LRMate200iC Maintenance Manual [B-82585EN02]

FANUC > LR Mate 200*CMECHANICAL UNIT MAINTENANCE MANUAL B-82585EN/02 Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and understand the content. • No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”. B-82585EN/02 SAFETY PRECAUTIONS 1 1.1 SAFETY PRECAUTIONS For the safety of the operator and the system, follow all safety precautions when operating a robot and its peripheral devices installed in a work cell. In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”. WORKING PERSON The personnel can be classified as follows. Operator: • Power ON/OFF for robot controller • Start of robot program with operator’s panel Programmer or teaching operator: • Operate for Robot • Teaching inside safety fence Maintenance engineer: • Operate for Robot • Teaching inside safety fence • Maintenance (adjustment, replacement) An operator cannot work inside the safety fence. A programmer, Teaching operator and maintenance engineer can work inside the safety fence. The workings inside safety fence are lifting, setting, teaching, adjusting, maintenance, etc. To work inside the fence, the person must be trained for the robot. Table 1 lists the workings of outside the fence. In this table, the symbol “ “ means the working allowed to be carried out by the personnel. s-1 teaching operator and maintenance engineer take care of their safety using the following safety protectors. T2) Select Remote/Local mode Select robot program with teach pendant Select robot program with external device Start robot program with operator’s panel Start robot program with teach pendant Reset alarm with operator’s panel Reset alarm with teach pendant Set data on the teach pendant Teaching with teach pendant Emergency stop with operator’s panel Emergency stop with teach pendant Emergency stop with safety fence open Maintain for operator’s panel Maintain for teach pendant B-82585EN/02 Maintenance engineer In operating. programming and maintenance. uniform. T1.SAFETY PRECAUTIONS Table 1 List of workings outside the fence Operator Programmer or Teaching operator Power ON/OFF for Robot controller Select operating mode (AUTO. for example. • • • Use adequate clothes. the programmer. overall for operation Put on the safety shoes Use helmet s-2 . Class C. (2) Even when the robot is stationary. The circuit breaker installed in the controller is designed to disable anyone from turning it on when it is locked with a padlock. Contact our sales office for details. including the tools such as a hand. When the gate is opened and this signal received. see Fig. and so forth in the safety gate so that the robot is stopped as the safety gate is opened. (6) Draw an outline on the floor. The controller is designed to receive this interlock signal of the door switch. (3) Install a safety fence with a gate so that no working person can enter the work area without passing through the gate. Careful consideration must be made to ensure working person safety. (4) Provide the peripheral devices with appropriate grounding (Class A. and is waiting for a signal. (7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm that stops the robot when a working person enters the work area. the robot is regarded as still in motion. and Class D). (8) If necessary. provide the system with an alarm to indicate visually or aurally that the robot is in motion. In this state. Class B. (1) Have the robot system working person attend the training courses held by FANUC. Install an interlock switch.2 WORKING PERSON SAFETY Working person safety is the primary safety consideration. adequate safety precautions must be observed. FANUC provides various training courses.1. install a safety lock so that no one except the working person in charge can turn on the power of the robot. clearly indicating the range of the robot motion. s-3 . For connection. Because it is very dangerous to enter the operating space of the robot during automatic operation.1. a safety plug.B-82585EN/02 SAFETY PRECAUTIONS 1. the controller stops the robot in an emergency. The following lists the general safety precautions. To ensure working person safety. it is possible that the robot is still in a ready to move state. (5) Try to install the peripheral devices outside the work area. s-4 . be sure to turn off the power of the robot. push the robot arm directly.1. change posture.2 Safety fence and safety gate E-stop board FENCE1 FENCE11 NOTE Terminal FENCE1 and terminal FENCE11 are on the PC board in the E-stop unit. NOTE Please drop the power supply of the robot control system at once when the worker is placed by the robot by any chance or it is confined. Fig. and liberate the worker.SAFETY PRECAUTIONS B-82585EN/02 (9) When adjusting each peripheral device independently. (3) Install an EMERGENCY STOP button within the general person’s reach. (1) Operate the robot system at a location outside of the safety fence. With this connection. (2) If it is not necessary for the robot to operate. See the diagram below for connection.B-82585EN/02 SAFETY PRECAUTIONS 1. a worker who operates power on/off of the robot system or the teach pendant is also a general person. and then proceed with necessary work.1. E-stop board EMGIN1 EMGIN11 Fig. the controller stops the robot operation when the external EMERGENCY STOP button is pressed. turn off the power of the robot controller or press the EMERGENCY STOP button.1 General Person Safety The general person is a person who operates the robot system. In this sense. The robot controller is designed to be able to connect to an external EMERGENCY STOP button. The general person can’t operate inside a safety fence.2.1 Circuit diagram for external emergency stop button s-5 .2. However. The operator should make sure that the robot can operate in such conditions and be responsible in carrying out tasks safely.2(a) STANDARD Teach pendant enable switch On Off Software remote condition Ignored Local Remote Teach pendant Allowed to start Not allowed Not allowed Peripheral device Not allowed Not allowed Allowed to start s-6 . it is necessary for the operator to enter the work area of the robot. carry out all tasks outside the area. The operator’s intention of starting teaching is determined by the control unit through the dual operation of setting the teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. Table 1. The teach pendant and peripheral device interface each send a robot start signal. It is particularly necessary to ensure the safety of the teaching operator.2. Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button. (3) When entering the robot work area and teaching the robot. (1) Unless it is specifically necessary to enter the robot work area.2. check that the robot and its peripheral devices are all in the normal operating condition. (2) Before teaching the robot. (a) When the switch is set to the enable position: An emergency stop is made by releasing the DEADMAN switch. These button and switch function as follows: (1) Emergency stop button: Causes an emergency stop when pressed. (b) When the switch is set to the disable position: The DEADMAN switch is disabled.SAFETY PRECAUTIONS B-82585EN/02 1. the validity of each signal changes depending on the teach pendant enable switch and the remote condition of the software. (4) The teaching operator should pay careful attention so that no other workers enter the robot work area. (2) DEADMAN switch: Functions differently depending on the mode switch setting status.2 Safety of the Teaching Operator While teaching the robot. be sure to check the location and condition of the safety devices (such as the EMERGENCY STOP button and the DEADMAN switch on the teach pendant). s-7 . (e) After checking the completeness of the program through the test run above. (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.B-82585EN/02 SAFETY PRECAUTIONS Table 1. T2 mode Off Software remote condition Local Remote Local Remote Local Remote Local Remote Teach pendant Not allowed Not allowed Not allowed Not allowed Allowed to start Allowed to start Not allowed Not allowed Operator panel Not allowed Not allowed Allowed to start Not allowed Not allowed Not allowed Not allowed Not allowed Peripheral device Not allowed Not allowed Not allowed Allowed to start Not allowed Not allowed Not allowed Not allowed (5) (When CE or RIA specification is selected.2. (b) Run the program for at least one operation cycle in the continuous operation mode at low speed. the teaching operator should leave the robot work area. execute it in the automatic operation mode. (a) Run the program for at least one operation cycle in the single step mode at low speed. (6) When a program is completed. (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.) To start the system using the operator’s panel.2(b) CE/RIA Teach pendant Mode enable switch On AUTO mode Off On T1. (7) While operating the system in the automatic operation mode. be sure to carry out a test run according to the procedure below. make certain that nobody is the robot work area and that there are no abnormal conditions in the robot work area. (4) When disconnecting the pneumatic system. turn off the power of the controller while carrying out maintenance. have trained worker who knows the robot system well stand beside the operator panel. (11) When handling each unit or printed circuit board in the controller during inspection. or when multiple workers are working nearby. (10) During replacing or reinstalling components. pay careful attention to its motion. (1) During operation. (7) When it is necessary to maintain the robot alongside a wall or instrument. press the emergency stop button on the operator panel. (6) Do not operate the robot in the automatic mode while anybody is in the robot work area. The maintenance personnel must indicate that maintenance work is in progress and be careful not to allow other people to operate the robot carelessly. (5) Before the start of teaching. or when any moving device other than the robot is installed. (2) Except when specifically necessary. (12) When replacing parts.2. check that the robot and its peripheral devices are all in the normal operating condition. if necessary. or the teach pendant before entering the range. Lock the power switch. so that no other person can turn it on. Take care not to let foreign matter enter the system. be sure to reduce the supply pressure. (3) If it becomes necessary to enter the robot operation range while the power is on.SAFETY PRECAUTIONS B-82585EN/02 1. (8) When a tool is mounted on the robot. pay utmost attention to the following. never enter the robot work area. They may cause a fire or result in damage to the components in the controller. such as belt conveyor. turn off the circuit breaker to protect against electric shock. the worker should be ready to press the EMERGENCY STOP button at any time. In particular. never use fuses or other parts of non-specified ratings. (9) If necessary. make sure in advance that there is no person in the work area and that the robot and the peripheral devices are not abnormal. In case any danger arises.3 Safety During Maintenance For the safety of maintenance personnel. (13) When restarting the robot system after completing maintenance work. make certain that their escape path is not obstructed. be sure to use those specified by FANUC. and observe the operation. s-8 . 1 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES Precautions in Programming (1) Use a limit switch or other sensor to detect a dangerous condition and. particular care must be taken in programming so that they do not interfere with each other.3. even though the robot itself is normal. and operate the robot in an environment free of grease.3. 1.2 Precautions for Mechanism (1) Keep the component cells of the robot system clean. (2) Employ a limit switch or mechanical stopper to limit the robot motion so that the robot does not strike against its peripheral devices or tools. (2) Design the program to stop the robot when an abnormal condition occurs in any other robots or peripheral devices.3 1. water. (4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect the states of all devices in the system and can stop them according to the their states. and dust.B-82585EN/02 SAFETY PRECAUTIONS 1. design the program to stop the robot when the sensor signal is received. if necessary. s-9 . (3) For a system in which the robot and its peripheral devices are in synchronous motion. s-10 .4. set it at an appropriate speed so that the operator can manage the robot in any eventuality. Make it possible for the operator to easily distinguish at a glance that the robot motion has terminated. (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. and operate the robot in an environment free of grease.2 Precautions in Programming (1) When the work areas of robots overlap. and dust. 1.SAFETY PRECAUTIONS B-82585EN/02 1.4. water.1 SAFETY OF THE ROBOT MECHANISM Precautions in Operation (1) When operating the robot in the jog mode.4. be sure you know in advance what motion the robot will perform in the jog mode. 1.3 Precautions for Mechanisms (1) Keep the work areas of the robot clean.4 1. (2) Before pressing the jog key. make certain that the motions of the robots do not interfere with each other. (2) Provide the end effector with a limit switch. and control the robot system by monitoring the state of the end effector. hydraulic and electric actuators.5 1. carefully consider the necessary time delay after issuing each control command up to actual motion and ensure safe control.B-82585EN/02 SAFETY PRECAUTIONS 1.1 SAFETY OF THE END EFFECTOR Precautions in Programming (1) To control the pneumatic. s-11 .5. 1. Use at least four slings each having a withstand load of 980 N (100 kgf) or greater.6 WARNING LABEL (1) Transportation attention label 1 500kg 100kg× 4 80kg×4 Fig. Use at least four eyebolts each having a withstand load of 784 N (80 kgf) or greater. s-12 .6(a) Transportation attention label 1 Description 1) 2) 3) Use a crane having a load capacity of 500 kg or greater.SAFETY PRECAUTIONS B-82585EN/02 1. 6 (b) Transportation attention label 2 Description Keep the following in mind about eyebolt.1.B-82585EN/02 SAFETY PRECAUTIONS (2) Transportation attention label 2 注意 CAUTION アイボルトを横引きしないこと DO NOT PULL EYBOLTS SIDEWAYS. s-13 . 1) 2) Don’t pull eyebolt side ways. Remove eyebolt before use.BEFORE USE Fig. アイボルトを外してから使用 すること REMOVE EYEBOLTS. 5mm push. 1ml grease is injected. s-14 . 軸/AXIS 給脂量/AMOUNT J1 J2 J3 J4 J5 J6 3cc(7mm) 3cc(7mm) 2cc(5mm) 2cc(5mm) 2cc(5mm) 2cc(5mm) A370-3031-0130 グリス給脂時/AT GRESING Fig.SAFETY PRECAUTIONS B-82585EN/02 (3) Greasing attention label (When A05B-1139-K021 is specified.) grease applying kit: 注意 CAUTION ① シリンダにグリスを入れる前に チューブを揉んでグリスを柔らか くして下さい。 ② ブランジャーを2. ② When you give a plunger 2.5mm押すと 1ccのグリスが出ます。 ① Please knead a tube and make grease soft before supply grease to cylinder.1. 1) Please knead a tube and make grease soft before supply grease to cylinder.6(c) Greasing attention label Description Keep the following in mind about grease applying kit. 2) When you give a plunger 2. 1cc grease is injected.5mm push. B-82585EN/02 SAFETY PRECAUTIONS (4) Range of motion and payload mark label Below label is added when CE specification is specified.6 (d) Range of motion and payload mark label s-15 .1. 