880 3840
4800
5760
2
years
6720 7680
8640
9600 10560
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
○
○
○
Check the mechanical stopper
10 and adjustable mechanical
stopper
Clean spatters, sawdust and
11
dust
12 Check the fan (option)
0.2H
―
○
○
○
2.0H
○
○
○
13 Greasing to balancer bush
0.1H
●
●
14 Replacing battery. 
Replacing grease of J1-axis
15
reducer
Replacing grease of J2-axis
16
reducer
Replacing grease of J3-axis
17
reducer
Replacing grease of J4-axis
18
gearbox
Replacing grease of reducer
19
(J4/J5-axis) for wrist axis
0.1H
―
10cml
each
―
1.0H
5500ml
0.5H
3500ml
0.5H
2500ml
0.5H
1900ml
1.0H
2400ml
●
19
18
17
13
16
15
Position of grease nipple
Replacing cable of mechanical
unit 
26 Cleaning the ventilator
Check the robot cable, teach
27 pendant cable and robot
connecting cable
Controller
25
28 Replacing battery *1
4.0H
―
0.2H
―
0.2H
―
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
○
For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7 of
MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
- 268 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
3
4
5
6
7
8
years
years
years
years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
2
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
3
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
4
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
○
○
○
○
○
12
●
●
●
Overhaul
○
●
13
●
●
●
●
15
●
●
16
●
●
17
●
●
18
●
●
19
●
○
○
○
○
○
○
○
14
25
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 269 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/210FS,220US
Working time (H)
First
3
6
9
1
check months months months year
320
960
1920 2880 3840
4800
5760
6720
2
years
7680
8640
9600
10560
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Check
time
Grease
amount
0.1H
―
○
○
○
0.1H
―
○
○
0.1H
―
○
0.1H
―
○
0.2H
―
○
○
○
0.2H
―
○
○
○
7 Tighten the end effector bolt.
Tighten the cover and main
8 bolt.
Check the mechanical stopper
9 and adjustable mechanical
stopper
Clean spatters, sawdust and
10 dust
0.2H
―
○
○
○
2.0H
―
○
○
○
0.1H
―
○
○
○
1.0H
―
○
○
○
11 Check the fan (option)
2.0H
―
○
○
○
Check the end effector (hand)
12 cable
0.1H
○
○
○
13 Greasing to balancer bush
0.1H
10cml
each
0.1H
―
1.0H
5500ml
0.5H
3500ml
Items
Check for external
1 damage or peeling paint
Check damages
2 of the cable protection sheaths
Check wear debris of the
3 balancer and the J1-axis swing
stopper
4 Check for water
Check the mechanical cable.
5
(Damaged or twisted)
Check the motor connector.
6
(Loosening)
Mechanical unit
Periodic Maintenance Table
14
15
16
17
18
19
Replacing battery. 
Replacing grease of J1-axis
reducer
Replacing grease of J2-axis
reducer
Replacing grease of J3-axis
reducer
Replacing grease of J4-axis
gearbox
Replacing grease of reducer
(J5/J6-axis) for wrist axis
●
●
●
19
18
17
0.5H
2640ml
0.5H
1890ml
1.0H
3340ml
13
13
19
16
15
Position of grease nipple
Controller
Replacing basic axis solution
23 Arm cable
Replacing wrist integrated
24 cable
Replacing cable of mechanical
25 unit 
26 Cleaning the ventilator
Check the robot cable, teach
27 pendant cable and robot
connecting cable
28 Replacing battery *1
2.0H
●
2.0H
4.0H
―
0.2H
―
0.2H
―
0.1H
―
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7 of
MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
(NOTE) R-2000iB/220US has no balancer
- 270 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
3
4
5
6
7
8
years
years
years
years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
2
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
3
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
4
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
○
○
○
○
○
12
●
●
●
●
●
●
●
●
Overhaul
○
●
13
14
●
●
15
●
●
16
●
●
17
●
●
18
●
●
19
●
23
●
●
24
●
○
○
○
○
○
○
○
25
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 271 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
FANUC Robot R-2000iB/165CF
Working time (H)
Items
1
2
3
4
5
6
Check for external
damage or peeling paint
Check damages
of the cable protection sheaths
Check wear debris of the
J1-axis swing stopper
Check for water
Check the mechanical cable.
