FANUC > M-710iC/50T
FANUC > M-710iC/70T
MECHANICAL UNIT
MAINTENANCE MANUAL
B-82505EN/02
Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.
This manual can be used with controllers labeled R-30iA or R-J3iC. If you have a controller
labeled R-J3iC, you should read R-30iA as R-J3iC throughout this manual.
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-82505EN/02
1
SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
For the safety of the operator and the system, follow all safety
precautions when operating a robot and its peripheral devices installed
in a work cell.
s-1
SAFETY PRECAUTIONS
1.1
B-82505EN/02
OPERATOR SAFETY
Operator 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.
consideration must be made to ensure operator safety.
Careful
(1) Have the robot system operators attend the training courses held
by FANUC.
FANUC provides various training courses. Contact our sales office for details.
(2) Even when the robot is stationary, it is possible that the robot is
still ready to move state and is waiting for a signal. In this state,
the robot is regarded as still in motion. To ensure operator 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 operator can enter the
work area without passing through the gate. Equip the gate with
an interlock that stops the robot when the gate is opened.
The controller is designed to receive this interlock signal. 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
1, Class 2, or Class 3).
(5) Try to install the peripheral devices outside the work area.
(6) Draw an outline on the floor, clearly indicating the range of the
robot motion, including the tools such as a hand.
(7) Install a mat switch or photoelectric switch on the floor with an
interlock to a visual or aural alarm that stops the robot when an
operator enters the work area.
(8) If necessary, install a safety lock so that no one except the operator
in charge can turn on the power of the robot.
The circuit breaker installed in the controller is designed to disable anyone from
turning it on when it is locked with a padlock.
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B-82505EN/02
SAFETY PRECAUTIONS
(9) When adjusting each peripheral device independently, be sure to
turn off the power of the robot.
Safety fence
Limit switch which operates when
the gate is opened.
Panel board
Note） Terminals EAS1, EAS11, EAS2 and EAS21 are on the
PC board in the operator's box.
Refer to the R-30iA CONTROLLER MAINTENANCE
MANUAL.
EAS1
EAS11
EAS2
EAS21
Fig.1.1 Safety Fence and Safety gate
s-3
SAFETY PRECAUTIONS
1.1.1
B-82505EN/02
Operator Safety
The operator is a person who operates the robot system. In this sense, a
worker who operates the teach pendant is also an operator. However,
this section does not apply to teach pendant operators.
(1) 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
(2) Operate the robot system at a location outside the work area.
(3) Install a safety fence with a safety gate to prevent any worker other
than the operator from entering the work area unexpectedly and to
prevent the worker from entering a dangerous area.
(4) Install an EMERGENCY STOP button within the operator's
reach.
The robot controller is designed to be connected to an external
EMERGENCY STOP button. With this connection, the controller
stops the robot operation when the external EMERGENCY STOP
button is pressed. See the diagram below for connection.
External EMERGENCY STOP button
Panel board
Connect between EES1 and EES11 and between EES2
and EES21 .Terminals EES1, EES11, EES2, and EES21
are on the PC board.
Refer to R-30iA CONTROLLER MAINTENANCE
MANUAL.
Fig.1.1.1 Connection Diagram for External Emergency Stop Switch
1.1.2
Safety of the Teach Pendant 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 teach pendant 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
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B-82505EN/02
SAFETY PRECAUTIONS
the EMERGENCY STOP button and the deadman's switch on the
teach pendant).
The teach pendant supplied by FANUC is provided with a teach pendant
enable switch and a deadman's switch in addition to the EMERGENCY STOP
button. The functions of each switch are as follows.
EMERGENCY STOP button
: Pressing this button stops the robot in an
emergency, irrespective to the condition
of the teach pendant enable switch.
Deadman's switch
: The function depends on the state of the
teach pendant enable switch.
When the enable switch is on - Releasing the finger from the dead man's
switch stops the robot in an emergency.
When the enable switch is off-The deadman's switch is ineffective
NOTE
The deadman's switch is provided so that the robot
operation can be stopped simply by releasing finger
from the teach pendant in case of emergency.
(4) The teach pendant operator should pay careful attention so that no
other workers enter the robot work area.
NOTE
In addition to the above, the teach pendant enable
switch and the deadman's switch also have the
following function. By pressing the deadman's switch
while the enable switch is on, the emergency stop
factor (normally the safety gate) connected to EAS1,
EAS11, EAS2, and EAS21 of the controller is
invalidated. In this case, it is possible for an operator to
enter the fence during teach operation without pressing
the EMERGENCY STOP button. In other words, the
system understands that the combined operations of
pressing the teach pendant enable switch and pressing
the deadman's switch indicates the start of teaching.
The teach pendant operator should be well aware that
the safety gate is not functional under this condition and
bear full responsibility to ensure that no one enters the
fence during teaching.
(5) When entering the robot work area, the teach pendant operator
should enable the teach pendant whenever he or she enters the
robot work area. In particular, while the teach pendant enable
switch is off, make certain that no start command is sent to the
robot from any operator's panel other than the teach pendant.
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SAFETY PRECAUTIONS
B-82505EN/02
The teach pendant, operator's box, and peripheral device interface send each
robot start signal. However the validity of each signal changes as follows
depending on the mode of the teach pendant enable switch and the remote
switch on the operator's panel.
Operator’s panel
Three mode switch
T1/T2 AUTO
(Except RIA)
AUTO
AUTO
Teach pendant
enable switch
Remote
switch
Teach
pendant
Operator’s
panel
Peripheral
devices
On
Independent
Allowed to start
Not allowed
Not allowed
Off
Off
Remote OFF
Remote ON
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Allowed to start
NOTE
When starting the system using the teach pendant in the
RIA specification, the three modes switch should be
T1/T2.
(6) To start the system using the operator's box, make certain that
nobody is in the robot work area and that there are no abnormal
conditions in the robot work area.
(7) 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.
(8) While operating the system in the automatic operation mode, the
teach pendant operator should leave the robot work area.
1.1.3
Safety During Maintenance
For the safety of maintenance personnel, pay utmost attention to the
following.
(1)
(2)
(3)
(4)
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.
When disconnecting the pneumatic system, be sure to reduce the
supply pressure.
Before the start of teaching, check that the robot and its peripheral
devices are all in the normal operating condition.
If it is necessary to enter the robot work area for maintenance when
the power is turned on, the worker should indicate that the machine
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B-82505EN/02
SAFETY PRECAUTIONS
is serviced and make certain that no one starts the robot
unexpectedly.
(5) Do not operate the robot in the automatic mode while anybody is
in the robot work area.
(6) 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.
(7) 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.
(8) If necessary, have a worker who is familiar with the robot system
stand beside the operator's panel and observe the work being
performed. If any danger arises, the worker should be ready to
press the EMERGENCY STOP button at any time.
(9) When replacing or reinstalling components, take care to prevent
foreign matter from entering the system.
(10) When handling each unit or printed circuit board in the controller
during inspection, turn off the power of the controller and turn off
the circuit breaker to protect against electric shock.
(11) 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.
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SAFETY PRECAUTIONS
B-82505EN/02
1.2
SAFETY OF THE TOOLS AND PERIPHERAL DEVICES
1.2.1
Precautions in Programming
(1) Use a limit switch or other sensor to detect a dangerous condition
and, if necessary, design the program to stop the robot when the
sensor signal is received.
(2) Design the program to stop the robot when an abnormal condition
occurs in any other robots or peripheral devices, even though the
robot itself is normal.
(3) For a system in which the robot and its peripheral devices are in
synchronous motion, particular care must be taken in
programming so that they do not interfere with each other.
(4) Provide a suitable interface between the robot and its peripheral
devices so that the robot can detect the states of all devices in the
system and can be stopped according to the states.
1.2.2
Precautions for Mechanism
(1) Keep the component cells of the robot system clean, and operate
the robot in an environment free of grease, water, and dust.
(2) Employ a limit switch or mechanical stopper to limit the robot
motion so that the robot does not encounter its peripheral devices
or tools.
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SAFETY PRECAUTIONS
1.3
SAFETY OF THE ROBOT MECHANISM
1.3.1
Precautions in Operation
(1) When operating the robot in the jog mode, set it at an appropriate
speed so that the operator can manage the robot in any eventuality.
(2) Before pressing the jog key, be sure you know in advance what
motion the robot will perform in the jog mode.
1.3.2
Precautions in Programming
(1) When the work areas of robots overlap, make certain that the
motions of the robots do not interfere with each other.
(2) Be sure to specify the predetermined work origin in a motion
program for the robot and program the motion so that it starts from
the origin and terminates at the origin. Make it possible for the
operator to easily distinguish at a glance that the robot motion has
terminated.
1.3.3
Precautions for Mechanisms
(1) Keep the work areas of the robot clean, and operate the robot in an
environment free of grease, water, and dust.
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SAFETY PRECAUTIONS
1.4
SAFETY OF THE END EFFECTOR
1.4.1
Precautions in Programming
B-82505EN/02
(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.
1.5
SAFETY IN MAINTENANCE
(1) Never enter the robot work area while the robot is operating. Turn
off the power before entering the robot work area for inspection and
maintenance.
(2) If it is necessary to enter the robot work area with the power turned
on, first press the EMERGENCY STOP button on the operator's
box.
(3) When replacing or reinstalling components, take care to prevent
foreign matter from entering the system. When replacing the parts
in the pneumatic system, be sure to reduce the pressure in the piping
to zero by turning the pressure control on the air regulator.
(4) When handling each unit or printed circuit board in the controller
during inspection, turn off the power of the controller and turn off
the circuit breaker to protect against electric shock.
(5) 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.
(6) Before restarting the robot, be sure to check that no one is in the
robot work area and that the robot and its peripheral devices are all
in the normal operating state.
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B-82505EN/02
1.6
SAFETY PRECAUTIONS
WARNING LABEL
(1) Greasing and degreasing label
Fig. 1.6 (a) Greasing and Degreasing Label
Description
When greasing and degreasing, observe the instructions indicated on
this label.
1)
2)
3)
When greasing, be sure to keep the grease outlet open.
Use a manual pump to grease.
Be sure to use specified grease.
CAUTION
See section 2 PERIODIC MAINTENANCE for
explanations about specified greases, the amount of
grease to be supplied, and the locations of grease and
degrease outlets for individual models.
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SAFETY PRECAUTIONS
B-82505EN/02
(2) Step-on prohibitive label
Fig. 1.6 (b) Step-on Prohibitive Label
Description
Do not step on or climb the robot or controller as it may adversely affect
the robot or controller and you may get hurt if you lose your footing as
well.
(3) High-temperature warning label
Fig. 1.6 (c) Step-on Prohibitive Label
Description
Be cautious about a section where this label is affixed, as the section
generates heat. If you have to inevitably touch such a section when it is
hot, use a protective provision such as heat-resistant gloves.
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B-82505EN/02
SAFETY PRECAUTIONS
(4) Transportation label
>1000kg
<500kg X2
>1000kg
>500kg X4
>450kg X4
Fig. 1.6 (d) Step-on Prohibitive Label
Description
When transporting the robot, observe the instructions indicated on this
label.
1)
Using a forklift
•
Use a forklift having a load capacity of 1,000 kg or greater.
•
Keep the total weight of the robot to be transported to within 1,000
kg, because the withstand load of the forklift bracket (option) is
4,900 N (500 kgf).
