FANUC > LR Mate 200*C MECHANICAL UNIT MAINTENANCE MANUAL B-82585EN/02 Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and understand the content. • No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”. SAFETY PRECAUTIONS B-82585EN/02 1 SAFETY PRECAUTIONS For the safety of the operator and the system, follow all safety precautions when operating a robot and its peripheral devices installed in a work cell. In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”. 1.1 WORKING PERSON The personnel can be classified as follows. Operator: • Power ON/OFF for robot controller • Start of robot program with operator’s panel Programmer or teaching operator: • Operate for Robot • Teaching inside safety fence Maintenance engineer: • Operate for Robot • Teaching inside 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 workings inside safety fence are lifting, setting, teaching, adjusting, maintenance, etc. To work inside the fence, the person must be trained for the robot. Table 1 lists the workings of outside the fence. In this table, the symbol “{“ means the working allowed to be carried out by the personnel. s-1 SAFETY PRECAUTIONS B-82585EN/02 Table 1 List of workings outside the fence Operator Programmer or Teaching operator Power ON/OFF for Robot controller Select operating mode (AUTO, T1, T2) Select Remote/Local mode Select robot program with teach pendant Select robot program with external device Start robot program with operator’s panel Start robot program with teach pendant Reset alarm with operator’s panel Reset alarm with teach pendant Set data on the teach pendant Teaching with teach pendant Emergency stop with operator’s panel Emergency stop with teach pendant Emergency stop with safety fence open Maintain for operator’s panel Maintain for teach pendant { { { { { { { { { { { { { { { { { { { Maintenance engineer { { { { { { { { { { { { { In operating, programming and maintenance, the programmer, teaching operator and maintenance engineer take care of their safety using the following safety protectors, for example. • • • Use adequate clothes, uniform, overall for operation Put on the safety shoes Use helmet s-2 B-82585EN/02 1.2 SAFETY PRECAUTIONS 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 person 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 interlock switch, 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 interlock signal of the door switch. When the gate is opened and this signal received, the controller stops the robot in an emergency. For connection, see Fig.1.1. (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. The circuit breaker installed in the controller is designed to disable anyone from turning it on when it is locked with a padlock. s-3 SAFETY PRECAUTIONS B-82585EN/02 (9) When adjusting each peripheral device independently, be sure to turn off the power of the robot. Fig.1.2 Safety fence and safety gate E-stop board FENCE1 FENCE11 NOTE Terminal FENCE1 and terminal FENCE11 are on the PC board in the E-stop unit. NOTE Please drop the power supply of the robot control system at once when the worker is placed by the robot by any chance or it is confined, push the robot arm directly, change posture, and liberate the worker. s-4 B-82585EN/02 1.2.1 SAFETY PRECAUTIONS General Person Safety The general person is a person who operates the robot system. In this sense, a worker who operates power on/off of the robot system or the teach pendant is also a general person. The general person can’t operate inside a safety fence. (1) Operate the robot system at a location outside of the safety fence. (2) If it is not necessary for the robot to operate, turn off the power of the robot controller or press the EMERGENCY STOP button, and then proceed with necessary work. (3) Install an EMERGENCY STOP button within the general person’s reach. The robot controller is designed to be able to connect to an external EMERGENCY STOP button. With this connection, the controller stops the robot operation when the external EMERGENCY STOP button is pressed. See the diagram below for connection. E-stop board EMGIN1 EMGIN11 Fig.1.2.1 Circuit diagram for external emergency stop button s-5 SAFETY PRECAUTIONS 1.2.2 B-82585EN/02 Safety of the Teaching Operator While teaching the robot, it is necessary for the operator to enter the work area of the robot. It is particularly necessary to ensure the safety of the teaching operator. (1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area. (2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal operating condition. (3) When entering the robot work area and teaching the robot, be sure to check the location and condition of the safety devices (such as the EMERGENCY STOP button and the DEADMAN switch on the teach pendant). (4) The teaching operator should pay careful attention so that no other workers enter the robot work area. Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button. These button and switch function as follows: (1) Emergency stop button: Causes an emergency stop when pressed. (2) DEADMAN switch: Functions differently depending on the mode switch setting status. (a) When the switch is set to the enable position: An emergency stop is made by releasing the DEADMAN switch. (b) When the switch is set to the disable position: The DEADMAN switch is disabled. The operator’s intention of starting teaching is determined by the control unit 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 can operate in such conditions and be responsible in carrying out tasks safely. The teach pendant and peripheral device interface each send a robot start signal. However, the validity of each signal changes depending on the teach pendant enable switch and the remote condition of the software. Table 1.2.2(a) STANDARD Teach pendant enable switch Software remote condition Teach pendant Peripheral device On Ignored Allowed to start Not allowed Off Local Remote Not allowed Not allowed Not allowed Allowed to start s-6 SAFETY PRECAUTIONS B-82585EN/02 Table 1.2.2(b) CE/RIA Teach pendant Mode enable switch On AUTO mode Off On T1, T2 mode Off Software remote condition Teach pendant Operator panel Peripheral device Local Remote Local Remote Local Remote Local Remote 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 (5) (When CE or RIA specification is selected.) To start the system using the operator’s panel, make certain that nobody is the robot work area and that there are no abnormal conditions in the robot work area. (6) When a program is completed, be sure to carry out a test run according to the procedure below. (a) Run the program for at least one operation cycle in the single step mode at low speed. (b) Run the program for at least one operation cycle in the continuous operation mode at low speed. (c) Run the program for one operation cycle in the continuous operation mode at the intermediate speed and check that no abnormalities occur due to a delay in timing. (d) Run the program for one operation cycle in the continuous operation mode at the normal operating speed and check that the system operates automatically without trouble. (e) After checking the completeness of the program through the test run above, execute it in the automatic operation mode. (7) While operating the system in the automatic operation mode, the teaching operator should leave the robot work area. s-7 SAFETY PRECAUTIONS 1.2.3 B-82585EN/02 Safety During Maintenance For the safety of maintenance personnel, pay utmost attention to the following. (1) During operation, never enter the robot work area. (2) Except when specifically necessary, turn off the power of the controller while carrying out maintenance. Lock the power switch, if necessary, so that no other person can turn it on. (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 disconnecting the pneumatic system, be sure to reduce the supply pressure. (5) Before the start of teaching, check that the robot and its peripheral devices are all in the normal operating condition. (6) Do not operate the robot in the automatic mode while anybody is in the robot work area. (7) When it is necessary to maintain the robot alongside a wall or instrument, or when multiple workers are working nearby, make certain that their escape path is not obstructed. (8) When a tool is mounted on the robot, or when any moving device other than the robot is installed, such as belt conveyor, pay careful attention to its motion. (9) If necessary, have trained worker who knows the robot system well stand beside the operator panel, and observe the operation. In case any danger arises, the worker should be ready to press the EMERGENCY STOP button at any time. (10) During replacing or reinstalling components, Take care not to let foreign matter enter the system. (11) When handling each unit or printed circuit board in the controller during inspection, turn off the circuit breaker to protect against electric shock. (12) When replacing parts, be sure to use those specified by FANUC. In particular, never use fuses or other parts of non-specified ratings. They may cause a fire or result in damage to the components in the controller. (13) 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. s-8 B-82585EN/02 SAFETY PRECAUTIONS 1.3 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES 1.3.1 Precautions in Programming (1) Use a limit switch or other sensor to detect a dangerous condition and, if necessary, design the program to stop the robot when the sensor signal is received. (2) Design the program to stop the robot when an abnormal condition occurs in any other robots or peripheral devices, even though the robot itself is normal. (3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care must be taken in programming so that they do not interfere with each other. (4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect the states of all devices in the system and can stop them according to the their states. 1.3.2 Precautions for Mechanism (1) Keep the component cells of the robot system clean, and operate the robot in an environment free of grease, water, and dust. (2) Employ a limit switch or mechanical stopper to limit the robot motion so that the robot does not strike against its peripheral devices or tools. s-9 SAFETY PRECAUTIONS 1.4 SAFETY OF THE ROBOT MECHANISM 1.4.1 Precautions in Operation B-82585EN/02 (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. 1.4.2 Precautions in Programming (1) When the work areas of robots overlap, make certain that the motions of the robots do not interfere with each other. (2) Be sure to specify the predetermined work origin in a motion program for the robot and program the motion so that it starts from the origin and terminates at the origin. Make it possible for the operator to easily distinguish at a glance that the robot motion has terminated. 1.4.3 Precautions for Mechanisms (1) Keep the work areas of the robot clean, and operate the robot in an environment free of grease, water, and dust. s-10 B-82585EN/02 SAFETY PRECAUTIONS 1.5 SAFETY OF THE END EFFECTOR 1.5.1 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-11 SAFETY PRECAUTIONS 1.6 B-82585EN/02 WARNING LABEL (1) Transportation attention label 1 500kg 100kg× 4 80kg×4 Fig. 1.6(a) Transportation attention label 1 Description 1) 2) 3) Use a crane having a load capacity of 500 kg or greater. Use at least four slings each having a withstand load of 980 N (100 kgf) or greater. Use at least four eyebolts each having a withstand load of 784 N (80 kgf) or greater. s-12 B-82585EN/02 SAFETY PRECAUTIONS (2) Transportation attention label 2 注意 CAUTION アイボルトを横引きしないこと DO NOT PULL EYBOLTS SIDEWAYS. アイボルトを外してから使用 すること REMOVE EYEBOLTS,BEFORE USE Fig.1.6 (b) Transportation attention label 2 Description Keep the following in mind about eyebolt. 1) 2) Don’t pull eyebolt side ways. Remove eyebolt before use. s-13 SAFETY PRECAUTIONS (3) Greasing attention label (When A05B-1139-K021 is specified.) B-82585EN/02 grease applying kit: 注意 CAUTION ① シリンダにグリスを入れる前に チューブを揉んでグリスを柔らか くして下さい。 ② ブランジャーを2.5mm押すと 1ccのグリスが出ます。 ① Please knead a tube and make grease soft before supply grease to cylinder. ② When you give a plunger 2.5mm push, 1cc grease is injected. 軸/AXIS 給脂量/AMOUNT J1 J2 J3 J4 J5 J6 3cc(7mm) 3cc(7mm) 2cc(5mm) 2cc(5mm) 2cc(5mm) 2cc(5mm) グリス給脂時/AT GRESING A370-3031-0130 Fig.1.6(c) Greasing attention label Description Keep the following in mind about grease applying kit. 1) Please knead a tube and make grease soft before supply grease to cylinder. 2) When you give a plunger 2.5mm push, 1ml grease is injected. s-14 SAFETY PRECAUTIONS (4) Range of motion and payload mark label Below label is added when CE specification is specified. 0deg -180deg +180deg MOTION RANGE OF J5-AXIS ROTATION CENTER A J5-AXIS ROTATION CENTER B B-82585EN/02 C D UNIT:mm A B C D STANDARD 959 228 704 513 LONG ARM 1147 393 892 742 MAX.PAYLOAD:5kg Fig.1.6 (d) Range of motion and payload mark label s-15 PREFACE B-82585EN/02 PREFACE This manual explains the maintenance and connection procedures for the mechanical units of the following robots: Model name Mechanical unit specification No. FANUC Robot LR Mate 200iC A05B-1139-B201 FANUC Robot LR Mate 200iC A05B-1139-B202 FANUC Robot LR Mate 200iC A05B-1139-B203 FANUC Robot LR Mate 200iC A05B-1139-B204 Maximum load A05B-1139-B211 FANUC Robot LR Mate 200iC/5L A05B-1139-B212 5kg FANUC Robot LR Mate 200iC/5LC A05B-1139-B213 FANUC Robot LR Mate 200iC/5C A05B-1139-B221 FANUC Robot LR Mate 200iC/5WP A05B-1139-B231 FANUC Robot LR Mate 200iC/5H A05B-1139-B101 FANUC Robot LR Mate 200iC/5H A05B-1139-B102 FANUC Robot LR Mate 200iC/5H A05B-1139-B103 FANUC Robot LR Mate 200iC/5H A05B-1139-B104 Remarks 3-axes brake type Non-severe dust/liquid protection specification 6-axes brake type Non-severe dust/liquid protection specification 3-axes brake type severe dust/liquid protection specification 6-axes brake type severe dust/liquid protection specification 6-axes brake type Non-severe dust/liquid protection specification 6-axes brake type severe dust/liquid protection specification 6-axes brake type Clean class 100 specification 6-axes brake type Clean class 100 specification 6-axes brake type Washing specification 3-axes brake type Non-severe dust/liquid protection specification 5-axes brake type Non-severe dust/liquid protection specification 3-axes brake type severe dust/liquid protection specification 5-axes brake type severe dust/liquid protection specification NOTE The following abbreviations are used herein. STANDARD : LR Mate 200iC 5L : LR Mate 200iC/5L 5LC : LR Mate 200iC/5LC 5C : LR Mate 200iC/5C 5WP : LR Mate 200iC/5WP 5H : LR Mate 200iC/5H p-1 PREFACE B-82585EN/02 The label stating the mechanical unit specification number is affixed in the position shown below. Before reading this manual, determine the specification number of the mechanical unit. (1) TYPE NO. DATE (2) (3) (4) WEIGHT (5) ‚‹‚‡ OSHINO-MURA. YAMANASHI PREF.JAPAN TABLE 1) (1) CONTENTS - (2) (3) TYPE (4) No. DATE (5) WEIGHT (Without controller) A05B-1139-B201 FANUC Robot LR Mate 200iC FANUC Robot LR Mate 200iC/5L LETTERS FANUC Robot LR Mate 200iC/5LC FANUC Robot LR Mate 200iC/5C FANUC Robot LR Mate 200iC/5WP A05B-1139-B202 27kg A05B-1139-B203 A05B-1139-B204 A05B-1139-B211 A05B-1139-B212 A05B-1139-B213 A05B-1139-B221 29kg PRINT SERIAL NO. PRINT PRODUCTION YEAR AND MONTH 27kg A05B-1139-B231 A05B-1139-B101 FANUC Robot LR Mate 200iC/5H A05B-1139-B102 26kg A05B-1139-B103 A05B-1139-B104 Positon of label indicating mechanical unit specification number p-2 PREFACE B-82585EN/02 RELATED MANUALS For the FANUC Robot series, the following manuals are available: Safety handbook B-80687EN All persons who use the FANUC Robot and system designer must read and understand thoroughly this handbook R-30iA Mate controller Operations manual LR HANDLING TOOL B-82724EN-1 Maintenance manual B-82725EN B-82725EN-1 (For Europe) B-82725EN-2 (For RIA) Mechanical unit Operator’s manual FANUC Robot LR Mate 200iC B-82584EN p-3 Intended readers: All persons who use FANUC Robot, system designer Topics: Safety items for robot system design, operation, maintenance Intended readers: Operator, programmer, maintenance person, system designer Topics: Robot functions, operations, programming, setup, interfaces, alarms Use: Robot operation, teaching, system design Intended readers: Maintenance person, system designer Topics: Installation, connection to peripheral equipment, maintenance Use: Installation, start-up, connection, maintenance Intended readers: System designer, Maintenance person Topics: Installation, connection to controller, maintenance Use: Installation, start-up, connection, maintenance TABLE OF CONTENTS B-82585EN/02 TABLE OF CONTENTS SAFETY PRECAUTIONS............................................................................s-1 PREFACE ....................................................................................................p-1 1 2 CHECKS AND MAINTENANCE ............................................................. 1 1.1 1.2 1.3 1.4 1.5 1.6 DAILY CHECKS ............................................................................................ 2 First 1-Month (320 hours operating) Check ................................................... 5 3-month (960 hours) checks .......................................................................... 5 1-year (3,840 hours) checks .......................................................................... 7 1.5-year (5,760 hours) checks ....................................................................... 7 2-year (7,680 hours) checks (LR Mate 200iC /5WP) 4-year (15,360 hours) checks (LR Mate 200iC, LR Mate 200iC/5L , /5C, /5LC, /5H) ............................................................................. 8 1.7 MAINTENANCE TOOLS ............................................................................... 9 PERIODIC MAINTENANCE .................................................................. 11 2.1 2.2 3 2.2.1 Grease replacement procedure of the J1-axis reducer ............................................17 2.2.2 Grease replacement procedure of the J2-axis reducer ............................................18 2.2.3 Grease replacement procedure of the J3-axis reducer ............................................19 2.2.4 Grease replacement procedure of the J4-axis reducer ............................................20 2.2.5 Grease replacement procedure of the J5/J6-axis reducer .......................................22 TROUBLESHOOTING .......................................................................... 23 3.1 3.2 3.3 4 REPLACING THE BATTERIES (1-YEAR CHECKS (battery built-in type)) (1.5-YEAR CHECKS (external battery type))............................................... 12 REPLENISH THE GREASE OF THE DRIVE MECHANISM (4 years (11,520 hours) checks) .................................................................. 15 OVERVIEW ................................................................................................. 24 FAILURES, CAUSES AND MEASURES ..................................................... 25 BACKLASH MEASUREMENT..................................................................... 32 REPLACING PARTS ............................................................................ 36 4.1 4.2 4.3 4.4 4.5 FIGURE OF DRIVE MECHANISM .............................................................. 38 REPLACING J1-AXIS MOTOR.................................................................... 41 REPLACING J1-AXIS REDUCER ............................................................... 43 REPLACING J2-AXIS MOTOR.................................................................... 49 REPLACING J2-AXIS REDUCER ............................................................... 53 c-1 TABLE OF CONTENTS 4.6 4.7 4.8 4.9 4.10 4.11 4.12 4.13 4.14 4.15 4.16 4.17 4.18 5 B-82585EN/02 REPLACING J3-AXIS MOTOR.................................................................... 57 REPLACING J3-AXIS REDUCER ............................................................... 59 REPLACING J4-AXIS MOTOR.................................................................... 62 REPLACING J4-AXIS REDUCER ............................................................... 64 REPLACING J5-AXIS MOTOR.................................................................... 68 REPLACING J5-AXIS REDUCER ............................................................... 71 REPLACING J6-AXIS MOTOR.................................................................... 74 REPLACING WRIST UNIT .......................................................................... 77 REPLACING J6-AXIS REDUCER ............................................................... 80 REPLACING J3 BELT ................................................................................. 82 REPLACING J5/J6 BELT ............................................................................ 84 REPLACING SOLENOID VALVE ................................................................ 86 SEALANT APPLICATION............................................................................ 88 REPLACING CABLES .......................................................................... 89 5.1 5.2 5.3 CABLE WIRING........................................................................................... 90 CABLE FORMING ....................................................................................... 92 CABLE AND AIR TUBE REPLACEMENT ................................................... 95 5.3.1 REPLAING CABLE K101 and Air tube (Connector plate to J2 base)..................95 5.3.2 REPLAING CABLE K106, K107, K108 and Air tube (J2 base to J3 casing) ..................................................................................................................102 5.3.3 REPLAING CABLE K102, K103, K104, K105, K109, K110, K111, K112, K113 ..........................................................................................................108 6 5.3.4 REPLAING CABLE K104 ..................................................................................109 5.3.5 REPLAING AIR TUBE .......................................................................................110 ADJUSTMENTS.................................................................................. 117 6.1 6.2 ADJUSTING TENSION OF BELT.............................................................. 118 MASTERING ............................................................................................. 120 6.2.1 RESETTING ALARMS AND PREPARING FOR MASTERING .....................121 6.2.2 FIXTURE POSITION MASTER.........................................................................122 APPENDIX A SPARE PARTS LIST .......................................................................... 131 B CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM................................ 141 C PERIODIC MAINTENANCE TABLE ................................................... 160 D MOUNTING BOLT TORQUE LIST ..................................................... 166 c-2 1.CHECKS AND MAINTENANCE B-82585EN/02 1 CHECKS AND MAINTENANCE Optimum performance of the robot can be maintained by performing the periodic maintenance procedures presented in this chapter. (See the APPENDIX A PERIODIC MAINTENANCE TABLE.) NOTE The periodic maintenance procedures described in this chapter assume that the FANUC robot is used for up to 3840 hours a year. When using the robot beyond this total operating time, correct the maintenance frequencies shown in this chapter by calculation in proportion to the difference between the actual operating time and 3840 hours/year. -1- 1.CHECKS AND MAINTENANCE 1.1 B-82585EN/02 DAILY CHECKS Clean each part, and visually check component parts for damage before daily system operation. Check the following items as the occasion demands. (1) Before turning on power Item 1 Check items When air Air pressure control set is provided. 2 3 4 5 6 7 8 9 Check points When air purge kit is prorided. Leakage from hose Supply pressure Dryer Vibration, abnormal noises and motor heating Changing repeatability Check air pressure using the pressure gauge on the air regulator as shown in Fig.1.1.If it does not meet the specified pressure of 0.49MPa (5 kg/cm2), adjust it using the regulator pressure setting handle. Check the joints, tubes, etc. for leaks. Repair leaks, or replace parts, as required. Check the supply pressure using the air purge kit shown in Fig.1.1 (b). If it does not meet the specified pressure of 10 KPa (0.1 kgf/cm2), 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 whether each axis moves smoothly Check whether the stop positions of the robot have not deviated from the previous stop positions. Peripheral devices for Check whether the peripheral devices operate proper operation properly according to commands from robot. Each axis brake Refer to 3.2. Cleaning and checking each Clean each part (remove chips, etc.) and part check component parts for cracks and flaws. Pressure Adjusting Knob 2-6.5×16.5 Length round hole Rc1/4 AIR OUTLET Pressure gauge Rc1/4 AIR SUPPLY Fig.1.1(a) Air control set -2- 1.CHECKS AND MAINTENANCE B-82585EN/02 Pneumatic tube Dry air Filter and regulator Dew point checker 2-7x11 Length round hole Air outlet (O6 Air tube) Pressure gauge Pneumatic air outlet Air inlet (O10 air tube) Pressure adjustment knob S O O S Dryer unit Fig.1.1(b) Air purge kit (option) (2) After turning on power Item Check items Check points 1 Vibration, abnormal noises, and motor heating 2 Changing repeatability 3 Peripheral devices for proper operation Check whether the robot moves along and about the axes smoothly without unusual vibration or sounds. Also, check whether the temperatures of the motors are excessively high. Check to see that the stop positions of the robot have not deviated from the previous stop positions. Check whether the peripheral devices operate properly according to commands from the robot. Check that the end effector drops within 2 mm when the power is cut. 4 Brakes for each axis -3- 1.CHECKS AND MAINTENANCE B-82585EN/02 (Note 1) Cleaning - Necessary cleaning points, dust on the flat part, sedimentation of spatters Clean sediments periodically. In particular, clean the following points carefully. - Vicinity of the wrist axis and oil seal → If chippings or spatters are attached to the oil seal, an oil leak may be caused. Check if the vicinity of the necessary inspection points, wrist part, and J3 arm significantly wears due to rubbing against the welding cable or hand cable. Check if there is a trace of a collision around the hand. Check the reducer or grease bath for an oil leak. → If oil can be found a day after wiping oil, an oil leak may be caused. Fig 1.1(c) Cleaning part -4- 1.CHECKS AND MAINTENANCE B-82585EN/02 1.2 First 1-Month (320 hours operating) Check Check the following items after the first one-month operation (or 320 hours operating) First 1-month check Item 1 1.3 Check items Check points Control unit cable and robot connecting cable Check whether the cable connected to the teach pendant and robot is unevenly twisted. 