FANUC CORPORATION
FANUC > series R-30+B/R-30+B Mate
CONTROLLER
Multi arm system Manual
Robot Controller Department, Hardware Laboratory
Edition
Date
Charge
Check
Approval
01
12.Oct.14
Momotani Tanabe
Chino
02
14.Apr.02
Momotani Tanabe
Tanabe
Remarks
The first edition publication
2nd edition publication
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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1.
Application
This manual describes the ordering and maintenance manual of R-30iB/R-30iB Mate(except Open
Air controller) for multi arm system with I/O Link i.
2.
System configuration of multi arm system
2.1 Limitation of multi arm system
・ The total number of robot controller is 4 or less.
・ In case safety I/O board is used in multi arm system, total number of robot controllers and
safety I/O board is 4 or less.
・ Safety I/O board should be installed in the mini slot of master controller. If safety I/O board is
used, confirm the number of available mini slot and wide mini slot for other option boards.
・ The number of robot controller for M-2000iA and M-900iA/200P is counted as 2 robots.
・ The main board installed in master controller controls all robots in multi arm system. So all
slave controllers does not include main board.
・ In case of R-30iB, disconnect unit is mounted in the master controller as option.
・ In case of R-30iB Mate, disconnect unit is mounted in the slave 1 controller as option.
・ When disconnect switch is set disconnect position, the servo power of robot and aux. axis is
disconnected simultaneously.
・ The multi arm connection cables are connected as daisy chain connection in the order of
master, slave 1, slave 2 and slave 3.
・ Total axis of (1) FSSB connection is limited (32) axes or less. If total axis of (1) FSSB
connection is over (33) axes, and if it is necessary to divide to (2) FSSB connection, contact the
design section.
・ A cabinet, B cabinet and R-30iB Mate controller can be mixed.
・ In case of mixed system with R-30iB and R-30iB Mate, R-30iB should be master controller.
・ In case of stacking configuration, upper side controller is master controller.
・ The servo amplifier for ATC such as servo Gun change and servo hand change can be mounted
in only master controller.
2.2 Reference of multi arm system
・ Regarding
trouble
shooting
with
multi
arm
system,
R-30iB
controller
maintenance
manual(B-83195) and R-30iB Mate controller maintenance manual(B-83525) should be referred.
・ Regarding setting of multi arm system, R-30iB/R-30iB Mate Dual check safety function operator’s
manual(B-83184) should be referred.
・ Regarding size of FROM/SRAM/DRAM for multi arm system, contact to robot laboratory with the
software option configuration.
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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2.3 Example of configuration : A cabinet master
<Example 1>
Slave 3(CTRL4)
Master(CTRL1)
Slave 1(CTRL2)
Slave 2(CTRL3)
R-30iB Mate
Disconnect unit
Multi arm connection cable
Connection cable for disconnect unit
Robot 1
<Example 2>
A cabinet stacking configuration
Master(CTRL1)
Slave 2(CTRL3)
Slave 1(CTRL2)
Slave 3(CTRL4)
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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2.4 Example of configuration : B cabinet master
<Example 1>
Master(CTRL1)
Slave 1(CTRL2)
Slave 2(CTRL3)
Slave 3(CTRL4)
Disconnect unit
A cabinet
Robot 1
R-30iB Mate
Robot 1
<Example 2>
A cabinet stacking configuration
Master(CTRL1)
Slave 1(CTRL2)
Robot 1
Slave 3(CTRL4)
Robot 1
Slave 2(CTRL3)
2.5 Example of configuration : R-30iB Mate master
Master
Disconnect switch
Slave
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3.
Master controller
The order for master controller is specified with as same as standalone controller.
Additional parts for multi arm are specified according to following descriptions.
3.1.
Servo card
Servo card has enough axes to control all robot and aux. axes should be specified.
Servo card axes ≧ Total robot axes(*) ＋ Total aux. axis.
（*）In case of robot has 4 axes or less, robot axes is 4.
Axes
6
12
18
24
36
3.2.
Servo card
A05B-2600-H040
A05B-2600-H041
A05B-2600-H042
A05B-2600-H043
A05B-2600-H044
Note
Standard
Total axis of (1) FSSB connection is limited (32) axes or less. If total
axis of (1) FSSB connection is over (33) axes, ask design section.
Disconnect unit
Disconnect unit is used to disconnect servo power of each robot individually and disconnect
unit is option. Disconnect unit is mounted on the master controller door.