0deg -180deg +180deg MOTION RANGE OF J5-AXIS ROTATION CENTER J5-AXIS ROTATION CENTER B A C D UNIT:mm A B C D STANDARD 959 228 704 513 LONG ARM 1147 393 892 742 MAX.PAYLOAD:5kg Fig. . A05B-1139-B201 Maximum load Remarks 3-axes brake type Non-severe dust/liquid protection specification 6-axes brake type Non-severe dust/liquid protection specification 3-axes brake type severe dust/liquid protection specification 6-axes brake type severe dust/liquid protection specification 6-axes brake type Non-severe dust/liquid protection specification 6-axes brake type severe dust/liquid protection specification 6-axes brake type Clean class 100 specification 6-axes brake type Clean class 100 specification 6-axes brake type Washing specification 3-axes brake type Non-severe dust/liquid protection specification 5-axes brake type Non-severe dust/liquid protection specification 3-axes brake type severe dust/liquid protection specification 5-axes brake type severe dust/liquid protection specification FANUC Robot LR Mate 200iC A05B-1139-B202 FANUC Robot LR Mate 200iC A05B-1139-B203 FANUC Robot LR Mate 200iC A05B-1139-B204 A05B-1139-B211 FANUC Robot LR Mate 200iC/5L A05B-1139-B212 5kg FANUC Robot LR Mate 200iC/5LC FANUC Robot LR Mate 200iC/5C FANUC Robot LR Mate 200iC/5WP FANUC Robot LR Mate 200iC/5H A05B-1139-B213 A05B-1139-B221 A05B-1139-B231 A05B-1139-B101 FANUC Robot LR Mate 200iC/5H A05B-1139-B102 FANUC Robot LR Mate 200iC/5H A05B-1139-B103 FANUC Robot LR Mate 200iC/5H A05B-1139-B104 NOTE The following abbreviations are used herein. STANDARD : LR Mate 200iC 5L : LR Mate 200iC/5L 5LC : LR Mate 200iC/5LC 5C : LR Mate 200iC/5C 5WP : LR Mate 200iC/5WP 5H : LR Mate 200iC/5H p-1 .B-82585EN/02 PREFACE PREFACE This manual explains the maintenance and connection procedures for the mechanical units of the following robots: Model name FANUC Robot LR Mate 200iC Mechanical unit specification No. PREFACE B-82585EN/02 The label stating the mechanical unit specification number is affixed in the position shown below. determine the specification number of the mechanical unit.JAPAN TABLE 1） (1) CONTENTS - (2) TYPE A05B-1139-B201 (3) No. DATE (2) (3) (4) WEIGHT (5) ‚‹‚‡ OSHINO-MURA. (4) DATE (5) WEIGHT (Without controller) FANUC Robot LR Mate 200iC FANUC Robot LR Mate 200iC/5L FANUC Robot LR Mate 200iC/5LC FANUC Robot LR Mate 200iC/5C FANUC Robot LR Mate 200iC/5WP FANUC Robot LR Mate 200iC/5H A05B-1139-B202 A05B-1139-B203 A05B-1139-B204 A05B-1139-B211 A05B-1139-B212 A05B-1139-B213 A05B-1139-B221 A05B-1139-B231 A05B-1139-B101 A05B-1139-B102 A05B-1139-B103 A05B-1139-B104 PRINT SERIAL NO. YAMANASHI PREF. Before reading this manual. PRINT PRODUCTION YEAR AND MONTH 27kg 29kg LETTERS 27kg 26kg Positon of label indicating mechanical unit specification number p-2 . (1) TYPE NO. start-up. connection to peripheral equipment. programming. system designer Topics: Robot functions.B-82585EN/02 PREFACE RELATED MANUALS For the FANUC Robot series. operation. programmer. start-up. system designer Topics: Safety items for robot system design. Maintenance person Topics: Installation. system designer Topics: Installation. maintenance Use: Installation. maintenance Use: Installation. connection to controller. maintenance Intended readers: System designer. connection. maintenance Intended readers: Operator. alarms Use: Robot operation. setup. operations. maintenance person. teaching. maintenance Maintenance manual B-82725EN B-82725EN-1 (For Europe) B-82725EN-2 (For RIA) Mechanical unit Operator’s manual FANUC Robot LR Mate 200iC B-82584EN p-3 . the following manuals are available: Safety handbook B-80687EN All persons who use the FANUC Robot and system designer must read and understand thoroughly this handbook R-30iA Mate controller Operations manual LR HANDLING TOOL B-82724EN-1 Intended readers: All persons who use FANUC Robot. system design Intended readers: Maintenance person. interfaces. connection. . .................2.......................... /5C...................................19 Grease replacement procedure of the J4-axis reducer ...........................................................................................6 DAILY CHECKS ........360 hours) checks (LR Mate 200iC..........................5 Grease replacement procedure of the J1-axis reducer ...... 24 FAILURES...............................................................................2 4...B-82585EN/02 TABLE OF CONTENTS TABLE OF CONTENTS SAFETY PRECAUTIONS............... 8 MAINTENANCE TOOLS ......................................................... 53 c-1 4 REPLACING PARTS ...........................18 Grease replacement procedure of the J3-axis reducer ..............................................................2..................................................................................5 1.............................................. 32 FIGURE OF DRIVE MECHANISM .........................................4 1........................................................................................................................................................... 36 4.................. CAUSES AND MEASURES ... /5LC...1 4...............22 1....... 23 3....................1 3.............................2 3 TROUBLESHOOTING ...........................5-year (5..................2................3 OVERVIEW ................................................................p-1 1 CHECKS AND MAINTENANCE ...................3 4...................................... 7 1.........................................................................................1 2....4 4............................................ 5 3-month (960 hours) checks ........... 49 REPLACING J2-AXIS REDUCER .................................3 1... 11 2.................... LR Mate 200iC/5L ............ 25 BACKLASH MEASUREMENT........................................ 7 2-year (7........... 38 REPLACING J1-AXIS MOTOR...............................................2 2.......3 2............... 12 REPLENISH THE GREASE OF THE DRIVE MECHANISM (4 years (11...20 Grease replacement procedure of the J5/J6-axis reducer ... 15 2......5-YEAR CHECKS (external battery type)).1 2................................................................2 1.s-1 PREFACE ......760 hours) checks ............... /5H) .....680 hours) checks (LR Mate 200iC /5WP) 4-year (15............................................................................. 1 1.................... 41 REPLACING J1-AXIS REDUCER ..................... 2 First 1-Month (320 hours operating) Check .................. 9 REPLACING THE BATTERIES (1-YEAR CHECKS (battery built-in type)) (1....2.....................17 Grease replacement procedure of the J2-axis reducer ..................... 5 1-year (3.........................................................4 2.............................840 hours) checks ............................... 43 REPLACING J2-AXIS MOTOR...2 3.....5 .....7 2 PERIODIC MAINTENANCE ........2........1 1................................520 hours) checks) ............................. ....................................8 4.....................1 6.......................... 59 REPLACING J4-AXIS MOTOR.......................................................2 RESETTING ALARMS AND PREPARING FOR MASTERING ..........10 4...........16 4................................4 5............................................................................................ 64 REPLACING J5-AXIS MOTOR..................................1 5. 90 CABLE FORMING .. 95 5............. K109.............................................................................. K107............. 88 CABLE WIRING.................................95 REPLAING CABLE K106.... 74 REPLACING WRIST UNIT ...................... AIR PRESSURE DIAGRM.......................110 5 REPLACING CABLES . 118 MASTERING ............................ 117 6.................3............................................ K105............... 141 PERIODIC MAINTENANCE TABLE ..........................................................................................................102 REPLAING CABLE K102...... 62 REPLACING J4-AXIS REDUCER .......9 4...................................................................................................................................................... 92 CABLE AND AIR TUBE REPLACEMENT ..TABLE OF CONTENTS 4............................... K113 .......................................... K112........................................................................122 APPENDIX A B C D SPARE PARTS LIST ...............................................109 REPLAING AIR TUBE .13 4...........................................................11 4.................................................15 4.....................................................17 4......121 FIXTURE POSITION MASTER. 80 REPLACING J3 BELT ...................7 4..................3..2 ADJUSTING TENSION OF BELT. 166 c-2 ............108 REPLAING CABLE K104 ............. 84 REPLACING SOLENOID VALVE . 89 5............3 5..........2 5.......... K103..14 4..............................................5 REPLAING CABLE K101 and Air tube (Connector plate to J2 base)............ 120 6............. 82 REPLACING J5/J6 BELT ............... 160 MOUNTING BOLT TORQUE LIST .................................. K108 and Air tube (J2 base to J3 casing) ........6 4.....................................................2..................................12 4... 77 REPLACING J6-AXIS REDUCER .............................3......... 57 REPLACING J3-AXIS REDUCER ........................................3.................................................................................................................. 71 REPLACING J6-AXIS MOTOR.......3 6 ADJUSTMENTS...................................... 131 CIRCUIT DIAGRAM...... K110........................................................................18 B-82585EN/02 REPLACING J3-AXIS MOTOR...................2 5...............................................................................2............................................................ 86 SEALANT APPLICATION..............3.................................................... 68 REPLACING J5-AXIS REDUCER ..................... K104.......1 6................................................1 5......... K111..... B-82585EN/02 1. When using the robot beyond this total operating time.CHECKS AND MAINTENANCE 1 CHECKS AND MAINTENANCE Optimum performance of the robot can be maintained by performing the periodic maintenance procedures presented in this chapter. -1- . (See the APPENDIX A PERIODIC MAINTENANCE TABLE.) NOTE The periodic maintenance procedures described in this chapter assume that the FANUC robot is used for up to 3840 hours a year. correct the maintenance frequencies shown in this chapter by calculation in proportion to the difference between the actual operating time and 3840 hours/year. Peripheral devices for Check whether the peripheral devices operate proper operation properly according to commands from robot. Check whether each axis moves smoothly 2 3 When air purge kit is prorided.5×16. Repair leaks. adjust it using the regulator pressure setting handle. Maintenance for air purge kit.5 Length round hole Rc1/4 AIR OUTLET Pressure gauge Rc1/4 AIR SUPPLY Fig. When it is not blue. refer to the operator’s manual attached kit. Check the following items as the occasion demands. abnormal noises and motor heating Changing repeatability 7 8 9 Check whether the stop positions of the robot have not deviated from the previous stop positions. adjust it using the regulator pressure setting handle.1(a) Air control set -2- . for leaks.1 kgf/cm2). or replace parts. etc.1.1 DAILY CHECKS Clean each part. (1) Before turning on power Item 1 Check items When air Air pressure control set is provided.1. Check the supply pressure using the air purge kit shown in Fig. etc. Check whether the color of the dew point checker is blue.2. and visually check component parts for damage before daily system operation. Check points Check air pressure using the pressure gauge on the air regulator as shown in Fig. Pressure Adjusting Knob 2-6.1.CHECKS AND MAINTENANCE B-82585EN/02 1.) and part check component parts for cracks and flaws.1 (b). as required. Leakage from hose Supply pressure 4 Dryer 5 6 Vibration.1.49MPa (5 kg/cm2). Cleaning and checking each Clean each part (remove chips. Check the joints. identify the cause and replace the dryer. Each axis brake Refer to 3. If it does not meet the specified pressure of 10 KPa (0.If it does not meet the specified pressure of 0. tubes.1. 1(b) Air purge kit (option) -3- . Check whether the peripheral devices operate properly according to commands from the robot. and motor heating Check points Check whether the robot moves along and about the axes smoothly without unusual vibration or sounds. Check that the end effector drops within 2 mm when the power is cut. 1 2 Changing repeatability Peripheral devices for proper operation Brakes for each axis 3 4 O O Fig.1.CHECKS AND MAINTENANCE Pneumatic tube Dry air Filter and regulator Dew point checker 2-7x11 Length round hole Air outlet (O6 Air tube) Pressure gauge Pneumatic air outlet Air inlet (O10 air tube) Pressure adjustment knob S S Dryer unit (2) After turning on power Item Check items Vibration.B-82585EN/02 1. abnormal noises. Check to see that the stop positions of the robot have not deviated from the previous stop positions. check whether the temperatures of the motors are excessively high. Also. - Fig 1. In particular. dust on the flat part. Check if there is a trace of a collision around the hand. Check the reducer or grease bath for an oil leak. clean the following points carefully. and J3 arm significantly wears due to rubbing against the welding cable or hand cable. wrist part. an oil leak may be caused.CHECKS AND MAINTENANCE B-82585EN/02 (Note 1) Cleaning Necessary cleaning points. → If oil can be found a day after wiping oil. Check if the vicinity of the necessary inspection points. sedimentation of spatters Clean sediments periodically. an oil leak may be caused.1(c) Cleaning part -4- . Vicinity of the wrist axis and oil seal → If chippings or spatters are attached to the oil seal.1. 2 First 1-Month (320 hours operating) Check Check the following items after the first one-month operation (or 320 hours operating) First 1-month check Item 1 Check items Control unit cable and robot connecting cable Check points Check whether the cable connected to the teach pendant and robot is unevenly twisted. (NOTE2) Tighten the end-effecter mounting bolts and external main bolts.CHECKS AND MAINTENANCE 1.B-82585EN/02 1.3 3-month (960 hours) checks Check the following items once every three months (960 hours). (See Section 1. (See the Section 1.) (2) First quarterly inspection Item 1 2 Check items Connector used in mechanical unit Further tightening external main bolts Check points Check that the connectors of the connector panels are securely engaged. then every year thereafter.2) 2 3 If the ventilation portion of the control unit is dusty.1) Check the following items at the first quarterly inspection. turn off the power and clean the unit. (1) 3-month checks Item 1 Check items Control unit cable and robot connecting cable Ventilation portion of control unit Cleaning and checking each part Check points (See Section 1. environment. etc. 1. Additional inspection areas and times should be added to the table according to the robot’s working conditions. (NOTE3) -5- .4. 3 Check items of connector (NOTE 3) Points to be retightened The end effecter mounting bolts.CHECKS AND MAINTENANCE B-82585EN/02 (NOTE 2) Inspection points of the connectors Robot connection cables. So. see the recommended bolt tightening torque shown in the Appendix. the loose prevention agent may be removed. The bolts exposed to the outside of the robot need to be retightened. For the tightening torque. Earth terminal: Check the terminal for looseness by turning. earth terminal and user cables Check items Circular connector: Check the connector for looseness by turning it manually. follow the recommended tightening torque when retightening them. Fig 1. robot installation bolts. If the bolts are tightened with greater than the recommended torque. A loose prevention agent (adhesive) is applied to some bolts. Square connector: Check the connector for disengagement of its lever.1. and bolts to be removed for inspection need to be retightened. -6- . 3) Replace battery in the mechanical unit. Item 1 Check items Battery (external battery type) Check points Replace battery in the mechanical unit. (See Section 2.840 hours). (See Section 2.760 hours).5-year (5.5 1.760 hours) checks Check the following items about once every year (5. Item 1 2 3 Check items Tightness of major external bolts Tightness of major external bolts Battery (battery built-in type) Check points (See Section 1.B-82585EN/02 1.3) (See Section 1.4 1-year (3.1) -7- .1) 1.840 hours) checks Check the following items about once every year (3.CHECKS AND MAINTENANCE 1. 