3-month (960 hours) checks Check the following items once every three months (960 hours). Additional inspection areas and times should be added to the table according to the robot’s working conditions, environment, etc. (1) 3-month checks Item Check items 1 Control unit cable and robot connecting cable Ventilation portion of control unit Cleaning and checking each part 2 3 Check points (See Section 1.2) If the ventilation portion of the control unit is dusty, turn off the power and clean the unit. (See Section 1.1) Check the following items at the first quarterly inspection, then every year thereafter. (See the Section 1.4.) (2) First quarterly inspection Item 1 2 Check items Connector used in mechanical unit Further tightening external main bolts -5- Check points Check that the connectors of the connector panels are securely engaged. (NOTE2) Tighten the end-effecter mounting bolts and external main bolts. (NOTE3) 1.CHECKS AND MAINTENANCE B-82585EN/02 (NOTE 2) Inspection points of the connectors - Robot connection cables, earth terminal and user cables Check items - Circular connector: Check the connector for looseness by turning it manually. Square connector: Check the connector for disengagement of its lever. Earth terminal: Check the terminal for looseness by turning. Fig 1.3 Check items of connector (NOTE 3) Points to be retightened - The end effecter mounting bolts, robot installation bolts, and bolts to be removed for inspection need to be retightened. The bolts exposed to the outside of the robot need to be retightened. For the tightening torque, see the recommended bolt tightening torque shown in the Appendix. A loose prevention agent (adhesive) is applied to some bolts. If the bolts are tightened with greater than the recommended torque, the loose prevention agent may be removed. So, follow the recommended tightening torque when retightening them. -6- 1.CHECKS AND MAINTENANCE B-82585EN/02 1.4 1-year (3,840 hours) checks Check the following items about once every year (3,840 hours). Item 1 2 3 1.5 Check items Tightness of major external bolts Tightness of major external bolts Battery (battery built-in type) Check points (See Section 1.3) (See Section 1.3) Replace battery in the mechanical unit. (See Section 2.1) 1.5-year (5,760 hours) checks Check the following items about once every year (5,760 hours). Item 1 Check items Battery (external battery type) -7- Check points Replace battery in the mechanical unit. (See Section 2.1) 1.CHECKS AND MAINTENANCE 1.6 B-82585EN/02 2-year (7,680 hours) checks (LR Mate 200iC /5WP) 4-year (15,360 hours) checks (LR Mate 200iC, LR Mate 200iC/5L , /5C, /5LC, /5H) Check the following items in the cycle that is shorter among every four years and 15,360 hours. Item 1 Check itmes Greasing of reducers of each axis Check points Specified grease Harmonic grease 4BNo.2 Spec:A98L-0040-0230#2KG Greasing kit (tube of grease plus injector) Spec:A05B-1139-K021 Tube of grease (80 g) Spec:A05B-1139-K022 Do not use Harmonic grease SK-3 or unspecified grease. -8- 1.CHECKS AND MAINTENANCE B-82585EN/02 1.7 MAINTENANCE TOOLS The following tools and instruments are required for the maintenance procedures contained in this manual. (a) Measuring instruments Instrument Tension meter Instruments Specifications Vendor Manufacturer model No. Application DOCTOR TENSION TYPE-Ⅱ Adjustment of belt tension A97L-0218-0700 Mitsuboshi Belting Ltd. Accuracy/Tolerance Applications Dialgauge accuracy 1/100 mm Measurement of positioning and backlash Slide calipers 150 mm (b) Tools ・・Torque wrench Setting 5.6Nm(57kgfcm) Setting 5.4Nm(55kgfcm) Setting 4.5Nm(46kgfcm) Setting 2.0Nm(20kgfcm) Setting 1.3Nm(13kgfcm) ・Cross tip (+) screwdrivers ・Flat tip (–) screwdrivers ・Box driver ・Hex-head wrench set ・Monkey wrench ・Pincers ・Radio pincers ・Nippers ・Glasses wrench ・Pliers for C–retaining ring ・Loctite 242、262、518、638 ・Grease applying kit A05B-1139-K021 (It is options that grease (80g) for the grease greasing with the injection syringe and the tube makes a set.) ・grease in tube (80g) A05B-1139-K022 -9- M5 M4 M4 M3, M4 M3 Large, medium, and small sizes Large, medium, and small sizes M2.5 to M6 M2.5 to M6 Middle, little 1.CHECKS AND MAINTENANCE O5 B-82585EN/02 Fig 1.7 example of cylinder - 10 - 2.PERIODIC MAINTENANCE B-82585EN/02 2 PERIODIC MAINTENANCE - 11 - 2.PERIODIC MAINTENANCE 2.1 B-82585EN/02 REPLACING THE BATTERIES (1-YEAR CHECKS (battery built-in type)) (1.5-YEAR CHECKS (external battery type)) The position data of each axis is preserved by the backup batteries. The batteries need to be replaced every 1 year in case of battery built-in J1 base type 1.5 years in case of external battery type. Also, use the following procedure to replace when the backup battery voltage drop alarm occurs. Procedure of replacing the battery (battery built-in type) 1 Keep the power on. Press the EMERGENCY STOP button to prohibit the robot motion. CAUTION 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 When severe dust/liquid protection or 5LC,5WP,5C is selected, remove the battery case cap. (Fig. 2.1(a)) Loosen the plate screw, take out the lid of the battery box, and replace battery. Battery can be taken out by pulling the stick, which is center of the battery box. Assemble them by the opposite procedure. Pay attention to the direction of batteries. Please exchange packing absolutely when severe dust/liquid protection specification or 5LC,5WP,5C is selected. C battery(4pcs) FANUC spec:A98L-0031-0027 The battery can be taken out by pulling this stick Lid of battery bolx Plate screw M4X12(2pcs) Packing A290-7139-X253 (*) Bolt with plate processing hex-head hole M4X20(4pcs) (*) Battery box cover (*) (*)Severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5C,5WP are specified. Fig.2.1 (a) Replacing the battery (battery built-in type) - 12 - 2.PERIODIC MAINTENANCE B-82585EN/02 Procedure of replacing the battery (external battery type) 1 Keep the power on. Press the EMERGENCY STOP button to prohibit the robot motion. CAUTION Be sure to keep the power on. Replacing the batteries with the power supply turned off causes all current position data to be lost. Therefore, mastering will be required again. 2 3 4 5 Remove the battery case cap. (Fig. 2.1(b)) Take out the old batteries from the battery case. Insert new batteries into the battery case. Pay attention to the direction of batteries. Close the battery case cap. External battery bolx Battery cable Diameter About O5mm (Max O5.5mm) Battery case Case cap Battery spec;A98L-0031-0005 (D battery 4pcs) Fig.2.1 (b) Replacing the battery (external battery type) - 13 - 2.PERIODIC MAINTENANCE B-82585EN/02 Fig 2.1(c) shows the external size of external battery box. When the battery box needs to be built into the control unit or other internal units, refer to the outer dimensions shown in Fig.2.1(c) The battery box can be fixed by using M4 flat–head screws. (The bolts do not come with the system.) A maximum of six terminals can be attached to the backplane of the battery box. Fig.2.1(c) Outer dimensions of the battery box - 14 - 2.PERIODIC MAINTENANCE B-82585EN/02 2.2 REPLENISH THE GREASE OF THE DRIVE MECHANISM (4 years (11,520 hours) checks) Replacing the grease of the reducers every four years or 15,360 hours by using the following procedures. For the grease name and quantity, see the table 2.2 (a). Table 2.2 (a) Grease for 4-year periodical Replacement Greasing points Greasing amount Specified grease J1-axis reducer J2-axis reducer J3-axis reducer J4-axis reducer J5-axis reducer J6-axis reducer 2.7g(3ml) 2.7g(3ml) 1.8g(2ml) 1.8g(2ml) 1.8g(2ml) 1.8g(2ml) Harmonic grease 4BNo.2 Spec: A98L-0040-0230 For grease replacement, use the attitudes indicated below. Table 2.2 (b) Attitudes for greasing Supply position J1-axis reducer J2-axis reducer J3-axis reducer J4-axis reducer J5-axis reducer J6-axis reducer J1 J2 -90° 90° Arbitrary Arbitrary Attitude J3 J4 J5 J6 Arbitrary Arbitrary Arbitrary Arbitrary CAUTION The following maintenance kits are prepared for the grease greasing. Greasing kit: A05B-1139-K021 (This a set of greasing syringe and grease in tube.) Grease in tube: A05B-1139-K022 There is no J6-axis for LR Mate 200iC/5H - 15 - 2.PERIODIC MAINTENANCE B-82585EN/02 1 2 3 4 NOTE If greasing is performed incorrectly, the internal pressure of the grease bath may suddenly increase, possibly causing damage to the seal, which would in turn lead to grease leakage and abnormal operation. When performing greasing, therefore, observe the following cautions. In case of J1-axis and J3-axis, before starting to grease, open the grease outlet (remove the seal bolt from the grease outlet). Use grease only of the specified type. Grease of a type other than that specified may damage the reducer or lead to other problems. Do no use Harmonic grease SK-3 To prevent accidents caused by slipping, completely remove any excess grease from the floor or robot. Please fill a necessary amount to the injection syringe after softening grease in the tube massaging it by the hand when you use the grease greasing kit. Please install the nozzle in the point of the injection syringe. Please remove the nozzle and do the cap when you do not use the injection syringe. - 16 - 2.PERIODIC MAINTENANCE B-82585EN/02 2.2.1 Grease replacement procedure of the J1-axis reducer 1 2 3 4 5 6 Move the robot to the attitude of J1=-90° and J2=90°. Turn off the power. Remove the bolt/seal bolt (1) and cover U (2). In case of packing is attached, remove packing (3), too. Remove seal bolt of two places refer to fig.2.2.1. Supply regulated amount grease through the grease inlet by using injection syringe. Pay attention that grease inlet differs in case of floor mount and top mount. At this time, note that grease might come out from the side not used. Assemble parts in the opposite procedure. In case of packing is attached,be sure to replace packing. 1 2 4 3 J1-axis reducer grease inlet seal bolt (In case of top mount) J1-axis reducer grease inlet seal bolt (In case of floor mount) Fig. 2.2.1 Replacing grease of the J1-axis reducer Name Specification Amount BOLT SEAL BOLT SEAL BOLT Loctite Torque N-m (kgf-cm) A6-BA-4X8 4 1 A97L-0218-0496#M4X10BC(*1) 4 4.5 N-m (46kgf-cm) A97L-0218-0496#M4X10EN(*2) 4 A290-7139-X332(*3) 1 2 COVER U A290-7139-Y332(*4) 1 A290-7139-Z332(*5) 1 3 PACKING A290-7139-X356 (*6) 1 4 COVER A290-7139-X347 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP 5C is specified. (*3) When LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*4) When LR Mate 200iC,LR Mate 200iC/5C,5LC is specified. (*5) When LR Mate 200iC,LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. - 17 - 2.PERIODIC MAINTENANCE 2.2.2 B-82585EN/02 Grease replacement procedure of the J2-axis reducer 1 2 Turn off the power. Remove the seal bolt (1), (2) and remove cover S (3) and packing (4). Supply grease through the grease inlet by using injection syringe. Be sure to spread it to round in the gear because a regulated amount is a standard. Attach cover S (3) and packing (4). In this time, note the installation phase. Be sure to replace packing. When reusing the seal bolt, be sure to seal it with seal tape. 3 Spread the round grease on the tooth side like this. Pay attention to direction 1 3 A 2 DETAIL A 4 Fig. 2.2.2 Replacing grease of the J2-axis reducer Name Specification Amount SEAL BOLT A97L-0218-0738#040808BC(*1) 1 SEAL BOLT A97L-0218-0738#040808EN(*2) SEAL BOLT A97L-0218-0595#040808BC(*1) 2 SEAL BOLT A97L-0218-0595#040808EN(*2) 3 COVER S A290-7139-X309 4 PACKING A290-7139-X351 (*1) When LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP,5C is specified. - 18 - 2 2 2 2 1 1 Loctite Torque N-m (kgf-cm) 2.0 N-m (46kgf-cm) 2.0 N-m (46kgf-cm) 2.0 N-m (46kgf-cm) 2.0 N-m (46kgf-cm) 2.PERIODIC MAINTENANCE B-82585EN/02 2.2.3 Grease replacement procedure of the J3-axis reducer 1 2 3 4 Turn off the power. Remove the bolt/seal bolt (1) and J2 arm cover (2). In case of packing is attached, remove packing (3), too. Supply regulated amount grease through the grease inlet by using injection syringe. Please use arbitrary one as a greasing inlet. Attach J2 arm cover. In case of packing is attached,be sure to replace packing of. When reusing the seal bolt, be sure to seal it with seal tape. 3 2 1 J3-axis reducer grease inlet seal bolt Fig. 2.2.3 Replacing grease of the J3-axis reducer Name Specification Amount BOLT SEAL BOLT SEAL BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10 3 2.0 N-m (20kgf-cm) 1 A97L-0218-0496#M4X12BC(*1) 8 4.5 N-m (46kgf-cm) A97L-0218-0496#M4X12EN(*2) 8 4.5 N-m (46kgf-cm) A290-7139-X306 1 A290-7139-X308 (*1) 1 2 J2 ARM COVER A290-7139-Y308 (*3) 1 A290-7139-Z308 (*4) 1 3 PACKING A290-7139-X355 (*5) 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP,5C is specified. (*3) When LR Mate 200iC/5LC,5C is specified. (*4) When LR Mate 200iC/5WP is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 19 - 2.PERIODIC MAINTENANCE 2.2.4 B-82585EN/02 Grease replacement procedure of the J4-axis reducer NOTE Fig. 2.2.4 is an example of standard type. In case of 5H type, read J5/J6 as J4/J5. 1 2 3 4 Turn off the power. Remove the bolt/seal bolt (1) and J3 cover (2). In case of packing is attached, remove packing (3), too. Supply regulated amount grease through the grease inlet by using injection syringe. Please note that grease might come out immediately after in the greasing or the greasing. Please note greasing excessively even in that case. Attach J3 cover. In this time, be sure to replace packing . When reusing the seal bolt, be sure to seal it with seal tape. J4-axis reducer grease inlet seal bolt 1 3 2 Fig. 2.2.4 Replacing grease of the J4-axis reducer (LR Mate 200iC) - 20 - 2.PERIODIC MAINTENANCE B-82585EN/02 Name Specification Amount Torque N-m (kgf-cm) A97L-0218-0504#M4X10 3 2.0 N-m (20kgf-cm) A97L-0218-0496#M4X12BC(*1) 6 2.0 N-m (20kgf-cm) A97L-0218-0496#M4X12EN(*2) 6 2.0 N-m (20kgf-cm) A290-7139-X404 1 A290-7139-X406 (*1) 1 2 J3 COVER A290-7139-Y406 (*3) 1 A290-7139-Z406 (*4) 1 3 PACKING A290-7139-X451 (*5) 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP 5C is specified. (*3) When LR Mate 200iC/5LC,5C is specified. (*4) When LR Mate 200iC/5WP is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. 1 BOLT PLATED BOLT PLATED BOLT Loctite - 21 - 2.PERIODIC MAINTENANCE 2.2.5 B-82585EN/02 Grease replacement procedure of the J5/J6-axis reducer NOTE Fig. 2.2.5 is an example of standard type. In case of 5H type, read J5/J6 as J4/J5. 1 2 Turn off the power. Supply regulated amount grease through the grease inlet by using injection syringe. Please note that grease might come out immediately after in the greasing or the greasing. Please note greasing excessively even in that case. J6-axis reducer grease inlet seal bolt J5-axis reducer grease inlet seal bolt Fig. 2.2.5 Replacing grease of the J5/J6-axis reducer (LR Mate 200iC) Replacing grease of the J4/J5-axis reducer (LR Mate 200iC/5H) - 22 - 3.TROUBLESHOOTING B-82585EN/02 3 TROUBLESHOOTING - 23 - 3.TROUBLESHOOTING 3.1 B-82585EN/02 OVERVIEW The cause of a failure in the mechanical unit may be difficult to localize, because failures can arise from many interrelated factors. If you fail to take the correct measures, the failure may be aggravated. Therefore, it is necessary to analyze the symptoms of the failure precisely so that the true cause can be found. - 24 - 3.TROUBLESHOOTING B-82585EN/02 3.2 FAILURES, CAUSES AND MEASURES Table 3.2 lists the major failures that may occur in the mechanical unit and their probable causes. If you cannot pinpoint a failure cause or which measures to apply, contact FANUC. Table 3.2 (a) Failures, causes and measures Symptom Description Vibration Noise Cause Measure -The J1 base lifts off the floor plate as the robot operates. -There is a gap between the J1 base and floor plate. -A J1 base retaining bolt is loose. [J1 base fastening] -It is likely that the robot J1 base is not securely fastened to the floor plate. -Probable causes are a loose bolt, an insufficient degree of surface flatness, or foreign material caught between the floor plate and floor plate. -If the robot is not securely fastened to the floor plate, the J1 base lifts the floor plate as the robot operates, allowing the base and floor plates to strike each other, which, in turn, leads to vibration. -If a bolt is loose, apply Loctite and tighten it to the appropriate torque. -Adjust the floor plate surface flatness to within the specified tolerance. -If there is any foreign matter between the J1 base and floor plate, remove it. -Apply epoxy to the floor surface and re-install the plate. [Rack or floor] -It is likely that the rack or floor is not sufficiently rigid. -If the rack or floor is not sufficiently rigid, reaction from the robot deforms the rack or floor, leading to vibration. -Vibration becomes more serious when the robot adopts 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 greater 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. -Reinforce the rack or floor to make it more rigid. -If it is impossible to reinforce the rack or floor, modify the robot control program; doing so might reduce the amount of vibration. -Check the maximum load that the robot can handle once more. If the robot is found to be overloaded, reduce the load, or modify the robot control program. -Vibration in a specific portion can be reduced by modifying the robot control program while slowing the robot and reducing its acceleration (to minimize the influence on the entire cycle time). - 25 - 3.TROUBLESHOOTING Symptom Vibration Noise (Continued) B-82585EN/02 Description Cause Measure -Vibration was first noticed after the robot collided with an object or the robot was overloaded for a long period. -The grease of the vibrating axis has not been exchanged for a long period. [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. - It is likely that prolonged use of the robot while overloaded caused fretting of the gear tooth surface or rolling surface of a bearing, or reducer due to resulting metal fatigue. - It is likely that foreign matter caught in a gear, bearing, or within a reducer caused damage on the gear tooth surface or rolling surface of the bearing, or reducer. - It is likely that, because the grease has not been changed for a long period, fretting occurred on the gear tooth surface or rolling surface of a bearing, or reducer due to metal fatigue. -Operate one axis at a time to determine which axis is vibrating. -Remove the motor, and replace the gear, the bearing, and the reducer. For the spec. of parts and the method of replacement, contact FANUC. -Using the robot within its maximum rating prevents problems with the drive mechanism. -Regularly changing the grease with a specified type can help prevent problems. These factors all generate cyclic vibration and noise. - 26 - 3.TROUBLESHOOTING B-82585EN/02 Symptom Vibration Noise (Continued) Description Cause Measure -The cause of problem cannot be identified from examination of the floor, rack, or mechanical section. [Controller, cable, and motor] -If a failure occurs in a controller circuit, preventing control commands from being supplied to the motor normally, or preventing motor information from being sent to the controller normally, vibration might occur. -If the pulse coder develops a fault, vibration might occur because information about the motor position cannot be transferred to the controller accurately. -If the motor becomes defective, vibration might occur because the motor cannot deliver its rated performance. -If a power line in a movable cable of the mechanical section has an intermittent break, vibration might occur because the motor cannot accurately respond to commands. -If a pulse coder wire in a movable part of the mechanical section has an intermittent break, vibration might occur because commands cannot be sent to the motor accurately. -If a connection cable between them has an intermittent break, vibration might occur. -If the power cable between them has an intermittent break, vibration might occur. -If the power source voltage drops below the rating, vibration might occur. -If a robot control parameter is set to an invalid value, vibration might occur. -There is a possibility that the belt has been damaged about the allophone of the axis of the belt drive. -Refer to the Controller Maintenance Manual for troubleshooting related to the controller and amplifier. -Replace the pulse coder for the motor of the axis that is vibrating, and check whether the vibration still occurs. -Also, replace the motor of the axis that is vibrating, and check whether vibration still occurs. For the method of replacement, contact FANUC. -Check that the robot is supplied with the rated voltage. -Check whether the sheath of the power cord is damaged. If so, replace the power cord, and check whether vibration still occurs. -Check whether the sheath of the cable connecting the mechanical section and controller is damaged. If so, replace the connection cable, and check whether vibration still occurs. -If vibration occurs only when the robot assumes a specific posture, it is likely that a cable in the mechanical unit is broken. -Shake the movable part cable while the robot is at rest, and check whether an alarm occurs. If an alarm or any other abnormal condition occurs, replace the mechanical unit cable. -Check that the robot control parameter is set to a valid value. If it is set to an invalid value, correct it. Contact FANUC for further information if necessary. -Please exchange it if watching the cover is opened, an internal belt is confirmed, and damage is shown. - 27 - 3.TROUBLESHOOTING Symptom B-82585EN/02 Description Vibration -There is some relationship between the vibration of the robot and the operation of a machine near the robot. Rattling -While the robot is not supplied with power, pushing it with the hand causes part of the mechanical unit to wobble. -There is a gap on the mounting face of the mechanical unit. -Backlash is greater than the tolerance stated in the applicable maintenance manual. (See Section 3.3.) Cause Measure [Noise from a nearby machine] -If the robot is not grounded properly, electrical noise is induced on the grounding wire, preventing commands from being transferred accurately, thus leading to vibration. -If the robot is grounded at an unsuitable point, its grounding potential becomes unstable, and noise is likely to be induced on the grounding line, thus leading to vibration. [Mechanical section coupling bolt] -It is likely that overloading or a collision has loosened a mounting bolt in the robot mechanical section. -Connect the grounding wire firmly to ensure a reliable ground potential and prevent extraneous electrical noise. [Increase in backlash] -It is likely that excessive force applied to the drive mechanism, due to a collision or overloading, has broken a gear or the inside of the reducer, resulting in an increase in the amount of backlash. -It is likely that prolonged use has caused the tooth surfaces of a gear and the inside of the reducer to wear out, resulting in an increase in the amount of backlash. -It is likely that prolonged use without changing the grease has caused the tooth surfaces of a gear and the inside of the reducer to wear out, resulting in an increase in the amount of backlash. -Operate one axis at a time to determine which axis has the increased backlash. -Remove the motor, and check whether any of its gears are broken. If any gear is broken, replace it. -Check whether any other gear of the drive mechanism is damage. If there is no damage gear, replace the reducer. -If the reducer is broken, or if a gear tooth is missing, replace the relevant component. Also, remove all the grease from the gear box and wash the inside of the gear box. -After replacing the gear or reducer, add an appropriate amount of grease. -Using the robot within its maximum rating prevents problems with the drive mechanism. -Regularly applying the grease with a specified type can help prevent problems. - 28 - -Check that the following bolts for each axis are tight. If any of these bolts is loose, apply Loctite and tighten it to the appropriate torque. -Motor retaining bolt -Reducer retaining bolt -Base retaining bolt -Arm retaining bolt -Casting retaining bolt -End effecter retaining bolt 3.TROUBLESHOOTING B-82585EN/02 Symptom Motor overheating Description Cause Measure -The ambient temperature of the installation location increases, causing the motor to overheat. -After the robot control program or the load was changed, the motor overheated. [Ambient temperature] -It is likely that a rise in the ambient temperature prevented the motor from releasing heat efficiently, thus leading to overheating. [Operating condition] -It is likely that the robot was operated with the maximum average current exceeded. -After a control parameter was changed, the motor overheated. [Parameter] -If data input for a workpiece is invalid, the robot cannot be accelerated or decelerated normally, so the average current increases, leading to overheating. [Mechanical section problems] -It is likely that problems occurred in the mechanical unit drive mechanism, thus placing an excessive load on the motor. [Motor problems] -It is likely that a failure of the motor brake resulted in the motor running with the brake applied, thus placing an excessive load on the motor. -It is likely that a failure of the motor prevented it from delivering its rated performance, thus causing an excessive current to flow through the motor. -The teach pendant can be used to monitor the average current. Check the average current when the robot control program is running. The allowable average current is specified for the robot according to its ambient temperature. Contact FANUC for further information. -Relaxing the robot control program and conditions can reduce the average current, thus preventing overheating. -Reducing the ambient temperature is the most effective means of preventing overheating. -Having the surroundings of the robot well ventilated enables the robot to release heat efficiently, thus preventing overheating. Using a fan to direct air at the motor is also effective. -If there is a source of heat near the motor, it is advisable to install shielding to protect the motor from heat radiation. -Input an appropriate parameter as described in CONTROLLER OPERATOR’S MANUAL. -Symptom other than stated above - 29 - -Repair the mechanical unit while referring to the above descriptions of vibration, noise, and rattling. -Check that, when the servo system is energized, the brake is released. If the brake remains applied to the motor all the time, replace the motor. -If the average current falls after the motor is replaced, it indicates that the first motor was faulty. 