2)
Using a crane
•
Use a crane having a load capacity of 1,000 kg or greater.
•
Use at least four slings each having a withstand load of 4,900 N
(500 kgf) or greater.
•
Use at least four eyebolts each having a withstand load of 4,410 N
(450kgf) or greater.
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SAFETY PRECAUTIONS
B-82505EN/02
NOTE
Transportation labels are model-specific. Before
transporting the robot, see the transportation label
affixed to the J2 base side.
See Sub-section 1.1 TRANSPORTATION for
explanations about the posture a specific model
should take when it is transported.
(3) Transportation prohibitive label
(When transportation equipment option is specified.)
アイボルトを横引
しないこと
Do not pull eyebolt
sideways
輸送部材に衝撃を
与えないこと
Do not have impact
on this part
輸送部材にチェーン
などを掛けないこと
Do not chain, pry,
or strap on this part
Fig. 1.6 (e) Transportation prohibitive label
Description
Keep the following in mind when transporting the robot.
1)
2)
3)
Do not pull eyebolts sideways
Prevent the forks of the forklift from having impact on transport
equipment.
Do not thread a chain or the like through transport equipment.
s-14
PREFACE
B-82505EN/02
PREFACE
This manual explains the maintenance and connection procedures for
the mechanical units of the following robots:
Model name
Mechanical unit
specification No.
Maximum load
FANUC Robot M-710iC/50T
A05B-1125-B501
50kg
FANUC Robot M-710iC/70T
A05B-1125-B502
70kg
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)
WEIGHT
(5) kg
(3)
(4)
FANUC LTD
OSHINO-MURA.
YAMANASHI PREF. JAPAN
TABLE 1）
CONTENTS
LETTERS
(1)
(2)
(3)
(4)
(5)
-
TYPE
No.
DATE
WEIGHT
(Without controller)
FANUC Robot M-710iC/50T
A05B-1125-B501
FANUC Robot M-710iC/70T
A05B-1125-B502
PRINT
SERIAL NO.
PRINT
PRODUCTION
YEAR AND MONTH
Position of label indicating mechanical unit specification number
p-1
410kg
410kg
PREFACE
B-82505EN/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
Setup and Operations
controller manual
SPOT TOOL+
B-82594EN-1
HANDLING TOOL
B-82594EN-2
ARC TOOL
B-82594EN-3
DISPENSE TOOL
B-82594EN-4
SERVO GUN
FUNCTION
B-82634EN
Maintenance manual
B-82595EN
Mechanical unit
B-82595EN-1
(For Europe)
B-82595EN-2
(For RIA)
Operator’s manual
FANUC Robot
M-710iC/50T/70T
B-82504EN
p-2
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-82505EN/02
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1
CHECKS AND MAINTENANCE ............................................................. 1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
2
PERIODIC MAINTENANCE .................................................................. 13
2.1
2.2
3
Grease replacement procedure of the J2 and J3-axis reducer.................................17
2.2.2
Grease Replacement Procedure for the J4-Axis Gear Box.....................................19
2.2.3
Grease Replacement Procedure for the Wrist.........................................................20
2.2.4
Procedure for Releasing Residual Pressure within the Grease Bath ......................21
GENERAL ................................................................................................... 23
PROBLEMS AND CAUSES......................................................................... 24
BACKLASH MEASUREMENT..................................................................... 32
PART REPLACEMENT AND CORRESPONDING ADJUSTMENT ............. 35
REPLACING J2 AXIS MOTOR M2 AND REDUCER................................... 36
REPLACING THE J3-AXIS MOTOR AND REDUCER ................................ 41
REPLACING THE WRIST AXIS MOTOR AND J4-AXIS REDUCER........... 45
REPLACING THE WRIST UNIT .................................................................. 48
REPLACING CABLES .......................................................................... 49
5.1
5.2
5.3
6
2.2.1
REPLACING PARTS ............................................................................ 34
4.1
4.2
4.3
4.4
4.5
5
REPLACING THE BATTERIES (1.5 YEARS CHECKS).............................. 14
REPLACING THE GREASE OF THE DRIVE MECHANISM (3 years (11,520
hours) checks) ............................................................................................. 15
TROUBLESHOOTING .......................................................................... 22
3.1
3.2
3.3
4
DAILY CHECKS ............................................................................................ 2
FIRST 1-MONTH (320 HOURS) CHECKS .................................................... 4
3-MONTH (960 HOURS) CHECKS ............................................................... 5
1-YEAR (3,840 HOURS) CHECKS................................................................ 7
1.5-YEAR (5,760 HOURS) CHECKS............................................................. 9
3-YEAR (11,520 HOURS) CHECKS.............................................................. 9
MAINTENANCE TOOLS ............................................................................. 10
WIRING CONFIGURATION OF CABLE...................................................... 51
CABLE FORMING ....................................................................................... 53
REPLACING THE CABLES......................................................................... 56
MASTERING ......................................................................................... 62
c-1
TABLE OF CONTENTS
6.1
6.2
6.3
6.4
B-82505EN/02
GENERAL ................................................................................................... 63
RESETTING ALARMS AND PREPARING FOR MASTERING ................... 65
FIXTURE POSITION MASTER ................................................................... 66
CHECKING THE MASTERING ................................................................... 72
APPENDIX
A
SPARE PARTS LIST ............................................................................ 77
B
CIRCUIT DIAGRAMS............................................................................ 79
C
PERIODIC MAINTENANCE TABLE ..................................................... 82
D
BOLT TIGHTENING TORQUE TABLE................................................. 84
c-2
1.CHECKS AND MAINTENANCE
B-82505EN/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 C 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-82505EN/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
When air control set is combined
Item
Check items
Air pressure
1
Oiler oil mist
quantity
2
3
4
Oiler oil level
Leakage from
hose
Check points
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 0.49 to 0.69
MPa (5-7 kgf/cm2), adjust it using the regulator
pressure setting handle.
Check the drop quantity during wrist or hand
motion. If it does not meet the specified value (1
drop/10-20 sec), adjust it using the oiler control
knob. Under normal usage, the oiler becomes
empty in about 10 to 20 days under normal
operation.
Check to see that the oiler level is within the
specified level.
Check the joints, tubes, etc. for leaks. Repair
leaks, or replace parts, as required.
Oil inlet
Adjusting knob
Lubricator
mist amount check
Lubricator
Filter
Regulator
pressure
setting handle
Pressure gauge
Fig.1.1 Air control set
-2-
1.CHECKS AND MAINTENANCE
B-82505EN/02
(2)
After automatic operation
Item
1
Check items
Vibration, abnormal
noises, and motor
heating
2
Changing
repeatability
3
Peripheral devices for
proper operation
4
Brakes for each axis
-3-
Check points
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 0.5
mm when the power is cut.
1.CHECKS AND MAINTENANCE
1.2
B-82505EN/02
FIRST 1-MONTH (320 HOURS) CHECKS
Check the following items at the first monthly inspection (or after
using 320 hours).
First monthly inspection
Item
1
Check items
Control unit cable
-4-
Check points
Check whether the cable connected to
the teach pendant is unevenly twisted.
1.CHECKS AND MAINTENANCE
B-82505EN/02
1.3
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
1
2
Check items
Control unit cable
Ventilation portion
of control unit
Check points
Check whether the cable connected to the
teach pendant is unevenly twisted.
If the ventilation portion of the control unit is
dusty, turn off power and clean the unit.
Check the following items at the first quarterly inspection, then every
year thereafter. (See the Section 1.3.)
(2) First quarterly inspection
Item
1
2
Check items
Cleaning and checking
each part
Further tightening
external main bolts
Check points
Clean each part (remove chips, etc.)
and check component parts for cracks
and flaws.
Further, tighten the end-effecter
mounting bolts and external main bolts.
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 gun or hand.
- Check the reducer or grease bath for an oil leak.
→ If oil can be found a day after wiping oil, an oil leak may be
caused.
-5-
1.CHECKS AND MAINTENANCE
B-82505EN/02
Fig.1.3 Cleaning part
Note 2 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-82505EN/02
1.4
1-YEAR (3,840 HOURS) CHECKS
Check the following items once every year (3,840 hours).
Item
1
2
3
Check items
Cables used in
mechanical unit
Cleaning each
parts and
inspection
Tightness of major
external bolts
Check points
（Note 3）
（See Section 1.3.）
（See Section 1.3.）
Note 3) Inspection points of the mechanical unit cables or connectors and
check items
For the J2-axis, check cables after remove J2 motor cover.
For the J3-axis, check cables after remove cover of J3 casing.
When severe dust/liquid protection option is selected, packing is
attached to the cover. If you remove covers, exchange packing for the
new article absolutely.
Check items
For cables with a cable cover, open the cover before making the
check.
Check the cables for a sheath break and wear.
If wires of the cable appear, replace it.
Remove these covers
and check cables
Spec of gasket(*)
A290-7125-X809(upper side of J2 arm)
A290-7125-X808(below side of J2 arm)
A290-7125-X852(side of J2 base)
Remove this cover
and check cables
Spec of gasket(*)
A290-7125-X810(Wrist axis motor cover)
A290-7125-X815(side of J3 casing)
A290-7125-X853(J2 motor cover)
(*)Gasket is attached only when severe dust/liquid protection opti
on is selected.
Fig. 1.4(a) Check items of Mechanical unit cable
-7-
1.CHECKS AND MAINTENANCE
B-82505EN/02
Inspection points of the connectors
- Power/brake connectors of the motor
- Robot connection cables, earth terminals 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 cable for looseness.
When severe dust/liquid protection option is selected, packing is
attached to the cover. If you remove covers, exchange packing for the
new article absolutely.
Fig.1.4 (b) Check items of connector
-8-
1.CHECKS AND MAINTENANCE
B-82505EN/02
1.5
1.5-YEAR (5,760 HOURS) CHECKS
Check the following item once every 1.5-year (5,760 hours).
Item
1
1.6
Check items
Battery
Check points
Replace battery in the mechanical unit. (See
Section 2.1)
3-YEAR (11,520 HOURS) CHECKS
Check the following items once every 3 years (11,520 hours).
Item
1
Check items
Replacing grease
of each axis,
reducer and gear
box
-9-
Check points
(See Section 2.2.)
1.CHECKS AND MAINTENANCE
1.7
B-82505EN/02
MAINTENANCE TOOLS
The following tools and instruments are required for the maintenance
procedures contained in this manual.
(a) Measuring instruments
Instruments
Dial gauge accuracy
Accuracy/Tolerance
1/100 mm
Slide calipers
Push/pull tension
gauge
150 mm
98 N (10 kgf)
Applications
Measurement of positioning
and backlash
Measurement of backlash
(b) Tools
-
Phillips screwdriver:
Large, medium, small
Standard screwdriver: Large, medium, small
Box screwdriver:
M3 to M6
Hex wrench set:
M3 to M16
T box-end wrench:
M6 to M12
Adjustable wrench:
Medium, small
Wrench:
Nominal sizes 10, 13
Pliers
Needle-nose pliers
Diagonal pliers
C-shaped snap ring pliers
Torque wrench (*):
For use with M6 to M16 hexagon
socket head cap bolts (See table 1.6.)