1.CHECKS AND MAINTENANCE B-82585EN/02 1.6 2-year (7,680 hours) checks (LR Mate 200iC /5WP) 4-year (15,360 hours) checks (LR Mate 200iC, LR Mate 200iC/5L , /5C, /5LC, /5H) Check the following items in the cycle that is shorter among every four years and 15,360 hours. Item 1 Check itmes Greasing of reducers of each axis Check points Specified grease Harmonic grease 4BNo.2 Spec:A98L-0040-0230#2KG Greasing kit (tube of grease plus injector) Spec:A05B-1139-K021 Tube of grease (80 g) Spec:A05B-1139-K022 Do not use Harmonic grease SK-3 or unspecified grease. -8- B-82585EN/02 1.CHECKS AND MAINTENANCE 1.7 MAINTENANCE TOOLS The following tools and instruments are required for the maintenance procedures contained in this manual. (a) Measuring instruments Instrument Tension meter Specifications Vendor Manufacturer model No. DOCTOR TENSION TYPE-Ⅱ Application Adjustment of belt tension A97L-0218-0700 Mitsuboshi Belting Ltd. Instruments Dialgauge accuracy Slide calipers Accuracy/Tolerance 1/100 mm 150 mm Applications Measurement of positioning and backlash (b) Tools ・・Torque wrench Setting 5.6Nm(57kgfcm) Setting 5.4Nm(55kgfcm) Setting 4.5Nm(46kgfcm) Setting 2.0Nm(20kgfcm) Setting 1.3Nm(13kgfcm) ・Cross tip (+) screwdrivers ・Flat tip (–) screwdrivers ・Box driver ・Hex-head wrench set ・Monkey wrench ・Pincers ・Radio pincers ・Nippers ・Glasses wrench ・Pliers for C–retaining ring ・Loctite 242、262、518、638 ・Grease applying kit A05B-1139-K021 (It is options that grease (80g) for the grease greasing with the injection syringe and the tube makes a set.) ・grease in tube (80g) A05B-1139-K022 M5 M4 M4 M3, M4 M3 Large, medium, and small sizes Large, medium, and small sizes M2.5 to M6 M2.5 to M6 Middle, little -9- 1.CHECKS AND MAINTENANCE B-82585EN/02 O5 Fig 1.7 example of cylinder - 10 - 11 - .PERIODIC MAINTENANCE 2 PERIODIC MAINTENANCE .B-82585EN/02 2. 5WP are specified. CAUTION Replacing the batteries with the power supply turned off causes all current position data to be lost. take out the lid of the battery box.12 - .5 years in case of external battery type. and replace battery.1 (a) Replacing the battery (battery built-in type) .5WP.5-YEAR CHECKS (external battery type)) The position data of each axis is preserved by the backup batteries. Procedure of replacing the battery (battery built-in type) 1 Keep the power on. Battery can be taken out by pulling the stick.5C.PERIODIC MAINTENANCE B-82585EN/02 2. which is center of the battery box.1 REPLACING THE BATTERIES (1-YEAR CHECKS (battery built-in type)) (1. use the following procedure to replace when the backup battery voltage drop alarm occurs.5C is selected.5H 　or LR Mate 200iC/5LC. (Fig. 2 3 4 When severe dust/liquid protection or 5LC. Please exchange packing absolutely when severe dust/liquid protection specification or 5LC.1(a)) Loosen the plate screw. 2. remove the battery case cap.LR Mate 200iC/5L. Press the EMERGENCY STOP button to prohibit the robot motion. mastering will be required again. The batteries need to be replaced every 1 year in case of battery built-in J1 base type 1. Also. Pay attention to the direction of batteries. C battery(4pcs) FANUC spec：A98L-0031-0027 The battery can be taken out by pulling this stick Lid of battery bolx Plate screw　M4X12(2pcs) Packing A290-7139-X253 (*) Bolt with plate processing hex-head hole M4X20(4pcs) (*) Battery box cover (*) (*)Severe dust/liquid protection specification of LR Mate 200iC.5C is selected.2. Therefore.2. Fig.5WP. Assemble them by the opposite procedure. A98L-0031-0005 (D battery　4pcs) Fig. 2 3 4 5 Remove the battery case cap.1 (b) Replacing the battery (external battery type) .B-82585EN/02 2.1(b)) Take out the old batteries from the battery case. External battery bolx Battery cable Diameter　About O5mm (Max O5.5mm) Battery case Case cap Battery spec. Pay attention to the direction of batteries. mastering will be required again.13 - .PERIODIC MAINTENANCE Procedure of replacing the battery (external battery type) 1 Keep the power on. Close the battery case cap. Therefore.2. 2. Insert new batteries into the battery case. Replacing the batteries with the power supply turned off causes all current position data to be lost. (Fig. Press the EMERGENCY STOP button to prohibit the robot motion. CAUTION Be sure to keep the power on. 1(c) Outer dimensions of the battery box .1(c) The battery box can be fixed by using M4 flat–head screws. refer to the outer dimensions shown in Fig. Fig. When the battery box needs to be built into the control unit or other internal units.1(c) shows the external size of external battery box.2. (The bolts do not come with the system.2.PERIODIC MAINTENANCE B-82585EN/02 Fig 2.) A maximum of six terminals can be attached to the backplane of the battery box.2.14 - . 2 REPLENISH THE GREASE OF THE DRIVE MECHANISM (4 years (11. see the table 2. For the grease name and quantity.2 (b) Attitudes for greasing Supply position J1-axis reducer J2-axis reducer J3-axis reducer J4-axis reducer J5-axis reducer J6-axis reducer J1 -90° J2 90° Arbitrary Arbitrary Arbitrary Arbitrary Attitude J3 J4 J5 J6 Arbitrary Arbitrary CAUTION The following maintenance kits are prepared for the grease greasing. Greasing kit: A05B-1139-K021 (This a set of greasing syringe and grease in tube.15 - .7g(3ml) 2.) Grease in tube: A05B-1139-K022 There is no J6-axis for LR Mate 200iC/5H .PERIODIC MAINTENANCE 2. Table 2.520 hours) checks) Replacing the grease of the reducers every four years or 15.B-82585EN/02 2. Table 2.2 (a) Grease for 4-year periodical Replacement Greasing points Greasing amount Specified grease J1-axis reducer J2-axis reducer J3-axis reducer J4-axis reducer J5-axis reducer J6-axis reducer 2.7g(3ml) 1.8g(2ml) 1. use the attitudes indicated below.8g(2ml) 1.360 hours by using the following procedures.2 (a).2 Spec: A98L-0040-0230 For grease replacement.8g(2ml) Harmonic grease 4BNo.8g(2ml) 1. When performing greasing. Please install the nozzle in the point of the injection syringe.16 - . which would in turn lead to grease leakage and abnormal operation. before starting to grease. the internal pressure of the grease bath may suddenly increase. In case of J1-axis and J3-axis.PERIODIC MAINTENANCE B-82585EN/02 1 2 3 4 NOTE If greasing is performed incorrectly.2. Use grease only of the specified type. therefore. Grease of a type other than that specified may damage the reducer or lead to other problems. observe the following cautions. . possibly causing damage to the seal. Please fill a necessary amount to the injection syringe after softening grease in the tube massaging it by the hand when you use the grease greasing kit. Please remove the nozzle and do the cap when you do not use the injection syringe. Do no use Harmonic grease SK-3 To prevent accidents caused by slipping. completely remove any excess grease from the floor or robot. open the grease outlet (remove the seal bolt from the grease outlet). Turn off the power.LR Mate 200iC/5L.5WP 5C is specified.5WP 5C is specified. too. (*4) When LR Mate 200iC.B-82585EN/02 2. Remove the bolt/seal bolt (1) and cover U (2).1 Replacing grease of the J1-axis reducer Name BOLT SEAL BOLT SEAL BOLT Specification Amount Loctite Torque N-m (kgf-cm) A6-BA-4X8 4 1 A97L-0218-0496#M4X10BC(*1) 4 4.5H is specified.LR Mate 200iC/5C. (*3) When LR Mate 200iC. 2 4 6 1 3 J1-axis reducer grease inlet seal bolt (In case of top mount) J1-axis reducer grease inlet seal bolt (In case of floor mount) Fig. Assemble parts in the opposite procedure.be sure to replace packing. Pay attention that grease inlet differs in case of floor mount and top mount. At this time.1 Grease replacement procedure of the J1-axis reducer 1 2 3 4 5 Move the robot to the attitude of J1=-90° and J2=90°. remove packing (3).2.5H is specified. (*5) When LR Mate 200iC. (*6) When severe dust/liquid protection specification of LR Mate 200iC.5 N-m (46kgf-cm) A97L-0218-0496#M4X10EN(*2) 4 A290-7139-X332(*3) 1 2 COVER U A290-7139-Y332(*4) 1 A290-7139-Z332(*5) 1 3 PACKING A290-7139-X356 (*6) 1 4 COVER A290-7139-X347 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC. In case of packing is attached. (*2) When LR Mate 200iC/5LC. 2.PERIODIC MAINTENANCE 2.LR Mate 200iC/5L.1.LR Mate 200iC/5L.2.5H or LR Mate 200iC/5LC. Supply regulated amount grease through the grease inlet by using injection syringe. note that grease might come out from the side not used. In case of packing is attached.17 - .2. Remove seal bolt of two places refer to fig.LR Mate 200iC/5WP is specified.2. .5LC is specified. (2) and remove cover S (3) and packing (4).2.2.5C is specified.2. Attach cover S (3) and packing (4).LR Mate 200iC/5L. 3 1 Pay attention to direction 3 2 4 A DETAIL A Fig. Remove the seal bolt (1). Be sure to replace packing.18 - . . Spread the round grease on the tooth side like this. Be sure to spread it to round in the gear because a regulated amount is a standard.0 N-m (46kgf-cm) SEAL BOLT A97L-0218-0738#040808BC(*1) 1 SEAL BOLT A97L-0218-0738#040808EN(*2) SEAL BOLT A97L-0218-0595#040808BC(*1) 2 SEAL BOLT A97L-0218-0595#040808EN(*2) 3 COVER S A290-7139-X309 4 PACKING A290-7139-X351 (*1) When LR Mate 200iC.PERIODIC MAINTENANCE B-82585EN/02 2. When reusing the seal bolt.0 N-m (46kgf-cm) 2. In this time.2 Grease replacement procedure of the J2-axis reducer 1 2 Turn off the power.0 N-m (46kgf-cm) 2. be sure to seal it with seal tape. 2. (*2) When LR Mate 200iC/5LC.5H is specified.5WP. Supply grease through the grease inlet by using injection syringe.0 N-m (46kgf-cm) 2. note the installation phase.2 Replacing grease of the J2-axis reducer Name Specification Amount 2 2 2 2 1 1 Loctite Torque N-m (kgf-cm) 2. B-82585EN/02 2.PERIODIC MAINTENANCE 2.2.3 Grease replacement procedure of the J3-axis reducer 1 2 Turn off the power. Remove the bolt/seal bolt (1) and J2 arm cover (2). In case of packing is attached, remove packing (3), too. Supply regulated amount grease through the grease inlet by using injection syringe. Please use arbitrary one as a greasing inlet. Attach J2 arm cover. In case of packing is attached,be sure to replace packing of. When reusing the seal bolt, be sure to seal it with seal tape. 3 4 3 2 1 J3-axis reducer grease inlet seal bolt Fig. 2.2.3 Replacing grease of the J3-axis reducer Name BOLT SEAL BOLT SEAL BOLT Specification Amount Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10 3 2.0 N-m (20kgf-cm) 1 A97L-0218-0496#M4X12BC(*1) 8 4.5 N-m (46kgf-cm) A97L-0218-0496#M4X12EN(*2) 8 4.5 N-m (46kgf-cm) A290-7139-X306 1 A290-7139-X308 (*1) 1 2 J2 ARM COVER A290-7139-Y308 (*3) 1 A290-7139-Z308 (*4) 1 3 PACKING A290-7139-X355 (*5) 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP,5C is specified. (*3) When LR Mate 200iC/5LC,5C is specified. (*4) When LR Mate 200iC/5WP is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. - 19 - 2.PERIODIC MAINTENANCE B-82585EN/02 2.2.4 Grease replacement procedure of the J4-axis reducer NOTE Fig. 2.2.4 is an example of standard type. In case of 5H type, read J5/J6 as J4/J5. 1 2 3 4 Turn off the power. Remove the bolt/seal bolt (1) and J3 cover (2). In case of packing is attached, remove packing (3), too. Supply regulated amount grease through the grease inlet by using injection syringe. Please note that grease might come out immediately after in the greasing or the greasing. Please note greasing excessively even in that case. Attach J3 cover. In this time, be sure to replace packing . When reusing the seal bolt, be sure to seal it with seal tape. J4-axis reducer grease inlet seal bolt 1 2 3 Fig. 2.2.4 Replacing grease of the J4-axis reducer (LR Mate 200iC) - 20 - B-82585EN/02 2.PERIODIC MAINTENANCE Specification Amount Loctite Torque N-m (kgf-cm) Name 1 BOLT PLATED BOLT PLATED BOLT A97L-0218-0504#M4X10 3 2.0 N-m (20kgf-cm) A97L-0218-0496#M4X12BC(*1) 6 2.0 N-m (20kgf-cm) A97L-0218-0496#M4X12EN(*2) 6 2.0 N-m (20kgf-cm) A290-7139-X404 1 A290-7139-X406 (*1) 1 2 J3 COVER A290-7139-Y406 (*3) 1 A290-7139-Z406 (*4) 1 3 PACKING A290-7139-X451 (*5) 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified. (*2) When LR Mate 200iC/5LC,5WP 5C is specified. (*3) When LR Mate 200iC/5LC,5C is specified. (*4) When LR Mate 200iC/5WP is specified. (*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP 5C is specified. - 21 - 2. Please note that grease might come out immediately after in the greasing or the greasing.5 Grease replacement procedure of the J5/J6-axis reducer NOTE Fig.22 - .PERIODIC MAINTENANCE B-82585EN/02 2.5 is an example of standard type. 2. 1 2 Turn off the power. J6-axis reducer grease inlet seal bolt J5-axis reducer grease inlet seal bolt Fig.5 Replacing grease of the J5/J6-axis reducer (LR Mate 200iC) Replacing grease of the J4/J5-axis reducer (LR Mate 200iC/5H) .2.2. Please note greasing excessively even in that case. Supply regulated amount grease through the grease inlet by using injection syringe.2. In case of 5H type.2. read J5/J6 as J4/J5. TROUBLESHOOTING 3 TROUBLESHOOTING .B-82585EN/02 3.23 - . TROUBLESHOOTING B-82585EN/02 3. If you fail to take the correct measures.3.1 OVERVIEW The cause of a failure in the mechanical unit may be difficult to localize. it is necessary to analyze the symptoms of the failure precisely so that the true cause can be found. Therefore.24 - . because failures can arise from many interrelated factors. the failure may be aggravated. . B-82585EN/02 3. Measure -If a bolt is loose.2 (a) Failures. -It is likely that the ACCELERATION value is excessive. -There is a gap between the J1 base and floor plate. which. causes and measures Symptom Description Vibration Noise -The J1 base lifts off the floor plate as the robot operates. -If the robot is not securely fastened to the floor plate. -Vibration becomes more serious when the robot adopts a specific posture. -Check the maximum load that the robot can handle once more. -Apply epoxy to the floor surface and re-install the plate. the J1 base lifts the floor plate as the robot operates. CAUSES AND MEASURES Table 3. or foreign material caught between the floor plate and floor plate. [Rack or floor] -It is likely that the rack or floor is not sufficiently rigid. allowing the base and floor plates to strike each other. Cause [J1 base fastening] -It is likely that the robot J1 base is not securely fastened to the floor plate. .25 - .2 lists the major failures that may occur in the mechanical unit and their probable causes. If the robot is found to be overloaded. reaction from the robot deforms the rack or floor. remove it. -Reinforce the rack or floor to make it more rigid.2 FAILURES. -If the operating speed of the robot is reduced. reduce the load. -If the rack or floor is not sufficiently rigid. modify the robot control program. contact FANUC. doing so might reduce the amount of vibration. vibration stops. -Vibration occurs when two or more axes operate at the same time. leads to vibration. -Probable causes are a loose bolt. Table 3. -Adjust the floor plate surface flatness to within the specified tolerance. -A J1 base retaining bolt is loose. -It is likely that the robot control program is too demanding for the robot hardware. -If there is any foreign matter between the J1 base and floor plate. an insufficient degree of surface flatness. -Vibration is most noticeable when the robot is accelerating. -If it is impossible to reinforce the rack or floor. in turn. -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). or modify the robot control program. If you cannot pinpoint a failure cause or which measures to apply.TROUBLESHOOTING 3. [Overload] -It is likely that the load on the robot is greater than the maximum rating. leading to vibration. apply Loctite and tighten it to the appropriate torque. the bearing. For the spec. or reducer] . or within a reducer caused damage on the gear tooth surface or rolling surface of the bearing. . contact FANUC. . -Regularly changing the grease with a specified type can help prevent problems. thus damaging the gear tooth surface or rolling surface of a bearing.It is likely that. . -Using the robot within its maximum rating prevents problems with the drive mechanism. of parts and the method of replacement. bearing. -The grease of the vibrating axis has not been exchanged for a long period. -Remove the motor. These factors all generate cyclic vibration and noise. and the reducer.It is likely that foreign matter caught in a gear. Cause [Broken gear. or reducer. or reducer due to metal fatigue.It is likely that collision or overload applied an excessive force on the drive mechanism. or reducer. fretting occurred on the gear tooth surface or rolling surface of a bearing.It is likely that prolonged use of the robot while overloaded caused fretting of the gear tooth surface or rolling surface of a bearing. B-82585EN/02 Measure -Operate one axis at a time to determine which axis is vibrating. because the grease has not been changed for a long period. or reducer due to resulting metal fatigue. .TROUBLESHOOTING 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.3.26 - . bearing. and replace the gear. or mechanical section. -If vibration occurs only when the robot assumes a specific posture. vibration might occur. -Check that the robot control parameter is set to a valid value. -If the power cable between them has an intermittent break. -Please exchange it if watching the cover is opened. -Shake the movable part cable while the robot is at rest. and check whether vibration still occurs. rack. Measure -Refer to the Controller