3.TROUBLESHOOTING Symptom Grease B-82585EN/02 Description -Grease is leaking from the mechanical unit. Dropping axis -An axis drops because the brake does not function. -An axis drops gradually when it should be at rest. Cause Measure [Poor sealing] -Probable causes are a crack in the casting, a broken O-ring, a damaged oil seal, or a loose seal bolt. -A crack in a casting can occur due to excessive force that might be caused in collision. -An O-ring can be damaged if it is trapped or cut during disassembling or re-assembling. -An oil seal might be damaged if extraneous dust scratches the lip of the oil seal. -A loose seal bolt might allow grease to leak along the threads. -If a crack develops in the casting, sealant can be used as a quick-fix to prevent further grease leakage. However, the component should be replaced as soon as possible, because the crack might extend. -O-rings are used in the locations listed below. -Motor coupling section -Reducer 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 inlet and outlet -Check whether the brake drive relay contacts are stuck to each other. If they are found to be stuck, replace the relay. -If the brake shoe is worn out, if the brake main body is damaged, or if oil or grease has entered the motor, replace the motor. [Brake drive relay and motor] -It is likely that brake drive relay contacts are stuck to each other to keep the brake current flowing, thus preventing the brake from operating when the motor is deenergized. -It is likely that the brake shoe has worn out or the brake main body is damaged, preventing the brake from operating efficiently. -It is likely that oil or grease has entered the motor, causing the brake to slip. - 30 - 3.TROUBLESHOOTING B-82585EN/02 Symptom Description Displacement -The robot operates at a point other than the taught position. -The repeatability is not within the tolerance. -Displacement occurs only in a specific peripheral unit. -Displacement occurred after a parameter was changed. BZAL alarm occurred -BZAL is displayed on the controller screen Cause Measure [Mechanical section problems] -If the repeatability is unstable, probable causes are a failure in the drive mechanism or a loose bolt. -If the repeatability becomes stable, it is likely that a collision imposed an excessive load, leading to slipping on the base surface or the mating surface of an arm or reducer. -It is likely that the pulse coder is abnormal. -If the repeatability is unstable, repair the mechanical section by referring to the above descriptions of vibration, noise, and rattling. -If the repeatability is stable, correct the taught program. Variation will not occur unless another collision occurs. -If the pulse coder is abnormal, replace the motor or the pulse coder. -Correct the setting of the peripheral unit position. -Correct the taught program. [Peripheral unit displacement] -It is likely that an external force was applied to the peripheral unit, thus shifting its position relative to the robot. [Parameter] -It is likely that the mastering data was rewritten in such a way that the robot origin was shifted. - It is likely that the voltage of the memory backup battery is low. - It is likely that the pulse coder cable is defected. -Re-enter the previous mastering data, which is known to be correct. -If correct mastering data is unavailable, perform mastering again. -Replace the battery. -Replace the cable. Table 3.2 (b) Allowable drops At power off At emergency stop 2 mm 2 mm NOTE Each value indicates the amount by which an end effector mounting surface may fall. - 31 - 3.TROUBLESHOOTING 3.3 B-82585EN/02 BACKLASH MEASUREMENT Measurement method 1 2 3 Maintain the robot in a specified posture. (See Table 3.3.) Apply positive and negative loads to each axis as shown in Fig.3.3 (a). Remove the loads and measure the displacement. Measure backlash by applying positive and negative loads to each axis three times. Average the values measured in the last two measurements for each axis, and use the averages as a measured backlash for the respective axes. Stop position 0 +3kg Firtst step (Do not measure) -3kg +3kg L1 -3kg 0kg L2 0kg +3kg 0kg L3 -3kg Second step (B2 =L 1+ L2) Third step (B3=L 3+ L4) 0kg L4 Fig. 3.3 (a) Backlash measurement method Backlash B is calculated using the following expression: B= B2 + B3 2 - 32 - 3.TROUBLESHOOTING B-82585EN/02 Table 3.3(a) Backlash measurement posture, position and permissible value Measurement position Measurement J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis axis J1-axis Arbitrary 90° 0° 0° 0° 90° J2-axis Arbitrary 0° 90° 0° 0° 0° J3-axis Arbitrary 90° -90° 0° 0° 180° J4-axis Arbitrary 0° 90° 0° -90° 90° J5-axis Arbitrary 90° 0° 0° -90° J6-axis Arbitrary 90° 0° 0° -90° 0° or 180° 90° or -90° Rotation center of J5-axis Rotation center of J3-axis of J2 arm Rotation center of J5-axis 100mm from rotation center of J4-axis 206mm from rotation center of J5-axis 100mm from rotation center of J6-axis Table 3.3(b) Distance at axis and measurement position and permissible value for backlash Measured Distance at axis and measurement position axis (mm) Permissible value (mm) LR Mate 200iC, LR Mate 200iC, LR Mate 200iC/5C, LR Mate 200iC/5L,5LC LR Mate 200iC/5C, LR Mate 200iC/5L,5LC 5WP,5H 5WP,5H J1-axis 695 885 0.40 0.51 J2-axis 300 400 0.17 0.23 J3-axis 320 410 0.19 0.24 J4-axis 100 100 0.16 0.16 J5-axis 180 180 0.18 0.18 J6-axis 100 100 0.15 0.15 NOTE In case of 5H type, read J5/J6 as J4/J5. 100 Loading position Measurement position (Rotation center of J5-axis) Fig.3.3 (b) Backlash measurement position of J1-axis - 33 - 3.TROUBLESHOOTING B-82585EN/02 Loading position Measurement position Fig.3.3(c) Backlash measurement position of J2-axis 100 Measurement position 100 Loading position Fig.3.3 (d) Backlash measurement position of J3-axis - 34 - 3.TROUBLESHOOTING B-82585EN/02 Rotation center of J4-axis (J6-axis) 100 Loading position Measurement position 100 Fig.3.3 (e) Backlash measurement position of J4-axis Measurement position Loading position 100 100 Fig.3.3 (f) Backlash measurement position of J5-axis Loading position Measurement position Fig.3.3 (g) Backlash measurement position of J6-axis - 35 - 4.REPLACING PARTS 4 B-82585EN/02 REPLACING PARTS – – – – When replacing a part, subsequent adjustment is required. When removing or mounting a motor, apply force in the direction of the shaft only. If excessive force is applied in any other direction, the motor and/or reducer may be damaged. If a motor and associated parts to be assembled incur a phase mismatch, assembly might prove impossible. Carefully check the state of the parts before removing them. Assemble a new O–ring and packing for seal securing after you exchange parts for spec of seal. CAUTION The packing must not be reused. To maintain dust and drip preventive effects, replace the old packing with new ones and then perform assembly. – To secure the performance of the seal, replace seal bolt to new one after replacing parts as much as possible. If it is not possible to prepare it, peel off the sealant, spread Loctite on the internal thread, and recycle. NOTE When applying Loctite to the important bolt tighteningpoints, make sure that it is applied to the entire longitudinal portion in the engaging section of the female threads. If it is applied to the male threads, the bolts may be loosened because sufficient effects cannot be obtained. Remove the dust within the bolts and taps and wipe oil off the engaging section. Make sure that there is no solvent in the taps. – – – – – When tightening a bolt, always observe the tightening torque, if specified those bolts for which no tightening torque is specified must be tightened according to the table of APPENDIX. Assemble the reducer to the vertical direction as much as possible when you assemble it. When installing bolt to reducer, make the applying order a corner and tighten uniformly. When applying Loctite 518 to reducer, pay attention Loctite doesn’t enter inside the reducer. Spread it after softening grease mixing it when you do not softly spread grease easily. - 36 - 4.REPLACING PARTS B-82585EN/02 NOTE The following abbreviations are used herein. STANDARD : LR Mate 200iC 5L : LR Mate 200iC/5L 5LC : LR Mate 200iC/5LC 5C : LR Mate 200iC/5C 5WP : LR Mate 200iC/5WP 5H : LR Mate 200iC/5H - 37 - 4.REPLACING PARTS 4.1 B-82585EN/02 FIGURE OF DRIVE MECHANISM The drive mechanisms of each axis are shown in the following. CAUTION When robot is 5H,please read J5/J6 as J4/J5. J2 AXIS BASE PIPE J1 AXIS REDUCER (HOLLOW SHAFT) OUTPUT GEAR INPUT GEAR J1 AXIS BASE MOTOR (M1) FOR J1 AXIS Fig. 4.1 (a) Drive mechanism of J1-axis - 38 - 4.REPLACING PARTS B-82585EN/02 J2 AXIS ARM J2 AXIS REDUCER J2 AXIS BASE MOTOR (M2) FOR J2 AXIS Fig. 4.1 (b) Drive mechanism of J2-axis J3 AXIS HOUSING J3 AXIS REDUCER J3 AXIS OUTPUT PULLY J2 AXIS ARM BELT MOTOR (M3) FOR J3 AXIS J3 AXIS INPUT PULLY Fig. 4.1 (c) Drive mechanism of J3-axis - 39 - 4.REPLACING PARTS B-82585EN/02 J4 AXIS OUTPUT GEAR J4 AIXS REDUCER PIPE J3 AIXS ARM MOTOR (M4) FOR J4 AXIS J4 AXIS INPUT GEAR J3 AXIS HOUSING Fig. 4.1 (d) Drive mechanism of J4-axis J5 AXIS OUTPUT PULLY J5 AXIS INPUT PULLY MOTOR (M5) FOR J5 AXIS J5 AXIS REDUCER BELT J6 AXIS OUTPUT GEAR J3 AIXS ARM J6 AXIS REDUCER J6 AXIS INPUT GEAR BELT MOTOR (M5) FOR J5 AXIS J6 AXIS OUTPUT PULLY J6 AXIS INPUT PULLY J6 AXIS HOUSING Fig. 4.1 (e) Drive mechanism of J5/J6-axis - 40 - 4.REPLACING PARTS B-82585EN/02 4.2 REPLACING J1-AXIS MOTOR Replacing procedure 1 2 3 4 5 6 7 8 9 10 Move the robot posture to J1=90° and J2=-90°. Remove robot from floor plate, and turn off the power of the controller. Make it to posture in which the motor (2) can be removed. When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L, 5H or LR Mate 200iC/5LC, 5WP, 5C is specified, remove plated bolt (12), cover B (11) and packing (13). (When not severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified, there are not.) Remove bolt (1) and motor (2). In this time, note that there is a possibility that grease goes out. Remove cable K101 from motor (1). Wipe the grease of the gear off. In this time, pay attention not to damage the tooth side. Remove O-ring (3) and seal bolt (4), and remove washer plate (5), gear (6), holder (7), O-ring (8) and key (9) sequentially. Assemble it in the opposite procedure after exchanging Motor, packing and O-ring for the new article. In this time, pay attention to the following. - When motor is attached, confirm the thing that the oil seal is at the position, and note that the lip cannot be turned over. - Spread grease on surroundings about the gear. Perform mastering (See subsection 6.2 and refer to section 8 of OPERATOR’S MANUAL.). - 41 - 4.REPLACING PARTS B-82585EN/02 13 12 11 9 8 7 5 4 3 10 6 2 1 A VIEW A Fig. 4.2 Replacing J1-axis motor Parts Name 1 2 3 4 5 Specifications Number BOLT MOTOR O-RING SEAL BOLT WASHER PLATE Loctite Torque N-m (kgf-cm) A6-BA-5X20 4 A06B-0116-B855#0048 1 A98L-0001-0347#S46 1 A97L-0218-0423#030606 3 1.3Nm (13kgfcm) A290-7139-X231 1 A290-7139-X211(*1) 1 6 GEAR J1-1 A290-7139-X213(*2) 1 7 HOLDER A290-7139-X221 1 8 O-RING A98L-0001-0347#S46 1 9 KEY JB-HKY-3X3X12B 1 10 OIL SEAL A98L-0040-0223#01001805 1 A290-7139-X233 (*3) 1 11 COVER B A290-7139-Y233 (*4) 1 PLATED BOLT A97L-0218-0496#M4X8BC (*3) 9 4.5Nm (46kgfcm) 12 PLATED BOLT A97L-0218-0496#M4X8EN (*4) 9 4.5Nm (46kgfcm) 13 PACKING A290-7139-X252 (*5) 1 (*1) When LR Mate 200iC,LR Mate 200iC/5C,5WP,5H is specified. (*2 )When LR Mate 200iC/5L,5LC is specified. (*3) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*4) When LR Mate 200iC/5LC,5WP,5C is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. - 42 - 4.REPLACING PARTS B-82585EN/02 4.3 REPLACING J1-AXIS REDUCER Replacing procedure 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 Turn off the power of the controller. Remove cover B (When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified.) and J1 motor referring to 4.2. (The gear need not be removed.) Remove bolt/plated bolt (5), J2 base cover (6) and sponge (7). When packing is attached, remove packing (19), too. Remove the connector that relays cable K101 and cable K102, K103, K104, K105, K106, K107 and K108 referring to Fig.5.3.1 (b) in Section 5. Remove bolt/seal bolt (1) and cover U (2). When packing is attached, remove packing (18), too. Pull out cable K101 to the J1 base side. In this time, pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes it. Do not pull it out forcibly with the relayed connector caught. Remove bolt (3), (4) and remove J1 base (17) by using tap for pulled out. In this time, pay attention that there is a possibility that grease goes out. (Refer to Fig.4.3(d)) Wipe the grease of the gear (13) off. In this time, do not damage the tooth side. Remove bolt/seal bolt (14) and reducer (10). Remove seal bolt (12) and gear (13). Assemble the gear (13) to wave generator (11) of the new reducer (10). Keep the horizontal and install a new main body of the reducer in J2 base. In this time, put O-ring (8) without forgetting after it exchanges it for the new article. Fill grease to the reducer. It is total 19ml greasing in inside of reducer, gear and bearing of wave generator. When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified, spread the sealant on the reducer referring to Fig.4.3 (b). Attach new wave generator (11) to the reducer. In this time, put wave washer (9) without forgetting. Phase to reducer and assemble J1 base (17) referring to Fig.4.2(c). In this time, put O-ring (15) without forgetting. Assemble bolt (4) after previously assembling all bolt (3). Put J1 motor, cable and cover in the reverse order of 2-6. CAUTION Do not apply grease to the O-ring (15). Otherwise, hardening of sealant is prevented, causing a grease leak. - 43 - 4.REPLACING PARTS B-82585EN/02 18 Pass the cable K101 through J2 base side, and connect it with the relay connector. In this time, pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes it. Do not pull it out forcibly with the relayed connector caught. 19 Attach J2 base cover (6) by bolt/plated bolt (5) after sponge (7) is attached inside of J2 base. When severe dust/liquid protection specification is specified, replace packing (19) to new one, and attach it. 20 Attach J1 motor referring to Section 4.2. 21 When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified, attach cover B. 22 Attach robot to floor plate. 23 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). - 44 - 4.REPLACING PARTS B-82585EN/02 1 2 18 5 19 8 7 9 10 11 12 13 15 16 14 17 4 3 Fig. 4.3 (a) Replacing J1-axis reducer - 45 - 6 4.REPLACING PARTS Parts Name BOLT 1 SEAL BOLT SEAL BOLT 2 COVER U 3 BOLT 4 BOLT BOLT 5 PLATED BOLT PLATED BOLT 6 J2 BASE COVER 7 SPONGE 8 O-RING 9 WAVE-WASHER 10 J1 REDUCER 11 12 13 WAVE GENERATOR SEAL BOLT GEAR J1-2 BOLT SEAL BOLT SEAL BOLT O-RING J1 RING B-82585EN/02 Specifications Number A6-BA-4X8(*1) A97L-0218-0546#040808BC(*2) A97L-0218-0546#040808EN(*3) A290-7139-X332 A6-BA-4X12 A6-BA-4X20 A97L-0218-0504#M4X10(*1) A97L-0218-0496#M4X12BC (*2) A97L-0218-0496#M4X12EN (*3) A290-7139-X305(*1) A290-7139-X307 (*2) A290-7139-Y307 (*5) A290-7139-Z307 (*6) A290-7139-X346 (Attached to J1 REDUCER) (Attached to J1 REDUCER) A97L-0218-0812#80(*4) A97L-0218-0812#80C(*3) 4 4 4 1 7 9 3 8 8 1 1 1 1 1 1 1 1 1 (Attached to J1 REDUCER) 1 Loctite Torque N-m (kgf-cm) 4.5Nm (46kgfcm) 4.5Nm (46kgfcm) 4.5Nm (46kgfcm) 4.5Nm (46kgfcm) 2.0Nm (20kgfcm) 4.5Nm (46kgfcm) 4.5Nm (46kgfcm) A97L-0218-0423#030505 6 A290-7139-X212 1 A6-BA-4X30(*1) 12 5.4Nm (55kgfcm) 14 A97L-0218-0546#043016BC(*2) 12 5.4Nm (55kgfcm) A97L-0218-0546#043016EN(*3) 12 5.4Nm (55kgfcm) 15 (Attached to J1 REDUCER) 1 16 A290-7139-X241 1 A290-7139-X201(*4) 1 17 J1 BASE A290-7139-Y201(*5) 1 A290-7139-Z201(*6) 1 18 PACKING A290-7139-X356 (*7) 1 19 PACKING A290-7139-X354 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 46 - 4.REPLACING PARTS B-82585EN/02 APPLY LOCTITE 518 TO THE PART OF THE J1 BASE SIDE. DON'T PUT LOCTITE INSIDE THE REDUCER. Fig. 4.3 (b) Range to J1-axis reducer of sealant spreading (When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified.) - 47 - 4.REPLACING PARTS B-82585EN/02 M4X20 M4X12 Fig. 4.3 (c) Assembled phase of J1-axis reducer M4 tap for pulled out (2 places) Fig. 4.3 (d) Position of taps for pulled out to remove J1 base. - 48 - 4.REPLACING PARTS B-82585EN/02 4.4 REPLACING J2-AXIS MOTOR Replacing procedure 1 2 3 4 5 6 7 8 9 Turn off the power of the controller. Remove bolt/plated bolt (1) and J2 base cover (2). When packing is attached, remove packing (19), too. Remove sponge (3). Cut the nylon band, which connect cable and clamp (5). Remove the connector that relays cable K101 and cable K102, K103, K104, K105, K106, K107 and K108 referring to Fig.5.3.1 (b) in Section 5. Remove bolt (4) and clamp (5). Remove bolt (6) and support (7). When packing is attached, remove packing (20), too. Remove seal bolt (8) and (9), cover S (10), packing (21). In this time, pay attention that there is a possibility that grease goes out. Remove seal bolt (11), washer (12), wave generator (18), O-ring (17), key (16) and Motor (14) to which shaft (15) attaches. CAUTION When the motor is removed, the arm moves downward by its weight. Hold the arm so that the arm does not collide with any other objects. 10 Remove cable K102 and K103 from motor (14). 11 Assemble it in the opposite procedure after exchanging Motor, O-ring, packing and shaft (15) for the new article. In this time, pay attention to the following. ・Spread Loctite 638 referring to Fig.4.4(b) when you apply shaft(15). ・Be sure to attach wave generator(18) after attaching motor(14). Spread grease inside of reducer. ・Pay attention the phase when you apply the cover S (10) referring to Fig.4.4(c). 12 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). - 49 - 4.REPLACING PARTS B-82585EN/02 9 8 10 11 12 21 18 17 16 15 20 14 13 7 5 4 6 3 19 2 1 Fig. 4.4(a) Replacing J2-axis motor - 50 - 4.REPLACING PARTS B-82585EN/02 Parts Name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 8 4.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 8 4.5Nm (46kgfcm) A290-7139-X305(*1) 1 A290-7139-X307 (*2) 1 2 J2 BASE COVER A290-7139-Y307 (*4) 1 A290-7139-Z307 (*5) 1 3 SPONGE A290-7139-X346 1 4 BOLT A6-BA-4X8 2 5 CLAMP J2-1 A290-7139-X333 1 6 SEAL BOLT A97L-0218-0423#041212 7 4.5Nm (46kgfcm) A290-7139-X303(*6) 1 7 SUPPORT A290-7139-Y303(*4) 1 A290-7139-Z303(*5) 1 SEAL BOLT A97L-0218-0595#040808BC(*6) 2 2.0Nm (20kgfcm) 8 SEAL BOLT A97L-0218-0595#040808EN(*3) 2 2.0Nm (20kgfcm) SEAL BOLT A97L-0218-0738#040808BC(*6) 2 2.0Nm (20kgfcm) 9 SEAL BOLT A97L-0218-0738#040808EN(*3) 2 2.0Nm (20kgfcm) A290-7139-X309(*6) 1 10 COVER S A290-7139-Y309(*4) 1 A290-7139-Z309(*5) 1 11 SEAL BOLT A97L-0218-0423#031616 1 1.3Nm (13kgfcm) 12 WASHER A290-7210-X532 1 13 SEAL BOLT A97L-0218-0423#051212 4 14 MOTOR A06B-0116-B855#0048 1 15 SHAFT A290-7139-X322 1 LT638 16 KEY JB-HKY-3X3X12B 1 17 O RING JB-OR1A-G45 4 18 WAVE GENERATOR (Attached to J2 REDUCER) 1 19 PACKING A290-7139-X354 (*7) 1 20 PACKING A290-7139-X352 (*7) 1 21 PACKING A290-7139-X351 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*7)When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 51 - 4.REPLACING PARTS B-82585EN/02 Spread grease on the inside diameter.. A A VIEW A Fig. 4.4(b) Apply Loctite 638 to shaft A97L-0218-0738#040808BC(LR Mate 200iC,LR Mate 200iC/5L,5H) A97L-0218-0738#040808EN(LR Mate 200iC/5C,5LC,5WP) 注)取付位相に注意のこと NOTE) PAY ATTENTION TO THE ASSEMBLED PHASE A97L-0218-0595#040808BC(LR Mate 200iC,LR Mate 200iC/5L,5H) A97L-0218-0595#040808EN(LR Mate 200i/5C,5LC,5WP) Fig. 4.4(c) Assembled phase of cover S and bolt - 52 - 4.REPLACING PARTS B-82585EN/02 4.5 REPLACING J2-AXIS REDUCER Replacing procedure 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Turn off the power of the controller. Remove the robot from floor plate and knock down it sidewise. Remove bolt/plated bolt (1), J2 base cover (2) and sponge (3). When packing is attached, remove packing (25), too. Remove the connector that relays cable K101 and cable K102, K103, K104, K105, K106, K107 and K108 referring to Fig.5.3.1 (b) in Section 5. Remove bolt (5) and clamp (4). Cut the nylon band, which connect cable and clamp. Remove bolt (6) and support (7). When severe dust/liquid protection specification is specified, remove packing (26), too. Remove seal bolt (8) and (9), cover S (10) and packing (11). In this time, pay attention that there is a possibility that grease goes out. Remove seal bolt (12), washer (13) and wave generator (14). Remove seal bolt (19), motor (18) and O-ring (20), (21). Remove bolt/seal bolt (15) and J2 arm (17) to which reducer (24) is attached. Remove bolt (22) and remove reducer (24) from J2 arm (17). Exchange reducer, O-ring, packing (when severe dust/liquid protection is specified) for new parts in the following order. Attach new reducer to the J2 arm (17) by using bolt/seal bolt (22). When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified, spread the sealant on the reducer referring to Fig.4.5 (b). CAUTION Do not apply grease to the O-ring (23). Otherwise, hardening of sealant is prevented, causing a grease leak. 15 Attach J2 motor (18) to the J2 arm. Be sure to make the decelerator the horizontal about the procedure of 16 and 17. 16 Attach J2 base (16) to the reducer (24) by using bolt/seal bolt (22). In this time, put O-ring (23) without forgetting. 17 Fill grease to the reducer. It is total 26ml greasing in inside of reducer, gear and bearing of wave generator. 18 Attach wave generator (14) to the J2 base (16). 19 Attach cover S (10). In this time, pay attention to the phase referring to Fig.4.4(c). 20 Attach support (7) by using bolt (6). When packing is attached, be sure to replace packing (26) to new one and attach there. 21 Fix cable to the clamp (4) by using nylon band, attach support (7) by using bolt (5) - 53 - 4.REPLACING PARTS B-82585EN/02 22 Attach J2 base cover (2) by using bolt/plated bolt (1). In this time, put sponge (3) without forgetting, be sure to replace packing (25) to new one and attach there. 23 Attach robot to floor plate. 24 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). 