If disconnect unit is needed, specified the order according to the following table.
Item
Disconnect unit for 2
robots
Disconnect unit for 3
robots
Disconnect unit for 4
robots
A cabinet
Master
B cabinet
A05B-2601-J007
A05B-2603-J007
Mate cabinet
(Note)
A05B-2650-J292
A05B-2601-J006
A05B-2603-J006
A05B-2650-J291
A05B-2601-J005
A05B-2603-J005
A05B-2650-J290
(Note : The order for disconnect unit of Mate master controller should be included in the order
for 1st slave Mate controller.)
If master controller is A cabinet, base plate for disconnect unit should be specified.
Item
Base plate for disconnect unit
Spec.
A05B-2601-J345
Note
A cabinet
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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3.3.
24V transit cable
If master controller is A cabinet, 24V transit cable should be specified.
Item
24V transit unit
4.
Spec.
A05B-2601-J330
Note
A cabinet
Slave controller
The order for slave controller is specified according to following descriptions.
The common parts for standalone controller are specified ordering system for R-30iB
controller. The aux. axis can be specified as same as standalone controller.
In case of A cabinet
Name
Controller basic
Multi Arm Connection Cable
Safety I/O board connection cable
Connection Cable for Disconnect unit
Cable Tag1
Cable Tag2
Slave panel
Backplane 2 slots
Power supply unit
Blind plate
Spare fuse
USB blind plate
NAME PLATE(Robot Series)
Servo AMP cable
PS control
Fan unit
6 axes control
Discharge resistor
E-Stop unit
Power transformer
Breaker
Robot connection cable
Cabinet stacking plate
Input Power Voltage
Spec.
Section 4.1
Section 4.2
Section 4.3(If necessary)
Section 4.4(If necessary)
Section 4.5
A05B-2601-J392
A05B-2600-H080
A05B-2600-H100
A05B-2401-J430
A05B-2600-K001
A05B-2601-J498
As same as standalone.
As same as standalone
As same as standalone(If necessary)
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone(If necessary)
As same as standalone
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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1
1
1
1
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
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In case of B cabinet
Name
Controller basic
Multi Arm Connection Cable
Safety I/O board connection cable
Connection Cable for Disconnect unit
Cable Tags1
Cable Tags2
Slave panel
Transit board for I/O link i
Backplane 2 slots
Power supply unit
Blind plate
Spare fuse
NAME PLATE(Robot Series)
Servo AMP cable
PS control
Floor FAN unit
6 axes control
Regenerative discharge resistor
E-Stop unit
Power transformer
Breaker
Robot connection cable
Input Power Voltage
Ordering Specification
Qty.
Section 4.1
Section 4.2
Section 4.3(If necessary)
Section 4.4(If necessary)
Section 4.5
A05B-2502-J275
A05B-2603-J392
A05B-2600-H080
A05B-2600-H100
A05B-2401-J430
A05B-2600-K001
As same as standalone
As same as standalone
As same as standalone(If necessary)
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
As same as standalone
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
1
1
1
1
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
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In case of Mate cabinet
Name
Controller basic
Multi Arm Connection Cable
Safety I/O board connection cable
Connection Cable for Disconnect unit
Cable Tag1
Cable Tag2
Slave panel/Disconnect unit
Spare fuse
USB blind plate
NAME PLATE(Robot Series)
6 axes control
Discharge resistor
E-Stop unit
AC Reactor(Line filter)
Breaker
Robot connection cable
Cabinet stacking plate
Input Power Voltage
Spec.
Section 4.1
Section 4.2
Section 4.3(If necessary)
Section 4.4(If necessary)
Section 4.5
Section 4.6
As same as standalone.
A05B-2601-J498
As same as standalone.
As same as standalone
As same as standalone
Section 4.8
As same as standalone
As same as standalone
As same as standalone
A05B-2650-J490(If necessary)
As same as standalone
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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1
1
1
1
2
2
1
1
1
1
1
1
1
1
1
1
1
1
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4.1.
Slave controller basic
The order for slave robot includes robot and slave controller.
In this case, the controller basic should be specified in the following specifications.
