5th. Edition 09.13.2007 FA & ROBOT Export Control: Controlled (Related item No. of Foreign Exchange Order Attachment List of Japan: Non-controlled for item No. 2 to 15 of Foreign Exchange Order Attachment List of Japan ) 1 5th. Edition 09.13.2007 FA & ROBOT LR Mate 200iC line up LR Mate 200iC line up Standard 6 axes type LR Mate 200iC 5 axes type LR Mate 200iC/5H High pressure washing LR Mate 200iC/5WP Clean type LR Mate 200iC/5C Long arm type LR Mate 200iC/5L Long arm clean type LR Mate 200iC/5LC 2 Allowable inertia is 200% higher than previous model. upside-down and angle mount are acceptable 3 . Full covered arm IP67 when sever dust/liquid protection option is available High rigidity Prompt and smooth motion is achieved Slim arm • Suitable at narrow space operation • Lightest weight in its class High motion performance Its motion speed is highest in its class All direction installation Floor.13.5th. Edition 09.2007 FA & ROBOT Feature of LR Mate 200iC Feature of LR Mate 200iC High wrist load capability Allowable moment is 155% higher than previous model. 9Nm 6.25Nm 5.3kgm2 0.5th.7Nm 0.138kgm2 0.2007 FA & ROBOT Motion performance enhancement Motion performance enhancement LR Mate 200iB Payload Reach J1 J2 Maximum speed J3 J4 J5 J6 Allowable moment Allowable inertia J4.02mm 27kg 0. Edition 09.04mm 45kg 0.0708kgm2 +/.13.1kgm2 +/.5 J6 5kg 700mm 180 °/sec 180 °/sec 225 °/sec 400 °/sec 330 °/sec 480 °/sec 7.49 sec (at 1kg) LR Mate 200iC LR Mate 200iC/5WP LR Mate 200iC/5C Repeatability Weight 25-300-25 pick and place 4 .5 J6 J4.0.8 sec (at 1kg) LR Mate 200iC 5kg 704mm 350 °/sec 350 °/sec 400 °/sec 450 °/sec 450 °/sec 720 °/sec 11.0.21Nm 0. 3kgm2 0.21Nm 0.0.25Nm 5.02mm 27kg LR Mate 200iC/5H 5 .0.1kgm2 +/.0708kgm2 +/.7Nm 0.138kgm2 0.04mm 38kg LR Mate 200iC/5H 5kg 704mm 350 °/sec 350 °/sec 400 °/sec 450 °/sec 720 °/sec 11.9Nm 6.2007 FA & ROBOT Motion performance enhancement Motion performance enhancement LR Mate 100iB Payload Reach J1 J2 Maximum speed J3 J4 J5 Allowable moment Allowable inertia Repeatability Weight J4 J5 J4 J5 5kg 620mm 240 °/sec 270 °/sec 270 °/sec 330 °/sec 480 °/sec 7.5th.13. Edition 09. 2007 FA & ROBOT Motion performance enhancement Motion performance enhancement LR Mate 200iB/3L Payload Reach J1 J2 Maximum speed J3 J4 J5 J6 Allowable moment Allowable inertia J4. Edition 09.0.25Nm 5.13.5th.0708kgm2 +/.1kgm2 +/.03mm 29kg LR Mate 200iC/5L LR Mate 200iC/5LC Enhanced Extended 1.3kgm2 0.138kgm2 0.5 J6 3kg 858mm 140 °/sec 150 °/sec 160 °/sec 400 °/sec 330 °/sec 480 °/sec 7.5 times speed up Enhanced Repeatability Weight Precision Lightest unit 6 .21Nm 0.0.7Nm 0.04mm 47kg LR Mate 200iC/5L 5kg 892mm 270 °/sec 270 °/sec 270 °/sec 450 °/sec 450 °/sec 720 °/sec 11.9Nm 6.5 J6 J4. 217% 0.0708kgm2 LR Mate 200iC LR Mate 200iC LR Mate 100iB.138kgm2 0.200iB 137 5.5th.21Nm LR Mate 200iC LR Mate 200iC LR Mate 100iB.7Nm LR Mate 100iB. Edition 09.1kgm2 0.200iB 5kg LR Mate 200iC LR Mate 200iC LR Mate 200iC/5H J4J5 moment J4 moment J6 moment J5 moment J4J5 inertia J4 inertia J6 inertia J5 inertia 7 .200iB 141% 0.9Nm 129% 7.3kgm2 5kg 5kg 80 68 163 164% 11.200iB 5kg LR Mate 100iB.2007 FA & ROBOT Wrist load capability enhancement Wrist load capability enhancement Allowable GC offset at 5kg LR Mate 200iC LR Mate 100iB.13.25Nm 106 6.200iB LR Mate 100iB.200iB Wrist load capability is enhanced. Edition 09.13.5th.2007 FA & ROBOT Wide work envelope Wide work envelope LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP LR Mate 200iC/5C LR Mate 200iB LR Mate 100iB LR Mate 200iC Maximum reach Horizontal stroke Vertical stroke 704mm 457mm Longest in its class Widest in its class 1187mm 111% of previous model 8 . 5th. Edition 09.2007 FA & ROBOT Wide work envelope Wide work envelope LR Mate 200iC/5L LR Mate 200iC/5LC LR Mate 200iB/3L LR Mate 200iC/5L 9 .13. 