Maintenance Manual for troubleshooting related to the controller and amplifier. and check whether the vibration still occurs. -If a power line in a movable cable of the mechanical section has an intermittent break. Cause [Controller. Contact FANUC for further information if necessary. correct it. and check whether vibration still occurs. or preventing motor information from being sent to the controller normally. replace the power cord. vibration might occur. -Check that the robot is supplied with the rated voltage. If an alarm or any other abnormal condition occurs. -If a robot control parameter is set to an invalid value. vibration might occur because information about the motor position cannot be transferred to the controller accurately. vibration might occur. -If a connection cable between them has an intermittent break. and damage is shown. -Replace the pulse coder for the motor of the axis that is vibrating. If so. vibration might occur because the motor cannot deliver its rated performance. and check whether vibration still occurs. preventing control commands from being supplied to the motor normally. and check whether an alarm occurs. replace the mechanical unit cable. -Check whether the sheath of the power cord is damaged.B-82585EN/02 3. contact FANUC. -If the power source voltage drops below the rating. -There is a possibility that the belt has been damaged about the allophone of the axis of the belt drive. cable. vibration might occur because the motor cannot accurately respond to commands. vibration might occur. -If a pulse coder wire in a movable part of the mechanical section has an intermittent break. For the method of replacement.27 - . -If the pulse coder develops a fault. -Also. If it is set to an invalid value. -If the motor becomes defective. an internal belt is confirmed. and motor] -If a failure occurs in a controller circuit. vibration might occur because commands cannot be sent to the motor accurately. replace the connection cable. it is likely that a cable in the mechanical unit is broken. replace the motor of the axis that is vibrating.TROUBLESHOOTING Description -The cause of problem cannot be identified from examination of the floor. -Check whether the sheath of the cable connecting the mechanical section and controller is damaged. Symptom Vibration Noise (Continued) . vibration might occur. If so. -Motor retaining bolt -Reducer 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. its grounding potential becomes unstable. apply Loctite and tighten it to the appropriate torque. -It is likely that prolonged use has caused the tooth surfaces of a gear and the inside of the reducer to wear out. resulting in an increase in the amount of backlash. thus leading to vibration. resulting in an increase in the amount of backlash. . -Remove the motor. If any gear is broken. pushing it with the hand causes part of the mechanical unit to wobble. and noise is likely to be induced on the grounding line. resulting in an increase in the amount of backlash.) [Increase in backlash] -It is likely that excessive force applied to the drive mechanism. -Check whether any other gear of the drive mechanism is damage. -After replacing the gear or reducer. -Backlash is greater than the tolerance stated in the applicable maintenance manual. B-82585EN/02 Measure -Connect the grounding wire firmly to ensure a reliable ground potential and prevent extraneous electrical noise. Cause [Noise from a nearby machine] -If the robot is not grounded properly. electrical noise is induced on the grounding wire. If any of these bolts is loose. [Mechanical section coupling bolt] -It is likely that overloading or a collision has loosened a mounting bolt in the robot mechanical section. -Regularly applying the grease with a specified type can help prevent problems. Also. -If the reducer is broken. replace the relevant component. thus leading to vibration.28 - . preventing commands from being transferred accurately. (See Section 3. -Using the robot within its maximum rating prevents problems with the drive mechanism. replace it. and check whether any of its gears are broken. or if a gear tooth is missing.3. -There is a gap on the mounting face of the mechanical unit. If there is no damage gear.3. has broken a gear or the inside of the reducer.TROUBLESHOOTING Symptom Vibration Description -There is some relationship between the vibration of the robot and the operation of a machine near the robot. add an appropriate amount of grease. -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. replace the reducer. -If the robot is grounded at an unsuitable point. -Check that the following bolts for each axis are tight. due to a collision or overloading. remove all the grease from the gear box and wash the inside of the gear box. Rattling -While the robot is not supplied with power. TROUBLESHOOTING Description -The ambient temperature of the installation location increases. [Motor problems] -It is likely that a failure of the motor brake resulted in the motor running with the brake applied. thus causing an excessive current to flow through the motor. -Repair the mechanical unit while referring to the above descriptions of vibration. leading to overheating. Using a fan to direct air at the motor is also effective. thus preventing overheating. the motor overheated. Contact FANUC for further information. it is advisable to install shielding to protect the motor from heat radiation. thus preventing overheating. Cause [Ambient temperature] -It is likely that a rise in the ambient temperature prevented the motor from releasing heat efficiently. it indicates that the first motor was faulty. -Check that. -If there is a source of heat near the motor. thus placing an excessive load on the motor. -Relaxing the robot control program and conditions can reduce the average current.B-82585EN/02 3. -Reducing the ambient temperature is the most effective means of preventing overheating. Check the average current when the robot control program is running. If the brake remains applied to the motor all the time. the brake is released. and rattling. [Mechanical section problems] -It is likely that problems occurred in the mechanical unit drive mechanism. so the average current increases.29 - . The allowable average current is specified for the robot according to its ambient temperature. -It is likely that a failure of the motor prevented it from delivering its rated performance. causing the motor to overheat. thus leading to overheating. -Having the surroundings of the robot well ventilated enables the robot to release heat efficiently. Measure -The teach pendant can be used to monitor the average current. -Symptom other than stated above [Parameter] -If data input for a workpiece is invalid. -After the robot control program or the load was changed. Symptom Motor overheating -After a control parameter was changed. noise. . when the servo system is energized. thus placing an excessive load on the motor. the motor overheated. the robot cannot be accelerated or decelerated normally. -Input an appropriate parameter as described in CONTROLLER OPERATOR’S MANUAL. -If the average current falls after the motor is replaced. replace the motor. [Operating condition] -It is likely that the robot was operated with the maximum average current exceeded. sealant can be used as a quick-fix to prevent further grease leakage. a damaged oil seal. -It is likely that oil or grease has entered the motor. . replace the relay. -Motor coupling section -Reducer coupling section -Wrist coupling section -J3 arm coupling section -Inside the wrist -Oil seals are used in the locations stated below. -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. Cause [Poor sealing] -Probable causes are a crack in the casting.3. -Inside the reducer -Inside the wrist -Seal bolts are used in the locations stated below. [Brake drive relay and motor] -It is likely that brake drive relay contacts are stuck to each other to keep the brake current flowing.TROUBLESHOOTING Symptom Grease Description -Grease is leaking from the mechanical unit. -It is likely that the brake shoe has worn out or the brake main body is damaged. Dropping axis -An axis drops because the brake does not function. because the crack might extend. causing the brake to slip. If they are found to be stuck. B-82585EN/02 Measure -If a crack develops in the casting. thus preventing the brake from operating when the motor is deenergized. or a loose seal bolt. -O-rings are used in the locations listed below. -If the brake shoe is worn out. a broken O-ring. preventing the brake from operating efficiently. -A loose seal bolt might allow grease to leak along the threads. replace the motor. -Grease drain inlet and outlet -Check whether the brake drive relay contacts are stuck to each other. -An axis drops gradually when it should be at rest. if the brake main body is damaged.30 - . However. the component should be replaced as soon as possible. or if oil or grease has entered the motor. -Replace the cable. -If the repeatability becomes stable. which is known to be correct.It is likely that the voltage of the memory backup battery is low. [Peripheral unit displacement] -It is likely that an external force was applied to the peripheral unit. Measure -If the repeatability is unstable. Variation will not occur unless another collision occurs. Table 3. . noise. and rattling. replace the motor or the pulse coder. it is likely that a collision imposed an excessive load.It is likely that the pulse coder cable is defected. perform mastering again. BZAL alarm occurred -BZAL is displayed on the controller screen . -It is likely that the pulse coder is abnormal. -Correct the setting of the peripheral unit position.B-82585EN/02 3. -If the repeatability is stable. -If correct mastering data is unavailable. repair the mechanical section by referring to the above descriptions of vibration.31 - . -Replace the battery. probable causes are a failure in the drive mechanism or a loose bolt. Symptom Displacement -The robot operates at a point other than the taught position. 2 mm 2 mm NOTE Each value indicates the amount by which an end effector mounting surface may fall. -Displacement occurs only in a specific peripheral unit. leading to slipping on the base surface or the mating surface of an arm or reducer. correct the taught program. -Displacement occurred after a parameter was changed. [Parameter] -It is likely that the mastering data was rewritten in such a way that the robot origin was shifted. -Correct the taught program. . -If the pulse coder is abnormal. thus shifting its position relative to the robot. -The repeatability is not within the tolerance.2 (b) Allowable drops At power off At emergency stop -Re-enter the previous mastering data.TROUBLESHOOTING Description Cause [Mechanical section problems] -If the repeatability is unstable. TROUBLESHOOTING B-82585EN/02 3. Average the values measured in the last two measurements for each axis.3. 3. and use the averages as a measured backlash for the respective axes.3. Remove the loads and measure the displacement. (See Table 3. Measurement method Measure backlash by applying positive and negative loads to each axis three times.32 - . Stop position 0 +3kg -3kg Firtst step (Do not measure) +3kg -3kg 0kg L2 L1 0kg Second step (B2 =L 1+ L2) +3kg 0kg L3 -3kg 0kg L4 Third step (B3=L 3+ L4) Fig.3 (a).3.3 (a) Backlash measurement method Backlash B is calculated using the following expression: B= B2 + B3 2 .3 BACKLASH MEASUREMENT 1 2 3 Maintain the robot in a specified posture.) Apply positive and negative loads to each axis as shown in Fig. 15 NOTE In case of 5H type. LR Mate 200iC/5C.5H 5WP.3 (b) Backlash measurement position of J1-axis . LR Mate 200iC/5L.5H J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis 695 300 320 100 180 100 885 400 410 100 180 100 0.24 0.17 0.16 0.51 0.3.19 0.33 - .B-82585EN/02 Table 3.5LC 5WP.3(b) Distance at axis and measurement position and permissible value for backlash Measured Distance at axis and measurement position axis (mm) Permissible value (mm) LR Mate 200iC.40 0.3(a) Backlash measurement posture.16 0.18 0. LR Mate 200iC/5L.18 0. position and permissible value Measurement J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis axis J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis Arbitrary Arbitrary Arbitrary Arbitrary Arbitrary Arbitrary 90° 0° 90° 0° 90° 90° 0° 90° -90° 90° 0° 0° 0° 0° 0° 0° 0° 0° 0° 0° 0° -90° -90° -90° 90° 0° 180° 90° 0° or 180° 90° or -90° 3.15 0.5LC LR Mate 200iC/5C. LR Mate 200iC.23 0.TROUBLESHOOTING Measurement position Rotation center of J5-axis Rotation center of J3-axis of J2 arm Rotation center of J5-axis 100mm from rotation center of J4-axis 206mm from rotation center of J5-axis 100mm from rotation center of J6-axis Table 3. 100 Loading position Measurement position (Rotation center of J5-axis) Fig. read J5/J6 as J4/J5. 3.34 - .3.3(c) Backlash measurement position of J2-axis 100 100 Measurement position Loading position Fig.3.3 (d) Backlash measurement position of J3-axis .TROUBLESHOOTING B-82585EN/02 Loading position Measurement position Fig. 3.3.35 - .3 (e) Backlash measurement position of J4-axis 100 100 Fig.B-82585EN/02 3.3 (g) Backlash measurement position of J6-axis .TROUBLESHOOTING Rotation center of J4-axis (J6-axis) Loading position 100 Measurement position Fig.3.3 (f) Backlash measurement position of J5-axis Measurement position Loading position 100 Loading position Measurement position Fig. REPLACING PARTS B-82585EN/02 4 REPLACING PARTS – – – – When replacing a part. Carefully check the state of the parts before removing them. – – – – – When tightening a bolt. pay attention Loctite doesn’t enter inside the reducer. Make sure that there is no solvent in the taps. subsequent adjustment is required. the bolts may be loosened because sufficient effects cannot be obtained. always observe the tightening torque. apply force in the direction of the shaft only. Spread it after softening grease mixing it when you do not softly spread grease easily. make the applying order a corner and tighten uniformly. When removing or mounting a motor. spread Loctite on the internal thread. If a motor and associated parts to be assembled incur a phase mismatch. the motor and/or reducer may be damaged. Remove the dust within the bolts and taps and wipe oil off the engaging section. make sure that it is applied to the entire longitudinal portion in the engaging section of the female threads. and recycle.36 - . If it is applied to the male threads. assembly might prove impossible. replace the old packing with new ones and then perform assembly. NOTE When applying Loctite to the important bolt tighteningpoints. replace seal bolt to new one after replacing parts as much as possible. . peel off the sealant. If it is not possible to prepare it. When applying Loctite 518 to reducer. Assemble the reducer to the vertical direction as much as possible when you assemble it. When installing bolt to reducer. – To secure the performance of the seal.4. To maintain dust and drip preventive effects. Assemble a new O–ring and packing for seal securing after you exchange parts for spec of seal. CAUTION The packing must not be reused. If excessive force is applied in any other direction. if specified those bolts for which no tightening torque is specified must be tightened according to the table of APPENDIX. REPLACING PARTS NOTE The following abbreviations are used herein.37 - . STANDARD : LR Mate 200iC 5L : LR Mate 200iC/5L 5LC : LR Mate 200iC/5LC 5C : LR Mate 200iC/5C 5WP : LR Mate 200iC/5WP 5H : LR Mate 200iC/5H .B-82585EN/02 4. REPLACING PARTS B-82585EN/02 4. 4. CAUTION When robot is 5H.1 FIGURE OF DRIVE MECHANISM The drive mechanisms of each axis are shown in the following.please read J5/J6 as J4/J5. J2 AXIS BASE PIPE J1 AXIS REDUCER (HOLLOW SHAFT) OUTPUT GEAR INPUT GEAR J1 AXIS BASE MOTOR (M1) FOR J1 AXIS Fig.38 - .4.1 (a) Drive mechanism of J1-axis . 4.39 - .1 (c) Drive mechanism of J3-axis .REPLACING PARTS J2 AXIS ARM J2 AXIS REDUCER J2 AXIS BASE MOTOR (M2) FOR J2 AXIS Fig. 4.B-82585EN/02 4.1 (b) Drive mechanism of J2-axis J3 AXIS HOUSING J3 AXIS REDUCER J3 AXIS OUTPUT PULLY J2 AXIS ARM BELT MOTOR (M3) FOR J3 AXIS J3 AXIS INPUT PULLY Fig. 1 (d) Drive mechanism of J4-axis J5 AXIS OUTPUT PULLY J5 AXIS INPUT PULLY MOTOR (M5) FOR J5 AXIS J5 AXIS REDUCER BELT J6 AXIS OUTPUT GEAR J3 AIXS ARM J6 AXIS REDUCER J6 AXIS INPUT GEAR BELT MOTOR (M5) FOR J5 AXIS J6 AXIS OUTPUT PULLY J6 AXIS HOUSING J6 AXIS INPUT PULLY Fig.4.40 - . 4. 