Slave basic
basic with A cabinet
Robot
Basic controller
NRTL controller
CE controller
R-2000iB, R-2000iC
A05B-2610-B004
A05B-2610-B024
A05B-2610-B014
R-1000iA
A05B-2610-B104
A05B-2610-B124
A05B-2610-B114
M-710iC
A05B-2610-B204
A05B-2610-B224
A05B-2610-B214
M-420iA/M-421iA
A05B-2610-B304
A05B-2610-B324
A05B-2610-B314
ARC Mate 100iC
A05B-2611-B004
A05B-2611-B024
A05B-2611-B014
ARC Mate 120iC
A05B-2611-B104
A05B-2611-B124
A05B-2611-B114
M-10iA
A05B-2611-B204
A05B-2611-B224
A05B-2611-B214
M-20iA
A05B-2611-B304
A05B-2611-B324
A05B-2611-B314
R-2000iB/200T, 220U
A05B-2612-B104
A05B-2612-B124
A05B-2612-B114
A05B-2613-B004
A05B-2613-B024
A05B-2613-B014
M-3iA
A05B-2615-B004
A05B-2615-B024
A05B-2615-B014
M-2iA
A05B-2615-B104
A05B-2615-B124
A05B-2615-B114
M-430iA/2F
A05B-2616-B004
A05B-2616-B024
A05B-2616-B014
M-430iA/2P
A05B-2616-B104
A05B-2616-B124
A05B-2616-B114
F-200iB
A05B-2619-B004
A05B-2619-B024
A05B-2619-B014
M-900iA/350, 260L
M-900iB/360
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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Slave basic with B cabinet
Robot
Key type
Basic controller
NRTL controller
CE controller
－(minus)
A05B-2610-B032
A05B-2610-B072
A05B-2610-B052
FANUC
A05B-2610-B033
A05B-2610-B073
A05B-2610-B053
－(minus)
A05B-2610-B132
A05B-2610-B172
A05B-2610-B152
FANUC
A05B-2610-B133
A05B-2610-B173
A05B-2610-B153
－(minus)
A05B-2610-B232
A05B-2610-B272
A05B-2610-B252
FANUC
A05B-2610-B233
A05B-2610-B273
A05B-2610-B253
－(minus)
A05B-2610-B332
A05B-2610-B372
A05B-2610-B352
FANUC
A05B-2610-B333
A05B-2610-B373
A05B-2610-B353
－(minus)
A05B-2611-B032
A05B-2611-B072
A05B-2611-B052
FANUC
A05B-2611-B033
A05B-2611-B073
A05B-2611-B053
－(minus)
A05B-2611-B132
A05B-2611-B172
A05B-2611-B152
FANUC
A05B-2611-B133
A05B-2611-B173
A05B-2611-B153
－(minus)
A05B-2611-B232
A05B-2611-B272
A05B-2611-B252
FANUC
A05B-2611-B233
A05B-2611-B273
A05B-2611-B253
－(minus)
A05B-2611-B332
A05B-2611-B372
A05B-2611-B352
FANUC
A05B-2611-B333
A05B-2611-B373
A05B-2611-B353
－(minus)
A05B-2612-B032
A05B-2612-B072
A05B-2612-B052
FANUC
A05B-2612-B033
A05B-2612-B073
A05B-2612-B053
－(minus)
A05B-2612-B132
A05B-2612-B172
A05B-2612-B152
FANUC
A05B-2612-B133
A05B-2612-B173
A05B-2612-B153
－(minus)
A05B-2613-B032
A05B-2613-B072
A05B-2613-B052
FANUC
A05B-2613-B033
A05B-2613-B073
A05B-2613-B053
M-900iA/600, 400L
－(minus)
A05B-2614-B032
A05B-2614-B072
A05B-2614-B052
M-900iB/700, 400L
FANUC
A05B-2614-B033
A05B-2614-B073
A05B-2614-B053
－(minus)
A05B-2616-B032
A05B-2616-B072
A05B-2616-B052
FANUC
A05B-2616-B033
A05B-2616-B073
A05B-2616-B053
－(minus)
A05B-2616-B132
A05B-2616-B172
A05B-2616-B152
FANUC
A05B-2616-B133
A05B-2616-B173
A05B-2616-B153
－(minus)
A05B-2619-B032
A05B-2619-B072
A05B-2619-B052
FANUC
A05B-2619-B033
A05B-2619-B073
A05B-2619-B053
R-2000iB, R-2000iC
R-1000iA
M-710iC
M-420iB
ARC Mate 100iC
ARC Mate 120iC
M-10iA
M-20iA
M-410iB
R-2000iB/200T, 220U
M-900iA/350, 260L
M-900iB/360
M-430iA/2F
M-430iA/2P
F-200iB
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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Slave basic with Mate cabinet
Robot
LR Mate 200iD/Standard
LR Mate 200iD/3 phase for
Alpha iSV AMP