Socket wrench:
Nominal sizes
10, 13 and 15 (for M-710iC/70T),
17 (for M-710iC/50T)
Grease gun
Eyebolt:
M8, M10, M12, M16
Rope:
Breaking strain of no less than 1000kg
Loctite No. 242
Loctite No. 262
Loctite No. 518
Sealing tape
Special fixture for M-710iC/50T J3-axis motor gear: (See Fig. 1.6
(a).)
Special fixture for M-710iC/70T J3-axis motor gear: (See Fig. 1.6
(b).)
Special fixture for wrist-axis motor: (See Fig. 1.6 (c).)
NOTE
Torque wrench that can measure the torques listed
in Table 1.6.
- 10 -
1.CHECKS AND MAINTENANCE
B-82505EN/02
Table 1.6 Torque Settings
Bolt size
Torque setting
M6
M8
M10
M12
M14
M16
1.6 kgfm (15.7 Nm)
3.8 kgfm (37.2 Nm)
7.5 kgfm (73.5 Nm)
13.1 kgfm (128.4 Nm)
20.9 kgfm (204.8 Nm)
32.5 kgfm (318.5Nm)
20
40
20
9.5
2
100
40
70
O
4-
50
C5
3
20
0.5
2
10
6
4
21 0
+0.3
4
16
2
-R
5
33
Quenching and tempering
Fig. 1.6 (a) Special fixture for J3-axis motor gear (for M-710iC/50T)
110
120
10.5
C2
R
25
+0.3
29 0
14.5
2-
14
.5
2-
70
C5
5
6
70
0.5
5
2C5
50
O 16
30
Quenching and tempering
焼き入れ・焼き戻し
Fig. 1.6 (b) Special fixture for J3-axis motor gear (for M-710iC/70T)
- 11 -
1.CHECKS AND MAINTENANCE
B-82505EN/02
Fig. 1.6 (c) Special fixture for wrist-axis motor
- 12 -
2.PERIODIC MAINTENANCE
B-82505EN/02
2
PERIODIC MAINTENANCE
- 13 -
2.PERIODIC MAINTENANCE
2.1
B-82505EN/02
REPLACING THE BATTERIES (1.5 YEARS CHECKS)
The backup batteries preserve the position data of each axis. The
batteries need to be replaced every 1.5 year. Also, use the following
procedure to replace when the backup battery voltage drop alarm
occurs.
Procedure of replacing the battery
1
Keep the power on. Press the EMERGENCY STOP button to
prohibit the robot motion.
NOTE
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)
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.
Battery
（1.5V size-D ×4）
Case cap
Battery case
Fig. 2.1
- 14 -
Replacing the battery
2.PERIODIC MAINTENANCE
B-82505EN/02
2.2
REPLACING THE GREASE OF THE DRIVE MECHANISM
(3 years (11,520 hours) checks)
Replace the grease of the reducers of J2, and J3 axes, and the J4-axis
gear box, and wrist every three years or 11,520 hours by using the
following procedures.
For the grease name and quantity, see the table 2.2 (a).
Table 2.2 (a) Grease for 3-year periodical replacement
Gun tip
pressure
Supply
position
J2-axis reducer
J3-axis reducer
1500g (1660ml)
950g (1060ml)
J4-axis gear box
810g (920ml)
Wrist
540g (610ml)
NOTE)
Quantity
Grease name
Kyodo Yushi
0.1 MPa or less
VIGOGREASE RE0
(NOTE 1)
Spec.：A98L-0040-0174
When using a hand pump, apply grease approximately once per
two seconds.
For grease replacement or replenishment, use the attitudes indicated
below.
Table 2.2 (b)
Supply position
J2-axis reducer
J3-axis reducer
J4-axis gear box
Wrist
J2
0°
0°
Arbitrary
- 15 -
J3
Attitudes for greasing
Attitude
J4
J5
J6
Arbitrary
0°
0°
0°
Arbitrary
Arbitrary
Arbitrary
0°
0°
0°
2.PERIODIC MAINTENANCE
B-82505EN/02
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.
1 Before starting to grease, open the grease outlet
(remove the plug or bolt from the grease outlet).
2 A grease inlet may optionally have a plug. Replace
the plug with the attached grease nipple and then
start greasing.
3 Supply grease slowly without applying excessive
force, using a manual pump.
4 Whenever possible, avoid using a compressed-air
pump, powered by the factory air supply. Even when
using a compressed-air pump unavoidably, set the
gun tip pressure (see Table 2.2(a)) to 0.1 MPa or
less during application of grease.
5 Use grease only of the specified type. Grease of a
type other than that specified may damage the
reducer or lead to other problems.
6 After greasing, confirm that the grease bath is not
pressurized as the procedure of sub-section 2.2.4,
and then close the grease outlet.
7 To prevent accidents caused by slipping, completely
remove any excess grease from the floor or robot.
- 16 -
2.PERIODIC MAINTENANCE
B-82505EN/02
2.2.1
Grease replacement procedure of the J2 and J3-axis reducer
1
2
3
4
5
Move the robot to the greasing attitude described in Section
2.2(b).
Turn off the power.
Remove the seal bolt from grease outlet.（Fig.2.2.1 (a) ～ (b) ）
Supply new grease through the wrist grease inlet until new grease
is output from wrist grease outlet.
Upon completion of greasing, release residual pressure as
described in subsection 2.2.4.
J2 reducer inlet
Grease nipple
Note）Don't remove this bolt
J2 reducer outlet
M12X20（seal bolt）
Left side
Right side
Fig. 2.2.1 (a) Replacing grease of the J2-axis reducer
- 17 -
2.PERIODIC MAINTENANCE
B-82505EN/02
J3 reducer outlet
M12X20（seal bolt）
J3 reducer inlet
Grease nipple
Fig. 2.2.1(b)
Replacing grease of the J3-axis reducer
- 18 -
2.PERIODIC MAINTENANCE
B-82505EN/02
2.2.2
Grease Replacement Procedure for the J4-Axis Gear Box
1
2
3
4
5
Move the robot to the greasing attitude described in table 2.2(b).
Turn off the power.
Remove the seal bolt from the grease outlet.（Fig. 2.2.2)
Supply new grease until new grease is output from the grease
outlet.
Upon completion of greasing, release residual pressure as
described in subsection 2.2.4.
Fig. 2.2.2 Replacing grease of the J4-axis gear box
- 19 -
2.PERIODIC MAINTENANCE
2.2.3
B-82505EN/02
Grease Replacement Procedure for the Wrist
1
2
3
4
5
Move the robot to the greasing attitude described in table 2.2 (b).
Turn off the power.
Remove the plug with a sealant from the wrist grease outlet and
attach the grease nipple that comes with the robot (Fig. 2.2.3).
Supply new grease through the wrist grease inlet until new grease
is output from wrist grease outlet.
Upon completion of greasing, release residual pressure as
described in subsection 2.2.4.
Right side
Fig. 2.2.3 Replacing grease of the wrist
- 20 -
2.PERIODIC MAINTENANCE
B-82505EN/02
2.2.4
Procedure for Releasing Residual Pressure within the Grease
Bath
After greasing, operate the robot for 20 minutes or more with the
grease nipple of the grease inlet and the seal bolt of the grease outlet
uncapped to release residual pressure within the grease bath.
Attach the reclaim bags under the grease inlet and grease outlet to
prevent spilled grease from splattering.
Operating axis
Grease
replacement part
J2-axis
J3-axis
J2-axis reducer
Axis angle of 60°
or more
OVR 100%
J3-axis reducer
Arbitrary
J4-axis gear box
Wrist axis
J4-axis
J5-axis
J6-axis
Arbitrary
Axis angle of 60°
or more
OVR 100%
Arbitrary
Axis angle of 60° or more
OVR 100%
Arbitrary
Axis angle of 60° or more
OVR 100%
Arbitrary
If the above operations cannot be performed due to local
circumstances, the same count operation is necessary. (When only
an axis angle of 30° can be set instead of 60°, perform the operation
for 40 minutes, which is double the specified time of 20 minutes.)
When multiple axes are greased at the same time, the axes can be run
at the same time.
After the above operation is performed, attach the grease nipple to the
grease inlet and the seal bolt to the grease outlet. When the seal bolt
or grease nipple is reused, be sure to seal it with seal tape.
- 21 -
3.TROUBLESHOOTING
3
B-82505EN/02
TROUBLESHOOTING
- 22 -
3.TROUBLESHOOTING
B-82505EN/02
3.1
GENERAL
The source of mechanical unit problems may be difficult to locate
because of overlapping causes. Problems may become further
complicated, if they are not corrected properly. Therefore, it is
necessary to keep an accurate record of problems and to take proper
corrective actions.
- 23 -
3.TROUBLESHOOTING
3.2
B-82505EN/02
PROBLEMS AND CAUSES
Table 3.2 shows the main mechanical unit problems and their causes.
If a cause of remedy is unclear, please contact your FANUC service
representative.
Symptom
Vibration
Noise
(Continued)
Table 3.2 Problems and causes
Description
Cause
Measure
[Fastening of base plate and floor plate] - Fasten the base plate to the
-As the robot operates, the
floor plate by welding them
- A possible cause is that the weld
J2-axis base lifts off the
between the base plate and floor plate again.
J1-axis traveling unit.
- If the weld strength is
falls off, and the base plate is not
-There is a gap between the
insufficient, increase the weld
securely fastened to the floor plate.
J2-axis base and the J1-axis
leg length and weld length.
-If the base plate is not securely
traveling unit.
-A J2-axis base retaining bolt is fastened to the floor plate, the base
plate lifts the floor plate as the robot
loose.
operates, allowing the base and floor
plates to strike each other, which, in
turn, leads to vibration.
-As the robot operates, the
J1-axis traveling unit or rail
vibrates.
-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.
[J1-axis traveling unit or rail]
-The J1-axis traveling unit or rail may
not be rigid enough.
-If the J1-axis traveling unit or rail is
not rigid enough, reaction during
robot operation can deform the
J1-axis traveling unit or rail, which
can lead to vibration.
[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.
- 24 -
-Reinforce the J1-axis traveling
unit or rail to make it more
rigid.
-If it is impossible to reinforce
the J1-axis traveling unit or
rail, modifying the robot
control program can reduce
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).
3.TROUBLESHOOTING
B-82505EN/02
Symptom
Vibration
Noise
(Continued)
Description
-Vibration was first noticed
after the robot collided with an
object or the robot was
overloaded for a long period.
-The grease of the vibrating
axis has not been exchanged
for a long period.
Cause
[Broken gear, bearing, or reducer]
- It is likely that collision or overload
applied an excessive force on the
drive mechanism, thus damaging the
geartooth surface or rolling surface of
a bearing, or reducer.
- It is likely that prolonged use of the
robot while overloaded caused fretting
of the gear tooth surface or rolling
surface of a bearing, or reducer due to
resulting metal fatigue.
- It is likely that foreign matter caught
in a gear, bearing, or within a reducer
caused damage on the gear tooth
surface or rolling surface of the
bearing, or reducer.
- It is likely that, because the grease
has not been changed for a long
period, fretting occurred on the gear
tooth surface or rolling surface of a
bearing, or reducer due to metal
fatigue.
These factors all generate cyclic
vibration and noise.
- 25 -
Measure
-Operate one axis at a time to
determine which axis is
vibrating.