(Damaged or twisted)
Check the motor connector.
(Loosening)
7 Tighten the end effector bolt.
8
Mechanical unit
9
Tighten the cover and main
bolt.
Check the mechanical stopper
and adjustable mechanical
stopper
10 Remove spatter and dust etc.
Check the end effector (hand)
11 cable
14 Replacing battery. 
15
16
17
18
21
Replacing grease of J1-axis
reducer
Replacing grease of J2-axis
reducer
Replacing grease of J3-axis
reducer
Replacing grease of wrist axis
reducer (J6)
Replacing grease of J4-axis
gearbox (J4/J5-axis) for wrist
axis
Periodic Maintenance Table
First
3
6
9
1
check months months months year
320
960
1920 2880 3840
4800
5760
6720
2
years
7680
8640
9600
10560
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
Check
time
Grease
amount
0.1H
―
○
○
○
0.1H
―
○
○
0.1H
―
○
0.1H
―
○
0.2H
―
○
○
○
0.2H
―
○
○
○
0.2H
―
○
○
○
2.0H
―
○
○
○
0.1H
―
○
○
○
1.0H
―
○
○
○
0.1H
―
○
○
○
0.1H
―
1.0H
4100ml
0.5H
2600ml
0.5H
1600ml
1.0H
400ml
15
0.5H
3950ml
16
●
18
21
17
Controller
Position of grease nipple
Replacing cable of mechanical
25 unit 
4.0H
―
26 Cleaning the ventilator
0.2H
―
0.2H
―
0.1H
―
Check the robot cable, teach
27 pendant cable and robot
connecting cable
28 Replacing battery *1
○
○
○
○
○
○
○
○
○
○
○
○
For descriptions about the items marked with an asterisk (*), refer to this manual or Chapter 7 of
MAINTENANCE of Control Maintenance Manual.
●: Requires order of parts
○: Does not require order of parts
- 272 -
A.PERIODIC MAINTENANCE TABLE
APPENDIX
B-82234EN/12
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
○
○
○
○
○
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○
○
○
○
○
1
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
2
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
3
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
4
○
○
○
○
5
○
○
○
○
○
6
○
○
○
○
○
7
○
○
○
○
○
8
○
○
○
○
○
9
○
○
○
○
○
10
○
○
○
○
○
11
●
●
●
Overhaul
○
●
14
●
●
●
●
16
●
●
17
●
●
18
●
●
21
●
○
○
○
○
○
○
○
15
25
○
○
○
○
○
○
○
○
○
○
●
○
○
○
○
○
○
○
○
26
27
28
- 273 -
B.MOUNTING BOLT TORQUE LIST
B
APPENDIX
B-82234EN/12
MOUNTING BOLT TORQUE LIST
NOTE
In apply the LOCTITE to designate part, spread to the entire length area of the
engaging part of female thread. If applied to the male threads, poor adhesion
provoke loose bolt. Clean the bolts and the threaded holes and wipe off the oil on
the engaging section. Make sure that there is no solvent left in the threaded holes.
In this case remove all the excess LOCTITE finished screwing.
Adopt following strength bolts.
Comply with the instruction prescribed in a manual if the bolt specified.
Hexagon socket head bolt made by steel
Size M22 or less: Tensile strength 1200N/mm2 or more
Size M24 or more: Tensile strength 1000N/mm2 or more
All size plating bolt: Tensile strength 1000N/mm2 or more
Hexagon bolt, stainless bolt, special shape bolt (button bolt, low-head bolt, flush bolt .etc.)
Tensile strength 400N/mm2 or more
Refer to the following tables if the bolts tightening torque are not specified.