ARC Mate 50iD/
Limited type Single phase
ARC Mate 50iD/3 phase
for Alpha iSV AMP
M-1iA/Standard
Basic controller
NRTL controller
CE controller
A05B-2651-B025
A05B-2651-B015
A05B-2651-B035
A05B-2651-B055
A05B-2651-B045
A05B-2651-B205
A05B-2651-B225
A05B-2651-B215
A05B-2651-B235
A05B-2651-B255
A05B-2651-B245
A05B-2651-B425
A05B-2651-B415
A05B-2651-B005/3phase
A05B-2651-B006/1phase
A05B-2651-B405/3phase
A05B-2651-B406/1phase
M-2iA
A05B-2657-B105
A05B-2657-B125
A05B-2657-B115
M-3iA
A05B-2657-B005
A05B-2657-B025
A05B-2657-B015
ARC Mate 100iC
A05B-2652-B005
A05B-2652-B025
A05B-2652-B015
M-10iA
A05B-2652-B035
A05B-2652-B055
A05B-2652-B045
ARC Mate 120iC
A05B-2652-B105
A05B-2652-B125
A05B-2652-B115
M-20iA
A05B-2652-B135
A05B-2652-B155
A05B-2652-B145
ARC Mate 0iB
A05B-2652-B205
A05B-2652-B225
A05B-2652-B215
R-0iB
A05B-2652-B235
R-2000iC
A05B-2654-B005
A05B-2654-B025
A05B-2654-B015
R-1000iA
A05B-2654-B105
A05B-2654-B125
A05B-2654-B115
M-710iC
A05B-2654-B205
A05B-2654-B225
A05B-2654-B215
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4.2.
Multi arm connection cable
The multi arm connection cable should be specified for each slave controller.
Multi arm connection cable include the Electrical cable(24V and I/O link i signal), optical
cable for FSSB and earth cable according to the slave cabinet type(A cabinet and B
cabinet) , upper side controller type and cable length.
Refer to the following table to specify the multi arm connection cable.
Multi arm connection cable
Slave controller
Cabinet type
A cabinet
Upper side controller
Cabinet type
A cabinet(Master)
A cabinet(Slave)
B cabinet(Master)
B cabinet(Slave)
Safety I/O Board
(A/B cabinet)
B cabinet
A cabinet(Master)
A cabinet(Slave)
B cabinet(Master)
B cabinet(Slave)
Safety I/O Board
(A/B cabinet)
Length
Spec.
Stacking
A05B-2601-J400
5m
A05B-2601-J421
10m
A05B-2601-J422
Stacking
A05B-2601-J460
5m
A05B-2601-J461
10m
A05B-2601-J462
5m
A05B-2603-J441
10m
A05B-2603-J442
5m
A05B-2601-J461
10m
A05B-2601-J462
Stacking
A05B-2601-J460
A cabinet
5m
A05B-2601-J461
A/B cabinet
10m
A05B-2601-J462
A/B cabinet
5m
A05B-2601-J441
10m
A05B-2601-J442
5m
A05B-2601-J461
10m
A05B-2601-J462
5m
A05B-2603-J421
10m
A05B-2603-J422
5m
A05B-2601-J461
10m
A05B-2601-J462
5m
A05B-2601-J461
10m
A05B-2601-J462
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
Note
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Slave controller
Cabinet type
Mate cabinet
Upper side controller
Cabinet type
A cabinet(Master)
A cabinet(Slave)
B cabinet(Master)
B cabinet(Slave)
Mate cabinet(Master)
Mate cabinet(Slave)
Safety I/O Board
4.3.
Length
Spec.
Note
5m
A05B-2650-J305
10m
A05B-2650-J306
5m
A05B-2650-J317
10m
A05B-2650-J318
5m
A05B-2650-J310
10m
A05B-2650-J311
5m
A05B-2650-J317
10m
A05B-2650-J318
Stacking
A05B-2650-J300
1.5m
A05B-2650-J301
5m
A05B-2650-J302
10m
A05B-2650-J303
Stacking
A05B-2650-J315
1.5m
A05B-2650-J316
5m
A05B-2650-J317
10m
A05B-2650-J318
Stacking
A05B-2650-J335
Mate
1.5m
A05B-2650-J336
Mate
5m
A05B-2650-J337
A/B/Mate
10m
A05B-2650-J338
A/B/Mate
Safety I/O board connection cable with Multi arm system
Safety I/O board
Cabinet type
A cabinet(Master)
Length
-
Spec.