-Remove the motor, and
replace the gear, the bearing,
and the reducer. For the spec.
of parts and the method of
replacement, contact FANUC.
-Using the robot within its
maximum rating prevents
problems with the drive
mechanism.
-Regularly changing the grease
with a specified type can help
prevent problems.
3.TROUBLESHOOTING
Symptom
Vibration
Noise
(Continued)
Description
-The cause of problem cannot
be identified from examination
of the floor, rack, or
mechanical section.
B-82505EN/02
Cause
[Controller, cable, and motor]
-If a failure occurs in a controller
circuit, preventing control commands
from being supplied to the motor
normally, or preventing motor
information from being sent to the
controller normally, vibration might
occur.
-If the pulse coder develops a fault,
vibration might occur because
information about the motor position
cannot be transferred to the controller
accurately.
-If the motor becomes defective,
vibration might occur because the
motor cannot deliver its rated
performance.
-If a power line in a movable cable of
the mechanical section has an
intermittent break, vibration might
occur because the motor cannot
accurately respond to commands.
-If a pulse coder wire in a movable
part of the mechanical section has an
intermittent break, vibration might
occur because commands cannot be
sent to the motor accurately.
-If a connection cable between them
has an intermittent break, vibration
might occur.
-If the power cable between them has
an intermittent break, vibration might
occur.
-If the power source voltage drops
below the rating, vibration might
occur.
-If a robot control parameter is set to
an invalid value, vibration might occur.
- 26 -
Measure
-Refer to the Controller
Maintenance Manual for
troubleshooting related to the
controller and amplifier.
-Replace the pulse coder for
the motor of the axis that is
vibrating and check whether
the vibration still occurs.
-Also, replace the motor of the
axis that is vibrating, and
check whether vibration still
occurs. For the method of
replacement, contact FANUC.
-Check that the robot is
supplied with the rated voltage.
-Check whether the sheath of
the power cord is damaged. If
so, replace the power cord,
and check whether vibration
still occurs.
-Check whether the sheath of
the cable connecting the
mechanical section and
controller is damaged. If so,
replace the connection cable,
and check whether vibration
still occurs.
-If vibration occurs only when
the robot assumes a specific
posture, it is likely that a cable
in the mechanical unit is
broken.
-Shake the movable part cable
while the robot is at rest, and
check whether an alarm
occurs. If an alarm or any other
abnormal condition occurs,
replace the mechanical unit
cable.
-Check that the robot control
parameter is set to a valid
value. If it is set to an invalid
value, correct it. Contact
FANUC for further information
if necessary.
3.TROUBLESHOOTING
B-82505EN/02
Symptom
Vibration
Noise
(Continued)
Description
-There is some relationship
between the vibration of the
robot and the operation of a
machine near the robot.
-There is an unusual sound
after replacement of grease.
-There is an unusual sound
after a long period.
-There is an unusual sound
during operation at low speed.
Cause
[Noise from a nearby machine]
-If the robot is not grounded properly,
electrical noise is induced on the
grounding wire, preventing commands
from being transferred accurately,
thus leading to vibration.
-If the robot is grounded at an
unsuitable point, its grounding
potential becomes unstable, and
noise is likely to be induced on the
grounding line, thus leading to
vibration.
-There may be an unusual sound
when using other than the specified
grease.
-Even for the specified grease, there
may be an unusual sound during
operation at low speed immediately
after replacement or after a long
period.
- 27 -
Measure
-Connect the grounding wire
firmly to ensure a reliable
ground potential and prevent
extraneous electrical noise.
-Use the specified grease.
-When there is an unusual
sound even for specified
grease, perform operation for
one or two days on an
experiment. Generally, a
usual sound will disappear.
3.TROUBLESHOOTING
Symptom
Rattling
B-82505EN/02
Description
-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.
Cause
[Mechanical section coupling bolt]
-It is likely that overloading or a
collision has loosened a mounting bolt
in the robot mechanical section.
-Backlash is greater than the
tolerance stated in the
applicable maintenance
manual.
(See table 3.3 (d), (e).)
[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 in
overload conditions has caused the
tooth surfaces of a gear and the
reducer to wear out, resulting in an
increase for 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 for backlash.
- 28 -
Measure
-Check that the following bolts
for each axis are tight. If any of
these bolts is loose, apply
Loctite and tighten it to the
appropriate torque.
-Motor retaining bolt
-Reducer retaining bolt
-Reducer shaft retaining bolt
-Base retaining bolt
-Arm retaining bolt
-Casting retaining bolt
-End effecter retaining bolt
-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 changing the grease
with a specified type can help
prevent problems.
3.TROUBLESHOOTING
B-82505EN/02
Symptom
Motor
overheating
Description
-The ambient temperature of
the installation location
increases, causing the motor
to overheat.
-After a cover was attached to
the motor, the motor
overheated.
-After the robot control
program or the load was
changed, the motor
overheated.
Cause
[Ambient temperature]
-It is likely that a rise in the ambient
temperature or attaching the motor
cover prevented the motor from
releasing heat efficiently, thus leading
to overheating.
[Operating condition]
-It is likely that the robot was operated
with the maximum average current
exceeded.
-After a control parameter was
changed, the motor
overheated.
[Parameter]
-If data input for a workpiece is invalid,
the robot cannot be accelerated or
decelerated normally, so the average
current increases, leading to
overheating.
[Mechanical section problems]
-It is likely that problems occurred in
the mechanical unit drive mechanism,
thus placing an excessive load on the
motor.
[Motor problems]
-It is likely that a failure of the motor
brake resulted in the motor running
with the brake applied, thus placing an
excessive load on the motor.
-It is likely that a failure of the motor
prevented it from delivering its rated
performance, thus causing an
excessive current to flow through the
motor.
-Symptom other than stated
above
- 29 -
Measure
-The teach pendant can be
used to monitor the average
current. Check the average
current when the robot control
program is running. The
allowable average current is
specified for the robot
according to its ambient
temperature. Contact FANUC
for further information.
-Relaxing the robot control
program and conditions can
reduce the average current,
thus preventing overheating.
-Reducing the ambient
temperature is the most
effective means of preventing
overheating.
-Having the surroundings of
the motor well ventilated
enables the motor to release
heat efficiently, thus preventing
overheating. Using a fan to
direct air at the motor is also
effective.
-If there is a source of heat
near the motor, it is advisable
to install shielding to protect
the motor from heat radiation.
-Input an appropriate
parameter as described in
CONTROLLER OPERATOR’S
MANUAL.
-Repair the mechanical unit
while referring to the above
descriptions of vibration, noise,
and rattling.
-Check that, when the servo
system is energized, the brake
is released.
If the brake remains applied to
the motor all the time, replace
the motor.
-If the average current falls
after the motor is replaced, it
indicates that the first motor
was faulty.
3.TROUBLESHOOTING
Symptom
Grease
leakage
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. (See
Table 3.3(a))
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.
B-82505EN/02
Cause
[Poor sealing]
-Probable causes are a crack in the
casting, a broken O-ring, a damaged
oil seal, or a loose seal bolt.
-A crack in a casting can occur due to
excessive force that might be caused
in collision.
-An O-ring can be damaged if it is
trapped or cut during disassembling or
re-assembling.
-An oil seal might be damaged if
extraneous dust scratches the lip of
the oil seal.
-A loose seal bolt might allow grease
to leak along the threads.
-Problems with the grease nipple or
threads.
[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 reenergized.
-It is likely that the brake shoe has
worn out or the brake main body is
damaged, preventing the brake from
operating efficiently.
-It is likely that oil or grease has
entered the motor, causing the brake
to slip.
[Mechanical section problems]
-If the repeatability is unstable,
probable causes are a failure in the
drive mechanism or a loose bolt.
-If the repeatability becomes stable, it
is likely that a collision imposed an
excessive load, leading to slipping on
the base surface or the mating
surface of an arm or reducer.
-It is likely that the pulse coder is
abnormal.
[Peripheral unit displacement]
-It is likely that an external force was
applied to the peripheral unit, thus
shifting its position relative to the
robot.
- 30 -
Measure
-If a crack develops in the
casting, sealant can be used
as a quick-fix to prevent further
grease leakage. However, the
component should be replaced
as soon as possible, because
the crack might extend.
-O-rings are used in the
locations listed below.
-Motor coupling section
-Reducer (case and shaft)
coupling section
-Wrist coupling section
-J3 arm coupling section
-Inside the wrist
-Oil seals are used in the
locations stated below.
-Inside the reducer
-Inside the wrist
-Seal bolts are used in the
locations stated below.
-Grease drain outlet
-Replace the grease nipple.
-Check whether the brake drive
relay contacts are stuck to
each other. If they are found to
be stuck, replace the relay.
-If the brake shoe is worn out,
if the brake main body is
damaged, or if oil or grease
has entered the motor, replace
the motor.
-If the repeatability is unstable,
repair the mechanical section
by referring to the above
descriptions of vibration, noise,
and rattling.
-If the repeatability is stable,
correct the taught program.
Variation will not occur unless
another collision occurs.
-If the pulse coder is abnormal,
replace the motor or the pulse
coder.
-Correct the setting of the
peripheral unit position.
-Correct the taught program.
3.TROUBLESHOOTING
B-82505EN/02
Symptom
Description
Displacement -Displacement occurred after
(Continued)
a parameter was changed.
Cause
[Parameter]
-It is likely that the mastering data was
rewritten in such a way that the robot
origin was shifted.
BZAL alarm
occurred
-It is likely that the voltage of the
memory backup battery is low.
-It is likely that the pulse coder cable
is defected.
-BZAL is displayed on the
controller screen
- 31 -
Measure
-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.
3.TROUBLESHOOTING
3.3
B-82505EN/02
BACKLASH MEASUREMENT
Measurement method
1. Maintain the robot in a specified posture. (See Table 3.3(b) and
(c))
2. Apply positive and negative loads to each axis as shown in Fig.3.3
(a).
3. Remove the loads and measure the displacement.
Apply positive and negative loads to each axis three times and
then remove the loads.
Calculate the average of the
displacements in the second and third measurements as the
backlash.
Stop position
0
+10kg
First stop
(Do not measure)
-10kg
+10kg
L1
-10kg
0kg
L2
0kg
2
+10kg
0kg
L3
-10kg
Second stop
(B =L + L )
1
2
Third stop
(B =L + L )
3
3
4
0kg
L4
Fig.3.3 (a) Backlash Measurement Method
Backlash B is calculated using the following expression:
B＝
B2 + B3
2
Table 3.3 (a) Allowable drop of brake
At power off
At emergency stop
0.5mm
0.5mm
NOTE
The value is the drop value from the end effector
mounting face.