9 8 10 11 12 13 14 15 16 22 23 24 21 20 26 19 18 7 5 6 3 4 25 2 1 Fig. 4.5(a) Replacing J2-axis reducer - 54 - 17 4.REPLACING PARTS B-82585EN/02 Parts Name BOLT 1 PLATED BOLT PLATED BOLT 2 J2 BASE COVER 3 4 5 6 SPONGE CLAMP J2-1 BOLT SEAL BOLT 7 SUPPORT SEAL BOLT SEAL BOLT SEAL BOLT 9 SEAL BOLT 8 10 COVER S 11 PACKING 12 SEAL BOLT 13 WASHER Specifications Number A97L-0218-0504#M4X10(*1) A97L-0218-0496#M4X12BC (*2) A97L-0218-0496#M4X12EN (*3) A290-7139-X305(*1) A290-7139-X307 (*2) A290-7139-Y307 (*4) A290-7139-Z307 (*5) A290-7139-X346 A290-7139-X333 A6-BA-4X8 A97L-0218-0423#041212 A290-7139-X303(*6) A290-7139-Y303(*4) A290-7139-Z303(*5) A97L-0218-0595#040808BC(*6) A97L-0218-0595#040808EN(*3) A97L-0218-0738#040808BC(*6) A97L-0218-0738#040808EN(*3) A290-7139-X309(*6) A290-7139-Y309(*4) A290-7139-Z309(*5) A290-7139-X351 A97L-0218-0423#031616 A290-7210-X532 3 8 8 1 1 1 1 1 1 2 7 1 1 1 2 2 2 2 1 1 1 1 1 1 14 WAVE GENERATOR (Attached to J2 REDUCER) 1 15 BOLT 16 1 1 1 1 1 1 1 1 1 4 1 1 12 12 12 1 1 1 1 1 16 J2 BASE 17 J2 ARM 18 19 20 21 MOTOR SEAL BOLT O RING O RING BOLT 22 SEAL BOLT SEAL BOLT 23 O RING 24 J2 REDUCER 25 PACKING 26 PACKING A6-BA-4X20 A290-7139-X301(*6) A290-7139-Y301(*4) A290-7139-Z301(*5) A290-7139-X302 (*7) A290-7139-X310(*8) A290-7139-Y302(*9) A290-7139-Y310(*10) A290-7139-Z302(*5) A06B-0116-B855#0048 A97L-0218-0423#051212 JB-OR1A-G45 (Attached to J2 REDUCER) A6-BA-4X35 A97L-0218-0546#043516BC(*6) A97L-0218-0546#043516EN(*3) (Attached to J2 REDUCER) A97L-0218-0813#120(*11) A97L-0218-0813#120C(*3) A290-7139-X354 (*11) A290-7139-X352 (*11) - 55 - Loctite Torque N-m (kgf-cm) 2.0Nm (20kgfcm) 4.5Nm (46kgfcm) 4.5Nm (46kgfcm) 4.5Nm (46kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 1.3Nm (13kgfcm) 5.4Nm (55kgfcm) 5.4Nm (55kgfcm) 5.4Nm (55kgfcm) 4.REPLACING PARTS B-82585EN/02 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified. (*7) When LR Mate 200iC, LR Mate 200iC/5H is specified. (*8) When LR Mate 200iC/5L is specified. (*9) When LR Mate 200iC/5C is specified. (*10) When LR Mate 200iC/5LC is specified. (*11)When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. APPLY LOCTITE 518 TO THE PART OF THE COVER S SIDE. DON'T PUT LOCTITE INSIDE THE REDUCER. Fig. 4.5 (b) Range to J2-axis reducer of sealant spreading (When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified.) - 56 - 4.REPLACING PARTS B-82585EN/02 4.6 REPLACING J3-AXIS MOTOR Replacing procedure 1 2 3 Turn off the power of the controller. Remove bolt/plated bolt (3) and J2 arm cover (4). When packing is attached, remove packing (14), too. Loosen a bolt (6) a little and lower the tension of the belt (5) and remove belt (5). CAUTION When removing the belt, put the part beyond the J3 housing on a workbench to prevent the arm from dropping 4 5 6 7 8 9 10 11 12 13 According to Section 5.3.1, remove J2 base cover and relay of cable K101 and air tube. (Referring to Fig.5.3.1 (a), (b)) According to Section 5.3.1, remove clamp J2-1 and cut the nylon band, which connect cable and air tube to clamp. (Referring to Fig.5.3.1 (a), (b)) Remove seal bolt (1) and guide arm (2). Do not add power forcibly when you remove guide arm. When packing is attached, remove packing (13), too. Pay attention that the load doesn’t rest upon cable and air tube so that an upper cable and the air tube may work from guide arm without removing. Remove clamp J2-2 referring to Fig.5.3.2 (e) of Section 5.3.2. (It is not necessary to cut nylon band.) Pull lower cable from guide arm from J2 base to guide arm. In this time, pull out the cable after it pushes into the robot on the tip of the part of the relayed connector and it passes it. Remove bolt (12) and motor (11). Remove seal bolt (7), washer plate (8) and pulley (9). Remove cable K104 and K105 from motor (11). Assemble it in the opposite procedure after exchanging Motor and packing for the new article. In this time, pay attention to the following. ・ Adjust the tension of the belt referring to Section 6.1 after the installation of the belt. ・ When installing guide arm, assemble it horizontally so as not to damage oil seal. Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). - 57 - 4.REPLACING PARTS B-82585EN/02 3 4 VIEW 5 2 6 7 9 8 14 11 12 13 10 1 Fig. 4.6 Replacing J3-axis motor Parts Name Specifications Number Loctite Torque N-m (kgf-cm) A97L-0218-0423#051616(*1) 4 5.6Nm (57kgfcm) A97L-0218-0546#051616BC(*2) 4 5.6Nm (57kgfcm) A97L-0218-0546#051616EN(*3) 4 5.6Nm (57kgfcm) 2 GUIDE ARM A290-7139-X304 1 BOLT A97L-0218-0504#M4X10 (*1) 3 2.0Nm (20kgfcm) 3 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 8 4.5Nm (46kgfcm) PLATED BOLT A97L-0218-0496#M4X12EN (*3) 8 4.5Nm (46kgfcm) A290-7139-X306 (*4) 1 A290-7139-X308 (*2) 1 4 J2 ARM COVER A290-7139-Y308 (*5) 1 A290-7139-Z308 (*6) 1 5 BELT A98L-0040-0190#007-098 1 6 BOLT A97L-0218-0504#M5X12 3 5.6Nm (57kgfcm) 7 SEAL BOLT A97L-0218-0423#030606 3 8 WASHER PLATE A290-7139-X231 1 9 PULLEY A290-7139-X311 1 10 KEY JB-HKY-3X3X12B 1 11 MOTOR A06B-0115-B855#0048 1 12 BOLT A6-BA-5X12 4 13 PACKING A290-7139-X353 (*7) 1 14 PACKING A290-7139-X355 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC,LR Mate 200iC/5H,5Lis specified (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. (*7)When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. 1 SEAL BOLT - 58 - 4.REPLACING PARTS B-82585EN/02 4.7 REPLACING J3-AXIS REDUCER Replacing procedure 1 2 3 Turn off the power of the controller. Remove guide arm referring to Section 4.6. Remove J2 arm cover and belt referring to section 4.6. CAUTION When removing the belt, put the part beyond the J3 housing on a workbench to prevent the arm from dropping 4 5 Remove seal bolt (1), washer (2) and pulley (3). Remove bolt (4) andJ2 arm to which reducer (8) attach. Note that there is a possibility that grease goes out. 6 Remove bolt/seal bolt (6) and reducer (8). 7 Replace reducer to new one and install to J3 arm unit horizontally. In this time, put wave washer (10) and O-ring (9) without forgetting. 8 Fill grease to the reducer. It is total 10ml greasing in inside of reducer, gear and bearing of wave generator 9 Attach wave generator (7) to reducer. 10 When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified, spread sealant to the reducer referring to Fig.4.7 (b) 11 Attach J3 arm unit to which reducer attach to the J2 arm. In this time, put O-ring (11) without forgetting. CAUTION Do not apply grease to the O-ring (11). Otherwise, hardening of sealant is prevented, causing a grease leak. 12 Install pulley (3) and belt. 13 Adjust the tension of the belt referring to Section 6.1 after the installation of the belt. 14 Install J2 arm cover referring to Section 4.6. 15 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). - 59 - 4.REPLACING PARTS B-82585EN/02 1 2 3 4 11 5 7 6 8 9 10 Fig. 4.7(a) Replacing J3-axis reducer - 60 - 12 4.REPLACING PARTS B-82585EN/02 Parts Name Specifications Number Loctite Torque N-m (kgf-cm) 1 2 3 4 5 SEAL BOLT WASHER PULLEY BOLT KEY BOLT 6 SEAL BOLT SEAL BOLT 7 WAVE GENERATOR A97L-0218-0423#030606 1 1.3Nm (13kgfcm) A290-7210-X532 1 A290-7139-X312 1 A6-BA-3X16 16 2.0Nm (20kgfcm) (Attached to J3 REDUCER) 1 A6-BA-3X25(*1) 12 2.0Nm (20kgfcm) A97L-0218-0546#032504BC(*2) 12 2.0Nm (20kgfcm) A97L-0218-0546#032504EN(*3) 12 2.0Nm (20kgfcm) (Attached to J3 REDUCER) 1 A97L-0218-0814#100 (*4) 1 8 J3 REDUCER A97L-0218-0814#100C (*3) 1 9 O-RING (Attached to J3 REDUCER) 1 10 WAVE WASHER (Attached to J3 REDUCER) 1 11 O-RING (Attached to J3 REDUCER) 1 A290-7139-X401 (*4) 1 12 J3 HOUSING A290-7139-Y401 (*5) 1 A290-7139-Z401 (*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. APPLY LOCTITE 518 TO THE PART OF THE PULLEY SIDE. DON'T PUT LOCTITE INSIDE THE REDUCER. Fig. 4.7 (b) Range to J3-axis reducer of sealant spreading (When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate 200iC/5C,5LC,5WP is specified) - 61 - 4.REPLACING PARTS 4.8 B-82585EN/02 REPLACING J4-AXIS MOTOR Replacing procedure CAUTION This section is for standard type. This mechanical part does't exist in 5H. If you replace J4-axis motor of 5H, refer to Section 4.10 1 2 3 Turn off the power of the controller. Remove bolt/plated bolt (1) and J3 cover (2). When packing is attached, remove packing (13), too. Remove bolt (12), motor (11) and O-ring (3). Note that there is a possibility that grease goes out. CAUTION When the motor is removed, the J3 arm can be rotated. Do as the J3arm is put on the stand so that the arm should not collide with surroundings. 4 5 6 7 8 3 5 Wipe the grease of the gear (6) off. In this time, pay attention not to damage the tooth side. Remove cable K107 and K109 from motor (11). Remove seal bolt (4), washer plate (5), gear (6), key (7), holder (8) and O-ring (9). Assemble it in the opposite procedure after exchanging Motor-ring and packing for the new article. - Confirm the thing that the oil seal is at the position, and note that the lip cannot be turned over. - Spread grease on surroundings of the gear. Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). 1 9 7 10 4 2 12 6 8 Fig. 4.8 Replacing J4-axis motor - 62 - 11 13 4.REPLACING PARTS B-82585EN/02 Parts Name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10 (*1) 4 2.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 6 2.0Nm (20kgfcm) A97L-0218-0496#M4X12EN (*3) 6 2.0Nm (20kgfcm) A290-7139-X404 (*4) 1 A290-7139-X406 (*2) 1 2 J3 COVER A290-7139-Y406 (*5) 1 A290-7139-Z406 (*6) 1 3 O-RING A98L-0001-0347#S46 1 4 SEAL BOLT A97L-0218-0423#030606 3 1.3Nm (13kgfcm) 5 WASHER PLATE A290-7139-X231 1 6 GEAR J4-1 A290-7139-X411 1 7 KEY JB-HKY-3X3X12B 1 8 HOLDER A290-7139-X221 1 9 O-RING A98L-0001-0347#S46 1 10 OIL SEAL A98L-0040-0223#01001805 1 No brake A06B-0114-B205#0048 11 MOTOR 1 With brake A06B-0114-B855#0048 12 BOLT A6-BA-5X20 4 13 PACKING A290-7139-X451 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5Lis specified (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate 200iC/5C,5LC,5WP is specified - 63 - 4.REPLACING PARTS 4.9 B-82585EN/02 REPLACING J4-AXIS REDUCER Replacing procedure CAUTION This section is for standard type. This mechanical part does't exist in 5H. If you replace J4-axis reducer of 5H, refer to Section 4.11. 1 2 3 4 5 6 7 8 9 10 11 Turn off the power of the controller. Remove J3 arm cover, relay connector and air tube referring to Section 4.10. Remove J3 cover and cut the nylon band, which connect cable to clamp (2) referring to section 4.8. Pull out the cable of the J3 arm to the J3 casing side through the pipe. In this time, pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes it. Do not pull it out forcibly with the relayed connector caught. Remove bolt (1) and clamp (2). Remove bolt (3), (4) and J3 arm (13). Pay attention not to damage oil seal. Note that there is a possibility that grease goes out. Wipe the grease of the gear (12) off. In this time, pay attention not to damage the tooth side. Remove bolt/plated bolt (6) and reducer (10). Remove seal bolt (5) and pipe (9). Remove seal bolt (7) and gear (12). Assemble it in the opposite procedure after exchanging reducer for the new article. - When installing reducer, spread grease on teeth of Wave generator, and install O-ring (11) without forgetting. (In case of J4-axis reducer, wave generator is assembled in reducer when it is shipped.) Also, pay attention to the phase of bolts referring to Fig.4.9(c). - Spread grease on surroundings of the gear. - When installing reducer to J3 casing apply bolt (3) after applying all bolt (4). - When installing J3 arm, confirm the thing that the oil seal (8) is at the position, and note that the lip cannot be turned over. - When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate 200iC/5C,5LC,5WP is specified, spread sealant to the each part referring to Fig.4.9 (b). CAUTION Do not apply grease to the O-ring (11). Otherwise, hardening of sealant is prevented, causing a grease leak. 12 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). - 64 - 4.REPLACING PARTS B-82585EN/02 6 7 5 9 13 10 11 8 4 3 1 2 12 Fig. 4.9(a) Replacing J4-axis reducer Parts Name 1 2 3 4 5 Specifications Number BOLT CLAMP J4-1 BOLT BOLT SEAL BOLT BOLT PLATED BOLT PLATED BOLT SEAL BOLT OIL SEAL PIPE Loctite Torque N-m (kgf-cm) A6-BA-4X8 1 A290-7139-X432 2 A6-BA-3X30 4 2.0Nm (20kgfcm) A6-BA-3X35 10 2.0Nm (20kgfcm) A97L-0218-0423#030606 4 1.3Nm (13kgfcm) A6-BA-3X25(*1) 9 2.0Nm (20kgfcm) 6 A97L-0218-0496#M3X25BC (*2) 9 2.0Nm (20kgfcm) A97L-0218-0496#M3X25EN (*3) 9 2.0Nm (20kgfcm) 7 A97L-0218-0423#030505 6 1.3Nm (13kgfcm) 8 A98L-0040-0049#02603707 1 9 A290-7139-X421 1 A97L-0218-0815#80(*4) 1 LT518 10 J4 REDUCER A97L-0218-0815#80C(*3) 1 LT518 11 O-RING (Attached to J4 REDUCER) 1 12 GEAR J4-2 A290-7139-X412 1 A290-7139-X402(*4) 1 13 J3 ARM 1 A290-7139-Y402(*5) 1 A290-7139-Z402(*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5Lis specified (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. - 65 - 4.REPLACING PARTS B-82585EN/02 A Pipe ・J3 casing side of reducer(*1) ・PIPE ・J3 casing side of J3 arm Apply Loctite 518 to the SECTION A-A (*1)Severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5C,5LC,5WP A Applying area of LT518 Severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5H or LR Mate 200iC/5C,5WP or Severe dust/liquid protection specification of LR Mate 200iC/5L or LR Mate 200iC/5LC Fig. 4.9(b) Spread range of sealant - 66 - part (*1) 4.REPLACING PARTS B-82585EN/02 M3X35(10) M3X30(4) (M3X35) Fig. 4.9(c) Spread range of sealant - 67 - 4.REPLACING PARTS 4.10 B-82585EN/02 REPLACING J5-AXIS MOTOR Replacing procedure CAUTION This mechanism becomes J4 axis in 5H. When you replace part of 5H, read J5/J6 as J4/J5. 1 2 3 4 5 Turn off the power of the controller. Remove bolt/plated bolt (1) and J3 arm cover (2). When packing is attached, remove packing (12), too. Remove bolt/plated bolt (3) and J3 arm cover (4). When packing is attached, remove packing (13), too. Loosen a bolt (5) a little and lower the tension of the belt (6) and remove belt (6). Remove the bolt (14) when you do not remove the belt easily. Pull cable from upper side of J5-axis motor and remove all relay connector. CAUTION When the belt is removed, the wrist moves to bellow side. Do as the wrist is put on the stand so that the wrist should not collide with surroundings. 6 7 8 9 Remove bolt (5) and motor (11). Remove cable K110, K111 from motor (11). Remove seal bolt (7), washer (8), motor pulley (9) and key (10). Assemble it in the opposite procedure after exchanging motor and packing for the new article. ・Adjust the tension of the belt referring to Section 6.1 after the installation of the belt. 10 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). In this time, perform not only J5-axis but also J6-axis. - 68 - 4.REPLACING PARTS B-82585EN/02 4 11 5 9 7 10 2 A 8 13 6 12 3 1 Fig. 4.10(a) Replacing J5-axis motor TENSION ADJUSTING BOLT 14 VIEW A Fig. 4.10(b) Replacing J5-axis motor - 69 - 4.REPLACING PARTS Parts Name B-82585EN/02 Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 11 4.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 11 4.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 2 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 BOLT A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm) 3 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 11 4.5Nm (46kgfcm) PLATED BOLT A97L-0218-0496#M4X12EN (*3) 11 4.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 4 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 5 BOLT A97L-0218-0504#M5X12 3 5.6Nm (57kgfcm) 6 BELT A98L-0040-0227#006-152 1 7 SEAL BOLT A97L-0218-0423#030606 1 1.3Nm (13kgfcm) 8 WASHER A290-7210-X532 1 9 MOTOR PULLEY A290-7139-X413 1 10 KEY JB-HKY-3X3X6B 1 With brake A06B-0117-B855#0049 1 11 MOTOR No brake A06B-0117-B205#0049 1 12 PACKING A290-7139-X454 (*6) 1 13 PACKING A290-7139-X454 (*6) 1 14 BOLT A97L-0218-0423#030606 3 1.3Nm (13kgfcm) (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate 200iC/5C,5LC,5WP is specified - 70 - 4.REPLACING PARTS B-82585EN/02 4.11 REPLACING J5-AXIS REDUCER Replacing procedure CAUTION This mechanism becomes J4 axis in 5H.When you replace part of 5H, read J5/J6 as J4/J5. 1 2 3 4 Turn off the power of the controller. Remove both side of J3-arm cover referring to Section 4.10. Remove belt (1) referring to Section 4.10. Pull out cable from upper side of J5-axis motor and remove all relay of cable. CAUTION When the belt is removed, the wrist moves to bellow side. Do as the wrist is put on the stand so that the wrist should not collide with surroundings. 5 6 7 Remove seal bolt (2), washer plate (3) and pulley (4) Remove key (6) and bolt (7). Remove seal bolt (8) and J3 arm (9). When severe dust/liquid protection specification is specified, remove packing (16), too. In this time, pay attention not to damage oil seal (5). Pay attention that there is a possibility that grease goes out, too. 8 Remove relay of cable K112, K113 and K106, K107. 9 Remove bolt/plated bolt (10) and remove reducer (13). 10 Replace reducer and packing to new one, and assemble robot by opposite procedure. In this time, pay attention below. - Fill grease to the reducer. It is total 7ml greasing in inside of reducer, gear and bearing of wave generator and install it horizontally. Install O-ring (11) and (14) and wave washer (15) without forgetting. - Apply grease to the lip of the Oil seal (5) - Adjust the tension of the belt referring to Section 6.1 after the installation of the belt. - When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate 200iC/5C,5LC,5WP is specified, spread sealant to the reducer referring to Fig.4.11 (b). CAUTION Do not apply grease to the O-ring (11). Otherwise, hardening of sealant is prevented, causing a grease leak. 11 Perform mastering (See subsection 6.2 and refer to section 8 of OPERATOR’S MANUAL.). In this time, perform not only J5-axis but also J6-axis. - 71 - 4.REPLACING PARTS 9 B-82585EN/02 16 1 8 5 12 13 14 15 7 3 4 6 11 10 2 Fig. 4.11(a) Replacing J5-axis reducer Parts Name 1 2 3 4 5 6 7 8 Specifications Number BELT SEAL BOLT WASHER PLATE PULLEY OIL SEAL KEY BOLT SEAL BOLT A98L-0040-0227#006-152 A97L-0218-0423#030606 A290-7139-X231 A290-7139-X414 A98L-0040-0223#01001805 JB-HKY-3X3X6B A6-BA-3X8 A97L-0218-0423#041616 A290-7139-X403(*1) 9 J3 ARM 2 A290-7139-Y403(*2) A290-7139-Z403(*3) BOLT A6-BA-3X22(*4) 10 PLATED BOLT A97L-0218-0496#M3X22BC (*5) PLATED BOLT A97L-0218-0496#M3X22EN (*6) 11 O-RING (Attached to J5 REDUCER) 12 WAVE GENERATOR (Attached to J5 REDUCER) A97L-0218-0816#50(*1) 13 J5 REDUCER A97L-0218-0816#50C(*6) 14 O-RING (Attached to J5 REDUCER) 15 WAVE WASHER (Attached to J5 REDUCER) 16 PACKING A290-7139-X453 (*7) (*1) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. - 72 - 1 3 1 1 1 1 12 7 1 1 1 9 9 9 1 1 1 1 1 1 1 Loctite Torque N-m (kgf-cm) 1.3Nm (13kgfcm) 2.0Nm (20kgfcm) 4.5Nm (46kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 4.REPLACING PARTS B-82585EN/02 (*2 )When LR Mate 200iC/5LC,5C is specified. (*3) When LR Mate 200iC/5WP is specified. (*4) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H (*5) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H (*6) When LR Mate 200iC/5LC,5WP,5C is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. APPLY LOCTITE 518 TO OF O-RING(11) SIDE. DON'T PUT LOCTITE INSIDE THE REDUCER. Fig. 4.11(b) Spread range of sealant to J5-reducer (When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified.) - 73 - 4.REPLACING PARTS 4.12 B-82585EN/02 REPLACING J6-AXIS MOTOR Replacing procedure CAUTION This mechanism becomes J5 axis in 5H.When you replace part of 5H,read J6 as J5. 1 2 3 Turn off the power of the controller. Remove both side of J3 arm cover of J3 arm. Loosen tension adjusting bolt and lower tension and remove belt (1) referring to Fig. 6.1.1(b). Loose the bolt (9) and remove pulley if it is difficult to remove the belt. CAUTION When the belt (1) is removed, the wrist moves to bellow side. Do as the wrist is put on the stand so that the wrist should not collide with surroundings. 4 Loosen bolt (2) and lower tension and remove belt (3). CAUTION When the belt (3) is removed, the wrist become rotatable, When end effector is attached, fix it so that the wrist should not collide with surroundings. 5 6 7 8 9 Remove bolt (2) motor (8). Remove cable K112, K113 from motor (8). Remove seal bolt (4), washer (5), motor pulley (6) and key (7). Assemble it in the opposite procedure after exchanging motor and packing for the new article. ・Adjust the tension of the belt referring to Section 6.1 after the installation of the belt Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). In this time, perform not only J6-axis but also J5-axis. - 74 - 4.REPLACING PARTS B-82585EN/02 1 A 4 5 2 8 6 7 B 3 Fig. 4.12(a) Replacing J6-axis motor TENSION ADJUSTING BOLT VIEW A 9 VIEW B Fig. 4.12(b) Replacing J6-axis motor - 75 - TENSION ADJUSTING BOLT 4.REPLACING PARTS Parts Name 1 BELT FLANGE 2 SOCKET BOLT 3 BELT 4 SEAL BOLT 5 WASHER 6 MOTOR PULLEY 7 KEY 8 MOTOR 9 BOLT B-82585EN/02 Specifications Number A98L-0040-0227#006-152 1 A97L-0218-0504#M5X12 3 A98L-0040-0227#006-100 A97L-0218-0423#030606 A290-7210-X532 A290-7139-X413 JB-HKY-3X3X6B No brake A06B-0117-B205#0049 With brake A06B-0117-B855#0049 A97L-0218-0423#030606 1 1 1 1 1 - 76 - Loctite Torque N-m (kgf-cm) 1.3Nm (13kgfcm) 1 3 1.3Nm (13kgfcm) 4.REPLACING PARTS B-82585EN/02 4.13 REPLACING WRIST UNIT Replacing procedure CAUTION If you replace unit of 5H, read J5/J6 as J4/J5. 1 2 3 Turn off the power of the controller. Replacing both side of J3 arm cover of J3 arm referring to Section 4.10. Remove belt (1), (8) referring to Section 4.12. CAUTION When the belt (1), (8) is removed, the wrist moves to bellow side or rotate. Do as the wrist is put on the stand so that the wrist should not collide with surroundings. 4 5 6 7 8 9 10 11 12 13 14 Remove seal bolt (9), washer (10), pulley (11) and key (12). Remove seal bolt (13) and J3 arm (14). When packing is attached, remove packing (21), too. Remove relay of cable K112, K113 of J6-axis motor and cable K107 and K108. Remove seal bolt (2), washer plate (3) and pulley (4) Remove bolt (7), wrist unit (20) and key (5). In this time, pay attention not to damage oil seal. Pay attention that there is a possibility that grease goes out, too. Remove bolt/plated bolt (19) and J5-axis reducer (16). Replace wrist unit to new one and attach it. Attach reducer horizontally after apply greasing to gear of reducer. In this time, replace wave washer (15), O-ring (17), (18) without forgetting, too. Apply greasing to the lip of the oil seal (6). Assemble it in the reverse order of 3-8. Adjust belt referring to Section 6.1. Install J3 arm cover. Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). In this time, perform not only J6-axis but also J5-axis. - 77 - 4.REPLACING PARTS B-82585EN/02 14 21 13 1 8 16 15 1012 9 11 17 18 19 20 Fig. 4.13 Replacing wrist unit - 78 - 6 5 2 7 4 3 4.REPLACING PARTS B-82585EN/02 Parts Name 1 2 3 4 5 6 7 8 9 10 11 12 13 BELT SEAL BOLT WASHER PLATE PULLEY KEY OIL SEAL BOLT BELT SEAL BOLT WASHER MOTOR PULLEY KEY SEAL BOLT 14 J3 ARM 2 15 WAVE WASHER 16 J5 REDUCER 17 O-RING 18 O-RING BOLT 19 PLATED BOLT PLATED BOLT 20 WRIST ASS’Y 21 PACKING Specifications Number A98L-0040-0227#006-152 A97L-0218-0423#030606 A290-7139-X23 1 A290-7139-X414 JB-HKY-3X3X6B A98L-0040-0223#01001805 A6-BA-3X8 A98L-0040-0227#006-100 A97L-0218-0423#030606 A290-7210-X532 A290-7139-X413 JB-HKY-3X3X6B A97L-0218-0423#041616 A290-7139-X403(*1) A290-7139-Y403(*2) A290-7139-Z403(*3) (Attached to J5 REDUCER) A97L-0218-0816#50(*1) A97L-0218-0816#50C(*4) (Attached to J5 REDUCER) (Attached to J5 REDUCER) A6-BA-3X22(*5) A97L-0218-0496#M3X22BC (*6) A97L-0218-0496#M3X22EN (*4) A290-7139-V501(*5) A290-7139-V502 (*6 A290-7139-V521 (*2) A290-7139-V531 (*3) 1 3 1 1 1 1 12 1 1 1 1 1 7 1 1 1 1 1 1 1 1 9 9 9 1 1 1 1 A290-7139-X453 (*7) 1 Loctite Torque N-m (kgf-cm) 1.3Nm (13kgfcm) 2.0Nm (20kgfcm) 1.3Nm (13kgfcm) 4.5Nm (46kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) (*1) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2 )When LR Mate 200iC/5LC,5C is specified. (*3)When LR Mate 200iC/5WP is specified. (*4 )When LR Mate 200iC/5LC,5WP,5C is specified. (*5) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. - 79 - 4.REPLACING PARTS 4.14 B-82585EN/02 REPLACING J6-AXIS REDUCER Replacing procedure CAUTION This mechanism becomes J5 axis in 5H.When you replace part of 5H,read J6 as J5. 1 2 3 4 5 6 7 8 Make to posture that J6 turns to the right under and turn off the power of the controller as shown in Fig.4.14 (a). Remove bolt (1) and reducer. Remove seal bolt (3), washer (4) and wave generator (5). Remove O-ring (6). Apply greasing to bearing of wave generator (5) to which attach new reducer and install to the robot. Greasing total 6ml inside and gear of reducer (2) and wave generator by using the injection syringe. Install new reducer (2) to the robot. In this time, replace O-ring (6) to new one, too. Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). In this time, perform not only J6-axis but also J5-axis. 6 5 4 3 2 1 Fig. 4.14(a) Replacing J6-axis reducer - 80 - 4.REPLACING PARTS B-82585EN/02 M3X25 Fig. 4.14(b) Assembling phase of J6-axis reducer Parts Name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A6-BA-3X25 (*1) 8 2.0Nm (20kgfcm) A97L-0218-0496#M3X25BC (*2) 8 2.0Nm (20kgfcm) A97L-0218-0496#M3X25EN (*3) 8 2.0Nm (20kgfcm) A97L-0218-0817#50(*4) 1 2 REDUCER A97L-0218-0817#50C(*3) 1 3 SEAL BOLT A97L-0218-0432#030808 1 1.3Nm (13kgfcm) 4 WASHER A290-7210-X532 1 5 WAVE GENERATOR (ATTACHED TO J6 REDUCER) 1 6 O RING (ATTACHED TO J6 REDUCER) 1 2.0Nm (20kgfcm) (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP 5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified. - 81 - 4.REPLACING PARTS 4.15 B-82585EN/02 REPLACING J3 BELT Replacing procedure 1 2 3 Turn off the power of the controller. Remove blot/plated bolt (1) and J2 arm cover (2). When packing is attached, remove packing (3), too. Loosen tension adjusting bolt and lower tension and remove belt (4) referring to Fig.4.15. CAUTION When removing the belt, put the part beyond the J3 housing on a workbench to prevent the arm from dropping. 4 Replace belt and packing to new one and do the opposite procedure. In this time, pay attention below. - Adjust the tension of the belt referring to Section 6.1 after the installation of the belt. 5 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). 1 2 3 4 TENSION ADJUSTING BOLT Fig. 4.15 Replacing J3 belt - 82 - 4.REPLACING PARTS B-82585EN/02 Parts Name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 8 4.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 8 4.5Nm (46kgfcm) A290-7139-X306(*1) 1 A290-7139-X308 (*2) 1 2 J2 ARM COVER A290-7139-Y308 (*4) 1 A290-7139-Z308 (*5) 1 3 PACKING A290-7139-X355 (*6) 1 4 BELT A98L-0040-0190#007-098 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 83 - 4.REPLACING PARTS 4.16 B-82585EN/02 REPLACING J5/J6 BELT Replacing procedure CAUTION When replacing 5H,please read J5/J6 as J4/J5. 