Note
A05B-2650-J296
B cabinet(Master)
-
A05B-2650-J297
Mate cabinet(Master)
-
A05B-2650-J295
Note). Safety I/O board should be installed in the master controller.
4.4.
The connection cable between (2) set of safety I/O boards
(2) set of safety I/O board
Cabinet type
-
Length
-
Spec.
Note
A05B-2602-J202
Note). (2) set of safety I/O board should be installed in the master controller.
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Example of multi arm connection cable
（Note）The order for slave1 includes the cable①.
The order for slave2 includes the cable②.
The order for slave3 includes the cable③.
<Exmaple1>
Slave2
Cable①：A05B-2601-J421(5m)
Cable②：A05B-2601-J462(10m)
Cable③：A05B-2601-J462(10m)
Master
Slave1
Slave3
1
2
5m
10m
3
Robot
10m
<Exmaple2>
Cable①：A05B-2601-J441(5m)
Cable②：A05B-2601-J462(10m)
Cable③：A05B-2601-J460(Stacking)
Master
Slave1
Slave2
1
2
5m
10m
Robot
3
Slave3
<Exmaple3>
Cable①：A05B-2603-J422(10m)
Cable②：A05B-2601-J461(5m)
Cable③：A05B-2601-J462(10m)
Robot
1
2
10m
5m
3
10m
Robot
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4.5.
Connection cable for disconnect unit
If disconnect unit is specified, connection cable for disconnect unit should be specified in
order for 1st slave controller.
The connection cable should be specified according to the cabinet type and cable length
between master and slave1 controller.
Slave 1
A cabinet
B cabinet
Mate cabinet
4.6.
Length
Master
A cabinet
B cabinet
Mate
Stacking
5m
10m
5m
10m
Stacking
5m
A05B-2601-J425
A05B-2601-J426
A05B-2601-J427
A05B-2601-J446
A05B-2601-J447
N/A
A05B-2650-J325
N/A
A05B-2603-J446
A05B-2603-J447
A05B-2603-J426
A05B-2603-J427
N/A
A05B-2650-J330
N/A
N/A
N/A
N/A
N/A
A05B-2650-J320
TBD
10m
A05B-2650-J326
A05B-2650-J331
TBD
Cable tag
Cable tag is necessary for the slave2 and slave 3 controller.
Cable tag should be specified according to the following table.
Cable Tag
Slave controller
Slave1
Slave2
Slave3
4.7.
Spec.
A05B-2502-J290#CTRL2
A05B-2502-J290#CTRL3
A05B-2502-J290#CTRL3
A05B-2502-J290#CTRL4
Qty
2
2
2
2
Note
No need
Slave panel/ Disconnect switch(Mate)
Slave panel should be specified according to the cabinet type.
Item
Slave panel
/
Disconnect
switch(Mate)
Spec.
A05B-2601-J392
A05B-2502-J275
A05B-2650-J492
A05B-2650-J290(Note)
A05B-2650-J291(Note)
A05B-2650-J292(Note)
Note
A cabinet
B cabinet
Mate cabinet / Blank
Mate cabinet / Disconnect switch 4 robots
Mate cabinet / Disconnect switch 3 robots
Mate cabinet / Disconnect switch 2 robots
(Note) Disconnect switch should be specified in 1st slave controller.
4.8.
Transit board for I/O Link i
In case that slave controller is B cabinet, transit board for I/O Link i should be specified.
Item
Transit board for I/O Link i
Spec.
A05B-2603-J392
Note
B cabinet
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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4.7 USB blind plate
In case that slave controller is A cabinet or Mate cabinet, USB blind plate should be
specified.
Item
USB blind plate
Spec.
A05B-2601-J498
A05B-2601-J498
Note
A cabinet
Mate cabinet
4.8 E-stop unit(Mate cabinet)
In case that slave controller is Mate cabinet, E-stop unit should be specified.
Item
Spec.
A05B-2650-H150
A05B-2650-H153
Slave E-stop unit
(Mate cabinet)
A05B-2650-H154
A05B-2650-H155
A05B-2650-H156
A05B-2650-H157
5.