- 32 -
3.TROUBLESHOOTING
B-82505EN/02
Table 3.3(b) Backlash Measurement posture position（M-710iC/50T）
Measured axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
J2-axis
0°
45°
42°
13°
6°
J3-axis
90°
-92°
-90°
0°
18°
J4-axis
0°
90°
90°
90°
0°
J5-axis
0°
-90°
-90°
-89°
-108°
J6-axis
0°
-90°
-90°
0°
95°
Measurement position (mm)
J2-aixs arm J3-axis rotation center
J5-axis rotation center
170 mm from flange in J6-axis direction
170 mm from flange in J6-axis direction
235 mm from J6-axis center
Table 3.3(c) Backlash Measurement posture（M-710iC/70T）
Measured axis
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
J2-axis
0°
45°
42°
12°
4.5°
J3-axis
90°
-92°
-90°
0°
18°
J4-axis
0°
90°
90°
90°
0°
J5-axis
0°
-90°
-90°
-89°
-108°
J6-axis
0°
-90°
-90°
0°
95°
Measurement position (mm)
J2-aixs arm J3-axis rotation center
J5-axis rotation center
210 mm from flange in J6-axis direction
210 mm from flange in J6-axis direction
233 mm from J6-axis center
Table 3.3 (d) Allowable backlash tolerances (M-710iC/50T)
Angle conversion (arc-min)
Displacement conversion (mm)
Distance from the center（mm）
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
1.8
0.46
870
1.4
0.41
1016
2.1
0.21
345
2.7
0.27
345
5.2
0.36
235
Table 3.3 (e) Allowable backlash tolerances (M-710iC/70T)
Angle conversion (arc-min)
Displacement conversion (mm)
Distance from the center（mm）
J2-axis
J3-axis
J4-axis
J5-axis
J6-axis
1.8
0.46
870
1.4
0.41
1016
2.1
0.24
385
2.7
0.30
385
5.2
0.35
233
NOTE
The displacement conversion value indicates play in
the direction of rotation from the center of the axis at
the distance shown in brackets.
- 33 -
4.REPLACING PARTS
4
B-82505EN/02
REPLACING PARTS
Replace the main parts of the mechanical unit as described below.
NOTE
1 Description of LT242 means Loctite No.242.
2 Description of LT262 means Loctite No.262.
3 Description of LT518 means Loctite No.518.
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.
- 34 -
4.REPLACING PARTS
B-82505EN/02
4.1
PART REPLACEMENT AND CORRESPONDING
ADJUSTMENT
When a part is replaced, the corresponding adjustment must be made.
Table 4.1 (a) lists those parts that can be replaced and the
corresponding adjustment. After replacing a part, perform the
appropriate adjustment, as listed below.
Table 4.1 (a) Parts to be replaced and adjustment items
Parts to be replaced
Adjustment
Method
Motor, reducer, gear
Wrist unit
Cable (*)
Mastering
See section 6 and refer to
section 8 of OPERATOR’S
MANUAL
* Refer to Section 5, for replacement of cables.
NOTE
Be careful when removing and installing the
following heavy parts.
Table 4.1 (b) Mass of the main parts
Parts name
Servo motor
Reducer
J2-axis
J2-axis
J3-axis
J2-axis arm
J2-axis base
J2-axis base to wrist unit
Wrist unit
J3-axis casing to wrist unit
- 35 -
Mass (approx.)
29kg
47kg
20kg
60kg
110kg
430kg
22kg
145kg
4.REPLACING PARTS
4.2
(1)
B-82505EN/02
REPLACING J2 AXIS MOTOR M2 AND REDUCER
Replacing the J2-axis motor
1
Bring J2-axis to mechanical stopper, lift it using a sling with a
posture as shown in Fig. 4.2 (b) kept and fix the J2-axis not to turn.
2 Turn off the power.
3 Remove the J-2 axis cover when it is with J2-axis cover (option).
4 Remove the pulse coder connector cover (while holding down the
cover to prevent it from rotating together with the bolt and
destroying the connector).
5 Remove the connectors of J2-axis motor.
6 Remove the motor mounting bolts (M12×25 3 pcs) Remove the
motor by moving it horizontally while being careful not to damage
the seal attached to the J2 base.
7 Remove the bolt (M6 x 110) at the end of the motor shaft and
remove the input gear.
8 Replace the motor, and remount a new motor reversing the above
procedure. Polish the motor flange with an oilstone. Mount the
motor by moving it horizontally while being careful not to damage
the seal attached to the J2 base. Apply LOCTITE No. 242 to the
bolts, which are marked LT242 on the Fig.4.2 (a). Tighten the bolts
indicated in Fig. 4.2 (a) with the specified tightening torque.
Remove the O-ring and attach a new one correctly to the specified
position. Be careful not to damage the tooth surface of the input
gear. Those bolts for which no tightening torque is specified must
be tightened according to the tightening torque table shown in the
appendix.
9 Lubricate with grease (see section 2.2).
10 Perform mastering (see section 6 and refer to section 8 of
OPERATOR’S MANUAL.).
- 36 -
4.REPLACING PARTS
B-82505EN/02
J2-axis motor
Motor mounting bolts
(M12×25, 3pcs)
Pulse code
Conical spring Input gear
connector cover
washer
O-ring
Seal washer
Bolt
(M6×110)
LT242
15.7Nm(1.6kgfm)
Pulse coder connector
cover mounting bolts
(M8×12)
Fig.4.2 (a) Replacing J2-axis motor
Eyebolt(M8)
Sling
Eyebolt(M8)
Fig.4.2 (b) Replacing J2-axis motor
- 37 -
4.REPLACING PARTS
(2)
B-82505EN/02
Replacing J2-axis reducer
1
2
Turn off the power.
Support the J3-axis arm by using sling at both ends in such a way
that robot is stabilized after weight in the wrist part is considered.
(See Fig.4.2(c).)
3 Remove the J2-axis motor. (See section 4.2 (1).)
4
Remove the J3-axis casing and the cable in the J2-axis arm from
the cable clamp as described in Chapter 5, remove the J2-axis
base side cover, and run the cable under the J2-axis arm.
5
Remove the cable clamp of the J2-axis base side from the plate
and remove the cable from the cable clamp. (See section 5.)
6
Remove the plate mounting bolt and the pipe-mounting bolt, and
then remove the plate and the pipe. (See Fig.4.2 (d).)
7
Remove J2-axis arm mounting bolts (M16×45 6 pcs M10×35 14
pcs) and pull out the J2-axis arm to horizontal direction slowly.
(See Fig.4.2 (e).)
8
Remove the reducer mounting bolts (M12 ×50 16 pcs) and
remove the reducer from J2-axis base. (See Fig. 4.2 (e).)
9
Replace the reducer.
10 Reassemble by reversing the above procedure. Polish the reducer
mounting faces and motor flange using an oilstone. Apply
LOCTITE No. 518 to the J2 arm side of the reducer shown in
Fig.4.2 (f). Apply LOCTITE No. 262 to the bolts, which are
marked LT262 shown in Fig.4.2 (e). Tighten the bolts indicated
in Fig. 4.2 (e) with the specified tightening torque.
Those bolts for which no tightening torque is specified must be
tightened according to the tightening torque table shown in the
appendix.
Remove the O-ring and attach a new one correctly to the
specified position.
11 Form the cables. (See section 5.)
12 Lubricate with grease. (See section 2.2.)
13 Perform mastering. (See sections 6 and refer to section 8 of
OPERATOR’S MANUAL.)
- 38 -
4.REPLACING PARTS
B-82505EN/02
Sling
Eyebolt(M8)
Eyebolt(M8)
Fig.4.2 (c) Posture for replacing J2-axis and J3-axis reducer
J2-axis arm
Ｏ-ring
J2-axis motor
Pipe
Pipe mounting bolts(M6X10, 4pcs)
J2-axis base outside
cover mounting bolt
(M6X12, 9pcs)
Duct
J2-axis base outside
cover
Plate mounting bolts
(M6X10, 5pcs)
Plate
Fig.4.2 (d) Replacing J2-axis reducer
- 39 -
4.REPLACING PARTS
B-82505EN/02
Reducer mounting bolts
(M12×50, 16pcs)
Conical spring washer
LT262
128Nm(13.1kgfm)
O-ring
Ｊ2-axis arm mounting LT262
bolts (M10×35, 14pcs) 73.5Nm(7.5kgfm)
Conical spring washer
Ｊ2-axis arm mounting LT262
bolts (M16×45, 6pcs) 319Nm(32.5kgfm)
Conical spring washer
J2-axis reducer
Fig.4.2 (e) Replacing J2-axis reducer
Loctite No.518 applying area
Apply the sealant (Loctite No. 518) in the form of beads (with a width of
2 mm or more) to the areas indicated in the above figure.
In particular, make sure that the sealant is applied continuously to the
crosshatched areas between the clover end and the tap and between
the clover end and the shaft end.
Fig.4.2 (f) applying sealant to the J2-axis reducer
- 40 -
4.REPLACING PARTS
B-82505EN/02
4.3
(1)
REPLACING THE J3-AXIS MOTOR AND REDUCER
Replacing the J3-axis motor (M3)
1
2
3
4
5
6
7
8
9
10
11
Push the J3-axis arm against its mechanical stopper. Lift it using
a sling with a posture as shown in Fig. 4.2 (b) kept, fix the arm so
that it cannot swivel.
Turn the power off.
Remove the J3-axis cover and the cover of J3-axis casing side.
Remove the connector from the J3-axis motor.
Remove the three motor mounting bolts (M8×25). Remove the
motor by moving it horizontally while being careful not to
damage the seal attached to the J3-axis casing.
Fix the input gear with the J3-axis motor gear special fixture
shown in section 1.6, remove the nut at the tip of the motor shaft,
and remove the input gear.
Remove the C-ring from the input gear. Remove the bearing.
Remove the bearing, secure the input gear, and fix with the
C-ring.
Mounting of the new motor is the reverse of the removal
procedure. Polish the motor flange with an oilstone. Mount the
motor by moving it horizontally while being careful not to
damage the seal attached to the J3-axis casing. Apply Loctite No.
242 to the screw threads of the motor, which are marked LT242
on the Fig. 4.3 (a). Degrease both sides of the flat washer marked
LT518 for the motor screw in Fig. 4.3 (a) and apply Loctite No.
518. Tighten the bolts indicated in Fig. 4.3 (a) with the specified
tightening torque. Take extreme care not to damage any teeth of
the input gear. Remove the O-ring and attach a new one correctly
to the specified position. Those bolts for which no tightening
torque is specified must be tightened according to the tightening
torque table shown in the appendix.
Lubricate with grease. (See Section 2.2.)
Perform mastering. (See sections 6 and refer to section 8 of
OPERATOR’S MANUAL.)
- 41 -
4.REPLACING PARTS
B-82505EN/02
Washer
Input gear
LT518
Motor mounting bolts
（M8×25, 3pcs）
Conical spring washer
LT242
Cover mounting bolts
（M6×10, 9pcs）
J3 casing
side cover
O-ring
Ｃ-ring
Bearing
J3-axis motor
Nut 16.7Nm(1.7kgfm)
Fig.4.3 (a) Replacing the J3-axis motor
- 42 -
4.REPLACING PARTS
B-82505EN/02
(2)
Replacing the J3-axis reducer
1
2
3
4
5
6
7
8
9
10
11
12
13
Turn the power off.
Support the J3-axis arm by using ropes at both ends in such a
way that the load is evenly applied. (See Fig.4.2 (c).)
Remove the J3-axis motor. (Refer to (1) in Section 4.3.)
Remove the upper cover from the J2-axis arm.
Remove the cable in the J3-axis casing from the cable clamp as
described in Chapter 5 and draw the cable out of the J2-axis arm.
Remove the J2-axis arm mounting bolts (nine M12×35 bolts).
Remove the J3-axis unit from the J2-axis arm.
Remove the pipe mounting bolts and remove the pipe from the
reducer.