13.2007 FA & ROBOT Slim arm Slim arm 188 137 100 188 120 109 301 301 250 Minimized arm width are suitable for narrow space operation. LR Mate 100iB LR Mate 200iB LR Mate 200iC 10 . Edition 09.5th. The lightest mechanical unit make installation in machine and upside-down mounting easy. 5th. 11 . Eliminate J4 motor and J4 reducer from 6 axes type Add adapter instead of eliminated J4 reducer Controller. Edition 09.13.2007 FA & ROBOT Deference between 5 axes type and 6 axes type Deference between 5 axes type and 6 axes type Deference between 5 axes type and 6 axes type is as follows. amplifier and connection cable are common for both variant. Add J3 arm extension Cables and hoses length extension Increase J2 arm length Change J1 gear Controller.2007 FA & ROBOT Deference between standard arm and long arm Deference between standard arm and long arm Difference between standard LR Mate 200iC and LR Mate 200iC/5L are as follows.5th.13. Reducers and motors are common to LR Mate 200iC 12 . Edition 09. amplifier and connection cable are common for both variant. LTD YUSHIRO CHEMICAL INDUSTRY CO.0% 3. CLEANER CLEANMATE ＭＳ‐１ TOYOSOL ＳＴ‐９１Ｐ TOYOSOL ＳＥ‐７８Ｐ TOYOKNOCK ＲＥ‐７７７Ｐ ＭＰ‐７０ YUSHIRO CLEANER Ｗ５１Ｈ YUSHIRO CLEANER Ｗ８０ PAKUNA ＦＤ‐８００ DETEJENT ２２００ MANUFACTURER TOHO CHEMICAL INDUSTRY CO.LTD TOYOTA KAGAKU CO.LTD TOYOTA KAGAKU CO..5th. Aluminum body. No painting surface..0% 1. Edition 09. Specification Withstand reflected water flow from 100mm distance away.. and cleaner temperature is maximum 60 degrees C.0% 3.3% 5..5% 13 Stand alone battery kit .13.2007 FA & ROBOT High pressure washing LR Mate 200iC/5WP High pressure washing LR Mate 200iC/5WP Features Accept high pressure washing environment in a washing machine.0% 5.360H Over haul Notices Don’t stop air purge of specified pressure 10kPa regardless of the system running or stopping.LTD TOYOTA KAGAKU CO.LTD YUKEN LTD NEOS LTD CONCENTRATION 5.3% 3. Air purge kit Following cleaners are acceptable. The pressure at nozzle is maximum 200kg/cm2 (15liter/min) Ambient temperature is between 0 and 45 degrees C. 15.LTD HENKEL JAPAN LTD YUSHIRO CHEMICAL INDUSTRY CO..0% 3..0% 2. 13. Inspection in the clean room. 5LC Clean type LR Mate 200iC/5C.5th. Edition 09. 14 . Exhaust piping from the solenoid valve to J1 connector plate. 5LC Two type of standard arm and long arm are available Clean paint Anticorrosive treatment for reducers and bolts. Special packing for clean robot Specification Cleanliness class 100 Motion performance is same as LR Mate 200iC and LR Mate 200iC/5L.2007 FA & ROBOT Clean type LR Mate 200iC/5C. Edition 09.5th.13.2007 FA & ROBOT Application example Application example Load/unload from a lathe (with iRVision conveyor parts feeder) Load/unload from ROBODRILL 15 . 9 N·m 6. must not be used.1 kg·m 2 LR Mate 200iC LR Mate 200iC/5C LR Mate 200iC/5WP 6 axes (J1、J2、J3 、J4 、J5 、J6 ） 704 mm LR Mate 200iC/5H 5 axes （J1 、J2 、J3 、J4 、J5 ） LR Mate 200iC/5L LR Mate 200iC/5LC 6 axes (J1 、J2 、J3 、J4 、J5 、J6 ） 892 mm 340° / 360°(option) (270°/sec) 5.98 rad/sec) 380° (450°/sec) 240° (450°/sec) 6.71 rad/sec) 380° (450°/sec) 6.49 rad ( 6.63 rad ( 7.19 rad ( 7.9 N·m 11. Upside-down. R-30iA Mate Input power source capacity 1. (Angle mount) 340° / 360°(option) (350°/sec) 5.57 rad ( 12.2kVA Average power consumption 0.03 mm 29 kg Note 1) Under the installation condition w ithin ( ).7 N·m 11.77 rad ( 6.5G or less J4 axis J5 axis J6 axis 0. Note 3) Without controller. load capacity at wrist Allowable load moment at wrist (Note 2) J4 axis J5 axis J6 axis Allowable load inertia at wrist (Note 2) Repeatability Mass (Note 3) Ambient temperature : 0～45 ℃ Installation environment Ambient humidity : Normally 75%RH or less (No dew nor frost allowed) Short term : .57 rad ( 12. Edition 09.9 N·m 6.02 mm 27 kg 6.3 kg·m 2 0.13.85 rad/sec) 12. such as organic solvents. 