4.1 (e) Drive mechanism of J5/J6-axis .REPLACING PARTS J4 AXIS OUTPUT GEAR B-82585EN/02 J4 AIXS REDUCER PIPE J3 AIXS ARM MOTOR (M4) FOR J4 AXIS J4 AXIS INPUT GEAR J3 AXIS HOUSING Fig. LR Mate 200iC/5L. Make it to posture in which the motor (2) can be removed.). cover B (11) and packing (13). Assemble it in the opposite procedure after exchanging Motor. . O-ring (8) and key (9) sequentially. packing and O-ring for the new article. . and turn off the power of the controller. note that there is a possibility that grease goes out. and remove washer plate (5). holder (7).41 - .B-82585EN/02 4. remove plated bolt (12). pay attention to the following.LR Mate 200iC/5L. When severe dust/liquid protection specification of LR Mate 200iC. 5C is specified. and note that the lip cannot be turned over.) Remove bolt (1) and motor (2). pay attention not to damage the tooth side. 5H or LR Mate 200iC/5LC. In this time.2 REPLACING J1-AXIS MOTOR 1 2 3 4 Move the robot posture to J1=90° and J2=-90°. In this time. Remove robot from floor plate. confirm the thing that the oil seal is at the position. (When not severe dust/liquid protection specification of LR Mate 200iC. 5WP. In this time.2 and refer to section 8 of OPERATOR’S MANUAL. gear (6).5H is specified.Spread grease on surroundings about the gear.When motor is attached. Remove cable K101 from motor (1). Replacing procedure 5 6 7 8 9 10 . there are not.REPLACING PARTS 4. Wipe the grease of the gear off. Remove O-ring (3) and seal bolt (4). Perform mastering (See subsection 6. 3Nm (13kgfcm) A290-7139-X231 1 A290-7139-X211(*1) 1 6 GEAR J1-1 A290-7139-X213(*2) 1 7 HOLDER A290-7139-X221 1 8 O-RING A98L-0001-0347#S46 1 9 KEY JB-HKY-3X3X12B 1 10 OIL SEAL A98L-0040-0223#01001805 1 A290-7139-X233 (*3) 1 11 COVER B A290-7139-Y233 (*4) 1 PLATED BOLT A97L-0218-0496#M4X8BC (*3) 9 4.5WP. (*2 )When LR Mate 200iC/5L. (*4) When LR Mate 200iC/5LC. (*3) When severe dust/liquid protection specification of LR Mate 200iC.LR Mate 200iC/5L.5C is specified.REPLACING PARTS B-82585EN/02 13 12 11 8 7 5 3 4 9 10 6 2 1 A VIEW A Fig.5LC is specified.4. . 4.5H is specified.5WP 5C is specified.5H is specified.5Nm (46kgfcm) 12 PLATED BOLT A97L-0218-0496#M4X8EN (*4) 9 4.5WP.LR Mate 200iC/5L.42 - .5H or LR Mate 200iC/5LC.2 Replacing J1-axis motor Parts Name 1 2 3 4 5 BOLT MOTOR O-RING SEAL BOLT WASHER PLATE Specifications Number Loctite Torque N-m (kgf-cm) A6-BA-5X20 4 A06B-0116-B855#0048 1 A98L-0001-0347#S46 1 A97L-0218-0423#030606 3 1. (*5) When severe dust/liquid protection specification of LR Mate 200iC.LR Mate 200iC/5C.5Nm (46kgfcm) 13 PACKING A290-7139-X252 (*5) 1 (*1) When LR Mate 200iC. B-82585EN/02 4. J2 base cover (6) and sponge (7).3 (b). In this time. put O-ring (15) without forgetting.) Remove bolt/plated bolt (5).4. K106. In this time.5WP.4.3 REPLACING J1-AXIS REDUCER 1 2 Turn off the power of the controller. pay attention that there is a possibility that grease goes out. Remove bolt (3).3.4.REPLACING PARTS 4. K107 and K108 referring to Fig. Remove seal bolt (12) and gear (13). put wave washer (9) without forgetting.5WP. (The gear need not be removed. Remove bolt/seal bolt (14) and reducer (10). Assemble the gear (13) to wave generator (11) of the new reducer (10).1 (b) in Section 5. When packing is attached. do not damage the tooth side. gear and bearing of wave generator. K104.5C is specified. Assemble bolt (4) after previously assembling all bolt (3). causing a grease leak. In this time. remove packing (19). Put J1 motor. In this time.5H or LR Mate 200iC/5LC. LR Mate 200iC/5L. Do not pull it out forcibly with the relayed connector caught. Attach new wave generator (11) to the reducer. Remove the connector that relays cable K101 and cable K102. Remove bolt/seal bolt (1) and cover U (2). remove packing (18).5. Keep the horizontal and install a new main body of the reducer in J2 base.43 - . spread the sealant on the reducer referring to Fig. hardening of sealant is prevented.3(d)) Wipe the grease of the gear (13) off. cable and cover in the reverse order of 2-6. When severe dust/liquid protection specification of LR Mate 200iC. pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes it. Fill grease to the reducer. . When packing is attached. Replacing procedure 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 CAUTION Do not apply grease to the O-ring (15). In this time. K105. (Refer to Fig. In this time.5H or LR Mate 200iC/5LC.2. K103.2(c). (4) and remove J1 base (17) by using tap for pulled out. Remove cover B (When severe dust/liquid protection specification of LR Mate 200iC. Pull out cable K101 to the J1 base side. Otherwise.) and J1 motor referring to 4. too. LR Mate 200iC/5L. Phase to reducer and assemble J1 base (17) referring to Fig. too. It is total 19ml greasing in inside of reducer.5C is specified. put O-ring (8) without forgetting after it exchanges it for the new article. 21 When severe dust/liquid protection specification of LR Mate 200iC. 22 Attach robot to floor plate.REPLACING PARTS B-82585EN/02 18 Pass the cable K101 through J2 base side.5WP. In this time.2. .5C is specified.).5H or LR Mate 200iC/5LC. pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes it.44 - .2 and refer to section 8 of OPERATOR’S MANUAL. and attach it. LR Mate 200iC/5L. attach cover B. 20 Attach J1 motor referring to Section 4. and connect it with the relay connector. When severe dust/liquid protection specification is specified. 19 Attach J2 base cover (6) by bolt/plated bolt (5) after sponge (7) is attached inside of J2 base. Do not pull it out forcibly with the relayed connector caught. replace packing (19) to new one.4. 23 Perform mastering (See sub section 6. 3 (a) Replacing J1-axis reducer . 4.REPLACING PARTS 18 1 2 5 8 9 10 11 12 13 15 14 19 7 6 16 17 4 3 Fig.B-82585EN/02 4.45 - . 5Nm (46kgfcm) 4. (*6) When LR Mate 200iC/5WP is specified.5H is specified.REPLACING PARTS Parts Name BOLT 1 SEAL BOLT SEAL BOLT 2 COVER U 3 BOLT 4 BOLT BOLT 5 PLATED BOLT PLATED BOLT 6 J2 BASE COVER 7 SPONGE 8 O-RING 9 WAVE-WASHER 10 J1 REDUCER 11 12 13 WAVE GENERATOR SEAL BOLT GEAR J1-2 BOLT SEAL BOLT SEAL BOLT O-RING J1 RING Specifications A6-BA-4X8(*1) A97L-0218-0546#040808BC(*2) A97L-0218-0546#040808EN(*3) A290-7139-X332 A6-BA-4X12 A6-BA-4X20 A97L-0218-0504#M4X10(*1) A97L-0218-0496#M4X12BC (*2) A97L-0218-0496#M4X12EN (*3) A290-7139-X305(*1) A290-7139-X307 (*2) A290-7139-Y307 (*5) A290-7139-Z307 (*6) A290-7139-X346 (Attached to J1 REDUCER) (Attached to J1 REDUCER) A97L-0218-0812#80(*4) A97L-0218-0812#80C(*3) (Attached to J1 REDUCER) Number 4 4 4 1 7 9 3 8 8 1 1 1 1 1 1 1 1 1 1 Loctite B-82585EN/02 Torque N-m (kgf-cm) 4. (*4) When LR Mate 200iC.5C is specified.5C is specified.5H or LR Mate 200iC/5LC. .0Nm (20kgfcm) 4.5Nm (46kgfcm) A97L-0218-0423#030505 6 A290-7139-X212 1 A6-BA-4X30(*1) 12 5. LR Mate 200iC/5L.46 - . LR Mate 200iC/5L.5Nm (46kgfcm) 4. (*3) When LR Mate 200iC/5LC.4Nm (55kgfcm) 15 (Attached to J1 REDUCER) 1 16 A290-7139-X241 1 A290-7139-X201(*4) 1 17 J1 BASE A290-7139-Y201(*5) 1 A290-7139-Z201(*6) 1 18 PACKING A290-7139-X356 (*7) 1 19 PACKING A290-7139-X354 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5Nm (46kgfcm) 4.5Nm (46kgfcm) 2.5C is specified. LR Mate 200iC/5L.4Nm (55kgfcm) 14 A97L-0218-0546#043016BC(*2) 12 5.5H is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC.4Nm (55kgfcm) A97L-0218-0546#043016EN(*3) 12 5. LR Mate 200iC/5L.5H is specified.4.5WP.5WP.5Nm (46kgfcm) 4. (*2) When severe dust/liquid protection specification of LR Mate 200iC. (*5) When LR Mate 200iC/5LC. 5C is specified. Fig. 4.47 - .) .5H or LR Mate 200iC/5LC.REPLACING PARTS APPLY LOCTITE 518 TO THE PART OF THE J1 BASE SIDE.5WP.B-82585EN/02 4.3 (b) Range to J1-axis reducer of sealant spreading (When severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L. DON'T PUT LOCTITE INSIDE THE REDUCER. 4.3 (d) Position of taps for pulled out to remove J1 base. 4.3 (c) Assembled phase of J1-axis reducer M4 tap for pulled out (2 places) Fig. .48 - . 4.REPLACING PARTS B-82585EN/02 M4X20 M4X12 Fig. Cut the nylon band.4. K104. washer (12). ・Spread Loctite 638 referring to Fig. Hold the arm so that the arm does not collide with any other objects. Remove sponge (3). Remove bolt/plated bolt (1) and J2 base cover (2).2 and refer to section 8 of OPERATOR’S MANUAL. packing (21).5. which connect cable and clamp (5). 11 Assemble it in the opposite procedure after exchanging Motor.3. When packing is attached. pay attention to the following. K107 and K108 referring to Fig. K106. . 10 Remove cable K102 and K103 from motor (14).4(b) when you apply shaft(15). too.). ・Pay attention the phase when you apply the cover S (10) referring to Fig. Spread grease inside of reducer. Remove the connector that relays cable K101 and cable K102. too. ・Be sure to attach wave generator(18) after attaching motor(14).REPLACING PARTS 4. In this time. packing and shaft (15) for the new article. K103. pay attention that there is a possibility that grease goes out. wave generator (18). the arm moves downward by its weight. K105.4 REPLACING J2-AXIS MOTOR 1 2 3 4 5 6 7 8 9 Turn off the power of the controller. Remove seal bolt (8) and (9).49 - . Remove seal bolt (11). O-ring (17). key (16) and Motor (14) to which shaft (15) attaches. In this time. cover S (10).4.4(c). Replacing procedure CAUTION When the motor is removed. Remove bolt (6) and support (7).1 (b) in Section 5. O-ring. remove packing (20). 12 Perform mastering (See sub section 6. When packing is attached.B-82585EN/02 4. remove packing (19). Remove bolt (4) and clamp (5). REPLACING PARTS B-82585EN/02 9 21 8 10 11 12 18 17 16 15 20 14 13 7 5 4 3 19 2 1 Fig. 4.4.4(a) Replacing J2-axis motor 6 .50 - . LR Mate 200iC/5L. LR Mate 200iC/5L.5C is specified. .5WP.0Nm (20kgfcm) 9 SEAL BOLT A97L-0218-0738#040808EN(*3) 2 2.5H is specified. LR Mate 200iC/5L.5C is specified.3Nm (13kgfcm) 12 WASHER A290-7210-X532 1 13 SEAL BOLT A97L-0218-0423#051212 4 14 MOTOR A06B-0116-B855#0048 1 15 SHAFT A290-7139-X322 1 LT638 16 KEY JB-HKY-3X3X12B 1 17 O RING JB-OR1A-G45 4 18 WAVE GENERATOR (Attached to J2 REDUCER) 1 19 PACKING A290-7139-X354 (*7) 1 20 PACKING A290-7139-X352 (*7) 1 21 PACKING A290-7139-X351 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5H or LR Mate 200iC/5LC. (*5) When LR Mate 200iC/5WP is specified. (*7)When severe dust/liquid protection specification of LR Mate 200iC.51 - .0Nm (20kgfcm) SEAL BOLT A97L-0218-0738#040808BC(*6) 2 2.5H is specified.5Nm (46kgfcm) A290-7139-X305(*1) 1 A290-7139-X307 (*2) 1 2 J2 BASE COVER A290-7139-Y307 (*4) 1 A290-7139-Z307 (*5) 1 3 SPONGE A290-7139-X346 1 4 BOLT A6-BA-4X8 2 5 CLAMP J2-1 A290-7139-X333 1 6 SEAL BOLT A97L-0218-0423#041212 7 4.B-82585EN/02 4. LR Mate 200iC/5L.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 8 4.5C is specified.5H is specified.5WP.0Nm (20kgfcm) 8 SEAL BOLT A97L-0218-0595#040808EN(*3) 2 2. (*3) When LR Mate 200iC/5LC.0Nm (20kgfcm) A290-7139-X309(*6) 1 10 COVER S A290-7139-Y309(*4) 1 A290-7139-Z309(*5) 1 11 SEAL BOLT A97L-0218-0423#031616 1 1. (*2) When severe dust/liquid protection specification of LR Mate 200iC. (*4) When LR Mate 200iC/5LC.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 8 4.REPLACING PARTS Specifications Number Loctite Torque N-m (kgf-cm) Parts Name BOLT 1 PLATED BOLT PLATED BOLT A97L-0218-0504#M4X10(*1) 3 2.5Nm (46kgfcm) A290-7139-X303(*6) 1 7 SUPPORT A290-7139-Y303(*4) 1 A290-7139-Z303(*5) 1 SEAL BOLT A97L-0218-0595#040808BC(*6) 2 2. (*6) When LR Mate 200iC. 4.REPLACING PARTS B-82585EN/02 Spread grease on the inside diameter.. A A Fig. 4.4(b) Apply Loctite 638 to shaft VIEW A A97L-0218-0738#040808BC(LR Mate 200iC,LR Mate 200iC/5L,5H) A97L-0218-0738#040808EN(LR Mate 200iC/5C,5LC,5WP) 注）取付位相に注意のこと NOTE) PAY ATTENTION TO THE ASSEMBLED PHASE A97L-0218-0595#040808BC(LR Mate 200iC,LR Mate 200iC/5L,5H) A97L-0218-0595#040808EN(LR Mate 200i/5C,5LC,5WP) Fig. 4.4(c) Assembled phase of cover S and bolt - 52 - B-82585EN/02 4.REPLACING PARTS 4.5 REPLACING J2-AXIS REDUCER 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Turn off the power of the controller. Remove the robot from floor plate and knock down it sidewise. Remove bolt/plated bolt (1), J2 base cover (2) and sponge (3). When packing is attached, remove packing (25), too. Remove the connector that relays cable K101 and cable K102, K103, K104, K105, K106, K107 and K108 referring to Fig.5.3.1 (b) in Section 5. Remove bolt (5) and clamp (4). Cut the nylon band, which connect cable and clamp. Remove bolt (6) and support (7). When severe dust/liquid protection specification is specified, remove packing (26), too. Remove seal bolt (8) and (9), cover S (10) and packing (11). In this time, pay attention that there is a possibility that grease goes out. Remove seal bolt (12), washer (13) and wave generator (14). Remove seal bolt (19), motor (18) and O-ring (20), (21). Remove bolt/seal bolt (15) and J2 arm (17) to which reducer (24) is attached. Remove bolt (22) and remove reducer (24) from J2 arm (17). Exchange reducer, O-ring, packing (when severe dust/liquid protection is specified) for new parts in the following order. Attach new reducer to the J2 arm (17) by using bolt/seal bolt (22). When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified, spread the sealant on the reducer referring to Fig.4.5 (b). Replacing procedure CAUTION Do not apply grease to the O-ring (23). Otherwise, hardening of sealant is prevented, causing a grease leak. 15 Attach J2 motor (18) to the J2 arm. Be sure to make the decelerator the horizontal about the procedure of 16 and 17. 16 Attach J2 base (16) to the reducer (24) by using bolt/seal bolt (22). In this time, put O-ring (23) without forgetting. 17 Fill grease to the reducer. It is total 26ml greasing in inside of reducer, gear and bearing of wave generator. 18 Attach wave generator (14) to the J2 base (16). 19 Attach cover S (10). In this time, pay attention to the phase referring to Fig.4.4(c). 20 Attach support (7) by using bolt (6). When packing is attached, be sure to replace packing (26) to new one and attach there. 21 Fix cable to the clamp (4) by using nylon band, attach support (7) by using bolt (5) - 53 - 4.REPLACING PARTS B-82585EN/02 22 Attach J2 base cover (2) by using bolt/plated bolt (1). In this time, put sponge (3) without forgetting, be sure to replace packing (25) to new one and attach there. 23 Attach robot to floor plate. 24 Perform mastering (See sub section 6.2 and refer to section 8 of OPERATOR’S MANUAL.). 