1 2 3 4 Turn off the power of the controller. Remove bolt/plated bolt (1) and J3 arm cover (2). When packing is attached, remove packing (3), too. Remove bolt/plated bolt (4) and J3 arm cover (5). When packing is attached, remove packing (6), too. In case of replacing J5 belt, loosen tension adjusting bolt and lower tension and remove belt referring to Fig.6.1.1 (b). In case of replacing J6 belt, loosen tension adjusting bolt and lower tension and remove belt referring to Fig.6.1.1(c). CAUTION When the belt (7) is removed, the wrist moves to bellow side or rotate. Do as the wrist is put on the stand so That the wrist should not collide with surroundings. CAUTION When the belt (8) is removed, the wrist become rotatable, When end effector is attached, fix it so that the wrist should not collide with surroundings. 5 Replace belt and packing to new one and do the opposite procedure. In this time, pay attention below. - Adjust the tension of the belt referring to Section 6.1 after the installation of the belt. 6 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). When J5 belt is replaced, perform mastering not only J5-axis but also J6-axis. - 84 - 4.REPLACING PARTS B-82585EN/02 6 3 2 5 1 4 8 7 Fig. 4.16 Replacing J5/J6 belt Parts Name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 11 4.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 11 4.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 2 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 3 PACKING A290-7139-X454 (*6) 1 BOLT A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm) 4 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 11 4.5Nm (46kgfcm) PLATED BOLT A97L-0218-0496#M4X12EN (*3) 11 4.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 5 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 6 PACKING A290-7139-X454 (*6) 1 7 BELT A98L-0040-0227#006-152 1 8 BELT A98L-0040-0227#006-100 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 85 - 4.REPLACING PARTS 4.17 B-82585EN/02 REPLACING SOLENOID VALVE Replacing procedure 1 2 3 4 5 Make J3-axis to posture in which SV PLATE is removed easily. Turn off the power of the controller. Remove bolt (1), (3) and SV PLATE (2). When severe dust/liquid protection specification is specified, remove packing (5), too. Remove relay of air tube and take solenoid valve out. Replace solenoid valve and packing to new one, and do the opposite procedure. 5 1 2 3 4 Fig. 4.17 Replacing Solenoid valve - 86 - 4.REPLACING PARTS B-82585EN/02 Parts Name Specifications Number BOLT PLATED BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A6-BA-4X8(*1) 4 A97L-0218-0546#040808BC(*2) 4 A97L-0218-0546#040808EN(*3) 4 A97L-0218-0546#041010EN(*4) 4 A290-7139-X433 1 2 SV PLATE A290-7139-Y433(*3) 1 A290-7139-Z433(*4) 1 BOLT A6-BA-4X8(*1) 2 PLATED BOLT A97L-0218-0546#040808BC(*2) 2 3 PLATED BOLT A97L-0218-0546#040808EN(*3) 2 PLATED BOLT A97L-0218-0546#041010EN(*4) 2 1 A97L-0218-0113#D3R or A97L-0218-0113#D3 or SOL VALVE 4 A97L-0218-0113#D2 or A97L-0218-0113#D1 5 PACKING A290-7139-X452 (*5) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5C is specified. (*4) When LR Mate 200iC/5WP is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 87 - 4.REPLACING PARTS 4.18 B-82585EN/02 SEALANT APPLICATION Washing and degreasing the surfaces to be sealed 1 2 3 4 After dismounting the reducer from the arm, apply releasant (Loctite Gasket Remover) to the arm’s surface from which the reducer was dismounted, then wait until the sealant (Loctite 518) becomes softened (for about 10 minutes). Remove the softened sealant from the surface using a spatula. Blow air onto the surface to be sealed to remove dust from the tapped holes. Sufficiently degrease the reducer’s surface to be sealed and the arm’s surface to be sealed, using a cloth dampened with alcohol. Polish the arm’s surface to be sealed with an oil stone, and degrease it with alcohol again. CAUTION Oil may drip from the inside of the reducer. After degreasing, make sure that no oil is dripping. Applying sealant 5 6 Make sure that the reducer and the arm is dry (with no alcohol remaining). If they are still wet with alcohol, wipe them dry. Apply sealant (Loctite 518) to the surfaces. CAUTION The portions to which sealant is to be applied vary from one axis to another. See descriptions about reducer replacement for the relevant axes for details. Assembling 7 8 To prevent dust from sticking to the portions to which sealant was applied, mount the reducer as quickly as possible after sealant application. Be careful not to touch the applied sealant. If sealant was wiped off, apply again. After mounting the reducer, fasten it with bolts and washers quickly so that the mated surfaces get closer. - 88 - 5.REPLACING CABLES B-82585EN/02 5 REPLACING CABLES Replace the cables every four years (15,360 hours). When the cable is broken or damaged or shows signs of wear, replace it according to this chapter. Precautions to be observed when handling the pulse coder cable The pulse coder cable is provided with a marking tie, as shown below, to warn against disconnecting the cable during transportation, installation, or maintenance. If the cable with the marking tie is disconnected, mastering must be performed again. Therefore, do not disconnect the cable except when replacement of the motor, the pulse coder, the reducer, and the cable are necessary. BATTERY BACKUP DON'T DISCONNECT コネクタ取外不可 Fig. 5 marking label - 89 - 5.REPLACING CABLES 5.1 B-82585EN/02 CABLE WIRING Followings are the routing of the robot cables. K114 (End effector) K112 (J6 power) K113 (J6 pulse coder) K110 (J5 power) K111 (J5 pulse coder) K108 (RO) K109 (J4 power) K106 (J4 to J6 power) K107 (J4 to J6 pulse coder) K102 (J2 power) K103 (J2 pulse coder) K104 (J3 power) K105 (J3 pulse coder) K101 (J1 toJ6 power,pulse coder) Fig.5.1 (a) Routing of the robot cables (LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP,) - 90 - 5.REPLACING CABLES B-82585EN/02 K114 (End effector) K112 (J5 power) K113 (J5 pulse coder) K110 (J4 power) K111 (J4 pulse coder) K108 (RO) K106 (J4 to J5 power) K107 (J4 to J5 pulse coder) K102 (J2 power) K103 (J2 pulse coder) K104 (J3 power) K105 (J3 pulse coder) K101 (J1 to J5 power pulse coder) Fig. 5.1 (b) Routing of the robot cables (LR Mate 200iC/5H) - 91 - 5.REPLACING CABLES 5.2 B-82585EN/02 CABLE FORMING When replacing cables, clamp the cable at the position specified in Fig.5.2 (a) to (d) using a clamp or a nylon band. Otherwise, cables can be loosened or pulled by force to cause their disconnection. Refer to the Fig.5.2 (a) to (d) for the cable clamp. - 92 - 5.REPLACING CABLES B-82585EN/02 relay in J2 base Clamp J2-2 M2M M2M M2M1 K102 M2M1 Clamp J2-1 M2BK M2BK K102 M3M M3M K110 relay in J3 arm BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 EE1 K114 EE1 M5P M6P EE EE K113 M5P M6P K111 M6P1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 Clamp J3-1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5P1 K111 M5P1 Clamp J4-2 M456PEE1 K107 M456PEE1 ‑ + K107 M4M M3P M4P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 Clamp J4-1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M 6M1 K112 M2P M3P M6P1 K113 Clamp J2-2 K101 M6M M4P K105 M5M Clamp J2-2 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M3P1 K105 M1P M1P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M3P1 K103 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M2P K112 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M2P1 K103 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M2P1 M6M1 K101 Clamp J4-2 M4M M5M Clamp J3-1 K106 M4M1 K109 K109 M6M M3BK M4M1 Clamp J4-1 Clamp J1-1 relay in J3 arm M3BK M 5M1 K110 M456M1 M1BK M1BK Clamp J2-2 M5M1 K104 M456M1 K106 M1M M1M M3M1 K104 M3M1 Connector plate YV2 YV1 K108 YV1 K114 K108 Connected to solenoid valve Fig.5.2 (a) Cable externals chart of Mechanical unit (LR Mate 200iC 3-axes brake type) relay in J2 base Clamp J2-2 Clamp J2-1 M2M1 K102 M2BK M2BK K102 relay in J3 arm M5M M6BK M6M M6BK relay in J3 arm M5P M5P1 K111 EE1 K114 EE1 YV2 YV1 K108 M5P Fig.5.2 (b) Cable externals chart of Mechanical unit (LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP 6-axes brake type) BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M6P M6P K113 Connected to solenoid valve - 93 - BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 EE BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K111 K114 YV1 M5BK M3P Clamp J4-2 M456PEE1 K107 M456PEE1 ‑ M4P Clamp J3-1 K108 M5M Clamp J4-1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 + M6M1 K112 M6M BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K107 M4BK M3P M4P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 Clamp J2-2 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K112 M2P M2P1 K103 M2P M4M Clamp J2-2 M5P1 K105 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M6P1 M1P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M1P M3P1 K103 M3P1 K105 M2P1 M6M1 K 101 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5BK Clamp J4-2 Clamp J1-1 K101 M4M1 K109 K110 Clamp J3-1 M5M1 K110 M5M1 M456M1 K106 K106 M1BK M6P1 K113 M1BK K109 Clamp J4-1 M1M M456M1 M1M M4M1 M4M Clamp J2-2 Connector plate M3BK M3BK K104 M3M1 K104 M3M1 M3M M3M M4BK M2M1 M2M M2M EE 5.REPLACING CABLES B-82585EN/02 Clamp J2-2 M2M M2M1 K102 M2M1 Clamp J2-1 M2M relay in J2 base M2BK M2BK K102 M3M M3M relay in J3 arm M2P1 K103 Clamp J4-1 Clamp J4-2 relay in J3 arm EE1 K114 EE1 M4P M5P M5P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M4P EE EE K113 Clamp J3-1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5P1 K113 BAT TE RY BAC KUP DON' T DIS CONNE CT コネクタ 取外不可 M5P1H M456PEE1 K107 ‑ + M456PEE1 K111 K107 M4M M3P BAT TE RY BAC KUP DON' T DIS CONNE CT コネクタ 取外不可 K101 M 5M1 K 110 M2P M3P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 Clamp J2-2 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5M Clamp J2-2 M4P1 K111 K105 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M4P1H BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M1P M1P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M3P1 K103 M3P1 K105 M2P1 K101 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K112 Clamp J4-2 Clamp J4-1 M4M M2P Clamp J3-1 K106 Clamp J1-1 M5M1H M456M1 K106 M456M1 M1BK M1BK K110 M5M M3BK M4M1 K109 Clamp J2-2 M3BK K104 M3M1 K104 M1M M4M1H M1M M3M1 Conncetor plate K108 YV2 YV1 K108 YV1 K114 Connected to solenoid valve Fig.5.2(c) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 3-axes brake type) Clamp J2-2 M2M M2M1 K102 M2M1 Clamp J2-1 M2M relay in J2 base M2BK M2BK K102 M3M M3M EE1 K114 EE1 K113 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M4P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5P M4P1 K111 K111 EE BAT TE RY BAC KU P DON' T DISC ONNE CT コネクタ 取外不可 relay in J3 arm M5P1 K113 M456PEE1 K107 M456PEE1 ‑ + M5BK M3P Clamp J4-1 Clamp J4-2 Clamp J3-1 YV2 YV1 K108 YV1 K114 K108 Connected to solenoid valve Fig.5.2 (d) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 5-axes brake type) - 94 - M5BK M3P BAT TE RY BAC KU P DON' T DISC ONNE CT コネクタ 取外不可 K107 M5M M2P M2P1 K103 Clamp J2-2 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5M1 K112 M5M1H K105 M4BK Clamp J2-2 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M4P1H M1P M3P1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K112 M4M M2P M5P1H BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M1P K103 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M3P1 K105 M2P1 K101 Clamp J4-1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K101 M5M Clamp J4-2 Clamp J3-1 K106 Clamp J1-1 M4BK K110 M456M1 K106 M456M1 M1BK M1BK M4M relay in J3 arm M3BK M4M1 K110 Clamp J2-2 M3BK K104 M3M1 K104 M1M M4M1H M1M M3M1 Connector plate M4P M5P EE 5.REPLACING CABLES B-82585EN/02 5.3 CABLE AND AIR TUBE REPLACEMENT This section describes a procedure for periodically replacing all the (full-option) mechanical unit cables. See section 5.1 for the configuration of the mechanical unit cables. It is necessary to perform after cable replacement. Refer to chapter 6 MASTERING or chapter 8 OPERATOR’S MANUAL in advance. (If pulse coder cable is not replaced, mastering is not necessary.) 5.3.1 REPLAING CABLE K101 and Air tube (Connector plate to J2 base) Replacing procedure 1 Turn off the power of the controller and remove cable of controller side from connector plate of back of J1-axis. 2 Remove robot from floor plate, knock down the robot sidewise. 3 Remove J2 base cover referring to Fig.5.3.1 (a). 4 Remove all relay of cable K102, K103, K104, K105, K106, K107, K108 and K101.Remove relay of air tube similarly. (In case of LR Mate 200iC/5C,5LC there are two white air tube and one black air tube, In case of other models there is one white air tube and one black air tube.) 5 Remove bolt (5) and cover U (6). When packing is attached, remove packing (7), too. 6 If necessary, remove cover B. (See Fig.5.3.1(c)) 7 Cut the nylon band which connect cable and air tube to clamp J1-2. 8 Cut the nylon band of battery box terminal and remove cable. 9 Remove connector plate. 10 Pull cable and air tube in J2 base to J1 base side. In this time pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes 11 Replace cable and air tube for the new article and assemble them by opposite procedure. When packing is attached, be sure to replace packing to new one. 12 Perform mastering (See section 6.2 and referring to chapter 8 of OPERATOR’S MANUAL.). - 95 - 5.REPLACING CABLES B-82585EN/02 2 4 1 5 6 3 7 Fig.5.3.1 (a) Remove the J2 base cover Parts name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2.0Nm(20kgfcm) A97L-0218-0496#M4X12BC (*2) 8 4.5Nm(46kgfcm) A97L-0218-0496#M4X12EN (*3) 8 4.5Nm(46kgfcm) A290-7139-X305(*1) 1 A290-7139-X307 (*2) 1 2 J2 BASE COVER A290-7139-Y307 (*4) 1 A290-7139-Z307 (*5) 1 3 SPONGE A290-7139-X346 1 4 PACKING A290-7139-X354 (*6) 1 A6-BA-4X8(*1) 4 5 BOLT A97L-0218-0546#040808BC(*2) 4 A97L-0218-0546#040808EN(*3) 4 6 COVER U A290-7139-X332 1 7 PACKING A290-7139-X356(*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 96 - 5.REPLACING CABLES B-82585EN/02 A B B ケーブル K102 Cable K102 ケーブル K103 Cable K103 AIR 1 (BLACK) C 継手 Panel union AIR 2 (WHITE) A パルスコーダ線 Pulsecoder line (BLUEXWHITE) ケーブル K104 Cable K104 ケーブル K105 Cable K105 YV1 SECTION A-A AIR 1 (BLACK) パワー線 Power line (REDXWHITE) AIR 2 (WHITE) M456PEE1 M2M1 M3M1 M3P1 SECTION B-B クランプ J2-1 Clamp J2-1 A290-7139-X333 M2P1 DETAIL C Fig.5.3.1 (b) Replace the cable in J2 base - 97 - M456M1 5.REPLACING CABLES B-82585EN/02 D E E ケーブル K102 Cable K102 ケーブル K103 Cable K103 AIR 1 (O4 BLACK) EXT (O4 WHITE) F 継手 Panel union AIR 2 (O6 WHITE) D SECTION D-D ケーブル K104 Cable K104 ケーブル K105 Cable K105 パルスコーダ線 Pulsecoder line (BLUEXWHITE) AIR 1 (O4 BLACK) EXT (O4 WHITE) パワー線 Power line (REDXWHITE) AIR 2 (O6 WHITE) YV1 SECTION E-E M456PEE1 M2M1 M3M1 M3P1 M2P1 クランプJ2-1 Clamp J2-1 A290-7139-X333 DETAIL F M456M1 Fig.5.3.1 (c) Replace the cable in J2 base (LR Mate 200iC/5L,5LC) - 98 - 5.REPLACING CABLES B-82585EN/02 3 2 1 Fig.5.3.1(d) Remove the cover B (When only severe dust/liquid protection specification is specified) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. Parts name Specifications Number Torque N-m (kgf-cm) A97L-0218-0496#M4X8BC(*1) 9 4.5Nm(46kgfcm) A97L-0218-0496#M4X8EN(*2) 9 4.5Nm(46kgfcm) A290-7139-X233(*1) 1 2 COVER B A290-7139-Y233(*2) 1 3 PACKING A290-7139-X252 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP,5C is specified. 1 PLATED BOLT PLATED BOLT Loctite - 99 - 5.REPLACING CABLES B-82585EN/02 ナイロンバンドで固定のこと。 TIE UP WITH NYLON BAND. - - + + バッテリボックス端子面 BATTERY BOX TERMINAL SIDE パルスコーダ線 Pulsecoder line AIR 2 (BLUEXWHITE) (WHITE) クランプ J1-2 Clamp J1-2 A290-7139-X331 ナイロンバンド Nylon band パワー線 Power line (REDXWHITE) AIR 2 (WHITE) AIR 1 (BLACK) マーキングを合わせること。 ADJUST THE MARKING. AIR 1 (BLACK) C DETAIL C (LR Mate 200iC/5LC,5C以外) Except LR Mate 200iC/5LC,5C パルスコーダ線 Pulsecoder line (BLUEXWHITE) クランプ J1-2 Clamp J1-2 A290-7139-X331 ナイロンバンド Nylon band パワー線 (REDXWHITE) AIR 2 (O6 WHITE) AIR 1 (O4 BLACK) EXT (O4 WHITE) マーキングを合わせること。 ADJUST THE MARKING. DETAIL C (LR Mate 200iC/5LC,5C) Fig.5.3.1 (e) Replace the cable in J1 base 4 1 3 2 NO.1 PIN Fig.5.3.1 (f) Replace the parts of connector plate - 100 - 5.REPLACING CABLES B-82585EN/02 Parts name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT 2 BOLT Loctite Torque N-m (kgf-cm) A6-BA-4X10(*1) 4 2.0Nm(20kgfcm) A97L-0218-0496#M4X10BC (*2) 4 4.5Nm(46kgfcm) A97L-0218-0496#M4X10EN (*3) 4 4.5Nm(46kgfcm) A6-BA-4X8 4 LT242 A290-7139-X233(*4) 1 3 CON.PLATE A290-7139-Y233(*3) 1 4 PACKING A290-7139-X251 (*5) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. Clamp J1-1 A290-7139-X234 Pulse coder line (BLUEXWHITE) Power line (REDXWHITE) Fig.5.3.1 (g) Clamp of J1 base - 101 - 5.REPLACING CABLES 5.3.2 B-82585EN/02 REPLAING CABLE K106, K107, K108 and Air tube (J2 base to J3 casing) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Turn off the power of the controller and remove cable of controller side from connector plate of back of J1-axis. Remove the J3 arm cover which is in view of in front of the robot, it is left referring to Fig.5.3.2 (a). When packing is attached, remove packing, too. Drag cable to remove the relay easily. Remove relay of K106 and K110, K112. Remove relay of K107 and K111, K113. Cut the nylon band, which connect cable to clamp J4-2 referring to Fig.5.3.2 (b). Remove J3 cover referring to Fig.5.3.2(c). Remove air tube of six in diameter which color is black and white that has come from J2 base to J3 casing. When packing is attached, remove packing, too. Cut the nylon band, which connect cable to clamp J4-1 referring to Fig.5.3.2 (d). Pull out the cable of the J3 arm to the J3 casing side. In this time, pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes. Remove relay of cable K106 and K109 (In case of LR Mate 200iC/5H,there is no K109.) Cut the nylon band, which connect cable to clamp J3-2 referring to Fig.5.3.2 (d). Remove J2 base cover referring to Section 4.4. When packing is attached, remove packing, too. Cut the nylon band, which connect cable to clamp J2-2 referring to Fig.5.3.2 (e). Remove relay to K101 and air tube. Remove clamp J2-1 from J2 base referring to Fig.5.3.1 (b). Remove guide arm. When packing is attached, remove packing. Remove clamp J3-1 from guide arm. Drag the cable from the upper part and the lower side of the guide arm. In this time, drag it after it passes it on the tip of the part of the connector. Cut the nylon band which connect cable and air tube to clamp J3-2 and sheet referring to Fig.5.3.2 (g) and (h). Replace cable and air tube for the new article and assemble it by opposite procedure. When packing is attached, be sure to replace packing to new one. Perform mastering (See section 6.2 and referring to chapter 8 of OPERATOR’S MANUAL.). - 102 - 5.REPLACING CABLES B-82585EN/02 3 2 1 Fig.5.3.2 (a) Remove the J2 arm cover Parts name Specifications Number BOLT 1 PLATED BOLT PLATED BOLT Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4x10(*1) 3 2.0Nm(20kgfcm) A97L-0218-0496#M4X12BC (*2) 11 4.5Nm(46kgfcm) A97L-0218-0496#M4X12EN (*3) 11 4.5Nm(46kgfcm) A290-7139-X405 (*1) 1 A290-7139-X407 (*2) 1 2 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 3 PACKING A290-7139-X454 (*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 103 - 5.REPLACING CABLES B-82585EN/02 赤 RED 黒 BLACK 青 BLUE 黄 YELLOW 緑 GREEN CABLE 透明 CLEAR ナイロンバンド NYLON BAND D 橙 ORANGE SECTION C-C DETAIL D ナイロンバンド NYLON BAND MARKING クランプ J4-2 A290-7139-X334 ナイロンバンド NYLON BAND C ケーブル Cable エアチューブ Air tube C Fig.5.3.2 (b) Clamp of J3 arm part 1 3 2 Fig.5.3.2(c) Remove the J3 cover - 104 - 5.REPLACING CABLES B-82585EN/02 Parts name Specifications Number Loctite Torque N-m (kgf-cm) BOLT 1 PLATED BOLT PLATED BOLT A97L-0218-0504#M4X10(*1) 4 2.0Nm(20kgfcm) A97L-0218-0417#M4X12BC (*2) 6 4.5Nm(46kgfcm) A97L-0218-0417#M4X12EN (*3) 6 4.5Nm(46kgfcm) A290-7139-X404 (*1) 1 A290-7139-X406 (*2) 1 2 J3 COVER A290-7139-Y406 (*4) 1 A290-7139-Z406 (*5) 1 3 PACKING A290-7139-X451 (*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC/5LC,5C is specified. (*5) When LR Mate 200iC/5WP is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. AIR2 (WHITE) AIR1 (BLACK) NYLON BAND Cable and air tube Clamp J4-1 A290-7139-X432 Pulse coder line (BLUEXWHITE) Power line (REDXWHITE) Clamp J3-2 A290-7139-X431 Air tube (O3.18 7pcs) Cable DETAIL E AIR TUBE (O6 2pcs) Cable and air tube E NYLON BAND D NYLON BAND 1A(RED) ※H002,H003,H004 Cable 1B(BLUE) ※H002,H003,H004 3B(ORANGE) ※H004 3A(CLEAR) ※H004 AIR1(BLACK) F 2A(YELLOW) ※H003,H004 2B(GREEN) ※H003,H004 SECTION D-D AIR TUBE (O6 2;pcs) D Air tube (O3.18 7pcs) Power line (REDXWHITE) Fig.5.3.2 (d) Cable clamp in parts of J3 casing - 105 - Pulse coder line (BLUEXWHITE) DETAIL F 5.REPLACING CABLES B-82585EN/02 G CABLE K103 CABLE K105 Clamp J2-2 A290-7139-X334 H CABLE K102 CABLE K104 DETAIL H SECTION G-G G Fig.5.3.2 (e) Cable clamp in J3 casing part 2 1 3 4 Fig.5.3.2 (f) Remove the guide arm Parts name SEAL BOLT 1 SEAL BOLT SEAL BOLT 2 GUIDE ARM 3 BOLT 4 PACKING Specifications A97L-0218-0423#051616(*1) A97L-0218-0546#051616BC(*2) A97L-0218-0546#051616EN(*3) A290-7139-X304(*4) A290-7139-Y304(*5) A290-7139-Z304(*6) A6-BA-4X8 A290-7139-X353 (*7) - 106 - Number 4 4 4 1 1 1 2 1 Loctite Torque N-m (kgf-cm) 5.6Nm(57kgfcm) 5.6Nm(57kgfcm) 5.6Nm(57kgfcm) 5.REPLACING CABLES B-82585EN/02 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. Table 5.3.2 Air tube (*1) H002,H003,H004,H005,H012,H013,H014,H017,H018,H022,H023,H032,H033 is specified (*2) H004,H005,H014,H015 is specified (*3) H003,H004,H005,H013,H014,H015,H018,H023,H024,H033 is specified ナイロンバンド NYLON BAND ナイロンバンド NYLON BAND CABLE K107 CABLE K108 AIR 2 (WHITE) ナイロンバンド NYLON BAND 3番目マーキング THIRD MARKING CABLE K106 シート SHEET ナイロンバンド NYLON BAND AIR 1 (BLACK) マーキングを合わせること。 ADJUST THE MARKING. 2番目マーキング SECOND MARKING クランプJ2-2 CLAMP J2-2 A290-7139-X334 (1) ナイロンバンド NYLON BAND クランプ J3-1 A290-7521-X335 Fig.5.3.2 (g) Cable clamp inside the guide arm (LR Mate 200iC, LR Mate 200iC/5L,5WP,5H) ナイロンバンド NYLON BAND ナイロンバンド NYLON BAND 2番目マーキング SECOND MARKING ナイロンバンド NYLON BAND AIR 1 (O4 BLACK) EXT (O4 WHITE) CABLE K107 CABLE K108 マーキングを合わせること。 ADJUST THE MARKING. シート SHEET AIR 2 (6O WHITE) 3番目マーキング THIRD MARKING CABLE K106 ナイロンバンド NYLON BAND クランプ J3-1 CLAMP J3-1 A290-7139-X335 (1) Fig.5.3.2 (h) Cable clamp inside the guide arm (LR Mate 200iC/5C,5LC) - 107 - ナイロンバンド NYLON BAND クランプ J2-2 CLAMP A290-7139-X334 5.REPLACING CABLES 5.3.3 B-82585EN/02 REPLAING CABLE K102, K103, K104, K105, K109, K110, K111, K112, K113 1 2 3 4 5 Turn off the power of the controller. (In case of except LR Mate 200iC/5H) In case of cable K102 and K103, remove J2-axis motor, In case of cable K104 and K105, remove J3-axis motor. In case of cable K109, remove J4-axis motor. In case of cable K110 or K111, remove J5-axis motor. In case of cable K112 or K113, remove J6-axis motor. See section 4 about replacing procedure of motor. (In case of LR Mate 200iC/5H) In case of cable K102 and K103 remove J2-axis motor, In case of cable K104 and K105, remove J3-axis motor. In case of cable K110 or K111, remove J4-axis motor. In case of cable K112 or K113, remove J5-axis motor. See section 4 about replacing procedure of motor. Replace cable to new one and assemble it by opposite procedure. Install motor referring to Section 4. In case of replacing K103 or K104 or K105 or K109 or K111 or K112 or K113, perform mastering referring to section 6.2 or chapter 8 of Operator’s manual. - 108 - 5.REPLACING CABLES B-82585EN/02 5.3.4 REPLAING CABLE K104 1 2 3 4 5 Turn off the power of the controller. Remove J3 arm cover. (See Fig.5.3.2 (a)) Remove nut on J3 arm. Remove relay of K107 and cable K114. Replace cable to new one, and assemble it by opposite procedure. Spread Loctite referring to Fig.5.3.4 and tighten nut with the specified torque. When packing is attached, be sure to replace packing. relay to cable K107 Nut (Attached to K114) Tightening torque 3.0Nm (31kgfcm) LT262 Cable K114 Fig.5.3.4 Replace the cable K114 - 109 - 5.REPLACING CABLES 5.3.5 B-82585EN/02 REPLAING AIR TUBE Replacing procedure of air tube between connector plate to J2 base 1 See section 5.3.1. Replacing procedure of air tube between J2 base to J3 casing 1 See section 5.3.2. Replacing procedure of air tube between J3 casing to J3 arm 1 2 3 4 5 6 7 8 9 Turn off the power of the controller. Remove J3 arm cover. (See Fig.5.3.2 (a)) Remove air tube from panel union on J3 motor. Cut the nylon band, which connects air tube to clamp J4-2. Remove J3 cover. (See Fig.5.3.2(c)) Cut the nylon band, which connects air tube to clamp J4-1. Remove the cover of solenoid valve (See Fig.5.3.5(h)) Drag air tube from the part removed by 7. Replace air tube to new one, and install them by opposite procedure. When packing is attached , be sure to replace packing. - 110 - 5.REPLACING CABLES B-82585EN/02 580 300 AIR 1 (黒 BLACK) 570 290 AIR 2 (白 WHITE) → J2ベース J2 base 分線盤 ← Connector panel Fig.5.3.5 (a) Marking of air tube (connector plate to J2 base)( LR Mate 200iC, LR Mate 200iC/5L,5WP,5H) 580 300 AIR 1 (φ4 黒 BLACK) 570 290 AIR 2 (φ6 白 WHITE) 570 290 EXT (φ4 白 WHITE) 分線盤 ← Connector panel → J2ベース J2 base Fig.5.3.5 (b) Marking of air tube (connector plate to J2 base)(LR Mate 200iC/5C,5LC) 700 340 290 AIR 1 (黒 BLACK) 910 570 290 AIR 2 (白 WHITE) J3ケーシング ← J3 casing → J2ベース J2 base Fig.5.3.5 (c) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC, LR Mate 200iC/5WP,5H) - 111 - 5.REPLACING CABLES B-82585EN/02 800 340 390 AIR 1 (黒 BLACK) 1010 570 390 AIR 2 (白 WHITE) → J2ベース J2 base J3ケーシング ← J3 casing Fig.5.3.5 (d) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5L) 700 340 290 AIR 1 (φ4 黒 BLACK) 910 570 AIR 2 (φ6 白WHITE) 290 700 340 290 EXT (φ4 白 WHITE) → J2ベース J2 base J3ケーシング ← J3 casing Fig.5.3.5 (e) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5C) 800 340 390 AIR 1 (φ4 黒 BLACK) 1010 570 AIR 2 (φ6 白WHITE) 390 800 340 EXT (φ4 白 WHITE) 390 → J2ベース J2 base J3ケーシング ← J3 casing Fig.5.3.5 (f) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5LC) - 112 - 5.REPLACING CABLES B-82585EN/02 赤 RED 黒 BLACK 青 BLUE 黄 YELLOW 緑 GREEN コネクタキー向き KEY DIRECTION CABLE プラグ Plug 透明 CLEAR ナイロンバンド NYLON BAND 橙 ORANGE C