Recommended bolt tightening torques
Unit: Nm
Hexagon socket head
button bolt
Hexagon socket head
Hexagon socket head
Hexagon socket head
Hexagon bolt
bolt
flush
bolt
bolt
(stainless)
(steel)
Nominal
(Steel)
Low-head
bolt
diameter
(steel)
Tightening torque
Tightening torque
Tightening torque
Tightening torque
Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit
――――
――――
――――
―――
M3
1.8
1.3
0.76
0.53
M4
4.0
2.8
1.8
1.3
1.8
1.3
1.7
1.2
M5
7.9
5.6
3.4
2.5
4.0
2.8
3.2
2.3
M6
14
9.6
5.8
4.1
7.9
5.6
5.5
3.8
M8
32
23
14
9.8
14
9.6
13
9.3
M10
66
46
27
19
32
23
26
19
――――
――――
M12
110
78
48
33
45
31
――――
――――
(M14)
180
130
76
53
73
51
――――
――――
M16
270
190
120
82
98
69
――――
――――
(M18)
380
260
160
110
140
96
――――
――――
M20
530
370
230
160
190
130
――――
――――
――――
――――
――――
――――
(M22)
730
510
――――
――――
――――
――――
――――
――――
M24
930
650
――――
――――
――――
――――
――――
――――
(M27)
1400
960
――――
――――
――――
――――
――――
――――
M30
1800
1300
――――
――――
――――
――――
――――
――――
M36
3200
2300
- 274 -
INDEX
B-82234EN/12
INDEX
INTERFACE FOR OPTION CABLE (OPTION) ....... 150
<A>
<L>
ADJUSTABLE MECHANICAL STOPPER
AND LIMIT SWITCH SETTING ............................ 175
ADJUSTING LIMIT SWITCH (OPTION).................. 190
AIR PIPING (OPTION) ............................................... 149
AIR SUPPLY (OPTION) ............................................. 144
ATTENTION ABOUT 210WE ................................... 120
AXIS LIMITS SETUP ................................................. 173
LOAD CONDITIONS ON J2 BASE, J3 ARM
AND J3 CASING ..................................................... 109
LOAD SETTING ......................................................... 140
<M>
MAINTENANCE ........................................................ 203
MAINTENANCE AREA............................................... 35
MASTERING .............................................................. 218
MASTERING DATA ENTRY .................................... 239
MECHANICAL UNIT EXTERNAL
DIMENSIONS AND OPERATING SPACE ............. 53
MOUNTING BOLT TORQUE LIST .......................... 274
<B>
BASIC SPECIFICATIONS ........................................... 40
<C>
CHANGING THE MOTION RANGE BY THE
LIMIT SWITCH (OPTION)..................................... 187
Check of Fixed Mechanical Stopper and
Adjustable Mechanical Stopper ................................ 201
CHECK POINTS ......................................................... 197
Check the Mechanical Unit Cables and
Connectors ................................................................ 199
CHECKING THE MASTERING ................................ 244
CHECKS AND MAINTENANCE .............................. 193
CONFIGURATION OF THE SEVERE
DUST/LIQUID PROTECTION PACKAGE............ 252
Confirm There is No Breakage on Purge Piping .......... 202
Confirmation of Oil Seepage........................................ 197
Confirmation of the Air Control Set or Air Purge
Kit ............................................................................. 198
CONNECTION WITH THE CONTROLLER ............... 38
<O>
OVEWVIEW ............................................................... 218
<P>
Periodic Check and Maintenance ................................. 194
PERIODIC MAINTENANCE ..................................... 193
PERIODIC MAINTENANCE TABLE ....................... 257
PIPING AND WIRING TO THE END
EFFECTOR .............................................................. 144
PREFACE .................................................................... p-1
Procedure for Releasing Remaining Pressure
from the Grease Bath................................................ 215
<Q>
QUICK MASTERING ................................................. 233
QUICK MASTERING FOR SINGLE AXIS ............... 235
<D>
Daily Checks ................................................................ 193
<R>
<E>
Replacing the Batteries(1.5 Year (5760 hours)
Periodic Maintenance).............................................. 204
Replacing the Grease of the Drive Mechanism(3