5kg 11.7 N·m 0.85 rad/sec) 720° (720°/sec) 12.28 rad(option) ( 4. payload.3 kg·m 2 0.19 rad ( 7.93 rad / 6.28 rad(option) ( 6.1 kg·m 2 ± 0.57 rad/sec) Max.11 rad/sec) 388° (400°/sec) 6.93 rad / 6. the J1 and J2 axis motion range w illl be limited. acids.71 rad/sec) 373° (270°/sec) 6.3 kg·m 2 0. Allow able load moment and inertia at w rist are changed by load. Note 4) Those liquids thatdeteriorate the sealing members.71 rad/sec) 230° (270°/sec) 4.85 rad/sec) 240° (450°/sec) 720° (720°/sec) 4.63 rad ( 7. Note 2) It indicates tha value at max.57 rad ( 12. and chloric/gasoline coolants.57 rad/sec) Floor.5th. alkalis.1 kg·m 2 ± 0.11 rad/sec) 200° (350°/sec) 3.5kW 16 .01 rad ( 4.85 rad/sec) 4.19 rad ( 7.85 rad/sec) 240° (450°/sec) 4.7 N·m 0.95%RH or less (within one month) Vibration : 0.57 rad/sec) 720° (720°/sec) 12.51 rad ( 4.2007 FA & ROBOT Specification Specification Model Controlled axes Reach Installation (Note 1) J1 axis J2 axis Motion range (Maximum speed) J3 axis J4 axis J5 axis J6 axis Max. Edition 09.5th.13.2007 FA & ROBOT Work envelop and outer dimensions LR Mate 200iC Work envelop and outer dimensions LR Mate 200iC/5H LR Mate 200iC/5WP LR Mate 200iC/5C ( ) is for drip-proof type and LR Mate 200iC/5WP. 5C Wrist rotation center Motion range of the wrist rotation center 17 . Edition 09.2007 FA & ROBOT Work envelop and outer dimensions Work envelop and outer dimensions ( ) is for LR Mate 200iC/5L drip-proof type and LR Mate 200iC/5LC LR Mate 200iC/5L LR Mate 200iC/5LC Wrist rotation center Motion range of the wrist rotation center 18 .5th.13. 2007 FA & ROBOT Wrist interface Wrist interface no drip-proof Common to all type Wrist rotation center drip-proof Drip-proof type for each and LR Mate 200iC/5WP. 5C. 5LC Wrist rotation center 19 .13.5th. Edition 09. 5th.13. Edition 09.2007 FA & ROBOT Dimensions for devices Dimensions for devices Common to all type 20 . 2007 FA & ROBOT EE and air interface EE and air interface Common to all type LR Mate 200iC/5C. This interface is not available for LR Mate 200iC/5WP 21 . Edition 09.13.5th. 1 2 3 4 5 6 RDI1 RDI2 RDI3 RDI4 RDI5 RDI6 7 8 9 10 11 12 *HBK +24E +24E +24E 0V 0V Switching RDICOM can be performed at short pin inside of the controller.6mm. 5LC exhaust port PT1/4 LR Mate 200iC/5WP air purge fitting dia. The EE connector is common to LR Mate 200iB. 5th. Edition 09.13.2007 FA & ROBOT Wrist load diagram Wrist load diagram Common to all type 22 . 5th.2007 FA & ROBOT Installation Installation Common to all type The installation bolts M10 should be tightened with 46Nm.13. 23 . Edition 09. /5LC Bending moment MV [Nm] Static load Dynamic load at acceleration Dynamic load at emergency stop 138.5 335.5th.6 727.7 633. /5H.8 Force in vertical direction FV [N] 333.13.7 1101.4 Force in horizontal direction FH [N] 0 726.5 Force in horizontal direction FH [N] 0 578.8 514. Edition 09.0 635.2007 FA & ROBOT LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP LR Mate 200iC/5C LR Mate 200iC/5L LR Mate 200iC/5LC Base load Base load LR Mate 200iC. /5WP.3 470.1 720.9 Force in vertical direction FV [N] 321.4 LR Mate 200iC/5L.5 992.3 383. 5C Bending moment MV [Nm] Static load Dynamic load at acceleration Dynamic load at emergency stop 116.9 776.3 24 .2 586.4 Twisting moment MH [Nm] 0 224.6 Twisting moment MH [Nm] 0 169. 5th.2007 FA & ROBOT LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP Transportation Transportation 25 . Edition 09.13. 13.2007 FA & ROBOT Transportation Transportation LR Mate 200iC/5L 26 . Edition 09.5th. 2007 FA & ROBOT Transportation Transportation LR Mate 200iC/5C 27 .5th. Edition 09.13. 13.5th. Edition 09.2007 FA & ROBOT Transportation Transportation LR Mate 200iC/5LC 28 .