DETAIL C SECTION B-B 継手 Panel union B A ナイロンバンド NYLON BAND MARKING クランプ J4-2 A290-7139-X334 B ナイロンバンド NYLON BAND A05B-1139- 黒 BLACK 透明 CLEAR (*1) (*2) 黄 緑 橙 ORANGE YELLOW GREEN 赤 RED 青 BLUE (*3) (*1) (*1) (*2) (*3) DETAIL A (*)Refer to table 5.3. Fig.5.3.5(g) Remove the air tube in J3 arm 3 1 4 2 Fig.5.3.2 (h) Remove the cover of solenoid valve part - 113 - 5.REPLACING CABLES Parts name B-82585EN/02 Specifications Number BOLT 1 SEAL BOLT SEAL BOLT BOLT 2 SEAL BOLT SEAL BOLT Loctite Torque N-m (kgf-cm) A6-BA-4X8(*1) 4 A97L-0218-0546#040808BC(*2) 4 4.5Nm(46kgfcm) A97L-0218-0546#040808EN(*3) 4 4.5Nm(46kgfcm) A6-BA-4X8(*1) 2 A97L-0218-0546#040808BC(*2) 2 4.5Nm(46kgfcm) A97L-0218-0546#040808EN(*3) 2 4.5Nm(46kgfcm) A290-7139-X433(*4) 1 3 SV PLATE A290-7139-Y433(*5) A290-7139-Z433(*6) 4 PACKING A290-7139-X452 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 114 - 5.REPLACING CABLES B-82585EN/02 継手 Panel union エアチューブ(白) Air tube (White) エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) H001,H006指定時 is specified 継手 Panel union 電磁弁 Solenoid valve A97L-0218-0113#D1 エアチューブ(黒) Air tube (Black) エアチューブ Air tube エアチューブ(赤) Air tube (Red) エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(青) Air tube (Blue) H002,H032指定時 is specified 継手 Panel union エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) 電磁弁 Solenoid valve A97L-0218-0113#D2 (1) エアチューブ Air tube エアチューブ(黄) Air tube (Yellow) エアチューブ(赤) Air tube (Red) エアチューブ(黒) Air tube (Black) エアチューブ(緑) Air tube (Green) エアチューブ(青) Air tube (Blue) H003,H013,H033指定時 is specified 電磁弁 Solenoid valve A97L-0218-0113#D3R (1) (H005,H015指定時) is specified A97L-0218-0113#D3(1) (H004,H014指定時) is specified エアチューブ Air tube 継手 Panel union エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) エアチューブ(透明) Air tube (Clear) エアチューブ(オレンジ Air tube (Orange) エアチューブ(黄色) Air tube (Yellow) エアチューブ(赤) Air tube (Red) エアチューブ(緑) Air tube (Green) エアチューブ(青) Air tube (Blue) H004,H005,H014,H015指定時 is specified Fig.5.3.5 (i) Remove the air tube of solenoid valve part (LR Mate200iC, LR Mate200iC/5C,5WP,5H) - 115 - 5.REPLACING CABLES B-82585EN/02 継手 Panel union 継手 Panel union エアチューブ(黒) Air tube (Black) 電磁弁 Solenoid valve A97L-0218-0113#D1 (1) エアチューブ(赤) Air tube (Red) エアチューブ Air tube エアチューブ Air tube エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(青) Air tube(Blue) H017,H022指定時 is specified 継手 Panel union エアチューブ(黒) Air tube (Black) 電磁弁 Solenoid valve A97L-0218-0113#D2 (1) エアチューブ(黄) Air tube(Yellow) 継手 Panel union エアチューブ Air tube エアチューブ Air tube エアチューブ(赤) Air tube(Red) エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(緑) Air tube (Green) エアチューブ(青) Air tube (Blue) H018,H023指定時 is specified エアチューブ(白) Air tube (White) 継手 Panel union エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) 電磁弁 Solenoid valve A97L-0218-0113#D3(1) エアチューブ(透明) Air tube (Clear) エアチューブ(黄) Air tube (Yellow) 継手 Panel union エアチューブ Air tube エアチューブ Air tube エアチューブ(赤) Air tube (Red) エアチューブ(オレンジ) Air tube (Orange) エアチューブ(緑) Air tube (Green) エアチューブ(青) Air tube (Blue) H024指定時 is specified Fig.5.3.5 (j) Remove the air tube of solenoid valve part (LR Mate 200iC/5L,5LC) - 116 - 6.ADJUSTMENTS B-82585EN/02 6 ADJUSTMENTS Each part of the mechanical units of a robot is set to the best condition before the robot is shipped to the customer. The customer does not need to make adjustments on the robot when it is delivered. - 117 - 6.ADJUSTMENTS 6.1 B-82585EN/02 ADJUSTING TENSION OF BELT Please use the following tension meters for the tension adjustment of the belt. Instrument Specifications Tension meter A97L-0218-0700 Vendor Mitsuboshi Belting Ltd. 1 2 3 4 5 Manufacturer model No. Application DOCTOR TENSION TYPE-Ⅱ Adjustment of belt tension Move the robot posture to J2=0° and J3=0°. Remove the bolt and arm cover (refer to Chapter 5). When severe dust/liquid protection specification is selected, remove packing, too. Adjust it so that it may loosen tension-adjusting bolts and the tension may reach a regulated value. Attach arm cover. In case of severe dust/liquid protection specification, be sure to replace packing to new one. In this time, tighten the bolt with the specified torque. TENSION ADJUSTING BOLT Fig. 6.1(a) Adjusting tension of J3 belt Table. 6.1(a) Measurement condition of J3 belt BELT TENSION MASS WIDTH SPAN 85±5N 0.0367kg 7mm 175mm NOTE This is example of LR Mate 200iC. In case of LR Mate 200iC/5H, please read J5/J6 as J4/J5. - 118 - 6.ADJUSTMENTS B-82585EN/02 TENSION ADJUSTING BOLT Fig. 6.1(b) Adjusting tension of J5 belt TENSION ADJUSTING BOLT Fig. 6.1(c) Adjusting tension of J6 belt Table 6.1(b) Measurement condition of J5 belt BELT TENSION MASS WIDTH SPAN 27.5±2.5N 0.0171kg 6mm 180mm Table 6.1(c) Measurement condition of J6 belt BELT TENSION MASS WIDTH SPAN - 119 - 27.5±2.5N 0.0171kg 6mm 110mm 6.ADJUSTMENTS 6.2 B-82585EN/02 MASTERING Mastering is an operation performed to associate the angle of each robot axis with the pulse count value supplied from the absolute pulse coder connected to the corresponding axis motor. To be specific, mastering is an operation for obtaining the pulse count value corresponding to the zero position. The current position of the robot is determined according to the pulse count value supplied from the pulse coder on each axis. Mastering is factory-performed. It is unnecessary to perform mastering in daily operations. However, mastering becomes necessary after: - Motor replacement - Pulse coder replacement - Reducer replacement - Cable replacement - Batteries for pulse count backup in the mechanical unit have gone dead. NOTE Robot data (including mastering data) and pulse coder data are backed up by their respective backup batteries. Data will be lost if the batteries go dead. Replace the batteries in the control and mechanical units periodically. An alarm will be issued to warn the user of a low battery voltage. Mastering method There are following five methods of mastering. Fixture position mastering Zero-position mastering (eye mark mastering) Simplified mastering One-axis mastering Mastering data entry - 120 - This is performed using a mastering fixture before the machine is shipped from the factory. This is performed with all axes set at the 0-degree position. A zero-position mark (eye mark) is attached to each robot axis. This mastering is performed with all axes aligned to their respective eye marks. This is performed at a user-specified position. The corresponding count value is obtained from the rotation speed of the pulse coder connected to the relevant motor and the rotation angel within one rotation. Simplified mastering uses the fact that the absolute value of a rotation angel 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. Mastering data is entered directly. 6.ADJUSTMENTS B-82585EN/02 This MAINTENANCE MANUAL describes fixture position mastering that is mainly required during replacement of parts. For other mastering methods, refer to OPERATOR’S MANUAL. Once mastering is performed, it is necessary to carry out positioning, or calibration. Positioning is an operation is which the control unit reads the current pulse count value to sense the current position of the robot. NOTE If mastering is performed incorrectly, the robot may behave unexpectedly. This is very dangerous. Therefore, the positioning screen is designed to appear only when the $MASTER_ENB system variable is 1 or 2. After performing positioning, press F5 [DONE] on the positioning screen. The $MASTER_ENB system variable is reset to 0 automatically, thus hiding the positioning screen. CAUTION It is recommended that the current mastering data be backed up before mastering is performed. 6.2.1 RESETTING ALARMS AND PREPARING FOR MASTERING Before performing mastering because a motor is replaced, it is necessary to release the relevant alarm and display the positioning menu. Alarm displayed “Servo 062 BZAL” or “Servo 075 Pulse mismatch” Procedure 1 Display the positioning menu by following steps 1 to 6. 1 Press the screen selection key. 2 Press [0 NEXT] and Select [6 SYSTEM]. 3 Press F1 [TYPE], and select [SYSTEM Variable] from the menu. 4 Place the cursor on $MASTER_ENB, then key in “1” and press [ENTER]. 5 Press F1 [TYPE], and select [Mater/Cal] from the menu. 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 the screen selection key. 2 Press [0 NEXT] and Select [6 SYSTEM]. 3 Press F1 [TYPE], and select [SYSTEM Variable] from the menu. 4 Press the F3 RES_PCA, then press F4 [TRUE]. 5 Switch the controller power off and on again. To reset the “Servo 075 Pulse mismatch” alarm, follow steps 1 to 3. 3 - 121 - 6.ADJUSTMENTS B-82585EN/02 1 2 3 6.2.2 When the controller power is switched on again, the message “Servo 075 Pulse mismatch” appears again. Rotate the axis for which the message mentioned above has appeared through 10 degrees in either direction. Press [FAULT RESET]. The alarm is reset. FIXTURE POSITION MASTER Fixture position mastering is performed using a mastering fixture. This mastering is carried out in the predetermined fixture position. Fixture position mastering is accurate because a dedicated mastering fixture is used. When mastering the robot, arrange the robot to meet the following conditions. - Make the robot mounting base horizontal within 1 mm. (Set the robot mounting face so that the levelness of the entire surface is 1 mm or less.) - Remove the hand and other parts form the wrist. - Set the robot in the condition protected from an external force. Assembling the fixture base 1 Assemble the fixture base as shown in Fig. 6.2.2 (a). PIN A290-7139-X913 PIN A290-7139-X914 M8X20(4pcs) FIXTURE BASE A A290-7139-X911 FIXTURE BASE B A290-7139-X912 PLATE A290-7137-X912 M5X16(2pcs) PLATE A290-7137-X913 M5X16 (2pcs) Fig. 6.2.2(a) Assembling the fixture base - 122 - 6.ADJUSTMENTS B-82585EN/02 2 Mount the fixture on the J1–axis base with bolts as shown in Fig.6.2.2 (b) M8X25(4pcs) PIN A290-7139-X914 PIN A290-7139-X913 Fig. 6.2.2 (b) Mounting dial indicator 3 Mount the fixture to the wrist flange as shown Fig.6.2.2 (c). By using the calibration block, adjust the dial gage needle to 3.00 mm and fasten it with M-5 bolt. (In case of LR Mate 200iC/5H, the dial gage No.3 is not necessary to adjust.) NOTE The dial gage could be damaged if the bolt is fastened too tight. - 123 - 6.ADJUSTMENTS B-82585EN/02 FIXTURE D A290-7135-X966 NO.3 NO.5 How to assemble diag gauge NO.2 NO.6 NO.1 BOLT M5 NO.4 CLAMP CALIBRATION BLOCK FIXTURE A A290-7139-X916 FIXTURE B A290-7131-X964 FIXTURE C A290-7139-X917 Fig. 6.2.2 (c) Mounting the wrist fixture 4 Assemble the fixture to the wrist flange as shown in Fig. 6.2.2 (d). PIN A290-7130-X966 M5X16(4pcs) Fig. 6.2.2 (d) Assembling the fixture to the wrist flange - 124 - 6.ADJUSTMENTS B-82585EN/02 Mastering 1 2 3 4 Press MENUS. Press NEXT and select SYSTEM. Press F1, [TYPE]. Select Mater/Cal. SYSTEM Master/Cal JOINT 10% 1 FIXTURE POSITION MASTER 2 ZERO POSTIION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALLIBRATE 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, switch the control unit power off and on again. To prevent an error from occurring due to axis backlash at this time, ensure that the dial gage needle is adjusted to a specified position in the decreasing direction. If the needle is adjusted in the reverse direction, start all over again. (In case of LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP) 1) Move the robot gradually so that dial gages No.1 through No. 6 shown in Fig.6.2.2 (c) touch the points indicated by arrows No. 1 through No. 6 shown in Fig.6.2.2 (e). 2) Move the J6 axis so that dial gages No.1 and No.2 indicate same value. 3) Set the corresponding value of dial gauges No.4 and No.5 and move the J1–axis and the J4–axis so that the dial gauge No.3 may show 3.00mm. When the value of dial gauge No.1 and No.2 deviates, modify it to make correspond. 4) Move the J2, J3, and J5 axes so that dial gages No.2, No.3 and No.4 indicate 3.00 mm. 5) After the operations above, check that all dial gages indicate 3.00 mm. - 125 - 6.ADJUSTMENTS B-82585EN/02 (In case of LR Mate 200iC/5H) 1) Move the robot gradually so that dial gages No.1, No.2, No.4, No.5 and No.6 shown in Fig.6.2.2 (c) touch the points indicated by arrows No.1, No.2, No.4, No.5 and No.6 shown in Fig.6.2.2 (e). (Dial gauge No.3 is not used.) 2) Move the J5 axis so that dial gages No.1 and No.2 indicate same value. 3) Move the J1 axis so that dial gages No.4 and No.5 indicate same value. 4) Move the J2, J3, and J4 axes so that dial gages No. 1,No.5, No.6 indicate 3.00 mm. 5) After the operations above, check that all dial gages indicate 3.00 mm. 6 7 8 Select “ 1 FIXTURE POSITION MASTER” and Press F4, YES. “MASTER POSITION” shown in Figs. 6.2.2(e) is set in this position. Select “ 6 CALIBRATE “ and press F4, YES. Mastering will be performed. Alternatively, switch the power off and on again. Switching the power on always causes positioning to be performed. After positioning is completed, press F5 [DONE]. WARNING Since the axis stroke is not checked during the mastering, be careful to stay clear of the robot motion. - 126 - 6.ADJUSTMENTS B-82585EN/02 MASTERING POSITION LR Mate 200iC, LR Mate 200iC/5WP,5C AXIS POSITION J1 90 deg J2 61.112 deg -85.965 deg J3 J4 0 deg -94.035 deg J5 J6 0 deg MASTERING POSITION LR Mate 200iC/5H AXIS POSITION 90 deg J1 J2 61.112 deg -85.965 deg J3 -94.035 deg J4 0 deg J5 NO.1 NO.6 NO.2 NO.3(*) NO.5 (*)In case of LR Mate 200iC /5H,NO.3 is not used. NO.4 Fig. 6.2.2 (e) Mastering posture (LR Mate 200iC, LR Mate 200iC/5WP,5C) - 127 - 6.ADJUSTMENTS B-82585EN/02 NO.6 NO.1 NO.2 NO.3 NO.5 MASTERING POSITION LR Mate 200iC/5L,5LC AXIS POSITION 90 deg J1 J2 52.147 deg -94.284 deg J3 J4 0 deg -85.716 deg J5 J6 0 deg NO.4 Fig. 6.2.2 (f) Mastering posture (LR Mate 200iC/5L,5LC) - 128 - APPENDIX A A.SPARE PARTS LIST APPENDIX B-82585EN/02 SPARE PARTS LIST Table A (a1) List of Basic cable (Specifications of Standard,5WP,5C) Name Specifications Remarks A660-8016-T285 RMP(Standard,5C) A660-8016-T495 RMP(5WP) K102 A660-4004-T706 J2 power K103 A660-2006-T657 J2 pulse coder K104 A660-4004-T707 J3 power K105 A660-2006-T658 J3 pulse coder K106 A660-4004-T708 K101 Relay of J4, J5, J6 power J4 pulse coder K107 A660-4004-T709 Relay of J5, J6 pulse coder Relay of end effector K108 K109 K110 K111 K112 A660-2006-T659 Relay of YV A660-2006-T660 (3-axis brake type) J4 power A660-4004-T710 (6-axis brake type) A660-2006-T661 (3-axis brake type) J5 power A660-4004-T711 (6-axis brake type) A660-2006-T662 J5 pulse coder A660-2006-T663 (3-axis brake type) J6 power A660-4004-T712 (6-axis brake type) K113 A660-2006-T664 J6 pulse coder K114 A660-2006-T665 End effector K131 A660-8016-T498#L5R003 - 131 - External battery cable (When external battery option is selected) A.SPARE PARTS LIST APPENDIX B-82585EN/02 Table A (a2) List of Basic cable (Specifications of 5L,5LC) Name Specifications Remarks K101 A660-8016-T285 RMP K102 A660-4004-T822 J2 power K103 A660-2006-T789 J2 pulsecoder K104 A660-4004-T823 J3 power K105 A660-2006-T790 J3 pulsecoder K106 A660-4004-T824 Relay of J4, J5, J6 power J4 pulsecoder K107 A660-4004-T825 Relay of J5, J6 pulsecoder Relay of end effector K108 A660-2006-T791 Relay of YV K109 A660-2006-T710 J4 power K110 A660-2006-T711 J5 power K111 A660-2006-T662 J5 pulse coder K112 A660-4004-T712 J6 power K113 A660-2006-T664 J6 pulsecoder K114 A660-2006-T665 End effector K131 A660-8016-T498#L5R003 Table A (a3) List of Basic cable (5H) Name External battery cable (When external battery option is selected) Specifications Remarks K101 A660-8016-T285 RMP K102 A660-4004-T706 J2 power K103 A660-2006-T657 J2 pulse coder K104 A660-4004-T707 J3 power K105 A660-2006-T658 J3 pulse coder K106 A660-4004-T810 Relay of J4, J5 power K107 A660-4004-T811 K108 A660-2006-T659 Relay of YV A660-2006-T771 (3-axis brake type) J4 power K110 K111 K112 Relay of J4, J5 pulse coder Relay of end effector A660-4004-T812 (5-axis brake type) A660-2006-T772 J4 pulse coder A660-2006-T773 (3-axis brake type) J5 power A660-4004-T813 (5-axis brake type) K113 A660-2006-T774 J5 pulse coder K114 A660-2006-T665 End effector K131 A660-8016-T498#L5R003 - 132 - External battery cable (When external battery option is selected) B-82585EN/02 A.SPARE PARTS LIST APPENDIX Table A (b1) Motor (Standard, 5L,5LC,5WP,5C) Name Specifications Remarks βiSR1/6000 A06B-0116-B855#0048 J1, J2-axis βiSR0.5/6000 A06B-0115-B855#0048 J3-axis βiSR0.4/4000 A06B-0114-B205#0048 J4-axis (3-axis brake type) βiSR0.4/4000 A06B-0114-B855#0048 J4-axis(6-axis brake type) βiSR0.2/4000 A06B-0117-B205#0049 J5,J6-axis(3-axis brake type) βiSR0.2/4000 A06B-0117-B855#0049 J5,J6-axis(6-axis brake type) (*) When J2-axis motor is replaced , please order shaft “A290-7139-X322” at the same time. Table A (b2) Motor (5H) Name Specifications Remarks βiSR1/6000 A06B-0116-B855#0048 J1,J2-axis βiSR0.5/6000 A06B-0115-B855#0048 J3-axis βiSR0.2/4000 A06B-0117-B205#0049 J4,J5-axis(3-axis brake type) βiSR0.2/4000 A06B-0117-B855#0049 J4,J5-axis(6-axis brake type) (*) When J2-axis motor is replaced , please order shaft “A290-7139-X322” at the same time. - 133 - A.SPARE PARTS LIST Table A (c) Reducer Name APPENDIX B-82585EN/02 Specifications Remarks Harmonic drive A97L-0218-0812#80 J1-axis(Standard.5L,5H) Harmonic drive A97L-0218-0812#80C J1-axis(5C,5LC,5WP) Harmonic drive A97L-0218-0813#120 J1-axis(Standard.5L,5H) Harmonic drive A97L-0218-0813#120C J2-axis(5C,5LC,5WP) Harmonic drive A97L-0218-0814#100 J3-axis(Standard.5L,5H) Harmonic drive A97L-0218-0814#100C J3-axis(5C,5LC,5WP) Harmonic drive A97L-0218-0815#80 J4-axis(Standard,5L) Harmonic drive A97L-0218-0815#80C J4-axis(5C,5LC,5WP) Harmonic drive A97L-0218-0816#50 J5-axis(Standard.5L), Harmonic drive A97L-0218-0816#50C J5-axis(5C,5LC,5WP) Harmonic drive A97L-0218-0817#50 J6-axis(Standard.5L), Harmonic drive A97L-0218-0817#50C J6-axis(5C,5LC,5WP) J4-axis(5H) J5-axis(5H) NOTE When arranging in the reducer machine unit, the waving generator is built into the main body of the reducer machine beforehand as for J4-axis of Standard,5L,5LC,5WP or 5C reducer. As for other reducers, the waving generator is separated from the main body of the reducer machine. Table A (d) Gear Name GEAR J1-1 Specifications Remarks A290-7139-X211 J1-axis(Standard,5WP,5C,5H) A290-7139-X213 J1-axis(5L,5LC) GEAR J1-2 A290-7139-X212 J1-axis GEAR J4-1 A290-7139-X411 J4-axis(Standard,5L,5LC,5WP,5C) GEAR J4-2 A290-7139-X412 J4-axis(Standard,5L,5LC,5WP,5C) Table A (e) Pulley, shaft, key Name Specifications Remarks Pulley A290-7139-X311 J3-axis Pulley A290-7139-X312 J3-axis Pulley A290-7139-X414 Pulley A290-7139-X415 Motor pulley A290-7139-X413 Shaft A290-7139-X322 J2-axis Key JB-HKY-3X3X12B Motor, pulley, gear Key JB-HKY-3X3X6B Motor, pulley, gear J5-axis(Standard,5L,5LC,5WP,5C) J4-axis(5H) J6-axis(Standard,5L,5LC,5WP,5C) J5-axis(5H) J5,J6-axis(Standard,5L,5LC,5WP,5C) J4,J5-axis(5H) - 134 - Table A (f) Bearing, belt Name A.SPARE PARTS LIST APPENDIX B-82585EN/02 Specifications Remarks Bearing A97L-0001-0192#08Z000A J1-axis reducer Bearing A97L-0218-0596 J4-axis reducer(Standard.5L,5LC,5WP,5C) Belt A98L-0040-0190#007-098 J3-axis motor Belt A98L-0040-0227#006-100 Belt A98L-0040-0227#006-152 J5-axis motor (Standard.5L,5LC,5WP,5C) J4-axis motor (5H) J6-axis motor (Standard.5L,5LC,5WP,5C) J5-axis motor (5H) Table A (g) Packing(When severe dust/liquid protection specification of standard,5L,5H or 5WP,5C,5LC is specified) Name Specifications Remarks Packing A290-7139-X251 Connector plate Packing A290-7139-X252 Cover B Packing A290-7139-X253 Battery box Packing (*) A290-7139-X351 Cover S Packing A290-7139-X352 Support Packing A290-7139-X353 Guide arm Packing A290-7139-X354 J2 base cover Packing A290-7139-X355 J2 arm over Packing A290-7139-X356 Cover U Packing A290-7139-X451 J3 base cover Packing A290-7139-X452 SV plate Packing A290-7139-X453 J3 arm Packing A290-7139-X454 J3 arm cover (2pcs/1 machines) (*) This packing is attached when non-severe dust/liquid protection specification of Standard,5L,5H Table A (h) Oil seal, O-RING Name Specifications Remarks J1, J4-axis motor (Standard,5L,5LC5WP,5C) Oil seal A98L-0040-0223#01001805 Oil seal A98L-0040-0049#02603707 Oil seal A98L-0040-0223#01001805 O-RING A98L-0001-0347#S46 O-RING A98L-0001-0347#S35 J1-axis reducer O-RING JB-OR1A-G45 J2-axis motor J1-axis motor (5H) J4-axis reducer (Standard,5L,5LC5WP,5C) J5-axis reducer (Standard,5L,5LC5WP,5C) J4-axis reducer (5H) J1, J4-axis motor (Standard,5L,5LC5WP,5C) J1-axis motor (5H) - 135 - A.SPARE PARTS LIST Table A (i) Seal bolt Name APPENDIX B-82585EN/02 Specifications Remarks J 1, J3, J4, J5, J6-axis motor J2, J3, J5-axis reducer Seal bolt A97L-0218-0423#030606 Wrist unit, J4 pipe Standard,5L, 5LC,5WP,5C J 1, J3, J4, J5-axis motor J2, J3, J4-axis reducer Wrist unit Seal bolt A97L-0218-0423#031616 J2-axis motor Seal bolt A97L-0218-0423#051212 J2-axis motor Seal bolt A97L-0218-0546#043016BC A97L-0218-0546#043016EN Seal bolt A97L-0218-0546#043516BC A97L-0218-0546#043516EN Seal bolt A97L-0218-0546#032504BC A97L-0218-0546#032504EN 5H J1-axis reducer(Standard,5L,5H Severe dust/liquid protection specification) J1-axis reducer (5C,5LC,5WP) J2-axis reducer(Standard,5L,5H Severe dust/liquid protection specification) J2-axis reducer (5C,5LC,5WP) J3-axis reducer(Standard,5L,5H Severe dust/liquid protection specification) J3-axis reducer (5C,5LC,5WP) GEAR J1-2, GEAR J4-2 Seal bolt A97L-0218-0423#030505 (Standard,,5L,5LC,5WP,5C) Seal bolt A97L-0218-0423#040808 J1 pipe Seal bolt A97L-0218-0423#041212 Support Seal bolt A97L-0218-0595#040808BC Cover S(Standard,5L,5H) A97L-0218-0595#040808EN Cover S (5C,5LC,5WP) A97L-0218-0738#040808BC Cover S Standard,5L,5H) A97L-0218-0738#040808EN Cover S (5C,5LC,5WP) Seal bolt A97L-0218-0423#051616 Guide arm Seal bolt A97L-0218-0546#051616BC Guide arm(Standard,5L,5H Severe GEAR J1-2 (Specifications of 5H) Seal bolt dust/liquid protection specification) A97L-0218-0546#051616EN Guide arm(5C,5LC,5WP) Seal bolt A97L-0218-0423#041616 J3 arm cover Seal bolt A97L-0218-0546#040808BC Cover U Standard,5L,5H Severe dust/liquid protection specification) Seal bolt A97L-0218-0546#040808EN Cover U (5C,5LC,5WP) A97L-0218-0417#060606 J1 grease outlet J3, J4, J5, J6 grease inlet Seal bolt A97L-0218-0417#040505 (Standard,5L,5LC,5WP,5C) J3, J4, J5 grease inlet (5H) J3 grease outlet - 136 - A.SPARE PARTS LIST APPENDIX B-82585EN/02 Table A (j) Spring pin, Stopper, Wrist unit, Sheet Name Specifications Remarks Spring pin A6-PS-5X18S J3 Stopper Stopper A290-7139-X441 J3Stopper J6-axis reducer is included (Standard,5L not severe dust/liquid protection specification) A290-7139-V501 J5-axis reducer is included (5H not severe dust/liquid protection specification ) J6-axis reducer is included (Standard,5L severe dust/liquid protection Wrist unit specification) A290-7139-V502 J5-axis reducer is included (5H severe dust/liquid protection specification ) J6-axis reducer is included A290-7139-V521 (5C,5LC) J6-axis reducer is included A290-7139-V531 Sheet (5WP) A290-7139-X345 J2-axis motor(Standard,5WP,5C,5H) A290-7139-X349 J2-axis motor(5L,5LC) - 137 - A.SPARE PARTS LIST Table A (k) APPENDIX B-82585EN/02 Air tube (Standard,5WP,5C,5H) Name Specifications Air tube A97L-0218-0114#ABL640R0 Air tube A97L-0218-0010#AAL580R0 Air tube A97L-0218-0114#BBL570R0 Air tube A97L-0218-0010#BAL570R0 Air tube A97L-0218-0114#ABL700R0 Air tube A97L-0218-0010#AAL700R0 Air tube A97L-0218-0114#BBL910R0 Air tube A97L-0218-0010#BAL700R0 Air tube (H002,H003,H004,H005,H022, Remarks 6mm BLACK AIR1 Connector plate to J2base 4mm BLACK AIR1 (5C) Connector plate to J2base 6mm WHITE AIR2 Connector plate to J2base 4mm EXT(5C) Connector plate to J2base 6mm BLACK AIR1 J2 base to J3 casing 4mm BLACK AIR1 (5C) J2 base to J3 casing 6mm WHITE AIR2 J2 base to J3 casing 4mm WHITE EXT(5C) J2 base to J3 casing 4mm A97L-0218-0010#BAL150R0 WHITE WHITE EXHAUST J3 casing H023,H024,H032, H033) Air tube (H002,H003,H004,H005,H022, 3.18mm BLACK AIR1 A97L-0218-0010#AFL855R0 J3 casing to J3 arm H023,H024,H032, H033) Air tube (H002,H003,H004,H005,H022, 3.18mm RED A97L-0218-0010#CFL745R0 A1 J3 casing to J3 arm H023,H024,H032,H033) Air tube (H002,H003,H004,H005,H022, 3.18mm BLUE B1 A97L-0218-0010#DFL745R0 J3 casing to J3 arm H023,H024,H032,H033) Air tube (H003,H004,H005,H023,H024, 3.18mm YELLOW A2 A97L-0218-0010#EFL745R0 J3 casing to J3 arm H033) Air tube (H003,H004,H005,H023,H024, 3.18mm GREEN A97L-0218-0010#FFL745R0 B2 J3 casing to J3 arm H033) Air tube (H004,H005,H024) Air tube (H004,H005,H024) A97L-0218-0010#GFL745R0 A97L-0218-0010#HFL745R0 - 138 - 3.18mm CLEAR A3 J3 casing to J3 arm 3.18mm ORANGE B3 J3 casing to J3 arm Table A (k2) Air tube(5L,5LC) Name Specifications Air tube A97L-0218-0114#ABL580R0 Air tube A97L-0218-0010#AAL580R0 Air tube A97L-0218-0114#BBL570R0 Air tube A97L-0218-0010#BAL570R0 Air tube A97L-0218-0114#ABL800R0 Air tube A97L-0218-0010#AAL800R0 Air tube A97L-0218-0114#BBL1R013 Air tube A97L-0218-0010#BAL800R0 Air tube A97L-0218-0010#BAL150R0 Air tube (H012,H013,H014,H015, A.SPARE PARTS LIST APPENDIX B-82585EN/02 Remarks 6mm BLACK AIR1(5L) Connector plate〜J2 base 4mm BLACK AIR1 (5C) Connector plate〜J2 base 6mm WHITE AIR2 Connector plate〜J2 base 4mm WHITE EXT(5C) Connector plate〜J2 base 6mm BLACK AIR1(5L) J2 base〜J3 casing 4mm BLACK AIR1(5C) J2 base〜J3 casing 6mm WHITE AIR2 J2 base〜J3 casing 4mm WHITE EXT(5C) J2 base〜J3 casing 4mm WHITE EXHAUST J3 casing 3.18mm BLACK AIR1 A97L-0218-0010#AFL945R0 J3 casing to J3 arm H017,H018) Air tube (H012,H013,H014,H015, 3.18mm RED A97L-0218-0010#CFL835R0 A1 J3 casing to J3 arm H017,H018) Air tube (H012,H013,H014,H015, 3.18mm BLUE B1 A97L-0218-0010#DFL835R0 J3 casing to J3 arm H017,H018) Air tube (H013,H014,H015,H018) Air tube (H013,H014,H015,H018) Air tube (H014,H015) Air tube (H014,H015) A97L-0218-0010#EFL835R0 A97L-0218-0010#FFL835R0 A97L-0218-0010#GFL835R0 A97L-0218-0010#HFL835R0 - 139 - 3.18mm YELLOW A2 J3 casing to J3 arm 3.18mm GREEN B2 J3 casing to J3 arm 3.18mm CLEAR A3 J3 casing to J3 arm 3.18mm ORANGE B3 J3 casing to J3 arm A.SPARE PARTS LIST APPENDIX B-82585EN/02 Table A (l) Solenoid valve (Either the following is installed by the option specification) (except H001,H006,H011 and H016) Name Specifications Remarks Solenoid valve A97L-0218-0113#D1 Double solenoidX1(2 positionX1) Solenoid valve A97L-0218-0113#D2 Double solenoidX2(2 positionX2) Solenoid valve A97L-0218-0113#D3 Double solenoidX3(2 positionX3) Solenoid valve A97L-0218-0113#D3R Table A (m) Battery Name Battery Double solenoidX3 (2 positonX2, 3 positionX1) Specifications A98L-0031-0027 Remarks C battery/1.5V (When battery built-in option is selected) Battery A98L-0031-0005 D battery/1.5V (When external battery option is selected) Table A (n) Grease Name Grease Specifications A98L-0040-0230#2KG Remarks Harmonic grease 4BNo.2 - 140 - B-82585EN02 B APPENDIX CIRCUIT DIAGRM B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM DIAGRAM, - 141 - AIR PRESSURE B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M1BK 2 3 BK(J1) 1 BKCOM1(J1) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M2M1 ( X‑KEY BLACK ) A1 J2U1 A2 BK(J2) A3 J2W1 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) J2 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M2M 2 3 K102 A660‑4004‑T706 A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) BKCOM1(J1) J1U1 J1V1 J1W1 J1G1 XROT RI1 RO1 +5V(A1) PRQJ1 XPRQJ1 13 14 15 16 17 18 19 20 21 22 23 24 BK(J2) BK(J3) BKCOM1(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 RI2 32 RO2 33 +5V(B1,B2) 34 PRQJ2 35 36 XPRQJ2 BKCOM1(J3) J3U1 J3V1 J3W1 J3G1 XHBK RI3 RO3 +5V(C1,C2,C3) PRQJ3 XPRQJ3 G 37 38 39 40 41 42 43 44 45 46 47 48 SG (BK(J4)) 49 50 J4U 51 J4V 52 J4W 53 J4G 54 +24V(B1) 55 RI4 56 RO4 57 0V(A1) 58 PRQJ4 59 60 XPRQJ4 (BKCOM1(J4)) Han 72DD (2.5SQ 10A) (BK(J5)) 61 (BK(J6)) 62 (BKCOM1(J6)) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) RI5 68 RI6 RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2,C3) PRQJ5 71 PRQJ6 72 XPRQJ6 XPRQJ5 Y‑KEY WHITE ) F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) 8 9 +5V(B1) 10 0V(B1) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) ( X‑KEY WHITE ) F20DX CTM J4U B1 J4G (BK(J4)) B2 J4V J4W B3 (BKCOM1(J4)) B4 J5G B5 J5U J5V B6 (BK(J5)) (BKCOM1(J5)) B7 J5W J6U B8 J6G (BK(J6)) B9 J6V A10 J6W B10 (BKCOM1(J6)) 1 BKCOM1(J2) 4 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) J3 MOTOR (βiSR0.5/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M3M 2 3 K104 A660‑4004‑T707 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J3V1 J3W1 1 4 J3U1 J3G1 M3BK BK(J3) 1 BKCOM1(J3) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 K101 A660‑8016‑T285 BK(J2) M2P K103 A660‑2006‑T657 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM (BKCOM1(J5)) J2U1 J2G1 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M2P1 ( Y‑KEY BLACK ) 1 4 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J2V1 J2W1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M3P 8 9 +5V(B2) 10 0V(B2) K105 A660‑2006‑T658 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M4M1 K106 A660‑4004‑T708 ( X‑KEY BLACK ) A1 J4U A2 A3 J5W BATTERY +6V (BT1,BT2,BT3, BT4,BT5,BT6) + 0V (BT1,BT2,BT3, BT4,BT5,BT6) F20DY CTM B1 XPRQJ4 B2 0V(BT4,BT5,BT6) PRQJ5 B3 XPRQJ5 +5V(C1,C2,C3) B4 0V(C1,C2,C3) PRQJ6 B5 XPRQJ6 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 M456PEE1 A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM ( 単二電池 SIZE C ) - ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4,BT5,BT6) YV1 ( X‑KEY BLACK ) A1 0V(E1,E3,E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2,E4,E6) B2 RO2 B3 RO4 B4 RO6 K107 A660‑4004‑T709 K108 A660‑2006‑T659 注) NOTE) 1. (***):使用されていない信号。 