years (11520 hours) Periodic Maintenance or 1
year (3840 hours) Periodic Maintenance) ................ 207
RESETTING ALARMS AND PREPARING
FOR MASTERING .................................................. 219
ROBOT CONFIGURATION......................................... 40
END EFFECTOR INSTALLATION TO WRIST ....... 121
EQUIPMENT INSTALLATION TO THE
ROBOT .................................................................... 121
EQUIPMENT MOUNTING FACE ............................. 129
<F>
FAILURES, CAUSES AND MEASURES .................. 245
<G>
<S>
Greasing the Balancer Bush (1 year (3840 hours)
Periodic Maintenance) .............................................. 203
SAFETY PRECAUTIONS ........................................... s-1
SETTING MOTION LIMITATION BY
SOFTWARE ............................................................ 174
SEVERE DUST/LIQUID PROTECTION
PACKAGE ............................................................... 252
SEVERE DUST/LIQUID PROTECTION
PACKAGE(OPTION) .............................................. 252
SINGLE AXIS MASTERING ..................................... 237
STORAGE ................................................................... 217
<I>
INERTIA LOAD SETTING ........................................ 142
INSTALLATION ........................................................... 28
INSTALLATION CONDITIONS.................................. 37
Installation Method ........................................................ 28
INSTALLING A FANUC/SPECIAL FLANGE
ADAPTER (R-2000iB/165F, 210F, 165R,
200R, 100P, 125L, 100H)......................................... 129
INSTALLING THE AIR PURGE KIT ........................ 172
<T>
TRANSPORTATION ...................................................... 1
i-1
INDEX
B-82234EN/12
TRANSPORTATION AND INSTALLATION ............... 1
Transportation with an End Effector Attached ............... 27
TROUBLESHOOTING ............................................... 245
<V>
VISION AXIS MASTERING ...................................... 240
<W>
WRIST LOAD CONDITIONS ...................................... 79
<Z>
ZERO POINT POSITION AND MOTION
LIMIT ......................................................................... 70
ZERO POSITION MASTERING ................................ 220
i-2
REVISION RECORD
B-82234EN/12
REVISION RECORD
Edition
Date
12
Oct.,2015
11
July,2012
10
Feb.,2011
09
Aug.,2010
08
Jun.,2009
07
Mar.,2008
06
Dec, 2007
05
Jul, 2007
04
May, 2007
03
Dec, 2006
02
Sep, 2006
01
Apr, 2006
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
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Contents
Addition of R-2000iB/210WE (A05B-1329-B256)
Addition of note for severe dust/liquid performance
Addition of quick master for single axis
Correction of grease replacing procedure for R-2000iB/210FS,220US
Correction of errors
Addition of R-2000iB/210WE,210FS,220US
Addition of R-30iB
Addition of Vision Axis Master
Correction of errors
Addition of R-2000iB/220U
Correction of errors
Addition of stop type of robot
Addition of stopping time and distance when controlled stop is executed
Correction of errors
Addition of R-2000iB/185L,250F
Addition data of max stopping distance (position)
Change figure of transportation of crane
Correction of errors
Addition of R-2000iB/170CF,150U
Change the coordinate system wrist payload diagram
Correction of errors
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
Addition of the R-2000iB/100H
Addition of the R-2000iB/165F, 210F with high inertia mode.
Correction of errors
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
Addition of the R-2000iB/100P and 175L
Correction of errors
Change the manufacture name of Daiichi Denshi Kogyo K.K to Fujikura Ltd.
Addition of R-2000iB/165R, 200R, and 165CF
Change of the alarm release method
Addition of the procedure for releasing the remaining pressure in the grease
Modification to the troubleshooting table
Addition of descriptions about a severe dust/liquid protection package
r-1
B-82234EN/12
* B - 8 2 2 3 4 E N / 1 2 *