Note
For LR Mate/ Single phase
(Corresponding to A05B-2650-H120 as Master E-stop)
For ARC Mate/ w reactor, 3 phase
(Corresponding to A05B-2650-H123 as Master E-stop)
For ARC Mate/ CE EMC filter
(Corresponding to A05B-2650-H124 as Master E-stop)
For LR Mate/ 3 phase/ Basic
Not available Alpha iSV amp
(Corresponding to A05B-2650-H125 as Master E-stop)
For R-2000iC/ 3 phase/ Basic or NRTL
(Corresponding to A05B-2650-H126 as Master E-stop)
For R-2000iC/ 3 phase/ CE
(Corresponding to A05B-2650-H127 as Master E-stop)
Retrofit
The retrofit kit to reconstruct from standalone controller to multi arm controller after
shipping is as follows.
5.1 Master controller retrofit kit
Name
Servo Card
Disconnect unit
Blank panel (base)
DC24V Distribution cable
Spec.
Section 3.1
Section 3.2
Section 3.3
Qty.
1
1
1
1
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5.2 Slave controller retrofit kit
In case of A cabinet
Name
Multi Arm Connection Cable
Safety I/O board connection cable
Connection cable for Disconnect unit
Cable Tags1
Cable Tags2
Slave panel
USB blind plate
Stacking plate
Blind plate
Qty.
Ordering Specification
Section 4.2
Section 4.3
Section 4.4
Section 4.5
A05B-2601-J392
A05B-2601-J498
A05B-2601-J342(If necessary)
A05B-2401-J430
1
1
1
2
2
1
1
1
1
In case of B cabinet
Name
Multi Arm Connection Cable
Safety I/O board connection cable
Connection cable for Disconnect unit
Cable Tags1
Cable Tags2
Slave panel
I/O link transit board
Blind plate
Ordering Specification
Qty.
Section 4.2
Section 4.3
Section 4.4
Section 4.5
A05B-2502-J275
A05B-2603-J392
A05B-2401-J430
1
1
1
2
2
1
1
1
In case of Mate cabinet
cabinet
Name
Multi Arm Connection Cable
Safety I/O board connection cable
Connection cable for Disconnect unit
Cable Tags1
Cable Tags2
Slave panel/Disconnect switch
USB blind plate
E-stop board
Cabinet stacking plate
Ordering Specification
Section 4.2
Section 4.3
Section 4.4
Section 4.5
Section 4.6
A05B-2601-J498
A05B-2650-K120
A05B-2650-J490(If necessary)
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
Qty.
1
1
1
2
2
1
1
1
1
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6.
Connection diagram
Master A-cabinet – Slave A-cabinet(Stacking configuration) : A05B-2601-J400,J421,J422
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Master A-cabinet – Slave B-cabinet : A05B-2601-J441,J442
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Master Mate-cabinet – Slave Mate : A05B-2650-J300,J301,J302,J303
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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Master B-cabinet – Slave B-cabinet : A05B-2603-J421,J422
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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Master B-cabinet – Slave A-cabinet : A05B-2603-J441,J442
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Master A-cabinet – Slave Mate-cabinet : A05B-2650-J305,J306
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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Master B-cabinet – Slave Mate-cabinet : A05B-2650-J310,J311
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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Slave Mate cabinet – Slave Mate-cabinet : A05B-2650-J315,J316,J317,J318
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Slave B-cabinet – Slave B-cabinet : A05B-2601-J461,J462
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Slave A-cabinet – Slave A-cabinet : A05B-2601-J460,J461,J462
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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I/O link cable for Safety I/O board with Multi arm(Master B-cabinet) : A05B-2650-J297
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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I/O link cable for Safety I/O board with Multi arm(Master A-cabinet) : A05B-2650-J296
R-30*B/R-30iB Mate Multi arm system manual（A-95025E/02）
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I/O link cable for Safety I/O board with Multi arm(Master Mate cabinet): A05B-2650-J295
I/O link cable between (2) set of Safety I/O board : A05B-2602-J202
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7.
How to stack Mate cabinet
Instruction for Stacking R-30iB Mate controller
Top
Bottom
Procedure 1：
Sling up the 1st cabinet by crane
and remove 4 Volts of 1st cabinet.
Procedure 2：
Remove the top plate of 2nd cabinet.
Bolt
Eye bolt
Back rear
Procedure 3:
After the stacking 1st cabinet, Fixing
2 stacking plate (A230-0659-X039） by
4 screws (M5）
Procedure 4:
Fixing stacking plate (A230-0659-X040）
with the volt of 1st cabinet and the eyebolt
of 2nd cabinet.
Warning）
）In case stacking R-30iB Mate controller, take countermeasure against overturning.
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