SIGNALS ARE NOT USED. 2. オプション指定時は、A05C‑1139‑B202を参照。 REFER TO A05C‑1139‑B202 IF SPECIFIED OPTIONS. Fig. B (a) CIRCUIT DIAGRM (LR Mate 200iC 3-axes brake type) - 142 - F06DX CTM B1 J4G B2 J4V B3 K109 A660‑2006‑T660 APPENDIX B-82585EN02 B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M5M1 ( X‑KEY BLACK ) A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM ( Y‑KEY BLACK A1 J5U A2 A3 J5W F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM M6M1 ( ) A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM A1 J6U A2 A3 J6W ( ) A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM F06DYW CTM B1 J6G B2 J6V B3 F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) ( X‑KEY BLACK ) EE1 A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 M5M 2 3 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) J5V J5W 1 4 M5P 8 9 +5V(C2) 10 0V(C2) K111 A660‑2006‑T662 A63L‑0001‑0865#1 A63L‑0001‑0864#CS J5U J5G 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) J6 MOTOR (βiSR0.2/6000) M6M 2 3 K112 A660‑2006‑T663 J6V J6W 1 4 J6U J6G A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M6P M6P1 X‑KEY WHITE J5 MOTOR (βiSR0.2/6000) K110 A660‑2006‑T661 M5P1 ) Y‑KEY WHITE A63L‑0001‑0865#1 A63L‑0001‑0864#CS F06DX CTM B1 J5G B2 J5V B3 8 9 +5V(C3) 10 0V(C3) K113 A660‑2006‑T664 EE 2 K114 A660‑2006‑T665 1 RI2 3 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L‑0002‑0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 J4 MOTOR (βiSR0.4/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M4M 2 3 J4V J4W 1 4 J4U J4G A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B‑1139‑H002 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 A05B‑1139‑H004 YV2 A1 A2 A3 A4 A5 A6 SOLENOID VALVE A97L‑0218‑0113#D1 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B‑1139‑H005 A05B‑1139‑H003 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) YV2 A1 A2 A3 A4 A5 A6 SOLENOID VALVE A97L‑0218‑0113#D2 :可動部用 MOVABLE - 143 - SOLENOID VALVE A97L‑0218‑0113#D3 RO1 RO2 RO3 RO4 RO5 RO6 SOLENOID VALVE A97L‑0218‑0113#D3R LR Mate 200iC (3BK) B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A05B‑1139‑H301指定時 SPECIFIED A05B‑1139‑H302 A05B‑1139‑H321(5C)指定時 SPECIFIED A05B‑1139‑H321(5C) APPENDIX B-82585EN/02 J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M1BK 2 3 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 BK(J1) M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM 1 4 BKCOM1(J1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM A1 J2U1 B1 J2G1 A2 BK(J2) B2 J2V1 A3 J2W1 B3 BKCOM1(J2) J2 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M2M1 ( X‑KEY BLACK ) M2M 2 3 K102 A660‑4004‑T706 A63L‑0001‑0865#2 A63L‑0001‑0864#CS ( Y‑KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M2P1 ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM F06DYW CTM A1 J3U1 B1 J3G1 A2 BK(J3) B2 J3V1 A3 J3W1 B3 BKCOM1(J3) ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 J1U1 15 J1V1 16 J1W1 17 J1G1 18 XROT 19 RI1 20 RO1 21 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) BK(J2) 25 26 27 J2U1 28 J2V1 29 J2W1 30 J2G1 +24V(OT,A1,A2) 31 32 RI2 33 RO2 +5V(B1,B2) 34 PRQJ2 35 XPRQJ2 36 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) 39 J4U J3U1 40 J4V J3V1 41 J4W J3W1 42 J4G J3G1 43 +24V(B1) XHBK 44 RI4 RI3 45 RO4 RO3 +5V(C1,C2,C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BKCOM1(J3) 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.5SQ 10A) BK(J5) 61 BK(J6) 62 BKCOM1(J6) 63 J6U J5U 64 J6V J5V 65 J6W J5W 66 J6G J5G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) 68 RI6 RI5 69 RO6 RO5 0V(B1,B2) 70 0V(C1,C2,C3) PRQJ5 71 PRQJ6 XPRQJ5 72 XPRQJ6 ) M2P K101 A660‑8016‑T285 ( X‑KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) 1 4 BKCOM1(J2) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) M3M 2 3 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J3V1 J3W1 1 4 J3U1 J3G1 M3BK A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 F20DX CTM J4U B1 J4G BK(J4) B2 J4V J4W B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) J2U1 J2G1 J3 MOTOR (βiSR0.5/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS K104 A660‑4004‑T707 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM BKCOM1(J5) BK(J2) 8 9 +5V(B1) 10 0V(B1) K103 A660‑2006‑T657 M3M1 Y‑KEY WHITE 1 4 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J2V1 J2W1 BK(J3) M3P 8 9 +5V(B2) 10 0V(B2) K105 A660‑2006‑T658 1 4 BKCOM1(J3) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM F06DX CTM A1 J4U B1 J4G A2 BK(J4) B2 J4V A3 J5W B3 BKCOM1(J4) M4M1 K106 A660‑4004‑T708 ( X‑KEY BLACK ) K109 A660‑4004‑T710 BATTERY +6V (BT1,BT2,BT3, BT4,BT5,BT6) + 0V (BT1,BT2,BT3, BT4,BT5,BT6) - ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) Fig.B(b) F20DY CTM B1 XPRQJ4 B2 0V(BT4,BT5,BT6) B3 XPRQJ5 +5V(C1,C2,C3) B4 0V(C1,C2,C3) PRQJ6 B5 XPRQJ6 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 M456PEE1 A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM ( 単二電池 SIZE C ) A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4,BT5,BT6) PRQJ5 YV1 A1 0V(E1,E3,E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2,E4,E6) B2 RO2 B3 RO4 B4 RO6 K107 A660‑4004‑T709 K108 A660‑2006‑T659 Circuit diagram (LR Mate 200iC 6-axes brake type When H301 is specified) (LR Mate 200iC/5C When H321 is specified) - 144 - APPENDIX B-82585EN02 B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM F06DX CTM A1 J5U B1 J5G A2 BK(J5) B2 J5V A3 J5W B3 BKCOM1(J5) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M5M1 ( X‑KEY BLACK ) J5 MOTOR (βiSR0.2/6000) M5M 2 3 K110 A660‑4004‑T711 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M5P1 ( Y‑KEY BLACK ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( Y‑KEY WHITE F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 ) F06DYW CTM A1 J6U B1 J6G A2 BK(J6) B2 J6V A3 J6W B3 BKCOM1(J6) 8 9 +5V(C2) 10 0V(C2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M6M 2 3 K112 A660‑4004‑T712 ( ) A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM ( X‑KEY BLACK EE1 ) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) BKCOM1(J5) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) J6V J6W 1 4 J6U J6G BK(J6) 1 4 BKCOM1(J6) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M6P1 X‑KEY WHITE 1 4 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M6BK F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) J5U J5G J6 MOTOR (βiSR0.2/6000) 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM BK(J5) M5P K111 A660‑2006‑T662 M6M1 1 4 M5BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J5V J5W M6P 8 9 +5V(C3) 10 0V(C3) K113 A660‑2006‑T664 EE 2 K114 A660‑2006‑T665 1 RI2 3 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L‑0002‑0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 J4 MOTOR (βiSR0.4/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M4M 2 3 K109 A660‑4004‑T710 J4V J4W 1 4 J4U J4G A63L‑0001‑0865#2 A63L‑0001‑0864#CS M4BK 2 3 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 BK(J4) M4P 8 9 +5V(C1) 10 0V(C1) 1 4 BKCOM1(J4) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B‑1139‑H002,‑H022 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 A05B‑1139‑H004,‑H024 YV2 SOLENOID VALVE A97L‑0218‑0113#D1 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B‑1139‑H005 A05B‑1139‑H003,‑H023 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) YV2 SOLENOID VALVE A97L‑0218‑0113#D2 - 145 - SOLENOID VALVE A97L‑0218‑0113#D3 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 SOLENOID VALVE A97L‑0218‑0113#D3R LR Mate 200iC (6BK) LR Mate 200iC/5C B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A05B‑1139‑H302指定時 SPECIFIED A05B‑1139‑H302 APPENDIX B-82585EN/02 J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J1V1 J1W1 M1BK 2 3 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 BK(J1) M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM 1 4 1 4 J1U1 J1G1 BKCOM1(J1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM A1 J2U1 B1 J2G1 A2 BK(J2) B2 J2V1 A3 J2W1 B3 BKCOM1(J2) J2 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M2M1 ( X‑KEY BLACK ) M2M 2 3 K102 A660‑4004‑T706 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM ( Y‑KEY BLACK A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 J1U1 15 J1V1 16 J1W1 17 J1G1 18 XROT 19 20 RI1 RO1 21 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 RI2 32 RO2 33 +5V(B1,B2) 34 PRQJ2 35 XPRQJ2 36 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1,C2,C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BKCOM1(J3) 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.5SQ 10A) BK(J5) 61 BK(J6) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) RI5 68 RI6 RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2,C3) PRQJ5 71 PRQJ6 XPRQJ5 72 XPRQJ6 Y‑KEY WHITE F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M2P1 ) ) F06DYW CTM A1 J3U1 B1 J3G1 A2 BK(J3) B2 J3V1 A3 J3W1 B3 BKCOM1(J3) K101 A660‑8016‑T495 ( X‑KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) M2P M3M 2 3 K104 A660‑4004‑T707 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J3V1 J3W1 M3BK A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 F20DX CTM J4U B1 J4G BK(J4) B2 J4V J4W B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) 1 4 J2U1 J2G1 1 4 BKCOM1(J2) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) J3 MOTOR (βiSR0.5/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M3M1 BK(J2) 8 9 +5V(B1) 10 0V(B1) K103 A660‑2006‑T657 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM BKCOM1(J5) J2V1 J2W1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS BK(J3) M3P 8 9 +5V(B2) 10 0V(B2) K105 A660‑2006‑T658 1 4 1 4 J3U1 J3G1 BKCOM1(J3) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM ( X‑KEY BLACK F06DX CTM A1 J4U B1 J4G A2 BK(J4) B2 J4V A3 J5W B3 BKCOM1(J4) M4M1 K106 A660‑4004‑T708 ) K109 A660‑4004‑T710 BATTERY +6V (BT1,BT2,BT3, BT4,BT5,BT6) + ( 単一電池 SIZE D ) 0V (BT1,BT2,BT3, BT4,BT5,BT6) GB2 K131 A660‑8016‑T498 - A B C +6V(BT1,BT2,BT3, BT4,BT5,BT6) 0V(BT1,BT2,BT3, BT4,BT5,BT6) A63L‑0001‑0648#610SL3SJ GB2 A B C +6V(BT1,BT2,BT3, BT4,BT5,BT6) 0V(BT1,BT2,BT3, BT4,BT5,BT6) A63L‑0001‑0648#210SL3PJ ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) Fig.B(c) F20DY CTM B1 XPRQJ4 B2 0V(BT4,BT5,BT6) B3 XPRQJ5 +5V(C1,C2,C3) B4 0V(C1,C2,C3) PRQJ6 B5 XPRQJ6 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 M456PEE1 A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4,BT5,BT6) PRQJ5 YV1 A1 0V(E1,E3,E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2,E4,E6) B2 RO2 B3 RO4 B4 RO6 K107 A660‑4004‑T709 K108 A660‑2006‑T659 Circuit diagram (LR Mate 200iC 6-axes brake type When H302 is specified) - 146 - APPENDIX B-82585EN02 B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM F06DX CTM A1 J5U B1 J5G A2 BK(J5) B2 J5V A3 J5W B3 BKCOM1(J5) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M5M1 ( X‑KEY BLACK ) J5 MOTOR (βiSR0.2/6000) M5M 2 3 K110 A660‑4004‑T711 F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( Y‑KEY WHITE ) F06DYW CTM A1 J6U B1 J6G A2 BK(J6) B2 J6V BKCOM1(J6) A3 J6W B3 ( X‑KEY WHITE ) A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A63L‑0001‑0865#1 A63L‑0001‑0864#CS 8 9 +5V(C2) 10 0V(C2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M6M1 F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) BKCOM1(J5) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) M6M 2 3 K112 A660‑4004‑T712 J6V J6W 1 4 J6U J6G A63L‑0001‑0865#2 A63L‑0001‑0864#CS A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M6P1 EE1 1 4 J6 MOTOR (βiSR0.2/6000) M6BK BK(J6) M6P 8 9 +5V(C3) 10 0V(C3) K113 A660‑2006‑T664 EE 2 K114 A660‑2006‑T665 1 RI2 3 1 4 BKCOM1(J6) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L‑0002‑0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 J4 MOTOR (βiSR0.4/6000) M4M 2 3 K109 A660‑4004‑T710 BK(J5) M5P K111 A660‑2006‑T662 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM J5U J5G A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M5P1 ( Y‑KEY BLACK ) 1 4 M5BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J5V J5W A63L‑0001‑0865#2 A63L‑0001‑0864#CS J4V J4W 1 4 J4U J4G A63L‑0001‑0865#2 A63L‑0001‑0864#CS M4BK 2 3 BK(J4) 1 4 BKCOM1(J4) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B‑1139‑H002 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 A05B‑1139‑H004 YV2 SOLENOID VALVE A97L‑0218‑0113#D1 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B‑1139‑H003 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 A05B‑1139‑H005 YV2 SOLENOID VALVE A97L‑0218‑0113#D2 - 147 - SOLENOID VALVE A97L‑0218‑0113#D3 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 SOLENOID VALVE A97L‑0218‑0113#D3R :可動部用 MOVABLE B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A05B‑1139‑H006指定時 SPECIFIED A05B‑1139‑H006 J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M1BK 2 3 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 BK(J1) M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M2M1 ( X‑KEY BLACK ) A1 J2U1 A2 BK(J2) A3 J2W1 1 BKCOM1(J1) 4 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 K102 A660‑4004‑T706 A63L‑0001‑0865#2 A63L‑0001‑0864#CS F06DY CTM A1 +6V(BT2) B1 0V(BT3) B2 XPRQJ2 A2 PRQJ2 A3 +5V(B1) B3 0V(B1) ( ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM M3M1 ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 BKCOM1(J1) 14 15 J1U1 16 J1V1 17 J1W1 18 J1G1 19 XROT 20 RI1 21 RO1 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BK(J2) 25 BKCOM1(J2) 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 RI2 32 RO2 33 +5V(B1,B2) 34 35 PRQJ2 36 XPRQJ2 BK(J3) 37 BK(J4) BKCOM1(J3) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1,C2,C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.5SQ 10A) 61 BK(J6) BKCOM1(J5) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) RI5 68 RI6 RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2,C3) 71 PRQJ6 PRQJ5 72 XPRQJ6 XPRQJ5 Y‑KEY WHITE ) A1 J3U1 A2 BK(J3) A3 J3W1 F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) 8 9 +5V(B1) 10 0V(B1) A63L‑0001‑0865#1 A63L‑0001‑0864#CS 2 3 ( ) J3V1 J3W1 F20DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) 1 4 J3U1 J3G1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS BK(J3) 1 BKCOM1(J3) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 X‑KEY WHITE 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) M3M K104 A660‑4004‑T707 M3BK F06DXW CTM A1 +6V(BT3) B1 0V(BT3) B2 XPRQJ3 A2 PRQJ3 A3 +5V(B2) B3 0V(B2) 1 BKCOM1(J2) 4 J3 MOTOR (βiSR0.5/6000) 2 3 K101 A660‑8016‑T285 BK(J2) M2P K103 A660‑2006‑T657 BK(J5) A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM J2U1 J2G1 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M2P1 Y‑KEY BLACK 1 4 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J2V1 J2W1 M3P 8 9 +5V(B2) 10 0V(B2) K105 A660‑2006‑T658 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 J4U BK(J4) J4W A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM K106 A660‑4004‑T708 ( X‑KEY BLACK ) F06DX CTM B1 J4G A1 J4U A2 BK(J4) B2 J4V BKCOM1(J4) B3 A3 J5W M4M1 BATTERY +6V (BT1,BT2,BT3, BT4,BT5,BT6) + 0V (BT1,BT2,BT3, BT4,BT5,BT6) - ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) Fig.B(d) F20DY CTM B1 XPRQJ4 B2 0V(BT4,BT5,BT6) B3 XPRQJ5 +5V(C1,C2,C3) B4 0V(C1,C2,C3) B5 XPRQJ6 PRQJ6 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) B8 RI2 RI1 B9 RI4 RI3 A10 RI5 B10 RI6 M456PEE1 A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM ( 単二電池 SIZE C ) A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4,BT5,BT6) PRQJ5 F08DX CTM A1 0V(E1,E3,E5) B1 0V(E2,E4,E6) A2 RO1 B2 RO2 A3 RO3 B3 RO4 A4 RO5 B4 RO6 K107 A660‑4004‑T709 YV1 K108 A660‑2006‑T659 Circuit diagram (LR Mate 200iC 6-axes brake type When H006 is specified) (LR Mate 200iC/5C H006 is specified) - 148 - K109 A660‑4004‑T710 APPENDIX B-82585EN02 A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM ( ) A63L‑0001‑0865#1 A63L‑0001‑0864#CS F06DX CTM B1 J5G B2 J5V B3 BKCOM1(J5) M5M1 X‑KEY BLACK B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A1 J5U A2 BK(J5) A3 J5W J5 MOTOR (βiSR0.2/6000) M5M 2 3 K110 A660‑4004‑T711 ( ) F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( ) A1 J6U A2 BK(J6) A3 J6W 8 9 +5V(C2) 10 0V(C2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS ( ) 2 3 J6V J6W RI1 RI2 RI3 RI4 RI5 RI6 A1 A2 A3 A4 A5 A6 ( X‑KEY BLACK ) B1 B2 B3 B4 B5 B6 1 4 J6U J6G BK(J6) 1 4 BKCOM1(J6) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) EE1 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L‑0001‑0865#2 A63L‑0001‑0864#CS M6BK A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM BKCOM1(J5) M6M K112 A660‑4004‑T712 M6P1 X‑KEY WHITE 1 4 J6 MOTOR (βiSR0.2/6000) 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM BK(J5) M5P K111 A660‑2006‑T662 F06DYW CTM B1 J6G B2 J6V B3 BKCOM1(J6) M6M1 Y‑KEY WHITE J5U J5G A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M5P1 Y‑KEY BLACK 1 4 M5BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J5V J5W A63L‑0001‑0865#2 A63L‑0001‑0864#CS M6P K113 A660‑2006‑T664 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) EE K114 A660‑4004‑T864 1 2 3 4 0V(E1) 0V(E2) 0V(D1) 0V(D2) 5 6 7 8 9 10 RO1 RO2 RO3 RO4 RO5 RO6 11 12 13 14 15 16 A63L‑0002‑0072#20SN RI1 RI2 17 XHBK RI3 18 +24V(A1) RI4 19 +24V(A2) RI5 20 +24V(B1) RI6 J4 MOTOR (βiSR0.4/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M4M 2 3 K109 A660‑4004‑T710 J4V J4W 1 4 J4U J4G A63L‑0001‑0865#2 A63L‑0001‑0864#CS M4BK 2 3 BK(J4) 1 4 BKCOM1(J4) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B‑1139‑H006 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) (0V(E3)) (0V(E4)) (0V(E5)) (0V(E6)) YV2 ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) (0V(E3)) (0V(E4)) (0V(E5)) (0V(E6)) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM K116 A660‑2006‑T834 ( X‑KEY BLACK ) RO A1 A2 A3 A4 0V(E1) RO1 RO3 RO5 B1 B2 B3 B4 F08DX CTM 0V(E2) RO2 RO4 RO6 :可動部用 MOVABLE - 149 - B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J1V1 J1W1 2 3 BK(J1) M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM ( 1 4 J1U1 J1G1 M1BK A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 X‑KEY BLACK B-82585EN/02 M2M1 ) A1 J2U1 A2 BK(J2) A3 J2W1 1 BKCOM1(J1) 4 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 K102 A660‑4004‑T822 A63L‑0001‑0865#2 A63L‑0001‑0864#CS ( Y‑KEY BLACK M2P1 ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) BKCOM1(J1) J1U1 J1V1 J1W1 J1G1 XROT RI1 RO1 +5V(A1) PRQJ1 XPRQJ1 13 14 15 16 17 18 19 20 21 22 23 24 BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 RI2 32 RO2 33 +5V(B1,B2) 34 35 PRQJ2 36 XPRQJ2 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1,C2,C3) 46 0V(A1) 47 PRQJ4 PRQJ3 48 XPRQJ4 XPRQJ3 G SG BKCOM1(J3) 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.5SQ 10A) 61 BK(J6) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) RI5 68 RI6 RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2,C3) 71 PRQJ6 PRQJ5 72 XPRQJ6 XPRQJ5 Y‑KEY WHITE F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 ) M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M2P A63L‑0001‑0865#2 A63L‑0001‑0864#CS K101 A660‑8016‑T285 ( X‑KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 F20DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) J3V1 J3W1 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) 1 4 J3U1 J3G1 M3BK BK(J3) M3P 8 9 +5V(B2) 10 0V(B2) K105 A660‑2006‑T790 1 BKCOM1(J2) 4 M3M 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM J2U1 J2G1 J3 MOTOR (βiSR0.5/6000) 2 3 K104 A660‑4004‑T823 BK(J5) BKCOM1(J5) BK(J2) 8 9 +5V(B1) 10 0V(B1) K103 A660‑2006‑T789 1 4 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J2V1 J2W1 1 BKCOM1(J3) 4 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 J4U BK(J4) J4W A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M4M1 K106 A660‑4004‑T824 ( X‑KEY BLACK ) BATTERY +6V (BT1,BT2,BT3, BT4,BT5,BT6) + 0V (BT1,BT2,BT3, BT4,BT5,BT6) F20DY CTM B1 XPRQJ4 B2 0V(BT4,BT5,BT6) B3 XPRQJ5 +5V(C1,C2,C3) B4 0V(C1,C2,C3) PRQJ6 B5 XPRQJ6 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) B8 RI2 RI1 B9 RI4 RI3 A10 RI5 B10 RI6 M456PEE1 A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM ( 単二電池 SIZE C ) - ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4,BT5,BT6) PRQJ5 YV1 A1 0V(E1,E3,E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2,E4,E6) B2 RO2 B3 RO4 B4 RO6 K107 A660‑4004‑T825 K108 A660‑2006‑T791 注) NOTE) 1. オプション指定時は、A05C‑1139‑B202を参照。 