9 8 10 11 12 13 14 15 16 22 23 24 17 21 20 26 18 7 4 25 2 1 Fig. 4.5(a) Replacing J2-axis reducer 19 6 5 3 - 54 - B-82585EN/02 4.0Nm (20kgfcm) 2.55 - .0Nm (20kgfcm) 2.3Nm (13kgfcm) 14 WAVE GENERATOR (Attached to J2 REDUCER) 17 J2 ARM 18 19 20 21 MOTOR SEAL BOLT O RING O RING BOLT 22 SEAL BOLT SEAL BOLT 23 O RING 24 J2 REDUCER 25 PACKING 26 PACKING 5.4Nm (55kgfcm) 5.4Nm (55kgfcm) 5.5Nm (46kgfcm) Parts Name BOLT 1 PLATED BOLT PLATED BOLT 2 J2 BASE COVER 3 4 5 6 SPONGE CLAMP J2-1 BOLT SEAL BOLT 4.5Nm (46kgfcm) 4.4Nm (55kgfcm) .5Nm (46kgfcm) 7 SUPPORT SEAL BOLT SEAL BOLT SEAL BOLT 9 SEAL BOLT 8 10 COVER S 11 PACKING 12 SEAL BOLT 13 WASHER 15 BOLT 16 J2 BASE 2.REPLACING PARTS Specifications A97L-0218-0504#M4X10(*1) A97L-0218-0496#M4X12BC (*2) A97L-0218-0496#M4X12EN (*3) A290-7139-X305(*1) A290-7139-X307 (*2) A290-7139-Y307 (*4) A290-7139-Z307 (*5) A290-7139-X346 A290-7139-X333 A6-BA-4X8 A97L-0218-0423#041212 A290-7139-X303(*6) A290-7139-Y303(*4) A290-7139-Z303(*5) A97L-0218-0595#040808BC(*6) A97L-0218-0595#040808EN(*3) A97L-0218-0738#040808BC(*6) A97L-0218-0738#040808EN(*3) A290-7139-X309(*6) A290-7139-Y309(*4) A290-7139-Z309(*5) A290-7139-X351 A97L-0218-0423#031616 A290-7210-X532 A6-BA-4X20 A290-7139-X301(*6) A290-7139-Y301(*4) A290-7139-Z301(*5) A290-7139-X302 (*7) A290-7139-X310（*8） A290-7139-Y302（*9） A290-7139-Y310（*10） A290-7139-Z302（*5） A06B-0116-B855#0048 A97L-0218-0423#051212 JB-OR1A-G45 (Attached to J2 REDUCER) A6-BA-4X35 A97L-0218-0546#043516BC(*6) A97L-0218-0546#043516EN(*3) (Attached to J2 REDUCER) A97L-0218-0813#120(*11) A97L-0218-0813#120C(*3) A290-7139-X354 (*11) A290-7139-X352 (*11) Number 3 8 8 1 1 1 1 1 1 2 7 1 1 1 2 2 2 2 1 1 1 1 1 1 1 16 1 1 1 1 1 1 1 1 1 4 1 1 12 12 12 1 1 1 1 1 Loctite Torque N-m (kgf-cm) 2.0Nm (20kgfcm) 2.0Nm (20kgfcm) 4.0Nm (20kgfcm) 1. LR Mate 200iC/5L. (*8) When LR Mate 200iC/5L is specified.5H is specified. (*4) When LR Mate 200iC/5LC.5C is specified.5WP.5L is specified. DON'T PUT LOCTITE INSIDE THE REDUCER.5C is specified. (*10) When LR Mate 200iC/5LC is specified.5WP. LR Mate 200iC/5H is specified. LR Mate 200iC/5L. (*11)When severe dust/liquid protection specification of LR Mate 200iC. APPLY LOCTITE 518 TO THE PART OF THE COVER S SIDE. (*7) When LR Mate 200iC.) . (*2) When severe dust/liquid protection specification of LR Mate 200iC.5H is specified. (*3) When LR Mate 200iC/5LC. 4. LR Mate 200iC/5L. (*6) When LR Mate 200iC. (*5) When LR Mate 200iC/5WP is specified.56 - .5WP. LR Mate 200iC/5H.5C is specified.5 (b) Range to J2-axis reducer of sealant spreading (When severe dust/liquid protection specification of LR Mate 200iC.5C is specified.5H or LR Mate 200iC/5LC.REPLACING PARTS B-82585EN/02 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.4. (*9) When LR Mate 200iC/5C is specified. Fig. LR Mate 200iC/5L.5H or LR Mate 200iC/5LC. 5. pay attention to the following. too. Remove clamp J2-2 referring to Fig.57 - .2 and refer to section 8 of OPERATOR’S MANUAL. pull out the cable after it pushes into the robot on the tip of the part of the relayed connector and it passes it. Perform mastering (See sub section 6. Do not add power forcibly when you remove guide arm. 7 8 9 10 11 12 13 . In this time. Pay attention that the load doesn’t rest upon cable and air tube so that an upper cable and the air tube may work from guide arm without removing. (It is not necessary to cut nylon band. Remove cable K104 and K105 from motor (11).3. put the part beyond the J3 housing on a workbench to prevent the arm from dropping 4 5 6 According to Section 5.1. Replacing procedure CAUTION When removing the belt.3. (Referring to Fig. ・ When installing guide arm. remove packing (14).2 (e) of Section 5.3.) Pull lower cable from guide arm from J2 base to guide arm. assemble it horizontally so as not to damage oil seal. which connect cable and air tube to clamp. remove clamp J2-1 and cut the nylon band. (Referring to Fig. In this time.1 (a). When packing is attached.6 REPLACING J3-AXIS MOTOR 1 2 3 Turn off the power of the controller.1 (a). Remove seal bolt (7). too. Assemble it in the opposite procedure after exchanging Motor and packing for the new article. remove packing (13). (b)) Remove seal bolt (1) and guide arm (2). Remove bolt (12) and motor (11).5.2.3. When packing is attached. washer plate (8) and pulley (9). Loosen a bolt (6) a little and lower the tension of the belt (5) and remove belt (5). (b)) According to Section 5.B-82585EN/02 4.REPLACING PARTS 4. remove J2 base cover and relay of cable K101 and air tube.3.1. ・ Adjust the tension of the belt referring to Section 6. Remove bolt/plated bolt (3) and J2 arm cover (4).3.).5.1 after the installation of the belt. (*2) When severe dust/liquid protection specification of LR Mate 200iC.5Lis specified (*5) When LR Mate 200iC/5LC.REPLACING PARTS B-82585EN/02 3 4 VIEW 5 2 6 7 9 11 12 13 14 Fig.5C is specified.6Nm (57kgfcm) 7 SEAL BOLT A97L-0218-0423#030606 3 8 WASHER PLATE A290-7139-X231 1 9 PULLEY A290-7139-X311 1 10 KEY JB-HKY-3X3X12B 1 11 MOTOR A06B-0115-B855#0048 1 12 BOLT A6-BA-5X12 4 13 PACKING A290-7139-X353 (*7) 1 14 PACKING A290-7139-X355 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5H or LR Mate 200iC/5LC.6Nm (57kgfcm) A97L-0218-0546#051616BC(*2) 4 5.5C is specified.LR Mate 200iC/5L.5H is specified. 4.6Nm (57kgfcm) A97L-0218-0546#051616EN(*3) 4 5. . (*7)When severe dust/liquid protection specification of LR Mate 200iC.5WP.5Nm (46kgfcm) PLATED BOLT A97L-0218-0496#M4X12EN (*3) 8 4.5H is specified.0Nm (20kgfcm) 3 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 8 4.LR Mate 200iC/5H. (*3) When LR Mate 200iC/5LC.5WP 5C is specified.6Nm (57kgfcm) 2 GUIDE ARM A290-7139-X304 1 BOLT A97L-0218-0504#M4X10 (*1) 3 2. (*6) When LR Mate 200iC/5WP is specified.4.LR Mate 200iC/5L.LR Mate 200iC/5L.58 - .6 Replacing J3-axis motor Parts Name 1 SEAL BOLT Specifications Number 8 10 1 Loctite Torque N-m (kgf-cm) A97L-0218-0423#051616(*1) 4 5. (*4) When LR Mate 200iC.5Nm (46kgfcm) A290-7139-X306 (*4) 1 A290-7139-X308 (*2) 1 4 J2 ARM COVER A290-7139-Y308 (*5) 1 A290-7139-Z308 (*6) 1 5 BELT A98L-0040-0190#007-098 1 6 BOLT A97L-0218-0504#M5X12 3 5. put O-ring (11) without forgetting.6.1 after the installation of the belt.2 and refer to section 8 of OPERATOR’S MANUAL.6. Note that there is a possibility that grease goes out. 15 Perform mastering (See sub section 6. 6 Remove bolt/seal bolt (6) and reducer (8). 8 Fill grease to the reducer.B-82585EN/02 4. hardening of sealant is prevented. gear and bearing of wave generator 9 Attach wave generator (7) to reducer. Remove J2 arm cover and belt referring to section 4. washer (2) and pulley (3). In this time.5C is specified. put the part beyond the J3 housing on a workbench to prevent the arm from dropping 4 5 Remove seal bolt (1). Otherwise. LR Mate 200iC/5L. put wave washer (10) and O-ring (9) without forgetting. It is total 10ml greasing in inside of reducer. Replacing procedure CAUTION When removing the belt.5H or LR Mate 200iC/5LC. 10 When severe dust/liquid protection specification of LR Mate 200iC.6. CAUTION Do not apply grease to the O-ring (11). In this time. 12 Install pulley (3) and belt. .). 14 Install J2 arm cover referring to Section 4. Remove bolt (4) andJ2 arm to which reducer (8) attach. Remove guide arm referring to Section 4.5WP. 7 Replace reducer to new one and install to J3 arm unit horizontally. causing a grease leak.REPLACING PARTS 4. 13 Adjust the tension of the belt referring to Section 6. spread sealant to the reducer referring to Fig.4.7 REPLACING J3-AXIS REDUCER 1 2 3 Turn off the power of the controller.59 - .7 (b) 11 Attach J3 arm unit to which reducer attach to the J2 arm. REPLACING PARTS B-82585EN/02 3 1 2 4 11 5 7 6 8 9 10 12 Fig.7(a) Replacing J3-axis reducer .60 - . 4.4. (*4) When LR Mate 200iC.61 - . Fig.0Nm (20kgfcm) A97L-0218-0546#032504BC(*2) 12 2.5C is specified. LR Mate 200iC/5L or LR Mate 200iC/5C.7 (b) Range to J3-axis reducer of sealant spreading (When severe dust/liquid protection specification of LR Mate 200iC.B-82585EN/02 4.5WP is specified) . (*3) When LR Mate 200iC/5LC.5WP. LR Mate 200iC/5L.REPLACING PARTS Specifications Number Loctite Torque N-m (kgf-cm) Parts Name 1 2 3 4 5 SEAL BOLT WASHER PULLEY BOLT KEY BOLT 6 SEAL BOLT SEAL BOLT 7 WAVE GENERATOR A97L-0218-0423#030606 1 1.5H is specified. DON'T PUT LOCTITE INSIDE THE REDUCER.5C is specified. LR Mate 200iC/5L.5L is specified (*5) When LR Mate 200iC/5LC.0Nm (20kgfcm) A97L-0218-0546#032504EN(*3) 12 2. (*2) When severe dust/liquid protection specification of LR Mate 200iC. (*6) When LR Mate 200iC/5WP is specified. APPLY LOCTITE 518 TO THE PART OF THE PULLEY SIDE.5LC.3Nm (13kgfcm) A290-7210-X532 1 A290-7139-X312 1 A6-BA-3X16 16 2.0Nm (20kgfcm) (Attached to J3 REDUCER) 1 A97L-0218-0814#100 (*4) 1 8 J3 REDUCER A97L-0218-0814#100C (*3) 1 9 O-RING (Attached to J3 REDUCER) 1 10 WAVE WASHER (Attached to J3 REDUCER) 1 11 O-RING (Attached to J3 REDUCER) 1 A290-7139-X401 (*4) 1 12 J3 HOUSING A290-7139-Y401 (*5) 1 A290-7139-Z401 (*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5H is specified. 4.0Nm (20kgfcm) (Attached to J3 REDUCER) 1 A6-BA-3X25(*1) 12 2. LR Mate 200iC/5H. Remove cable K107 and K109 from motor (11).Confirm the thing that the oil seal is at the position. key (7). Remove bolt (12). washer plate (5). In this time.8 REPLACING J4-AXIS MOTOR Replacing procedure CAUTION This section is for standard type. CAUTION When the motor is removed. This mechanical part does't exist in 5H. pay attention not to damage the tooth side. Remove seal bolt (4). and note that the lip cannot be turned over. When packing is attached. refer to Section 4. remove packing (13).Spread grease on surroundings of the gear. Note that there is a possibility that grease goes out. the J3 arm can be rotated. Perform mastering (See sub section 6. 4.).10 1 2 3 Turn off the power of the controller. motor (11) and O-ring (3). If you replace J4-axis motor of 5H.8 Replacing J4-axis motor . 8 3 5 9 7 10 1 12 2 4 6 8 11 13 Fig. holder (8) and O-ring (9). gear (6). Do as the J3arm is put on the stand so that the arm should not collide with surroundings. 4 5 6 7 Wipe the grease of the gear (6) off.62 - . too. Assemble it in the opposite procedure after exchanging Motor-ring and packing for the new article.REPLACING PARTS B-82585EN/02 4.4. Remove bolt/plated bolt (1) and J3 cover (2).2 and refer to section 8 of OPERATOR’S MANUAL. . . 5LC.3Nm (13kgfcm) 5 WASHER PLATE A290-7139-X231 1 6 GEAR J4-1 A290-7139-X411 1 7 KEY JB-HKY-3X3X12B 1 8 HOLDER A290-7139-X221 1 9 O-RING A98L-0001-0347#S46 1 10 OIL SEAL A98L-0040-0223#01001805 1 No brake A06B-0114-B205#0048 11 MOTOR 1 With brake A06B-0114-B855#0048 12 BOLT A6-BA-5X20 4 13 PACKING A290-7139-X451 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC. (*7) When severe dust/liquid protection specification of LR Mate 200iC.0Nm (20kgfcm) A97L-0218-0496#M4X12EN (*3) 6 2.63 - .5C is specified.REPLACING PARTS Specifications Number Loctite Torque N-m (kgf-cm) Parts Name BOLT 1 PLATED BOLT PLATED BOLT A97L-0218-0504#M4X10 (*1) 4 2.5WP is specified . (*3) When LR Mate 200iC/5LC.B-82585EN/02 4. (*2) When severe dust/liquid protection specification of LR Mate 200iC. (*6) When LR Mate 200iC/5WP is specified.5C is specified. LR Mate 200iC/5L is specified. LR Mate 200iC/5L or LR Mate 200iC/5C. (*4) When LR Mate 200iC.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 6 2. LR Mate 200iC/5Lis specified (*5) When LR Mate 200iC/5LC. LR Mate 200iC/5L is specified.0Nm (20kgfcm) A290-7139-X404 (*4) 1 A290-7139-X406 (*2) 1 2 J3 COVER A290-7139-Y406 (*5) 1 A290-7139-Z406 (*6) 1 3 O-RING A98L-0001-0347#S46 1 4 SEAL BOLT A97L-0218-0423#030606 3 1.5WP. . Remove bolt (3). Remove seal bolt (5) and pipe (9). This mechanical part does't exist in 5H.4. In this time. LR Mate 200iC/5L or LR Mate 200iC/5C. Remove J3 arm cover. 5 6 7 8 9 10 11 CAUTION Do not apply grease to the O-ring (11). Remove bolt/plated bolt (6) and reducer (10). Wipe the grease of the gear (12) off. which connect cable to clamp (2) referring to section 4. Remove J3 cover and cut the nylon band. 12 Perform mastering (See sub section 6.64 - . Pay attention not to damage oil seal. . wave generator is assembled in reducer when it is shipped. Pull out the cable of the J3 arm to the J3 casing side through the pipe. pay attention to the phase of bolts referring to Fig.5LC.4. Remove seal bolt (7) and gear (12). .9(c). spread sealant to the each part referring to Fig.When installing reducer.11.4. Note that there is a possibility that grease goes out. Remove bolt (1) and clamp (2).9 REPLACING J4-AXIS REDUCER Replacing procedure CAUTION This section is for standard type. refer to Section 4.REPLACING PARTS B-82585EN/02 4. If you replace J4-axis reducer of 5H. spread grease on teeth of Wave generator.5WP is specified. confirm the thing that the oil seal (8) is at the position. hardening of sealant is prevented. Assemble it in the opposite procedure after exchanging reducer for the new article. pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes it.10. In this time.) Also.Spread grease on surroundings of the gear. . (In case of J4-axis reducer. relay connector and air tube referring to Section 4.8. and install O-ring (11) without forgetting. . pay attention not to damage the tooth side. causing a grease leak.When severe dust/liquid protection specification of LR Mate 200iC. (4) and J3 arm (13).9 (b). 1 2 3 4 Turn off the power of the controller. Otherwise.2 and refer to section 8 of OPERATOR’S MANUAL. . Do not pull it out forcibly with the relayed connector caught.When installing reducer to J3 casing apply bolt (3) after applying all bolt (4).When installing J3 arm. and note that the lip cannot be turned over.). LR Mate 200iC/5L is specified. (*3) When LR Mate 200iC/5LC.0Nm (20kgfcm) A97L-0218-0423#030606 4 1.REPLACING PARTS 5 6 7 8 4 3 1 9 13 10 11 12 2 Fig. LR Mate 200iC/5Lis specified (*5) When LR Mate 200iC/5LC.3Nm (13kgfcm) 8 A98L-0040-0049#02603707 1 9 A290-7139-X421 1 A97L-0218-0815#80(*4) 1 LT518 10 J4 REDUCER A97L-0218-0815#80C(*3) 1 LT518 11 O-RING (Attached to J4 REDUCER) 1 12 GEAR J4-2 A290-7139-X412 1 A290-7139-X402(*4) 1 13 J3 ARM 1 A290-7139-Y402(*5) 1 A290-7139-Z402(*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5WP. .5C is specified.0Nm (20kgfcm) 7 A97L-0218-0423#030505 6 1. (*6) When LR Mate 200iC/5WP is specified.0Nm (20kgfcm) 6 A97L-0218-0496#M3X25BC (*2) 9 2. (*4) When LR Mate 200iC.3Nm (13kgfcm) A6-BA-3X25(*1) 9 2.5C is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC.65 - . LR Mate 200iC/5L is specified. 4.B-82585EN/02 4.9(a) Replacing J4-axis reducer Parts Name 1 2 3 4 5 BOLT CLAMP J4-1 BOLT BOLT SEAL BOLT BOLT PLATED BOLT PLATED BOLT SEAL BOLT OIL SEAL PIPE Specifications Number Loctite Torque N-m (kgf-cm) A6-BA-4X8 1 A290-7139-X432 2 A6-BA-3X30 4 2.0Nm (20kgfcm) A97L-0218-0496#M3X25EN (*3) 9 2.0Nm (20kgfcm) A6-BA-3X35 10 2. LR Mate 200iC/5L.4. 4.5H or LR Mate 200iC/5C.66 - .REPLACING PARTS A B-82585EN/02 Pipe ・J3 casing side of reducer(*1) ・PIPE ・J3 casing side of J3 arm Apply Loctite 518 to the or part (*1) SECTION A-A A (*1)Severe dust/liquid protection specification of LR Mate 200iC.LR Mate 200iC/5H or LR Mate 200iC/5C.5WP Applying area of LT518 Severe dust/liquid protection specification of LR Mate 200iC.5LC.9(b) Spread range of sealant .5WP Severe dust/liquid protection specification of LR Mate 200iC/5L or LR Mate 200iC/5LC Fig. 67 - .B-82585EN/02 4.REPLACING PARTS M3X35(10) M3X30(4) (M3X35) Fig. 4.9(c) Spread range of sealant . REPLACING PARTS B-82585EN/02 4.10 REPLACING J5-AXIS MOTOR Replacing procedure CAUTION This mechanism becomes J4 axis in 5H. read J5/J6 as J4/J5. 10 Perform mastering (See sub section 6. In this time. 6 7 8 9 Remove bolt (5) and motor (11). Remove seal bolt (7).1 after the installation of the belt. too. Remove bolt/plated bolt (1) and J3 arm cover (2). Do as the wrist is put on the stand so that the wrist should not collide with surroundings. ・Adjust the tension of the belt referring to Section 6.2 and refer to section 8 of OPERATOR’S MANUAL. washer (8). too. motor pulley (9) and key (10). Remove bolt/plated bolt (3) and J3 arm cover (4). Assemble it in the opposite procedure after exchanging motor and packing for the new article. . Pull cable from upper side of J5-axis motor and remove all relay connector. CAUTION When the belt is removed. Loosen a bolt (5) a little and lower the tension of the belt (6) and remove belt (6). Remove the bolt (14) when you do not remove the belt easily. remove packing (13).4. K111 from motor (11). Remove cable K110. the wrist moves to bellow side. When packing is attached. perform not only J5-axis but also J6-axis. 1 2 3 4 5 Turn off the power of the controller.68 - . remove packing (12). When you replace part of 5H. When packing is attached.). 69 - .10(b) Replacing J5-axis motor . 4. 4.REPLACING PARTS 4 11 9 7 8 A 5 2 10 13 3 Fig.10(a) Replacing J5-axis motor 6 12 1 TENSION ADJUSTING BOLT 14 VIEW A Fig.B-82585EN/02 4. LR Mate 200iC/5L is specified.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 2 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 BOLT A97L-0218-0504#M4X10(*1) 3 2. (*3) When LR Mate 200iC/5LC. (*2) When severe dust/liquid protection specification of LR Mate 200iC.REPLACING PARTS Parts Name BOLT 1 PLATED BOLT PLATED BOLT Specifications Number Loctite B-82585EN/02 Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2.3Nm (13kgfcm) 8 WASHER A290-7210-X532 1 9 MOTOR PULLEY A290-7139-X413 1 10 KEY JB-HKY-3X3X6B 1 With brake A06B-0117-B855#0049 1 11 MOTOR No brake A06B-0117-B205#0049 1 12 PACKING A290-7139-X454 (*6) 1 13 PACKING A290-7139-X454 (*6) 1 14 BOLT A97L-0218-0423#030606 3 1.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 11 4. LR Mate 200iC/5L or LR Mate 200iC/5C.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 11 4. (*4) When LR Mate 200iC/5LC.5WP.5LC.5WP is specified .0Nm (20kgfcm) 3 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 11 4.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 4 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 5 BOLT A97L-0218-0504#M5X12 3 5.5C is specified.4.70 - .3Nm (13kgfcm) (*1) When not severe dust/liquid protection specification of LR Mate 200iC. (*6) When severe dust/liquid protection specification of LR Mate 200iC. (*5) When LR Mate 200iC/5WP is specified.6Nm (57kgfcm) 6 BELT A98L-0040-0227#006-152 1 7 SEAL BOLT A97L-0218-0423#030606 1 1. LR Mate 200iC/5L is specified.5C is specified.5Nm (46kgfcm) PLATED BOLT A97L-0218-0496#M4X12EN (*3) 11 4. 