Remove the reducer mounting bolts (M10×85 14 pcs). Remove
the reducer from the J3-axis casing.
Remove the center gear from the reducer.
Replace the reducer. Reassemble by reversing the above
procedure. When assembling the reducer, take note of the phase
of the grease outlet (see Fig. 4.3 (c)). Polish the reducer mounting
face and motor flange with an oilstone. Apply Loctite No. 262 to
each bolt indicated in Fig.4.3 (b). Tighten the bolts indicated
LT262 in Fig. 4.3 (b) with the specified tightening torque. Those
bolts for which no tightening torque is specified must be
tightened according to the tightening torque table shown in the
appendix. Remove the O-ring and attach a new one correctly to
the specified position. Take extreme care not to damage any teeth
of the center gear.
Perform cable forming. (See section 5.)
Lubricate with grease. (See section 2.2.)
Perform mastering. (See Sections 6 and refer to section 8 of
OPERATOR’S MANUAL.)
- 43 -
4.REPLACING PARTS
B-82505EN/02
Reduce mounting
bolts (M10x85, 14pcs)
Conical spring washer
J2-axis arm mounting
bolts (M12x35, 9pcs)
Conical spring washer
Cover mounting bolts
(M6x10, 8pcs)
J3-axis unit
Pipe mounting bolts
(M6x25, 3pcs)
Pipe
J2-axis arm upper
cover
O-ring
Center gear
O-ring for
the bleed hole
J2-axis arm
O-ring
J3-axis reducer
Fig.4.3 (b) Replacing the J3-axis reducer
Set the phase of
the bleed hole
Fig.4.3 (c) Replacing the J3-axis reducer
- 44 -
4.REPLACING PARTS
B-82505EN/02
4.4
(1)
REPLACING THE WRIST AXIS MOTOR AND J4-AXIS
REDUCER
Replacing the wrist-axis motor
1
2
3
4
5
6
7
8
9
Remove the hand, workpiece, and any other load from the wrist.
Set the J3-axis to the -90 degree (-1.57rad) position. Turn the
power off.
Remove J3-axis cover.
Remove the connector of a motor to be replaced. When the
J5-axis motor is replaced, also remove the brake connector of the
J3-axis motor.
Remove the three motor mounting bolts (M6 x 20) with the fixture
specific to the wrist-axis motor shown in Section 1.6 or a
T-wrench, and remove the motor.
Remove the nut and input gear.
Mounting of the new motor is the reverse of the removal
procedure. Polish the motor flange with an oilstone. Apply
Loctite No.242 to the screw threads of the motor. Take extreme
care not to damage any teeth of the input gear. Remove the O-ring
and attach a new one correctly to the specified position. The new
motor must be mounted in exactly the same position as that from
which the original motor was removed (see Fig.4.4 (a).) Mount
the motor, taking care to orient the connector correctly. (Refer to
Fig.4.4 (a).) Those bolts for which no tightening torque is
specified must be tightened according to the tightening torque
table shown in the appendix.
Lubricate with grease. (See section 2.2.)
Perform mastering. (See sections 6 and refer to section 8 of
OPERATOR’S MANUAL.)
Motor mounting bolts
(M6x20, 3pcs)
Conical spring washer
Input gear
Washer
Nut
O-ring
J4-axis motor
J6-axis motor
J5-axis motor
Attention to the direction
of the connectors
Fig.4.4 (a) Replacing the wrist-axis motor
- 45 -
4.REPLACING PARTS
(2)
B-82505EN/02
Replacing the J4-axis reducer
1 Remove the hand, workpiece, and any other load from the wrist.
2 Sling the J3 arm as the Fig.4.4 (b).
3 Remove the J3-axis arm unit mounting bolts (M8×25 12pcs).
Remove the J3-axis arm unit. (See Fig. 4.4(c).)
4 Remove the adapter mounting bolts (M8×25 12pcs). Remove
the adapter. (See Fig. 4.4(c).)
5 Remove the 16 reducer mounting bolts (M6×30).
6 Remove the reducer. Fit a new reducer.
7 Mounting of the new reducer is the reverse of the removal
procedure. Polish the reducer mounting face with an oilstone.
Apply Loctite No. 262 to each bolt-indicated LT262 in Fig.4.4 (c).
Tighten the bolts indicated in Fig. 4.4 (c) with the specified
tightening torque. Those bolts for which no tightening torque is
specified must be tightened according to the tightening torque
table shown in the appendix. Remove the O-ring and attach a new
one correctly to the specified position.
8 Lubricate with grease. (See section 2.2.)
9 Perform mastering. (See section 6 and refer to section 8 of
OPERATOR’S MANUAL)
Sling
Eyebolt(M8)
Fig.4.4 (b) Replacing J4-axis reducer
- 46 -
4.REPLACING PARTS
B-82505EN/02
Reducer mounting bolts
(M6X30, 16pcs)
Conical spring washer
LT262
15.7Nm(1.6kgfm)
Adapter mounting bolts
(M8X25, 12pcs)
Conical spring washer
J4-axis reducer
Adapter
LT262
37.2Nm(3.8kgfm)
J3-axis arm unit
J3-axis arm unit mounting
bolts (M8×40, 12pcs)
O-ring
Fig.4.4 (c) Replacing the J4-axis reducer
- 47 -
Washer plate
4.REPLACING PARTS
4.5
B-82505EN/02
REPLACING THE WRIST UNIT
1
2
3
4
5
Remove the hand, workpiece, and any other load from the wrist.
Remove the 12 wrists unit securing bolts (M8×40). Remove the
wrist unit.
Fit a new wrist unit. Mounting of the new wrist unit is the
reverse of the removal procedure. At this time, Remove the
O-ring and attach a new one correctly to the specified position.
Those bolts for which no tightening torque is specified must be
tightened according to the tightening torque table shown in the
appendix.
Lubricate with grease. (See section 2.2.)
Perform mastering. (See section 6 and refer to section 8 of
OPERATOR’S MANUAL)
J3-axis arm unit
Wrist unit mounting bolt
(M8x40 12pcs)
Washer plate
O-ring
Fig.4.5 Replacing the wrist unit
- 48 -
Wrist unit
5.REPLACING CABLES
B-82505EN/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 in
Fig.5 (a), 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.
The J2-axis motor is provided with a pulse coder connector cover, as
shown in Fig. 5 (b), to protect the connectors. Before removing the
connectors for cable replacement or other purposes, remove the covers.
In this case, turning the bolt may also turn the cover, possibly causing
damage to the connector. When removing the cover, hold it to
prevent it from turning.
Fig.5 (a) Marking Tie
- 49 -
5.REPLACING CABLES
B-82505EN/02
Pulse coder
connector cover
Fig. 5 (b) Pulse coder connector cover
- 50 -
5.REPLACING CABLES
B-82505EN/02
5.1
WIRING CONFIGURATION OF CABLE
Fig. 5.1 (a) shows a schematic of the robot internal cables.
Fig. 5.1 (b) shows routing of the robot cables.
The cables should be checked for defects as part of each periodic
inspection.
1
To examine the cables in the hollow section of the J2 –axis arm,
remove the side cover of the J2-axis base. (See Fig. 5.1(b).)
To examine the cables in the hollow section of the J3-axis reducer,
remove the upper cover of the J2-axis arm. (See Fig. 5.1(b).)
2
R-30iA controller
POWER
J2 base connector panel
J1-axis motor (attached for traveling axis)
K105
RM1
M1M
M1BK
M1P
K104
CRR64
J2-axis motor
K105
M2M
M2BK
M2P
K104
K105
CRF8
M3M
M3BK
M3P
J6-axis motor
M6M
M6P
K104
J3-axis casing
K104
RI/RO(EE)
J2-axis base
K131(Option)
AS1
J1-axis OT
K707(Option)
Fig. 5.1 (a)
J5-axis motor
J3-axis motor
Battery
K104
M4M
M4P
M5M
M5P
K105
RP1
J4-axis motor
Robot internal cables
- 51 -
AS2
5.REPLACING CABLES
B-82505EN/02
J2 arm
upper cover
J3 casing
K104 (M1～M6 pulse coder,
end effector(RI/RO))
K105 (M1～M6 power, brake)
K131 (User cable(signal)[option]
J2 base
side cover
K801
(Relay cable for severe dust/liquid protection)
[option]
(The cable is relayed from K104 inside of the
J3 casing.)
K707 (J1OT)[option]
Fig. 5.1 (b) Routing of the robot cables
- 52 -
5.REPLACING CABLES
B-82505EN/02
5.2
CABLE FORMING
When replacing cables, clamp the cable at the position specified in
Table 5.2 (a) and (b) using a clamp or a nylon band. Otherwise, cables
can be loosened or pulled by force to cause their disconnection.
Refer to the figures in section 5.3 for the cable clamp position not
listed in the Table.
- 53 -
5.REPLACING CABLES
B-82505EN/02
Table 5.2 (a) Cable clamp position
Stamp
Cable clamp positions and intervals
The side of J2-axis base
Inside of J2-axis base
Cable
Stamp Number
Lower part of J2-axis arm
Upper part of J2-axis arm
Inside of J3-axis casing
M4M
M5M
M6M
RM1
M3M
K105
M3BK
M2M
M2BK
M1M
M1BK
GB1
M1P
M2P
RP1
M3P
K104
M4P
J1OT
M5P
M6P
EE
AS1
AS2
- 54 -
K131
（option）
5.REPLACING CABLES
B-82505EN/02
Table 5.2 (b) Cable clamp position
Stamp
Cable clamp positions and intervals
Stamp
Cable
Number
K801
EE-K801 （option）
EE-K801
- 55 -
5.REPLACING CABLES
5.3
B-82505EN/02
REPLACING THE CABLES
This section describes the procedure for replacing all cables (full
options) during routine cable replacement for the mechanical unit.
To replace one or a few damaged cables only, refer to this section to
replace them. For construction of the mechanical unit cable, see 5.1.
After replacing the cables, mastering must be performed.
Before replacing the cables, see section 6 or refer to section 8 of
OPERATOR’S MANUAL. (When the pulse coder cable is not to be
replaced, mastering is not required.)
NOTE
When replacing cables while the robot is left
installed in the J1-axis traveling unit (ceiling or wall
mounted), prepare a large work space, which is
stable enough. If safety work seems to be
impossible while the robot is left ceiling or wall
mounted, detach the robot from the J1-axis traveling
unit, and place the robot on the floor.
Replacement procedure
1
2
3
4
5
6
7
8
Turn off the power to the robot, and disconnect the cables on the
control unit side from the connector box on the J2–axis base.
Disconnect the air pipes if air input is provided, and disconnect
the cables of the J1–axis OT connection interface (option) if this
interface is used.
From the connector panel on the front of the J3–axis casing,
disconnect the air pipes if air output is provided, and disconnect
the cables of the end effector interface if this interface is used.
Remove the cover of the J2-axis and J3-axis, and remove the side
cover of the J3-axis. Disconnect the cables from the J1-axis to
J6-axis motors.
Remove the L-shaped plate inside the J2-axis base, and remove
the cable from the cable clamp. (See Figs. 5.3 (a))
Detach the J2-axis connector panel from the J2-axis base.
Disconnect the air pipes, and remove the grounding terminals
secured on the rear side of the J2-axis casing. Cut the cable tie
securing the battery lines and remove the screws to release the
battery lines.