REFER TO A05C‑1139‑B202 IF SPECIFIED OPTIONS. Fig.B(e) Circuit diagram (LR Mate 200iC/5L) - 150 - A1 J4U A2 BK(J4) A3 J5W F06DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) K109 A660‑4004‑T710 APPENDIX B-82585EN02 B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM A63L‑0001‑0865#1 A63L‑0001‑0864#CS F06DX CTM A1 J5U B1 J5G A2 BK(J5) B2 J5V A3 J5W B3 BKCOM1(J5) M5M1 ( X‑KEY BLACK ) J5 MOTOR (βiSR0.2/6000) M5M 2 3 K110 A660‑4004‑T711 A63L‑0001‑0865#2 A63L‑0001‑0864#CS ( ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) 8 9 +5V(C2) 10 0V(C2) F06DYW CTM A1 J6U B1 J6G A2 BK(J6) B2 J6V A3 J6W B3 BKCOM1(J6) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M6M 2 3 K112 A660‑4004‑T712 ( ) A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A63L‑0001‑0865#1 A63L‑0001‑0864#CS F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) 1 4 J6U J6G BK(J6) 1 4 BKCOM1(J6) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M6P 8 9 +5V(C3) 10 0V(C3) K113 A660‑2006‑T664 EE 2 K114 A660‑2006‑T665 1 RI2 3 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L‑0002‑0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 J4 MOTOR (βiSR0.4/6000) M4M 2 3 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J6V J6W M6BK EE1 BKCOM1(J5) A63L‑0001‑0865#2 A63L‑0001‑0864#CS M6P1 X‑KEY WHITE 1 4 J6 MOTOR (βiSR0.2/6000) 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM BK(J5) M5P K111 A660‑2006‑T662 M6M1 ( Y‑KEY WHITE ) J5U J5G A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M5P1 Y‑KEY BLACK 1 4 M5BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J5V J5W J4V J4W M4BK 2 3 BK(J4) 1 4 1 4 J4U J4G BKCOM1(J4) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B‑1139‑H012 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 A05B‑1139‑H014 YV2 SOLENOID VALVE A97L‑0218‑0113#D1 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B‑1139‑H013 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) A05B‑1139‑H015 YV2 SOLENOID VALVE A97L‑0218‑0113#D2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 :可動部用 MOVABLE - 151 - SOLENOID VALVE A97L‑0218‑0113#D3 SOLENOID VALVE A97L‑0218‑0113#D3R LR Mate 200iC/5L B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M1BK 2 3 BK(J1) 1 BKCOM1(J1) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM A1 J2U1 B1 J2G1 A2 BK(J2) B2 J2V1 A3 J2W1 B3 BKCOM1(J2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M2M1 ( X‑KEY BLACK ) J2 MOTOR (βiSR1/6000) M2M 2 3 K102 A660‑4004‑T706 A63L‑0001‑0865#2 A63L‑0001‑0864#CS ( Y‑KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M2P1 ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM F06DYW CTM B1 J3G1 A1 J3U1 A2 BK(J3) B2 J3V1 B3 BKCOM1(J3) A3 J3W1 A63L‑0001‑0865#1 A63L‑0001‑0864#CS M3M1 ( Y‑KEY WHITE ) J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 15 J1U1 16 J1V1 17 J1W1 18 J1G1 19 XROT 20 (RI1) 21 RO1 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 (RI2) 32 RO2 33 +5V(B1,B2) 34 PRQJ2 35 XPRQJ2 36 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G (XHBK) 43 (+24V(B1)) (RI3) 44 (RI4) RO3 45 RO4 +5V(C1,C2,C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BKCOM1(J3) 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.5SQ 10A) BK(J5) 61 BK(J6) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G (0V(D1,D2)) 67 0V(E1,E2,E3, E4,E5,E6) (RI5) 68 (RI6) RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2,C3) PRQJ5 71 PRQJ6 XPRQJ5 72 XPRQJ6 M2P ( X‑KEY WHITE ) 1 BKCOM1(J2) 4 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) M3M 2 3 K104 A660‑4004‑T707 J3V1 J3W1 1 4 J3U1 J3G1 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M3BK F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) F20DX CTM J4U B1 J4G BK(J4) B2 J4V J4W B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) BK(J3) 1 BKCOM1(J3) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 K101 A660‑8016‑T495 J2U1 J2G1 J3 MOTOR (βiSR0.5/6000) 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM BKCOM1(J5) BK(J2) 8 9 +5V(B1) 10 0V(B1) K103 A660‑2006‑T657 1 4 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J2V1 J2W1 M3P 8 9 +5V(B2) 10 0V(B2) K105 A660‑2006‑T658 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) BATTERY +6V (BT1,BT2,BT3, BT4,BT5,BT6) + ( 単一電池 SIZE D ) 0V (BT1,BT2,BT3, BT4,BT5,BT6) GB2 K131 A660‑8016‑T498 - A B C +6V(BT1,BT2,BT3, BT4,BT5,BT6) 0V(BT1,BT2,BT3, BT4,BT5,BT6) A63L‑0001‑0648#610SL3SJ GB2 A B C +6V(BT1,BT2,BT3, BT4,BT5,BT6) 0V(BT1,BT2,BT3, BT4,BT5,BT6) A63L‑0001‑0648#210SL3PJ ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) Fig.B(f) F20DY CTM B1 XPRQJ4 B2 0V(BT4,BT5,BT6) B3 XPRQJ5 +5V(C1,C2,C3) B4 0V(C1,C2,C3) PRQJ6 B5 XPRQJ6 (+24V(A1,A2)) B6 (XHBK) (+24V(B1)) B7 (0V(D1,D2)) (RI1) B8 (RI2) (RI3) B9 (RI4) A10 (RI5) B10 (RI6) M456PEE1 A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4,BT5,BT6) PRQJ5 YV1 A1 0V(E1,E3,E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2,E4,E6) B2 RO2 B3 RO4 B4 RO6 K107 A660‑4004‑T709 K108 A660‑2006‑T659 Circuit diagram (LR Mate 200iC/5WP) - 152 - F06DX CTM B1 J4G A1 J4U A2 BK(J4) B2 J4V B3 BKCOM1(J4) A3 J5W M4M1 K106 A660‑4004‑T708 K109 A660‑4004‑T710 APPENDIX B-82585EN02 B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M5M1 ( X‑KEY BLACK ) A1 J5U A2 BK(J5) A3 J5W F06DX CTM B1 J5G B2 J5V B3 BKCOM1(J5) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J5 MOTOR (βiSR0.2/6000) M5M 2 3 K110 A660‑4004‑T711 M5BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM ( Y‑KEY BLACK F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M5P1 ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( Y‑KEY WHITE ) M6M1 A1 J6U A2 BK(J6) A3 J6W F06DYW CTM B1 J6G B2 J6V B3 BKCOM1(J6) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M5P ( ) 1 4 J5U J5G 1 BKCOM1(J5) 4 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) J6 MOTOR (βiSR0.2/6000) M6M 2 3 K112 A660‑4004‑T712 J6V J6W 1 4 J6U J6G A63L‑0001‑0865#2 A63L‑0001‑0864#CS M6BK F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) BK(J6) 1 BKCOM1(J6) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M6P1 X‑KEY WHITE BK(J5) 8 9 +5V(C2) 10 0V(C2) K111 A660‑2006‑T662 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM J5V J5W A63L‑0001‑0865#2 A63L‑0001‑0864#CS M6P K113 A660‑2006‑T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J4 MOTOR (βiSR0.4/6000) M4M 2 3 K109 A660‑4004‑T710 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J4V J4W 1 4 J4U J4G M4BK 2 3 BK(J4) 1 BKCOM1(J4) 4 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B‑1139‑H032 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L‑0218‑0113#D1 A05B‑1139‑H033 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 LR Mate 200iC/5WP SOLENOID VALVE A97L‑0218‑0113#D2 :可動部用 MOVABLE - 153 - B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J1V1 J1W1 M1BK 2 3 A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 BK(J1) M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM ( X‑KEY BLACK B-82585EN/02 M2M1 ) A1 J2U1 A2 BK(J2) A3 J2W1 1 4 1 4 J1U1 J1G1 BKCOM1(J1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 K102 A660‑4004‑T706 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM ( Y‑KEY BLACK M2P1 ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 15 J1U1 16 J1V1 17 J1W1 18 J1G1 19 XROT 20 RI1 21 RO1 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 RI2 32 RO2 33 +5V(B1,B2) 34 35 PRQJ2 36 XPRQJ2 BKCOM1(J2) BK(J3) 37 (BK(X)) 38 (BKCOM1(X)) J3U1 39 (XU) J3V1 40 (XV) J3W1 41 (XW) J3G1 42 (XG) XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1,C2) 46 0V(A1) PRQJ3 47 (PRQX) XPRQJ3 48 (XPRQX) G SG BKCOM1(J3) 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.5SQ 10A) (BK(J4)) 61 (BK(J5)) 62 (BKCOM1(J5)) J4U 63 J5U J4V 64 J5V J4W 65 J5W J4G 66 J5G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) RI5 68 RI6 RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2) PRQJ4 71 PRQJ5 XPRQJ4 72 XPRQJ5 Y‑KEY WHITE F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 ) M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) K101 A660‑8016‑T285 A63L‑0001‑0865#1 A63L‑0001‑0864#CS ( X‑KEY WHITE ) A63L‑0001‑0865#2 A63L‑0001‑0864#CS F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 F20DX CTM B1 (XG) B2 (XV) B3 (BKCOM1(X)) B4 J4G B5 J4U J4V B6 (BK(J4)) (BKCOM1(J4)) B7 J4W J5U B8 J5G (BK(J5)) B9 J5V A10 J5W B10 (BKCOM1(J5)) K105 A660‑2006‑T658 M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 (XU) (BK(X)) (XW) K106 A660‑4004‑T810 BATTERY +6V (BT1,BT2,BT3, BT4,BT5) + M456PEE1 F20DY CTM A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM ( 単二電池 SIZE C ) 0V (BT1,BT2,BT3, BT4,BT5) M2P - ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 (PRQX) B1 (XPRQX) B2 0V(BT4,BT5) B3 XPRQJ4 B4 0V(C1,C2) B5 XPRQJ5 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 +6V(BT4,BT5) PRQJ4 +5V(C1,C2) PRQJ5 F08DX CTM A1 0V(E1,E3,E5) B1 0V(E2,E4,E6) A2 RO1 B2 RO2 A3 RO3 B3 RO4 A4 RO5 B4 RO6 K107 A660‑4004‑T811 YV1 K108 A660‑2006‑T659 注) NOTE) 1. (***):使用されていない信号。 SIGNALS ARE NOT USED. 2. オプション指定時は、A05C‑1139‑B202を参照。 REFER TO A05C‑1139‑B202 IF SPECIFIED OPTIONS. Fig. B(g) CIRCUIT DIAGRAM (LR Mate 200iC/5H 3-axes brake type) - 154 - 1 4 1 4 J2U1 J2G1 BKCOM1(J2) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) J3 MOTOR (βiSR0.5/6000) M3M 2 3 K104 A660‑4004‑T707 M3P1 BK(J2) 8 9 +5V(B1) 10 0V(B1) K103 A660‑2006‑T657 J3V1 J3W1 M3BK 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM (BKCOM1(J4)) J2V1 J2W1 BK(J3) M3P 8 9 +5V(B2) 10 0V(B2) 1 4 1 4 J3U1 J3G1 BKCOM1(J3) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) APPENDIX B-82585EN02 A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M4M1H ( X‑KEY BLACK ) A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM A1 J4U A2 A3 J4W B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0001‑0865#1 A63L‑0001‑0864#CS F06DX CTM B1 J4G B2 J4V B3 M4M 2 3 K110 A660‑2006‑T771 F06DY CTM A1 +6V(BT4) B1 0V(BT4) B2 XPRQJ4 A2 PRQJ4 A3 +5V(C1) B3 0V(C1) ( ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM M5M1H ( Y‑KEY WHITE ) A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM A1 J5U A2 A3 J5W F06DYW CTM B1 J5G B2 J5V B3 F06DXW CTM A1 +6V(BT5) B1 0V(BT5) B2 XPRQJ5 A2 PRQJ5 A3 +5V(C2) B3 0V(C2) ( ) A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM ( X‑KEY BLACK EE1 ) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) 8 9 +5V(C1) 10 0V(C1) A63L‑0001‑0865#1 A63L‑0001‑0864#CS YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 2 3 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 M5P 1 4 8 9 +5V(C2) 10 0V(C2) EE 2 K114 A660‑2006‑T665 J5U J5G 1 RI2 3 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L‑0002‑0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A05B‑1139‑H004 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L‑0218‑0113#D3 A05B‑1139‑H005 YV2 SOLENOID VALVE A97L‑0218‑0113#D2 J5V J5W A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 K113 A660‑2006‑T774 A05B‑1139‑H003 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) M5M YV2 SOLENOID VALVE A97L‑0218‑0113#D1 J4U J4G J5 MOTOR (βiSR0.2/6000) K112 A660‑2006‑T773 A05B‑1139‑H002 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) 1 4 M4P K111 A660‑2006‑T772 M5P1H X‑KEY WHITE J4V J4W A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P1H Y‑KEY BLACK J4 MOTOR (βiSR0.2/6000) A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 :可動部用 MOVABLE - 155 - SOLENOID VALVE A97L‑0218‑0113#D3R LR Mate 200iC/5H (3BK) B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX J1 MOTOR (βiSR1/6000) A63L‑0001‑0865#1 A63L‑0001‑0864#CS M1M 2 3 A63L‑0001‑0865#2 A63L‑0001‑0864#CS J1V1 J1W1 2 3 BK(J1) M1P 8 9 +5V(A1) 10 0V(A1) A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M2M1 ( 1 4 J1U1 J1G1 M1BK A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 X‑KEY BLACK B-82585EN/02 ) A1 J2U1 A2 BK(J2) A3 J2W1 1 BKCOM1(J1) 4 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 K102 A660‑4004‑T706 A63L‑0001‑0865#2 A63L‑0001‑0864#CS M2P1 ( Y‑KEY BLACK ) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM ( J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) BKCOM1(J1) J1U1 J1V1 J1W1 J1G1 XROT RI1 RO1 +5V(A1) PRQJ1 XPRQJ1 13 14 15 16 17 18 19 20 21 22 23 24 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT,A1,A2) 31 RI2 32 RO2 33 +5V(B1,B2) 34 PRQJ2 35 XPRQJ2 36 BK(J2) BKCOM1(J2) BK(J3) 37 38 J3U1 39 J3V1 40 J3W1 41 J3G1 42 XHBK 43 RI3 44 RO3 45 +5V(C1,C2) 46 PRQJ3 47 XPRQJ3 48 G SG BKCOM1(J3) 49 50 (XU) 51 (XV) 52 (XW) 53 (XG) 54 +24V(B1) 55 RI4 56 RO4 57 0V(A1) 58 (PRQX) 59 (XPRQX) 60 (BK(X)) (BKCOM1(X)) Han 72DD (2.5SQ 10A) BK(J4) 61 BK(J5) 62 BKCOM1(J5) J4U 63 J5U J4V 64 J5V J4W 65 J5W J4G 66 J5G 0V(D1,D2) 67 0V(E1,E2,E3, E4,E5,E6) RI5 68 RI6 RO5 69 RO6 0V(B1,B2) 70 0V(C1,C2) PRQJ4 71 PRQJ5 XPRQJ4 72 XPRQJ5 Y‑KEY WHITE F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 ) M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM K101 A660‑8016‑T285 ( X‑KEY WHITE ) A63L‑0001‑0865#1 A63L‑0001‑0864#CS A63L‑0001‑0865#2 A63L‑0001‑0864#CS F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M3P1 F20DX CTM B1 (XG) B2 (XV) (BKCOM1(X)) B3 B4 J4G B5 J4U J4V B6 BK(J4) BKCOM1(J4) B7 J4W J5U B8 J5G BK(J5) B9 J5V A10 J5W B10 BKCOM1(J5) K105 A660‑2006‑T658 ( X‑KEY BLACK ) A1 A2 A3 A4 A5 A6 A7 A8 A9 (XU) (BK(X)) (XW) K106 A660‑4004‑T810 BATTERY + 0V (BT1,BT2,BT3, BT4,BT5) M456PEE1 F20DY CTM A63L‑0002‑0066#R20DY A63L‑0002‑0066#CRM ( 単二電池 SIZE C ) - ( Y‑KEY BLACK ) A63L‑0002‑0066#R08DX A63L‑0002‑0066#CRM ( X‑KEY BLACK ) B1 (XPRQX) B2 0V(BT4,BT5) B3 XPRQJ4 B4 0V(C1,C2) PRQJ5 B5 XPRQJ5 +24V(A1,A2) B6 XHBK +24V(B1) B7 0V(D1,D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 A1 A2 A3 A4 A5 A6 A7 A8 A9 (PRQX) +6V(BT4,BT5) PRQJ4 +5V(C1,C2) F08DX CTM A1 0V(E1,E3,E5) B1 0V(E2,E4,E6) A2 RO1 B2 RO2 A3 RO3 B3 RO4 A4 RO5 B4 RO6 K107 A660‑4004‑T811 YV1 K108 A660‑2006‑T659 注) NOTE) 1. (***):使用されていない信号。 SIGNALS ARE NOT USED. 2. オプション指定時は、A05C‑1139‑B202を参照。 REFER TO A05C‑1139‑B202 IF SPECIFIED OPTIONS. Fig. B(h) CIRCUIT DIAGRAM (LR Mate 200iC/5H 6-axes brake type) - 156 - J2U1 J2G1 1 BKCOM1(J2) 4 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) J3 MOTOR (βiSR0.5/600 M3M 2 3 K104 A660‑4004‑T707 M456M1 A63L‑0002‑0066#R20DX A63L‑0002‑0066#CRM +6V (BT1,BT2,BT3, BT4,BT5) M2P J3V1 J3W1 1 4 J3U1 J3G1 M3BK 2 3 BKCOM1(J4) BK(J2) 8 9 +5V(B1) 10 0V(B1) K103 A660‑2006‑T657 1 4 M2BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J2V1 J2W1 BK(J3) M3P 8 9 +5V(B2) 10 0V(B2) 1 BKCOM1(J3) 4 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) APPENDIX B-82585EN02 B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM A63L‑0002‑0066#R06DX A63L‑0002‑0066#CRM M4M1 ( X‑KEY BLACK ) A1 J4U A2 BK(J4) A3 J4W F06DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) A63L‑0001‑0865#1 A63L‑0001‑0864#CS J4 MOTOR (βiSR0.2/6000) M4M 2 3 K110 A660‑4004‑T812 F06DY CTM A1 +6V(BT4) B1 0V(BT4) A2 PRQJ4 B2 XPRQJ4 A3 +5V(C1) B3 0V(C1) A63L‑0002‑0066#R06DYW A63L‑0002‑0066#CRM M5M1 ( Y‑KEY WHITE ) A1 J5U A2 BK(J5) A3 J5W F06DYW CTM B1 J5G B2 J5V B3 BKCOM1(J5) 8 9 +5V(C1) 10 0V(C1) A63L‑0001‑0865#1 A63L‑0001‑0864#CS A63L‑0002‑0066#R12DX A63L‑0002‑0066#CRM ( X‑KEY BLACK EE1 ) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) M5M 2 3 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X‑KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 J5U J5G 1 BKCOM1(J5) 4 EE 2 1 RI2 3 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L‑0002‑0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A05B‑1139‑H004 A1 A2 A3 A4 A5 A6 SOLENOID VALVE A97L‑0218‑0113#D1 8 9 +5V(C2) 10 0V(C2) K114 A660‑2006‑T665 YV2 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L‑0218‑0113#D3 A05B‑1139‑H005 YV2 SOLENOID VALVE A97L‑0218‑0113#D2 1 4 BK(J5) M5P K113 A660‑2006‑T774 A05B‑1139‑H003 YV2 J5V J5W A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 A05B‑1139‑H002 YV2 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A63L‑0001‑0865#2 A63L‑0001‑0864#CS M5BK F06DXW CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) 1 BKCOM1(J4) 4 J5 MOTOR (βiSR0.2/6000) K112 A660‑4004‑T813 M5P1 ( X‑KEY WHITE ) BK(J4) M4P K111 A660‑2006‑T772 2 3 A63L‑0002‑0066#R06DXW A63L‑0002‑0066#CRM J4U J4G A63L‑0001‑0848#E10SL1 A63L‑0001‑0850 M4P1 ( Y‑KEY BLACK ) 1 4 M4BK 2 3 A63L‑0002‑0066#R06DY A63L‑0002‑0066#CRM J4V J4W A63L‑0001‑0865#2 A63L‑0001‑0864#CS A1 A2 A3 A4 A5 A6 :可動部用 MOVABLE - 157 - RO1 RO2 RO3 RO4 RO5 RO6 SOLENOID VALVE A97L‑0218‑0113#D3R LR Mate 200iC/5H (5BK) B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 J1 connector plate AIR 1 J3 arm J1 connector plate AIR 2 J3 casing Exhaust port RO1 RO2 RO2 RO1 Fig. B(i) Air pressure diagram (Double solenoid valve×1 A05B-1139-H002,H012,H017,H022,H032 is specified) J1 connector plate AIR 1 J3 arm J1 connector plate AIR 2 J3 casing Exhaust port RO3 RO1 RO2 RO4 RO4 RO3 RO2 RO1 Fig. B(j) Air pressure diagram (Double solenoid valve×2 A05B-1139-H003,H013,H018,H023,H033 is specified) - 158 - B-82585EN02 APPENDIX B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM J1 connector plate AIR 1 J3 arm J1 connector plate AIR 2 J3 casing Exhaust port RO5 RO3 RO6 RO4 RO1 RO2 RO6 RO5 RO4 RO3 RO1 RO2 Fig. B(k) Air pressure diagram (Double solenoid valve×3 A05B-1139-H004,H014,H024 is specified) J1 connector plate AIR 1 J3 arm J1 connector plate AIR 2 J3 casing Exhaust port RO5 RO3 RO1 RO2 RO4 RO6 RO6 RO5 RO4 RO3 RO2 RO1 Fig. B(l) Air pressure diagram (Double solenoid valve×3R A05B-1139-H005,H015 is specified) - 159 - C.PERIODIC MAINTENANCE TABLE C APPENDIX B-82585EN/02 PERIODIC MAINTENANCE TABLE FANUC Robot LR Mate 200iC, LR Mate 200iC/5C, /5L, /5LC Periodic Maintenance Table Working time (H) Check time Items 1 Check the exposed connector.(loosening) 4800 5760 6720 7680 ― ○ ○ ○ 0.2H ― ○ ○ ○ 3 bolt. 2.0H ― ○ ○ ○ 4 Remove spatter and dust etc. 1.0H ― ○ 0.1H ― Tighten the cover and main Mechanical unit 2 years 0.2H 2 Tighten the end effector bolt. 5 Replacing battery. (if built-in batteries are specified) Replacing battery. (if external batteries are specified) 6 Greasing the reducers. Replacing cable of mechanical 7 unit *1 ○ ○ ○ ○ 0.5H ○ ○ ● ○ 8640 9600 10560 ○ ○ ○ ● 0.1H ● 14ml 4.0H ― 8 teach pendant cable 0.2H ― 9 Cleaning the ventilator 0.2H ― 10 Check the source voltage *1 0.2H ― 11 Replacing battery *1 0.1H ― Check the robot cable and Control unit 1 First Oil 6 9 3 Grease check months months months years amount 320 960 1920 2880 3840 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ *1 Refer to manual of controller. *2 ●: requires exchange of parts ○: does not require exchange of parts - 160 - ○ ○ ○ ○ C.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 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 ○ ● ● ● Overhaul 5 ● ● ● 6 7 ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 9 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 10 11 ● - 161 - C.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 FANUC Robot LR Mate 200iC/5WP Working time (H) Items Mechanical unit Check the exposed 1 First Check Oil 6 9 3 time Grease check months months months years amount 320 960 1920 2880 3840 2 years 4800 5760 6720 7680 1 connector.(loosening) 0.2H ― ○ ○ ○ 2 Tighten the end effector bolt. 0.2H ― ○ ○ ○ 3 Tighten the cover and main bolt. 2.0H ― ○ ○ ○ 4 Remove spatter and dust etc. ― ○ Replacing battery.(external 1.0H 5 battery) 0.1H 6 Greasing the reducers. 0.5H 14ml 4.0H ― 8 pendant cable 0.2H ― 9 Cleaning the ventilator 0.2H ― 10 Check the source voltage *1 0.2H ― 11 Replacing battery *1 0.1H ― Replacing cable of mechanical 7 unit * Check the robot cable and teach Control unit Periodic Maintenance Table ○ ○ ○ ○ ○ ○ ○ 8640 9600 10560 ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ *1 Refer to manual of controller. *2 ●: requires exchange of parts ○: does not require exchange of parts - 162 - ○ ○ ○ ○ APPENDIX B-82585EN/02 3 years 4 years 11520 12480 13440 14400 15360 Item ○ 1 ○ 2 ○ 3 ○ ○ ○ 4 ○ 5 Overhaul ● 6 7 ○ ○ ○ ○ 8 ○ ○ ○ ○ 9 ○ ○ 10 11 - 163 - C.PERIODIC MAINTENANCE TABLE C.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 FANUC Robot LR Mate 200iC/5H Working time (H) Check time Items 1 Check the exposed connector.(loosening) 2 years 4800 5760 6720 7680 ― ○ ○ ○ 0.2H ― ○ ○ ○ 3 bolt. 2.0H ― ○ ○ ○ 4 Remove spatter and dust etc. 1.0H ― ○ 0.1H ― Tighten the cover and main Mechanical unit 1 First Oil 6 9 3 Grease check months months months years amount 320 960 1920 2880 3840 0.2H 2 Tighten the end effector bolt. 5 Replacing battery. (if built-in batteries are specified) Replacing battery. (if external batteries are specified) 6 Greasing the reducers. 4.0H ― 8 teach pendant cable 0.2H ― 9 Cleaning the ventilator 0.2H ― 10 Check the source voltage *1 0.2H ― 11 Replacing battery *1 0.1H ― Check the robot cable and ○ ○ ○ ○ ○ ● ○ 8640 9600 10560 ○ ○ ○ ● ● 12ml Replacing cable of mechanical ○ 0.1H 0.5H 7 unit * Control unit Periodic Maintenance Table ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ *1 Refer to manual of controller. *2 ●: requires exchange of parts ○: does not require exchange of parts - 164 - ○ ○ ○ ○ C.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 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 ○ ● ● ● Overhaul 5 ● ● ● 6 7 ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 9 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 10 11 ● - 165 - D.MOUNTING BOLT TORQUE LIST D APPENDIX B-82585EN/02 MOUNTING BOLT TORQUE LIST NOTE When applying Loctite to the important bolt tightening points, make sure that it is applied to the entire longitudinal portion in the engaging section of the female threads. If it is applied to the male threads, the bolts may be loosened because sufficient effects cannot be obtained. Remove the dust within the bolts and taps and wipe oil off the engaging section. Make sure that there is no solvent in the taps. - 166 - APPENDIX B-82585EN/02 D.MOUNTING BOLT TORQUE LIST If no tightening torque is specified for a bolt, tighten it according to this table. Recommended bolt tightening torques Nominal diameter M3 M4 M5 M6 M8 M10 M12 (M14) M16 (M18) M20 (M22) M24 (M27) M30 M36 Unit: Nm (kgf-cm) Hexagon socket head bolt (Steel in strength category 12.9) Hexagon socket head bolt (stainless) Tightening torque Upper limit Lower limit Tightening torque Upper limit Lower limit 1.8(18) 4.0(41) 7.9(81) 14(140) 32(330) 66(670) 110(1150) 180(1850) 270(2800) 380(3900) 530(5400) 730(7450) 930(9500) 1400(14000) 1800(18500) 3200(33000) 1.3(13) 2.8(29) 5.6(57) 9.6(98) 23(230) 46(470) 78(800) 130(1300) 190(1900) 260(2700) 370(3800) 510(5200) 650(6600) 960(9800) 1300(13000) 2300(23000) 0.76(7.7) 1.8(18) 3.4(35) 5.8(60) 14(145) 27(280) 48(490) 76(780) 120 (1200) 160(1650) 230(2300) - - 167 - 0.53(5.4) 1.3(13) 2.5(25) 4.1(42) 9.8(100) 19(195) 33(340) 53(545) 82(840) 110(1150) 160(1600) - Hexagon socket head boss bolt Hexagon socket head flush bolt (steel in strength category 12.9) Tightening torque Upper limit Lower limit 1.8(18) 4.0(41) 7.9(81) 14(140) 32(330) - 1.3(13) 2.8(29) 5.6(57) 9.6(98) 23(230) - INDEX B-82585EN/02 INDEX <Number> <M> 1.5-year (5,760 hours) checks ...........................................7 MAINTENANCE TOOLS ............................................... 9 1-year (3,840 hours) checks ..............................................7 MASTERING ............................................................... 120 2-year (7,680 hours) checks (LR Mate 200iC MOUNTING BOLT TORQUE LIST ........................... 166 /5WP) 4-year (15,360 hours) checks (LR Mate <O> 200iC, LR Mate 200iC/5L , /5C, /5LC, /5H) ...................8 OVERVIEW ................................................................... 24 3-month (960 hours) checks ..............................................5 <P> <A> PERIODIC MAINTENANCE ........................................ 11 ADJUSTING TENSION OF BELT .............................. 118 PERIODIC MAINTENANCE TABLE ........................ 160 ADJUSTMENTS .......................................................... 117 PREFACE...................................................................... p-1 <B> <R> BACKLASH MEASUREMENT .................................... 32 REPLACING CABLES.................................................. 89 <C> REPLACING J1-AXIS MOTOR.................................... 41 CABLE AND AIR TUBE REPLACEMENT ................. 95 REPLACING J1-AXIS REDUCER................................ 43 CABLE FORMING ........................................................ 92 REPLACING J2-AXIS MOTOR.................................... 49 CABLE WIRING............................................................ 90 REPLACING J2-AXIS REDUCER................................ 53 CHECKS AND MAINTENANCE ...................................1 REPLACING J3 BELT................................................... 82 CIRCUIT DIAGRAM, AIR PRESSURE REPLACING J3-AXIS MOTOR.................................... 57 DIAGRM ...................................................................... 141 REPLACING J3-AXIS REDUCER................................ 59 REPLACING J4-AXIS MOTOR.................................... 62 <D> REPLACING J4-AXIS REDUCER................................ 64 DAILY CHECKS..............................................................2 REPLACING J5/J6 BELT .............................................. 84 <F> REPLACING J5-AXIS MOTOR.................................... 68 FAILURES, CAUSES AND MEASURES..................... 25 REPLACING J5-AXIS REDUCER................................ 71 FIGURE OF DRIVE MECHANISM .............................. 38 REPLACING J6-AXIS MOTOR.................................... 74 First 1-Month (320 hours operating) Check ......................5 REPLACING J6-AXIS REDUCER................................ 80 FIXTURE POSITION MASTER.................................. 122 REPLACING PARTS..................................................... 36 REPLACING SOLENOID VALVE............................... 86 <G> REPLACING THE BATTERIES (1-YEAR Grease replacement procedure of the J1-axis CHECKS (battery built-in type)) (1.5-YEAR reducer............................................................................. 17 CHECKS (external battery type))................................... 12 Grease replacement procedure of the J2-axis REPLACING WRIST UNIT .......................................... 77 reducer............................................................................. 18 REPLAING AIR TUBE ............................................... 110 Grease replacement procedure of the J3-axis REPLAING CABLE K101 and Air tube reducer............................................................................. 19 (Connector plate to J2 base)............................................ 95 Grease replacement procedure of the J4-axis REPLAING CABLE K102, K103, K104, K105, reducer............................................................................. 20 K109, K110, K111, K112, K113 .................................. 108 Grease replacement procedure of the J5/J6-axis REPLAING CABLE K104........................................... 109 reducer............................................................................. 22 REPLAING CABLE K106, K107, K108 and Air tube (J2 base to J3 casing) ...................................... 102 i-1 INDEX B-82585EN/02 REPLENISH THE GREASE OF THE DRIVE MECHANISM (4 years (11,520 hours) checks) ............. 15 RESETTING ALARMS AND PREPARING FOR MASTERING....................................................... 121 <S> SAFETY PRECAUTIONS ............................................ s-1 SEALANT APPLICATION............................................ 88 SPARE PARTS LIST.................................................... 131 <T> TROUBLESHOOTING .................................................. 23 i-2 Revision Record FANUC Robot LR Mate 200iC MECHANICAL UNIT MAINTENANCE MANUAL (B-82585EN) ・ Addition of LR Mate 200iC/5L,5LC,5WP,5C 02 Feb.,2008 ・ Addition of Air pressure diagram ・ Revice 01 Nov., 2007 Edition Date Contents Edition Date Contents