8 Remove relay of cable K112. too. pay attention below.10. CAUTION Do not apply grease to the O-ring (11). read J5/J6 as J4/J5. Install O-ring (11) and (14) and wave washer (15) without forgetting.When you replace part of 5H. Pull out cable from upper side of J5-axis motor and remove all relay of cable.71 - . washer plate (3) and pulley (4) Remove key (6) and bolt (7).4. remove packing (16).Apply grease to the lip of the Oil seal (5) . K107.11 REPLACING J5-AXIS REDUCER Replacing procedure CAUTION This mechanism becomes J4 axis in 5H. causing a grease leak. spread sealant to the reducer referring to Fig. perform not only J5-axis but also J6-axis.5WP is specified. LR Mate 200iC/5L or LR Mate 200iC/5C.When severe dust/liquid protection specification of LR Mate 200iC. . and assemble robot by opposite procedure.11 (b). Remove both side of J3-arm cover referring to Section 4. When severe dust/liquid protection specification is specified. too. Otherwise. In this time. gear and bearing of wave generator and install it horizontally. K113 and K106. 5 6 7 Remove seal bolt (2). 9 Remove bolt/plated bolt (10) and remove reducer (13). It is total 7ml greasing in inside of reducer. pay attention not to damage oil seal (5).10.Adjust the tension of the belt referring to Section 6. Remove seal bolt (8) and J3 arm (9). . . CAUTION When the belt is removed. Do as the wrist is put on the stand so that the wrist should not collide with surroundings.REPLACING PARTS 4. 1 2 3 4 Turn off the power of the controller.B-82585EN/02 4. Pay attention that there is a possibility that grease goes out.Fill grease to the reducer. hardening of sealant is prevented. the wrist moves to bellow side. 10 Replace reducer and packing to new one.2 and refer to section 8 of OPERATOR’S MANUAL.). 11 Perform mastering (See subsection 6.5LC. . In this time.1 after the installation of the belt. Remove belt (1) referring to Section 4. In this time. REPLACING PARTS B-82585EN/02 9 8 16 1 12 5 7 13 14 15 Parts Name 1 2 3 4 5 6 7 8 BELT SEAL BOLT WASHER PLATE PULLEY OIL SEAL KEY BOLT SEAL BOLT Specifications 6 11 10 Number 1 3 1 1 1 1 12 7 1 1 1 9 9 9 1 1 1 1 1 1 1 Loctite 3 4 2 Fig. 4.5H is specified.0Nm (20kgfcm) .11(a) Replacing J5-axis reducer Torque N-m (kgf-cm) 1.0Nm (20kgfcm) 4. 2.3Nm (13kgfcm) A98L-0040-0227#006-152 A97L-0218-0423#030606 A290-7139-X231 A290-7139-X414 A98L-0040-0223#01001805 JB-HKY-3X3X6B A6-BA-3X8 A97L-0218-0423#041616 A290-7139-X403(*1) 9 J3 ARM 2 A290-7139-Y403(*2) A290-7139-Z403(*3) BOLT A6-BA-3X22(*4) 10 PLATED BOLT A97L-0218-0496#M3X22BC (*5) PLATED BOLT A97L-0218-0496#M3X22EN (*6) 11 O-RING (Attached to J5 REDUCER) 12 WAVE GENERATOR (Attached to J5 REDUCER) A97L-0218-0816#50(*1) 13 J5 REDUCER A97L-0218-0816#50C(*6) 14 O-RING (Attached to J5 REDUCER) 15 WAVE WASHER (Attached to J5 REDUCER) 16 PACKING A290-7139-X453 (*7) (*1) When LR Mate 200iC. LR Mate 200iC/5L.0Nm (20kgfcm) 2.72 - .0Nm (20kgfcm) 2.4.5Nm (46kgfcm) 2. 73 - .5H (*6) When LR Mate 200iC/5LC.B-82585EN/02 4.5WP 5C is specified.5WP 5C is specified. (*3) When LR Mate 200iC/5WP is specified. 4. DON'T PUT LOCTITE INSIDE THE REDUCER.11(b) Spread range of sealant to J5-reducer (When severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.5H or LR Mate 200iC/5LC.5H (*5) When severe dust/liquid protection specification of LR Mate 200iC. (*7) When severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.) .5WP. LR Mate 200iC/5L. Fig. APPLY LOCTITE 518 TO OF O-RING(11) SIDE. (*4) When not severe dust/liquid protection specification of LR Mate 200iC.5C is specified.5H or LR Mate 200iC/5LC.REPLACING PARTS (*2 )When LR Mate 200iC/5LC. LR Mate 200iC/5L.5C is specified. In this time.1 after the installation of the belt Perform mastering (See sub section 6. Do as the wrist is put on the stand so that the wrist should not collide with surroundings.74 - . ・Adjust the tension of the belt referring to Section 6.4.1(b). Remove seal bolt (4).When you replace part of 5H.REPLACING PARTS B-82585EN/02 4. motor pulley (6) and key (7). CAUTION When the belt (3) is removed. perform not only J6-axis but also J5-axis.read J6 as J5. K113 from motor (8). 6. fix it so that the wrist should not collide with surroundings.12 REPLACING J6-AXIS MOTOR Replacing procedure CAUTION This mechanism becomes J5 axis in 5H. Remove cable K112. 9 . When end effector is attached. Loosen tension adjusting bolt and lower tension and remove belt (1) referring to Fig. Loose the bolt (9) and remove pulley if it is difficult to remove the belt. 5 6 7 8 Remove bolt (2) motor (8). the wrist become rotatable. Assemble it in the opposite procedure after exchanging motor and packing for the new article. washer (5). the wrist moves to bellow side. Remove both side of J3 arm cover of J3 arm. CAUTION When the belt (1) is removed.2 and refer to section 8 of OPERATOR’S MANUAL.1. 4 Loosen bolt (2) and lower tension and remove belt (3).). 1 2 3 Turn off the power of the controller. 12(a) Replacing J6-axis motor TENSION ADJUSTING BOLT 9 TENSION ADJUSTING BOLT VIEW A VIEW B Fig.12(b) Replacing J6-axis motor .75 - . 4. 4.REPLACING PARTS 1 A 2 4 5 6 8 7 B 3 Fig.B-82585EN/02 4. 3Nm (13kgfcm) .3Nm (13kgfcm) 1.4.REPLACING PARTS Parts Name 1 BELT FLANGE 2 SOCKET BOLT 3 BELT 4 SEAL BOLT 5 WASHER 6 MOTOR PULLEY 7 KEY 8 MOTOR 9 BOLT Specifications A98L-0040-0227#006-152 A97L-0218-0504#M5X12 A98L-0040-0227#006-100 A97L-0218-0423#030606 A290-7210-X532 A290-7139-X413 JB-HKY-3X3X6B No brake A06B-0117-B205#0049 With brake A06B-0117-B855#0049 A97L-0218-0423#030606 Number 1 3 1 1 1 1 1 1 3 Loctite B-82585EN/02 Torque N-m (kgf-cm) 1.76 - . 1. perform not only J6-axis but also J5-axis. (18) without forgetting.). 11 12 13 14 . Remove seal bolt (13) and J3 arm (14).2 and refer to section 8 of OPERATOR’S MANUAL. Replace wrist unit to new one and attach it. Attach reducer horizontally after apply greasing to gear of reducer. When packing is attached. Install J3 arm cover. Adjust belt referring to Section 6. In this time. O-ring (17).12. too. washer (10). wrist unit (20) and key (5).10. too. 1 2 3 Turn off the power of the controller.B-82585EN/02 4. read J5/J6 as J4/J5. pay attention not to damage oil seal. CAUTION When the belt (1). In this time. Pay attention that there is a possibility that grease goes out. Do as the wrist is put on the stand so that the wrist should not collide with surroundings. too. remove packing (21). (8) referring to Section 4. Apply greasing to the lip of the oil seal (6). Remove seal bolt (2). Replacing both side of J3 arm cover of J3 arm referring to Section 4.13 REPLACING WRIST UNIT Replacing procedure CAUTION If you replace unit of 5H. Remove belt (1). Perform mastering (See sub section 6. Remove bolt/plated bolt (19) and J5-axis reducer (16). Assemble it in the reverse order of 3-8. 4 5 6 7 8 9 10 Remove seal bolt (9). pulley (11) and key (12).REPLACING PARTS 4. (8) is removed. Remove relay of cable K112. the wrist moves to bellow side or rotate. K113 of J6-axis motor and cable K107 and K108. washer plate (3) and pulley (4) Remove bolt (7). In this time.77 - . replace wave washer (15). 4.REPLACING PARTS B-82585EN/02 14 13 8 1012 9 21 1 16 15 17 18 19 Fig.13 Replacing wrist unit 6 5 2 7 4 3 11 20 .78 - . 4. 5H (*7) When severe dust/liquid protection specification of LR Mate 200iC.5H is specified.5WP 5C is specified. LR Mate 200iC/5L.79 - . (*4 )When LR Mate 200iC/5LC.5WP.0Nm (20kgfcm) 2.0Nm (20kgfcm) 2. LR Mate 200iC/5L.0Nm (20kgfcm) 1. (*3)When LR Mate 200iC/5WP is specified. .5C is specified. LR Mate 200iC/5L. (*2 )When LR Mate 200iC/5LC.3Nm (13kgfcm) 4.REPLACING PARTS Specifications A98L-0040-0227#006-152 A97L-0218-0423#030606 A290-7139-X23 1 A290-7139-X414 JB-HKY-3X3X6B A98L-0040-0223#01001805 A6-BA-3X8 A98L-0040-0227#006-100 A97L-0218-0423#030606 A290-7210-X532 A290-7139-X413 JB-HKY-3X3X6B A97L-0218-0423#041616 A290-7139-X403(*1) A290-7139-Y403(*2) A290-7139-Z403(*3) (Attached to J5 REDUCER) A97L-0218-0816#50(*1) A97L-0218-0816#50C(*4) (Attached to J5 REDUCER) (Attached to J5 REDUCER) A6-BA-3X22(*5) A97L-0218-0496#M3X22BC (*6) A97L-0218-0496#M3X22EN (*4) A290-7139-V501(*5) A290-7139-V502 (*6 A290-7139-V521 (*2) A290-7139-V531 (*3) A290-7139-X453 (*7) Number 1 3 1 1 1 1 12 1 1 1 1 1 7 1 1 1 1 1 1 1 1 9 9 9 1 1 1 1 1 Loctite Torque N-m (kgf-cm) 1.B-82585EN/02 4.5H (*6) When severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.0Nm (20kgfcm) 21 PACKING (*1) When LR Mate 200iC.3Nm (13kgfcm) Parts Name 1 2 3 4 5 6 7 8 9 10 11 12 13 BELT SEAL BOLT WASHER PLATE PULLEY KEY OIL SEAL BOLT BELT SEAL BOLT WASHER MOTOR PULLEY KEY SEAL BOLT 2.5C is specified.5H or LR Mate 200iC/5LC.5Nm (46kgfcm) 14 J3 ARM 2 15 WAVE WASHER 16 J5 REDUCER 17 O-RING 18 O-RING BOLT 19 PLATED BOLT PLATED BOLT 20 WRIST ASS’Y 2. (*5) When not severe dust/liquid protection specification of LR Mate 200iC. In this time. 6 5 4 3 2 1 Fig. too. Remove bolt (1) and reducer.REPLACING PARTS B-82585EN/02 4. 4. Greasing total 6ml inside and gear of reducer (2) and wave generator by using the injection syringe. replace O-ring (6) to new one. Perform mastering (See sub section 6. washer (4) and wave generator (5). Remove seal bolt (3).).2 and refer to section 8 of OPERATOR’S MANUAL.80 - .14(a) Replacing J6-axis reducer .4.14 (a). Apply greasing to bearing of wave generator (5) to which attach new reducer and install to the robot. perform not only J6-axis but also J5-axis.When you replace part of 5H. In this time. Remove O-ring (6). Install new reducer (2) to the robot.4. 1 2 3 4 5 6 7 8 Make to posture that J6 turns to the right under and turn off the power of the controller as shown in Fig.14 REPLACING J6-AXIS REDUCER Replacing procedure CAUTION This mechanism becomes J5 axis in 5H.read J6 as J5. (*4) When LR Mate 200iC. 4. (*2) When severe dust/liquid protection specification of LR Mate 200iC.0Nm (20kgfcm) A97L-0218-0496#M3X25EN (*3) 8 2.5H is specified.REPLACING PARTS M3X25 Fig. .3Nm (13kgfcm) 4 WASHER A290-7210-X532 1 5 WAVE GENERATOR (ATTACHED TO J6 REDUCER) 1 6 O RING (ATTACHED TO J6 REDUCER) 1 2.5H is specified. LR Mate 200iC/5L.81 - .B-82585EN/02 4. (*3) When LR Mate 200iC/5LC.5WP 5C is specified. LR Mate 200iC/5L.14(b) Assembling phase of J6-axis reducer Parts Name BOLT 1 PLATED BOLT PLATED BOLT Specifications Number Loctite Torque N-m (kgf-cm) A6-BA-3X25 (*1) 8 2. LR Mate 200iC/5H.5L is specified.0Nm (20kgfcm) A97L-0218-0817#50(*4) 1 2 REDUCER A97L-0218-0817#50C(*3) 1 3 SEAL BOLT A97L-0218-0432#030808 1 1.0Nm (20kgfcm) (*1) When not severe dust/liquid protection specification of LR Mate 200iC.0Nm (20kgfcm) A97L-0218-0496#M3X25BC (*2) 8 2. Remove blot/plated bolt (1) and J2 arm cover (2). too.15 REPLACING J3 BELT 1 2 3 Turn off the power of the controller.Adjust the tension of the belt referring to Section 6. Replacing procedure CAUTION When removing the belt. In this time.15.4. 4 1 2 3 4 TENSION ADJUSTING BOLT Fig. pay attention below. 4.1 after the installation of the belt. Replace belt and packing to new one and do the opposite procedure. When packing is attached.15 Replacing J3 belt . Loosen tension adjusting bolt and lower tension and remove belt (4) referring to Fig. 5 Perform mastering (See sub section 6. .REPLACING PARTS B-82585EN/02 4.2 and refer to section 8 of OPERATOR’S MANUAL. remove packing (3).4.).82 - . put the part beyond the J3 housing on a workbench to prevent the arm from dropping. B-82585EN/02 4. LR Mate 200iC/5L. (*3) When LR Mate 200iC/5LC.83 - .5H or LR Mate 200iC/5LC. . (*5) When LR Mate 200iC/5WP is specified.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 8 4.5C is specified. (*6) When severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.5C is specified.5WP.5H is specified.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 8 4.5Nm (46kgfcm) A290-7139-X306(*1) 1 A290-7139-X308 (*2) 1 2 J2 ARM COVER A290-7139-Y308 (*4) 1 A290-7139-Z308 (*5) 1 3 PACKING A290-7139-X355 (*6) 1 4 BELT A98L-0040-0190#007-098 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5H is specified.5C is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC. (*4) When LR Mate 200iC/5LC.5WP. LR Mate 200iC/5L.REPLACING PARTS Specifications Number Loctite Torque N-m (kgf-cm) Parts Name BOLT 1 PLATED BOLT PLATED BOLT A97L-0218-0504#M4X10(*1) 3 2. loosen tension adjusting bolt and lower tension and remove belt referring to Fig.4. Remove bolt/plated bolt (1) and J3 arm cover (2).REPLACING PARTS B-82585EN/02 4. In this time. fix it so that the wrist should not collide with surroundings. . too.2 and refer to section 8 of OPERATOR’S MANUAL.1 after the installation of the belt. When packing is attached. When packing is attached. CAUTION When the belt (7) is removed.Adjust the tension of the belt referring to Section 6. remove packing (3). 1 2 3 4 Turn off the power of the controller. 5 .6.1 (b).1(c). Replace belt and packing to new one and do the opposite procedure.1. remove packing (6). In case of replacing J6 belt. perform mastering not only J5-axis but also J6-axis. CAUTION When the belt (8) is removed. the wrist moves to bellow side or rotate. pay attention below. In case of replacing J5 belt.84 - .). too.1.16 REPLACING J5/J6 BELT Replacing procedure CAUTION When replacing 5H. Do as the wrist is put on the stand so That the wrist should not collide with surroundings. Remove bolt/plated bolt (4) and J3 arm cover (5). 6 Perform mastering (See sub section 6. loosen tension adjusting bolt and lower tension and remove belt referring to Fig.6. the wrist become rotatable. When end effector is attached. When J5 belt is replaced.please read J5/J6 as J4/J5. B-82585EN/02 4.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 5 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 6 PACKING A290-7139-X454 (*6) 1 7 BELT A98L-0040-0227#006-152 1 8 BELT A98L-0040-0227#006-100 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.0Nm (20kgfcm) A97L-0218-0496#M4X12BC (*2) 11 4. (*2) When severe dust/liquid protection specification of LR Mate 200iC.0Nm (20kgfcm) 4 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 11 4.5WP. (*6) When severe dust/liquid protection specification of LR Mate 200iC.16 Replacing J5/J6 belt Parts Name BOLT 1 PLATED BOLT PLATED BOLT Specifications Number Loctite Torque N-m (kgf-cm) 7 A97L-0218-0504#M4X10(*1) 3 2. LR Mate 200iC/5L. (*4) When LR Mate 200iC/5LC.5C is specified. LR Mate 200iC/5L.5Nm (46kgfcm) PLATED BOLT A97L-0218-0496#M4X12EN (*3) 11 4. 4.5H is specified.REPLACING PARTS 6 5 3 2 1 4 8 Fig.5WP.5Nm (46kgfcm) A97L-0218-0496#M4X12EN (*3) 11 4.85 - .5H or LR Mate 200iC/5LC. (*5) When LR Mate 200iC/5WP is specified.5Nm (46kgfcm) A290-7139-X405(*1) 1 A290-7139-X407 (*2) 1 2 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 3 PACKING A290-7139-X454 (*6) 1 BOLT A97L-0218-0504#M4X10(*1) 3 2. .5H is specified.5C is specified.5C is specified. (*3) When LR Mate 200iC/5LC. Replacing procedure 5 1 2 3 4 Fig. When severe dust/liquid protection specification is specified. Remove bolt (1). 4. (3) and SV PLATE (2).REPLACING PARTS B-82585EN/02 4. and do the opposite procedure. Turn off the power of the controller.17 Replacing Solenoid valve .17 REPLACING SOLENOID VALVE 1 2 3 4 5 Make J3-axis to posture in which SV PLATE is removed easily.86 - . Remove relay of air tube and take solenoid valve out. remove packing (5).4. Replace solenoid valve and packing to new one. too. 5H is specified.REPLACING PARTS Specifications Number Loctite Torque N-m (kgf-cm) Parts Name BOLT PLATED BOLT 1 PLATED BOLT PLATED BOLT A6-BA-4X8(*1) 4 A97L-0218-0546#040808BC(*2) 4 A97L-0218-0546#040808EN(*3) 4 A97L-0218-0546#041010EN(*4) 4 A290-7139-X433 1 2 SV PLATE A290-7139-Y433(*3) 1 A290-7139-Z433(*4) 1 BOLT A6-BA-4X8(*1) 2 PLATED BOLT A97L-0218-0546#040808BC(*2) 2 3 PLATED BOLT A97L-0218-0546#040808EN(*3) 2 PLATED BOLT A97L-0218-0546#041010EN(*4) 2 1 A97L-0218-0113#D3R or A97L-0218-0113#D3 or SOL VALVE 4 A97L-0218-0113#D2 or A97L-0218-0113#D1 5 PACKING A290-7139-X452 (*5) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5H is specified.5C is specified.87 - . (*2) When severe dust/liquid protection specification of LR Mate 200iC. (*4) When LR Mate 200iC/5WP is specified.5C is specified. .5WP. LR Mate 200iC/5L. (*3) When LR Mate 200iC/5LC. LR Mate 200iC/5L.5H or LR Mate 200iC/5LC. (*5) When severe dust/liquid protection specification of LR Mate 200iC.B-82585EN/02 4. LR Mate 200iC/5L. mount the reducer as quickly as possible after sealant application. Be careful not to touch the applied sealant. apply releasant (Loctite Gasket Remover) to the arm’s surface from which the reducer was dismounted.88 - . Sufficiently degrease the reducer’s surface to be sealed and the arm’s surface to be sealed. Applying sealant 5 6 Make sure that the reducer and the arm is dry (with no alcohol remaining). Washing and degreasing the surfaces to be sealed 2 3 4 CAUTION Oil may drip from the inside of the reducer.18 SEALANT APPLICATION 1 After dismounting the reducer from the arm. apply again. wipe them dry. After degreasing. Assembling 7 To prevent dust from sticking to the portions to which sealant was applied. See descriptions about reducer replacement for the relevant axes for details. and degrease it with alcohol again. fasten it with bolts and washers quickly so that the mated surfaces get closer. Polish the arm’s surface to be sealed with an oil stone. make sure that no oil is dripping. CAUTION The portions to which sealant is to be applied vary from one axis to another.REPLACING PARTS B-82585EN/02 4. 