Remove the cord clips for the power lines and pulse coder lines
for the J1–axis motor on the connector panel on the main
connector side of the connector box on the J2–axis base, together
with the plate. Remove the housing of the J1–axis OT connection
interface (option). (Fig. 5.3 (b))
Cut the cable ties for binding the rubber boots of the HARTING
connectors of the power lines and pulse coder lines. Remove the
screws, and remove the inserts from the housing. (Fig. 5.3 (b))
Remove the cover on the side of the J2-axis base, remove the
cable clamp, and remove the cable from the cable clamp. (See Fig.
5.3 (c))
- 56 -
5.REPLACING CABLES
B-82505EN/02
9
Remove the lower cover of the J2-axis arm, remove the cable
clamp, and remove the cable from the cable clamp (see Fig. 5.3
(d)).
10 Remove the upper cover of the J2-axis arm, remove the cable
clamp, remove the cable from the cable clamp, and place it near
the hollow part of the J3-axis reducer. (See Fig. 5.3 (e)).
11 Remove the connector panel on the front of the J3-axis casing and
disconnect the cables and air pipes from the connector panel. (See
Fig. 5.3(f))
12 Draw the cable out of the side of the J3-axis casing, remove the
cable clamp within the J3-axis casing, and remove the cable from
the cable clamp. (See Figs. 5.3 (g)).
13 Draw the cable out of the hollow part of the J3-axis reducer while
being careful not to damage the inside of the pipe attached to the
hollow part of the reducer, and run the cable under the J2-axis
arm.
14 Draw the cables to the side of the J2-axis casing, and then draw
them from the duct to the right side of the J2-axis casing.
15 Fit new cables by reversing the above procedure. At this time, be
careful not to damage the pipes attached to hollow parts of the
J1-axis and J3-axis reducers. In addition, take note of cable
forming and clamp positions (see Tables 5.2 and Figs. 5.3 (a) to
(g)). Those bolts for which no tightening torque is specified must
be tightened according to the tightening torque table shown in the
appendix.
16 Perform mastering. (See section 6 and refer to section 8 of
OPERATOR’S MANUAL.)
NOTE
The connectors are often incorrectly connected to
the J4, J5, and J6–axis motors. Check the markings
on the cables, and make connections with due care.
(See Fig. 4.4 (a).) An incorrect connection may
cause the robot to get out of control.
- 57 -
5.REPLACING CABLES
B-82505EN/02
L size plate
A1 A 2 B
A'1 A'2 B'
3M AIR 456P
3P
AP 456M 2M
2P
EE
AS
BATTERY
SECTION A1 A',A
1
2A'2 ,BB'
Fig. 5.3 (a) Replacing the cables
- 58 -
5.REPLACING CABLES
B-82505EN/02
The plate which J1-axis cable
is attached to
Air pipe
Rubber boots
J1-axis OT connection interface
housing
HARTING connector
insert
Fig. 5.3 (b) Replacing the cables
Cable clamp outside
of J2-axis base
Cover
C
C'
3P
456P
456M
AIR
AP
3M
AS
EE
Section CC'
Fig. 5.3 (c) Replacing the cables
- 59 -
5.REPLACING CABLES
B-82505EN/02
J2-axis arm at
lower cable clamp
Cover
D
D'
456M AP
3P
456P
AIR
3M
AS
EE
Section DD'
Fig. 5.3 (d) Replacing the cables
E
E'
J2-axis arm
at upper cable clamp
456M AP
3P
AIR
456P
3M
SectionEE'
Fig. 5.3 (e) Replacing the cables
- 60 -
AS
EE
5.REPLACING CABLES
B-82505EN/02
Remove the air tube
from the connector
plate at the front of
J3-axis casing
Fig. 5.3(f) Replacing the cables
F
F'
3P
456P
456M
AIR
AP AS
3M
EE
Section FF'
456M
3P
456P
AIR
G
G' Cable clamp in the
J3-axis casing
AP
3M
SectionGG'
Fig. 5.3(g) Replacing the cables
- 61 -
AS
EE
6.MASTERING
6
B-82505EN/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.
- 62 -
6.MASTERING
B-82505EN/02
6.1
GENERAL
The current position of the robot is determined according to the pulse
count value supplied from the pulse coder on each axis.
Mastering is factory-performed. It is unnecessary to perform
mastering in daily operations. However, mastering becomes necessary
after:
-Motor replacement
-Pulse coder replacement
-Reducer replacement
-Cable replacement
-Batteries for pulse count backup in the mechanical unit have gone
dead.
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.
NOTE
The mastering and adjustment of the J1–axis
(traveling part) are not described in this manual
because they depend on the structure of the
traveling part that needs to be prepared separately.
- 63 -
6.MASTERING
B-82505EN/02
Mastering method
There are following five methods of mastering.
Table 6.1 Types of mastering
Fixture position
mastering
Zero-position
mastering (eye
mark mastering)
Simplified
mastering
One-axis
mastering
Mastering data
entry
This is performed using a mastering fixture before the
machine is shipped from the factory.
This is performed with all axes set at the 0-degree
position. A zero-position mark (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 user can
specify the mastering position for each axis. This is useful
in performing mastering on a specific axis.
Mastering data is entered directly.
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
The J1-axis motor is shipped as an accessory.
Therefore, after installing the motor in the J1-axis
traveling unit, be sure to perform single–axis
mastering for the J1 axis.
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 $MATER_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.
NOTE
It is recommended that you back up the current
mastering data before performing mastering.
- 64 -
6.MASTERING
B-82505EN/02
6.2
RESETTING ALARMS AND PREPARING FOR
MASTERING
Before performing mastering because a motor is replaced, it is
necessary to release the relevant alarm and display the positioning
menu.
Alarm displayed
“Servo 062 BZAL” or “Servo 075 Pulse mismatch”
Procedure
Step
1
Display the positioning menu by following steps 1 to 6.
1
Press the screen selection key.
2
Press [0 NEXT] and Select [6 SYSTEM].
3
Press F1 [TYPE], and select [SYSTEM Variable] from
the menu.
4
Place the cursor on $MASTER_ENB, then key in “1”
and press [ENTER].
5
Press F1 [TYPE] again, 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 [Master/Cal] from the
menu.
4 Press the F3 [RES_PCA], then press F4 [TRUE].
5 Switch the controller power off and on again.
3
To reset the "Servo 075 Pulse mismatch" alarm, follow
steps 1 to 3.
1 When the controller power is switched on again, the
message "Servo 075 Pulse mismatch" appears again.
2 Move the axis for which the message mentioned above
has appeared through ±10 degrees in either direction.
3 Press [FAULT RESET]. The alarm is reset.
- 65 -
6.MASTERING
6.3
B-82505EN/02
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 surface 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. 6.3 (a). Pay attention
to the direction of the diamond pin.
Plate
Dial gauge（5pcs）
Bolt
M5x20(4 pcs)
Base
Bolt
M12x35(4 pcs)
Adapter
O16 Diamond pin O16 Pin
Direction of
diamond pin
Upper side of
the robot
Fig. 6.3 (a) Assembling the fixture base
- 66 -
6.MASTERING
B-82505EN/02
2
Adjust the dial gauge to 3.00 mm using the calibration block, and
tighten it with M5 bolt as shown in Fig. 6.3 (b). (Do not tighten
the bolt too strongly or the dial indicator will be broken.)
Calibration block
M5 Bolt
Fig. 6.3 (b) Mounting dial indicator
3
Mount the fixture to the wrist flange as shown Fig. 6.3 (c) to (e).
- 67 -
6.MASTERING
B-82505EN/02
A
Direction of
diamond pin
Center of
wrist
B
O10 Pin
O10 Diamond pin
Diamond pin
E
Bolt
M10X35(4 pcs)
D
C
Fig. 6.3 (c) Assembling the fixture base (standard flange)
A
Direction of
diamond pin
Center of
wrist
B
O9 Pin
O9 Diamond pin
Diamond pin
E
Bolt
M10X35(4 pcs)
D
Fig. 6.3 (d) Assembling the fixture base (special flange)
- 68 -
C
6.MASTERING
B-82505EN/02
A
Direction of
diamond pin
B
Center of
wrist
O8 Diamond pin
Diamond pin
E
Bolt
M8X35(4 pcs)
O8 Pin
Fig. 6.3 (e) Assembling the fixture base (ISO flange)
- 69 -
D
C
6.MASTERING
B-82505EN/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.
A to E (see Fig. 6.3 (c) to (e)) of the fixture attached to the wrist
are dial gauges A to E (see Figs. 6.3 (b)) and make adjustments
so that dial gauges A to E indicate 3 mm. A posture as shown
in Fig. 6.3 (f) should be taken. See this figure for reference.
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.
6
7
8
Select “ 1 FIXTURE POSITION MASTER” and Press F4, YES.
"MASTER POSITION" shown in Figs. 6.3(f) 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].
- 70 -
6.MASTERING
B-82505EN/02
WARNING
1. Since the axis stroke is not checked during the
mastering, be careful to stay clear of the robot
motion.
2. Upon completion of mastering, change system
variables as shown below to enable brake control
again.
$PARAM_GROUP.$SV_OFF_ALL: TRUE
$PARAM_GROUP.$SV_OFF_ENB[*]: TRUE (for all axes)
J3
After changing the system variables, switch the control
unit power on again.
J2
J5
Fig. 6.3 (f) mastering posture
- 71 -
Axis
Angle
J2
-26.424°
J3
-36.814°
J4
0°
J5
-53.186°
J6
0°
6.MASTERING
6.4
B-82505EN/02
CHECKING THE MASTERING
1
Checking whether mastering has been made correctly
Usually, positioning is performed automatically at power-on.
To check whether mastering has been made correctly, note
whether the displayed current position agrees with the actual
robot position. Use the procedure described below:
(1) Reproduce a particular point in a program. Check whether
the point agrees with the specified position.
(2) Set all axes of the robot to their 0-degree (0rad) positions.
Check that the zero-degree position marks indicated in Fig.
8.3 of OPERATOR’S MANUAL are aligned. There is no
need to use any visual aid.
(3) Using fixtures, set the robot to the mastering position in the
same way as when performing mastering. Check that the
displayed current position agrees with the actual mastering
position.
If the displayed and actual positions do not match, the counter
value for a pulse coder may have been invalidated as a result of
an alarm described in 6.4.2. Alternatively, the mastering data in
system variable $DMR_GRP.$MASTER_COUN may have been
overwritten as a result of an operation error or some other reason.
Compare the data with the values indicated on the supplied data
sheet. This system variable is overwritten whenever mastering
is performed. Whenever mastering is performed, record the
value of the system variable on the data sheet.
2
Alarms that may be output during mastering
This section describes those alarms related to pulse coders, as
well as the actions required to clear them.
(1) BZAL alarm
This alarm is output if the voltage of the pulse coder's
backup battery falls to 0 V while the power to the control
unit is disconnected. To clear the alarm, fit a new battery,
execute the pulse reset (See section 6.2.), then turn the
power off then on again.
Note that, if this alarm occurs, all data originally held by the
pulse coder will have been lost. Mastering must be
performed again.
(2) BLAL alarm
This alarm is output if the voltage of the pulse coder's
backup battery has fallen to a level where backup is no
longer possible. If this alarm is output, fit a new battery
immediately while keeping the power turned on. Check
whether the current position data is valid, using the
procedure described in 1.
- 72 -
6.MASTERING
B-82505EN/02
(3) CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR,
STBERR, and SPHAL, alarms
If any of these alarms is output, contact the FANUC service
section. The pulse coder may be defective.
- 73 -
APPENDIX
A.SPARE PARTS LIST
B-82505EN/02
A
Cable
K104
K105
Cable
K707
K131
K801
SPARE PARTS LIST
Table A (a) Cables (Basic cable)
Specification
Function
J1～J6 PULSECODER+EE
A660-8016-T022
J1～J6 POWER
A660-8016-T023
Table A (b) Cables (Optional cable)
Specification
A660-2006-T606
A660-2006-T616
A660-2006-T313
Axis
J2
J3
J4, J5
J6
J6
Specification
A06B-0041-B605#S042
A06B-0235-B605#S000
A06B-0215-B605#S000
A06B-0212-B605#S000
A06B-0215-B605#S000
J2-axis reducer
J3-axis reducer
J4-axis reducer
J3-axis input gear
J4-axis input gear
J5-axis input gear
J6-axis input gear
Name
Wrist unit
Table A (c) Motor
Remark
αiSR30/3000
αiS8/4000
αiS4/5000
αiS2/5000
αiS4/5000
A97L-0218-0390#320E-129
A97L-0218-0390#320E-185
A97L-0218-0396#100C-36
A97L-0218-0397#F30-59
Machine
All models
M-710iC/50T
M-710iC/70T
Machine
M-710iC/50T
M-710iC/70T
All models
Table A (e) Gear
Specification
Name
J2-axis input gear kit
J1 OT
AS
Relay cable for severe dust/ liquid protection
Table A (d) Reducer
Specification
Name
Function
A97L-0218-0400#129
A97L-0218-0400#185
A290-7125-X421
A290-7125-X461
A290-7125-X423
A290-7125-X463
A290-7125-X425
A290-7125-X465
A290-7125-X427
A290-7125-X467
Table A (f) Others (Mechanical unit)
Specification
A290-7125-T501
- 77 -
Machine
M-710iC/50T
M-710iC/70T
M-710iC/50T
M-710iC/70T
M-710iC/50T
M-710iC/70T
M-710iC/50T
M-710iC/70T
M-710iC/50T
M-710iC/70T
Machine
A.SPARE PARTS LIST
Table A (g) Battery and grease
Specification
Name
Battery
Grease
B-82505EN/02
A98L-0031-0005
A98L-0040-0174#16KG
Size D 1.5V
Kyodo Yushi
VIGOGREASE RE0
A97L-0001-0179#2
SHELL ALVANIA GREASE S2
Table A (h) Stopper
Specification
Name
Stopper
Stopper A
Stopper B
A290-7125-X337
A290-7125-X360
A290-7125-X361
Table A (i) O-ring
Specification
JB-OR1A-G125
JB-OR1A-G105
JB-OR1A-G75
JB-OR1A-G270
A98L-0040-0041#173
A98L-0040-0041#163
A98L-0001-0347#S105
Name
Gasket
Gasket
Gasket
Gasket
Gasket
Gasket
Remark
J3-axis stopper 2 pcs
J2-axis stopper (front side)
J2-axis stopper (rear side)
Name
O-ring
O-ring
O-ring
O-ring
O-ring
O-ring
O-ring
Remark
Location of use
Motor for J2-axis
Motor for J3-axis
Motor for the wrist axis
J2-axis reducer
J3-axis reducer
J4-axis reducer
Table A (j) Gaskets (when severe dust/liquid protection option is selected)
Specification
Location of use
A290-7125-X853
A290-7125-X852
A290-7125-X808
A290-7125-X809
A290-7125-X810
A290-7125-X815
J2 motor cover
Side of J2 base
Lower side of J2 arm
Upper side of J2 arm
J3 motor cover
Side of J3 casing
NOTE
When checking items described in section 1.4, be
sure to replace the gasket with new one.
- 78 -
B.CIRCUIT DIAGRAMS
B-82505EN/02
B
CIRCUIT DIAGRAMS
- 79 -
B.CIRCUIT DIAGRAMS
B-82505EN/02
Fig. B Circuit diagram in robot（M-710iC/50T, 70T)
- 80 -
B.CIRCUIT DIAGRAMS
B-82505EN/02
- 81 -
C.PERIODIC MAINTENANCE TABLE
C
B-82505EN/02
PERIODIC MAINTENANCE TABLE
FANUC Robot M-710iC/50T,70T
Working time (H)
Check
time
Items
1
Check the mechanical cable.
(Damaged or twisted)
Check the motor connector.
(Loosening)
2
years
4800
5760
6720
7680
―
○
○
0.2H
―
○
○
0.2H
―
○
○
○
4 bolt.
2.0H
―
○
○
○
5 Remove spatter and dust etc.
1.0H
―
○
○
○
6 Replacing battery.
0.1H
―
0.5H
1700 ml
0.5H
1160 ml
0.5H
920 ml
0.5H
610 ml
4.0H
―
0.2H
―
13 Cleaning the ventilator
0.2H
―
14 Check the source voltage *1
0.2H
―
15 Replacing battery *1
0.1H
―
3 Tighten the end effector bolt.
Tighten the cover and main
Mechanical unit
First
Oil
3
6
9
1
Grease check months months months year
amount 320
960 1920 2880 3840
0.2H
2
Control unit
Periodic Maintenance Table
Replacing grease of J2 axis
7 reducer
Replacing grease of J3 axis
8 reducer
Replacing grease of wrist axis
9 gear box
Replacing grease of wrist axis
10 unit
Replacing cable of mechanical
11 unit *
Check the robot cable and
12 teach pendant cable
8640
9600 10560
●
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
*1 Refer to manual of controller.
*2 ●: requires exchange of parts
○: does not require exchange of parts
- 82 -
○
○
○
○
C.PERIODIC MAINTENANCE TABLE
B-82505EN/02
3
4
5
6
7
8
years
years
years
years
years
years
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1
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2
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3
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4
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5
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720 Item
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6
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Overhaul
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7
8
9
10
11
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○
○
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○
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12
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○
○
○
○
○
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13
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14
15
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- 83 -
D.BOLT TIGHTENING TORQUE TABLE
D
B-82505EN/02
BOLT TIGHTENING TORQUE TABLE
NOTE
When applying Loctite to the important bolt
tightening points, make sure that it is applied to the
entire longitudinal portion in the engaging section of
the female threads. If it is applied to the male
threads, the bolts may be loosened because
sufficient effects cannot be obtained. Remove the
dust within the bolts and taps and wipe oil off the
engaging section. Make sure that there is no
solvent in the taps.
- 84 -
D.BOLT TIGHTENING TORQUE TABLE
B-82505EN/02
Those bolts for which no tightening torque is specified must be
tightened according to the following table.
Table D Recommended Bolt Tightening Torque
Unit: Nm (kgf⋅cm):
Nominal
size
M3
M4
M5
M6
M8
M10
M12
(M14)
M16
(M18)
M20
(M22)
M24
(M27)
M30
M36
Hexagon socket head bolt
(steel: strength class of 12.9)
Hexagon socket head bolt
(stainless)
Tightening torque
Upper limit
Lower limit
1.8(18)
1.3(13)
4.0(41)
2.8(29)
7.9(81)
5.6(57)
14(140)
9.6(98)
32(330)
23(230)
66(670)
46(470)
110(1150)
78(800)
180(1850)
130(1300)
270(2800)
190(1900)
380(3900)
260(2700)
530(5400)
370(3800)
730(7450)
510(5200)
930(9500)
650(6600)
1400(14000)
940(9800)
1800(18500)
1300(13000)
3200(33000)
2300(23000)
Tightening torque
Upper limit
Lower limit
0.76(7.7)
0.53(5.4)
1.8(18)
1.3(13)
3.4(35)
2.5(25)
5.8(60)
4.1(42)
14(145)
9.8(100)
27(280)
19(195)
48(490)
33(340)
76(780)
53(545)
120(1200)
82(840)
160(1650)
110(1150)
230(2300)
160(1600)










- 85 -
Hexagon socket head pan bolt
Hexagon socket head
counter-sunk bolt
(Steel: strength rating of 12.9)
Tightening torque
Upper limit
Lower limit


1.8(18)
1.3(13)
4.0(41)
2.8(29)
7.9(81)
5.6(57)
14(140)
9.6(98)
32(330)
23(230)




















B-82505EN/02
INDEX
INDEX
REPLACING J2 AXIS MOTOR M2 AND REDUCER. 36
<Number>
REPLACING PARTS..................................................... 34
1.5-YEAR (5,760 HOURS) CHECKS ..............................9
REPLACING THE BATTERIES (1.5 YEARS CHECKS)
1-YEAR (3,840 HOURS) CHECKS .................................7
........................................................................................ 14
3-MONTH (960 HOURS) CHECKS ................................5
REPLACING THE CABLES ......................................... 56
3-YEAR (11,520 HOURS) CHECKS ...............................9
REPLACING THE GREASE OF THE DRIVE
<B>
MECHANISM (3 years (11,520 hours) checks) ............. 15
BACKLASH MEASUREMENT .................................... 32
REPLACING THE J3-AXIS MOTOR AND REDUCER41
BOLT TIGHTENING TORQUE TABLE ...................... 84
REPLACING THE WRIST AXIS MOTOR AND J4-AXIS
REDUCER...................................................................... 45
<C>
REPLACING THE WRIST UNIT.................................. 48
CABLE FORMING ........................................................ 53
RESETTING ALARMS AND PREPARING FOR
CHECKING THE MASTERING ................................... 72
MASTERING ................................................................. 65
CHECKS AND MAINTENANCE ...................................1
<S>
CIRCUIT DIAGRAMS................................................... 79
SAFETY PRECAUTIONS ............................................ s-1
<D>
SPARE PARTS LIST ..................................................... 77
DAILY CHECKS..............................................................2
<T>
<F>
TROUBLESHOOTING.................................................. 22
FIRST 1-MONTH (320 HOURS) CHECKS ....................4
<W>
FIXTURE POSITION MASTER.................................... 66
WIRING CONFIGURATION OF CABLE .................... 51
<G>
GENERAL ................................................................. 23,63
Grease Replacement Procedure for the J4-Axis Gear Box19
Grease Replacement Procedure for the Wrist.................. 20
Grease replacement procedure of the J2 and J3-axis reducer
........................................................................................ 17
<M>
MAINTENANCE TOOLS.............................................. 10
MASTERING ................................................................. 62
<P>
PART REPLACEMENT AND CORRESPONDING
ADJUSTMENT............................................................... 35
PERIODIC MAINTENANCE ........................................ 13
PERIODIC MAINTENANCE TABLE........................... 82
PREFACE ......................................................................p-1
PROBLEMS AND CAUSES .......................................... 24
Procedure for Releasing Residual Pressure within the
Grease Bath ..................................................................... 21
<R>
REPLACING CABLES .................................................. 49
i-1
Revision Record
FANUC Robot M-710iC/50T/70T MECHANICAL UNIT MAINTENANCE MANUAL (B-82505EN)
02
Sep.,2007
01
Edition
Date
Contents
Edition
Date
Contents