8 . After mounting the reducer. Blow air onto the surface to be sealed to remove dust from the tapped holes. If they are still wet with alcohol. using a cloth dampened with alcohol. then wait until the sealant (Loctite 518) becomes softened (for about 10 minutes). Apply sealant (Loctite 518) to the surfaces. If sealant was wiped off. Remove the softened sealant from the surface using a spatula.4. or maintenance. BATTERY BACKUP DON'T DISCONNECT コネクタ取外不可 Fig. Precautions to be observed when handling the pulse coder cable The pulse coder cable is provided with a marking tie. replace it according to this chapter. and the cable are necessary.360 hours). installation. Therefore. 5 marking label .B-82585EN/02 5. as shown below. to warn against disconnecting the cable during transportation. the pulse coder. do not disconnect the cable except when replacement of the motor.89 - . mastering must be performed again. If the cable with the marking tie is disconnected. the reducer. When the cable is broken or damaged or shows signs of wear.REPLACING CABLES 5 REPLACING CABLES Replace the cables every four years (15. 5. LR Mate 200iC/5L.pulse coder) Fig.REPLACING CABLES B-82585EN/02 5.) .5C.90 - .5.1 (a) Routing of the robot cables (LR Mate 200iC.1 CABLE WIRING Followings are the routing of the robot cables.5WP.5LC. K114 (End effector) K112 (J6 power) K113 (J6 pulse coder) K108 (RO) K110 (J5 power) K111 (J5 pulse coder) K106 (J4 to J6 power) K107 (J4 to J6 pulse coder) K109 (J4 power) K102 (J2 power) K103 (J2 pulse coder) K104 (J3 power) K105 (J3 pulse coder) K101 (Ｊ１ toJ6 power. 5.1 (b) Routing of the robot cables (LR Mate 200iC/5H) .91 - .B-82585EN/02 5.REPLACING CABLES K114 (End effector) K112 (J5 power) K113 (J5 pulse coder) K108 (RO) K110 (J4 power) K111 (J4 pulse coder) K106 (J4 to J5 power) K107 (J4 to J5 pulse coder) K102 (J2 power) K103 (J2 pulse coder) K104 (J3 power) K105 (J3 pulse coder) K101 (Ｊ１ to J5 power pulse coder) Fig. 2 (a) to (d) for the cable clamp. . cables can be loosened or pulled by force to cause their disconnection. Otherwise.REPLACING CABLES B-82585EN/02 5.92 - .5. clamp the cable at the position specified in Fig.5.5.2 CABLE FORMING When replacing cables. Refer to the Fig.2 (a) to (d) using a clamp or a nylon band. LR Mate 200iC/5L.2 (b) Cable externals chart of Mechanical unit (LR Mate 200iC.REPLACING CABLES relay in J2 base Clamp J2-1 M2M1 M2M1 K102 Clamp J2-2 M2M M2M M2BK K102 M2BK M3M Connector plate M3M1 M3M1 K104 M3BK M1M M1M K104 Clamp J2-2 Clamp J4-1 Clamp J3-1 M3M M3BK relay in J3 arm M4M1 K109 M4M M4M1 M4M M456M1 M456M1 K106 M1BK M1BK K109 M5M1 K106 Clamp J1-1 K101 Clamp J4-2 M6M1 K110 M 5M1 K110 M5M M5M M2P1 K103 M3P1 BA ERY B TT ACKUP DON 'T DIS CONNE CT コネ クタ 取外不可 M2P1 K103 Clamp J2-2 M3P BA ER B TT Y ACKUP DO N'T DI ONN SC ECT コネクタ 取外不可 M2P B ATT ERY BACKUP DON'T DI SCONNECT コネクタ 取外不 可 BA ER B TT Y ACKUP DO N'T DI ONN SC ECT コネクタ 取外不可 M2P K112 M3P M4P M4P M1P BAT TERY BACKUP DON'T D ISCONNECT コネクタ 取外不可 M1P K105 M3P1 K105 Clamp J2-2 BA ERY BACKUP TT DON'T DI SCONNECT コネクタ 取外不可 Clamp J4-1 M5P1 BAT TERY BACKUP DON'T D ISCONNECT コ ネクタ 取外不可 relay in J3 arm M5P1 K111 M5P BATT ERY B KUP AC DON'T DI SCONN T EC コ ネクタ 取外不 可 M 6M1 K112 M6M M6M M5P M456PEE1 K107 M456PEE1 K107 K101 B ATT ERY BACKUP DON'T DI SCONNECT コネクタ 取外不 可 Clamp J4-2 M6P1 BAT TERY BACKUP DON'T D ISCONNECT コ ネクタ 取外不可 K111 - Clamp J3-1 EE1 K113 M6P1 K113 M6P BATTERY BAC KUP DON'T DISCONNEC T コネクタ 取外不可 M6P + K114 YV1 K108 YV1 K108 YV2 Connected to solenoid valve Fig.5C.5WP 6-axes brake type) .B-82585EN/02 5.2 (a) Cable externals chart of Mechanical unit (LR Mate 200iC 3-axes brake type) relay in J2 base Clamp J2-1 M2M1 M2M1 K102 M2M Clamp J2-2 M2M M2BK K102 M2BK M3M relay in J3 arm M3M1 M3M1 K104 M3M Connector plate Clamp J2-2 M3BK M4M1 M4M1 K109 M4M K104 M3BK EE1 K114 EE EE M4M M1M M1M M456M1 M456M1 K106 Clamp J4-1 M4BK K109 M4BK M5M M5M1 M1BK M1BK Clamp J1-1 K106 Clamp J3-1 Clamp J4-2 M5BK K110 M5M1 K110 M5M M5BK M6M K 101 M6M1 M2P1 K103 M3P1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M2P1 K103 Clamp J2-2 M3P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M2P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M3P M4P M1P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M1P K105 M3P1 K105 Clamp J2-2 Clamp J4-1 M5P1 M4P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 relay in J3 arm M6BK M2P K112 M6M1 K112 M6M M6BK M456PEE1 M456PEE1 K107 K101 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 Clamp J4-2 M6P1 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 K111 - M5P1 K111 M5P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 M5P K107 M6P K113 M6P1 K113 M6P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不可 + Clamp J3-1 EE1 K114 YV1 K108 YV1 K108 YV2 Connected to solenoid valve Fig.5.93 - EE1 K114 EE EE .5LC.5. 94 - EE1 K114 EE EE .2(c) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 3-axes brake type) relay in J2 base Clamp J2-1 M2M1 M2M1 K102 Clamp J2-2 M2M M2M M2BK K102 M2BK M3M Connector plate M3M1 M3M1 K104 M3BK M1M M1M K104 Clamp J2-2 M3M EE1 K114 EE EE M3BK M4M1 K110 M4M1H M4M relay in J3 arm M4M M456M1 M456M1 K106 M1BK M1BK K106 Clamp J1-1 K101 Clamp J3-1 Clamp J4-1 Clamp J4-2 M5M1H M5M1 K112 M4BK K110 M4BK M5M M2P1 K103 M3P1 B TER BACKUP AT Y DO N'T DI ONN T SC EC コネク タ 取外不可 M2P1 K103 Clamp J2-2 M3P B ATT Y BAC P ER KU DO T N' DI ON SC NEC T コ ネクタ 取外不可 M2P BATTERY B ACKUP DON'T DISCONN ECT コネ クタ 取外不可 BATT Y BAC P ER KU DO T N' DI ON SC NEC T コ ネクタ 取外不可 M2P M3P M1P BAT RY BA UP TE CK D 'T ON D CO IS NNE CT コネク タ 取 外不可 M1P K105 M3P1 K105 Clamp J2-2 Clamp J4-1 Clamp J4-2 M4P1H BAT TE RY BAC KU P DON' T DISC ONNE CT コネクタ 取外不可 relay in J3 arm M4P1 K111 M4P BATTERY BACKUP DON'T DISCONNECT コネクタ 取外不 可 M5BK K112 M5M M5BK M4P K111 M5P1H Clamp J3-1 EE1 K113 M5P1 K113 M5P K107 M456PEE1 K107 M456PEE1 K101 BATTERY B ACKUP DON'T DISCONN ECT コネクタ 取外不可 - BAT TE RY BAC KU P DON' T DISC ONNE CT コネクタ 取外不可 B ATTER BACKUP Y DO N'T DISC ONNECT コネクタ 取外不可 M5P + K114 YV1 K108 YV1 K108 YV2 Connected to solenoid valve Fig.5.2 (d) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 5-axes brake type) .5.5.REPLACING CABLES relay in J2 base Clamp J2-1 M2M1 M2M1 K102 B-82585EN/02 Clamp J2-2 M2M M2M M2BK K102 M2BK M3M Conncetor plate M3M1 M3M1 K104 M3BK M1M M1M K104 Clamp J2-2 M3M M3BK relay in J3 arm M4M1 K109 M4M M4M1H M4M M456M1 M456M1 K106 M1BK M1BK K110 Clamp J3-1 M5M1H K106 Clamp J1-1 K101 Clamp J4-2 Clamp J4-1 Clamp J2-2 M3P BATT Y BAC P ER KU DO N'T DI ONNEC SC T コ ネクタ 取外不 可 K112 M2P1 K103 M3P1 BATT ERY BACKUP DON 'T D ISCON CT NE コネク タ 取外 不可 M2P1 K103 M2P BATTER BACKU Y P DO N'T DISC ONNECT コネ クタ 取外 不可 BATT Y BAC P ER KU DO N'T DI ONNEC SC T コ ネクタ 取外不 可 M2P M3P M1P BATTE RY BACK UP D ON'T DIS CONNECT コネ クタ 取外 不可 M1P K105 M3P1 K105 Clamp J2-2 Clamp J4-1 Clamp J4-2 M4P1H BAT TE RY BAC KUP DON' T DIS CONNE CT コネクタ 取外不可 relay in J3 arm M4P1 K111 M4P BATT ERY B ACKUP DON 'T DI SCO ECT NN コ ネクタ 取外不 可 M 5M1 K 110 M5M M5M M4P K111 M5P1H K107 M456PEE1 K107 M456PEE1 K101 BATTER BACKU Y P DO N'T DISC ONNECT コネ クタ 取 外不可 - Clamp J3-1 EE1 K113 M5P1 K113 M5P BAT TE RY BAC KUP DON' T DIS CONNE CT コネクタ 取外不可 BA TTERY B ACKUP DON 'T DISCO ECT NN コネクタ 取外不可 M5P + K114 YV1 K108 YV1 K108 YV2 Connected to solenoid valve Fig. 1(c)) 7 Cut the nylon band which connect cable and air tube to clamp J1-2. 3 Remove J2 base cover referring to Fig.1 for the configuration of the mechanical unit cables.1 REPLAING CABLE K101 and Air tube (Connector plate to J2 base) 1 Turn off the power of the controller and remove cable of controller side from connector plate of back of J1-axis.5LC there are two white air tube and one black air tube. K108 and K101. knock down the robot sidewise.) 5 Remove bolt (5) and cover U (6). 12 Perform mastering (See section 6.3 CABLE AND AIR TUBE REPLACEMENT This section describes a procedure for periodically replacing all the (full-option) mechanical unit cables. 10 Pull cable and air tube in J2 base to J1 base side.) 5. (If pulse coder cable is not replaced. 9 Remove connector plate. 6 If necessary. mastering is not necessary. Refer to chapter 6 MASTERING or chapter 8 OPERATOR’S MANUAL in advance. remove cover B. Replacing procedure . In case of other models there is one white air tube and one black air tube. When packing is attached.5. It is necessary to perform after cable replacement.3. (In case of LR Mate 200iC/5C. K105. K103. 8 Cut the nylon band of battery box terminal and remove cable.B-82585EN/02 5.3. K106. In this time pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes 11 Replace cable and air tube for the new article and assemble them by opposite procedure. 2 Remove robot from floor plate.Remove relay of air tube similarly.1 (a). (See Fig. 4 Remove all relay of cable K102. See section 5. K104.5. K107. remove packing (7). be sure to replace packing to new one.3. too. When packing is attached.).REPLACING CABLES 5.95 - .2 and referring to chapter 8 of OPERATOR’S MANUAL. LR Mate 200iC/5L.96 - . (*3) When LR Mate 200iC/5LC.5H or LR Mate 200iC/5LC. .5C is specified. (*5) When LR Mate 200iC/5WP is specified. LR Mate 200iC/5L.5Nm(46kgfcm) A290-7139-X305(*1) 1 A290-7139-X307 (*2) 1 2 J2 BASE COVER A290-7139-Y307 (*4) 1 A290-7139-Z307 (*5) 1 3 SPONGE A290-7139-X346 1 4 PACKING A290-7139-X354 (*6) 1 A6-BA-4X8(*1) 4 5 BOLT A97L-0218-0546#040808BC(*2) 4 A97L-0218-0546#040808EN(*3) 4 6 COVER U A290-7139-X332 1 7 PACKING A290-7139-X356(*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC.5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC.5WP.REPLACING CABLES B-82585EN/02 4 5 6 7 3 2 1 Fig.5H is specified.5.5.5C is specified. LR Mate 200iC/5L.5Nm(46kgfcm) A97L-0218-0496#M4X12EN (*3) 8 4.5C is specified.3. (*6) When severe dust/liquid protection specification of LR Mate 200iC.1 (a) Remove the J2 base cover Parts name BOLT 1 PLATED BOLT PLATED BOLT Specifications Number Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4X10(*1) 3 2. (*4) When LR Mate 200iC/5LC.0Nm(20kgfcm) A97L-0218-0496#M4X12BC (*2) 8 4.5WP. 5.B-82585EN/02 5.REPLACING CABLES A B B ケーブル K102 Cable K102 ケーブル K103 Cable K103 AIR 1 (BLACK) 継手 Panel union AIR 2 (WHITE) C A パルスコーダ線 Pulsecoder line (BLUEXWHITE) AIR 1 (BLACK) SECTION A-A クランプ J2-1 Clamp J2-1 A290-7139-X333 パワー線 Power line (REDXWHITE) AIR 2 (WHITE) M2M1 M3M1 ケーブル K104 Cable K104 ケーブル K105 Cable K105 YV1 M456PEE1 M3P1 SECTION B-B M2P1 DETAIL C M456M1 Fig.1 (b) Replace the cable in J2 base .3.97 - . 3.REPLACING CABLES D B-82585EN/02 E E ケーブル K102 Cable K102 ケーブル K103 Cable K103 AIR 1 (O4 BLACK) EXT (O4 WHITE) 継手 Panel union AIR 2 (O6 WHITE) F D SECTION D-D ケーブル K104 Cable K104 ケーブル K105 Cable K105 パルスコーダ線 Pulsecoder line (BLUEXWHITE) AIR 1 (O4 BLACK) クランプJ2-1 Clamp J2-1 A290-7139-X333 パワー線 Power line (REDXWHITE) AIR 2 (O6 WHITE) M2M1 M3M1 EXT (O4 WHITE) YV1 SECTION E-E M456PEE1 M3P1 M2P1 DETAIL F M456M1 Fig.98 - .5.5LC) .1 (c) Replace the cable in J2 base (LR Mate 200iC/5L.5. 5H is specified. (*2) When LR Mate 200iC/5LC.5C is specified. LR Mate 200iC/5L.B-82585EN/02 5.3. Parts name 1 PLATED BOLT PLATED BOLT Specifications Number Loctite Torque N-m (kgf-cm) A97L-0218-0496#M4X8BC(*1) 9 4. LR Mate 200iC/5L.5C is specified.5WP.5Nm(46kgfcm) A97L-0218-0496#M4X8EN(*2) 9 4.5.5Nm(46kgfcm) A290-7139-X233(*1) 1 2 COVER B A290-7139-Y233(*2) 1 3 PACKING A290-7139-X252 1 (*1) When severe dust/liquid protection specification of LR Mate 200iC.REPLACING CABLES 3 2 1 Fig. .5H or LR Mate 200iC/5LC.5WP.1(d) Remove the cover B (When only severe dust/liquid protection specification is specified) When severe dust/liquid protection specification of LR Mate 200iC.99 - . 5.REPLACING CABLES ナイロンバンドで固定のこと。 TIE UP WITH NYLON BAND.3.5C DETAIL C パワー線 (REDXWHITE) AIR 2 (O6 WHITE) AIR 1 (O4 BLACK) EXT (O4 WHITE) マーキングを合わせること。 ADJUST THE MARKING.5C以外) Except LR Mate 200iC/5LC.1 (e) Replace the cable in J1 base 4 3 1 2 NO.5. パルスコーダ線 Pulsecoder line AIR 2 (BLUEXWHITE) (WHITE) クランプ J1-2 Clamp J1-2 A290-7139-X331 ナイロンバンド Nylon band AIR 1 (BLACK) C (LR Mate 200iC/5LC.1 PIN Fig.5C) Fig.5.1 (f) Replace the parts of connector plate .100 - . B-82585EN/02 - + + BATTERY BOX TERMINAL SIDE バッテリボックス端子面 - パワー線 Power line (REDXWHITE) AIR 2 (WHITE) AIR 1 (BLACK) マーキングを合わせること。 ADJUST THE MARKING. パルスコーダ線 Pulsecoder line (BLUEXWHITE) クランプ J1-2 Clamp J1-2 A290-7139-X331 ナイロンバンド Nylon band DETAIL C (LR Mate 200iC/5LC.3. 101 - . (*2) When severe dust/liquid protection specification of LR Mate 200iC.5.5H is specified. LR Mate 200iC/5L.5Nm(46kgfcm) A6-BA-4X8 4 LT242 A290-7139-X233(*4) 1 3 CON.3.5H or LR Mate 200iC/5LC.5Nm(46kgfcm) A97L-0218-0496#M4X10EN (*3) 4 4. Clamp J1-1 A290-7139-X234 Pulse coder line (BLUEXWHITE) Power line (REDXWHITE) Fig. LR Mate 200iC/5L.B-82585EN/02 5.5H is specified. LR Mate 200iC/5L.PLATE A290-7139-Y233(*3) 1 4 PACKING A290-7139-X251 (*5) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC. (*5) When severe dust/liquid protection specification of LR Mate 200iC.0Nm(20kgfcm) A97L-0218-0496#M4X10BC (*2) 4 4. LR Mate 200iC/5L. (*4) When LR Mate 200iC.5C is specified.5WP.REPLACING CABLES Specifications Number Loctite Torque N-m (kgf-cm) Parts name BOLT 1 PLATED BOLT PLATED BOLT 2 BOLT A6-BA-4X10(*1) 4 2.1 (g) Clamp of J1 base .5WP.5C is specified. (*3) When LR Mate 200iC/5LC.5H is specified. 2 and referring to chapter 8 of OPERATOR’S MANUAL.3. Remove relay of K107 and K111. Remove J3 cover referring to Fig.102 - .2 REPLAING CABLE K106. Drag cable to remove the relay easily.2 (d).3.2 (d).REPLACING CABLES B-82585EN/02 5. When packing is attached. remove packing.there is no K109. too. drag it after it passes it on the tip of the part of the connector. Remove clamp J3-1 from guide arm. which connect cable to clamp J4-1 referring to Fig. Cut the nylon band.5. too. remove packing. When packing is attached. Replace cable and air tube for the new article and assemble it by opposite procedure.5. Drag the cable from the upper part and the lower side of the guide arm. In this time.3.3.2(c). Remove clamp J2-1 from J2 base referring to Fig.2 (g) and (h). Remove relay to K101 and air tube. which connect cable to clamp J2-2 referring to Fig. When packing is attached. Cut the nylon band.3. When packing is attached. In this time. K107. Remove relay of cable K106 and K109 (In case of LR Mate 200iC/5H. too. . When packing is attached. Remove J2 base cover referring to Section 4. Remove air tube of six in diameter which color is black and white that has come from J2 base to J3 casing.4.5. which connect cable to clamp J3-2 referring to Fig.). Cut the nylon band which connect cable and air tube to clamp J3-2 and sheet referring to Fig.2 (a). remove packing. Remove the J3 arm cover which is in view of in front of the robot.5.5.5.5. K112.1 (b). Pull out the cable of the J3 arm to the J3 casing side. Remove relay of K106 and K110.3.) Cut the nylon band. be sure to replace packing to new one. K113.3. remove packing. Cut the nylon band. Perform mastering (See section 6.5. Remove guide arm.2 (b). pull out the cable after it pushes into the pipe on the tip of the part of the relayed connector and it passes.3. which connect cable to clamp J4-2 referring to Fig.2 (e).5. K108 and Air tube (J2 base to J3 casing) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Turn off the power of the controller and remove cable of controller side from connector plate of back of J1-axis.3. it is left referring to Fig. (*5) When LR Mate 200iC/5WP is specified. LR Mate 200iC/5L. (*2) When severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.5WP.5C is specified.2 (a) Remove the J2 arm cover Parts name BOLT 1 PLATED BOLT PLATED BOLT Specifications Number Loctite Torque N-m (kgf-cm) A97L-0218-0504#M4x10(*1) 3 2.0Nm(20kgfcm) A97L-0218-0496#M4X12BC (*2) 11 4.5H is specified.5.5Nm(46kgfcm) A97L-0218-0496#M4X12EN (*3) 11 4.3. (*6) When severe dust/liquid protection specification of LR Mate 200iC.5Nm(46kgfcm) A290-7139-X405 (*1) 1 A290-7139-X407 (*2) 1 2 J3 ARM COVER A290-7139-Y407 (*4) 1 A290-7139-Z407 (*5) 1 3 PACKING A290-7139-X454 (*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC. (*4) When LR Mate 200iC/5LC.REPLACING CABLES 3 2 1 Fig.103 - .5H is specified. . LR Mate 200iC/5L. (*3) When LR Mate 200iC/5LC.B-82585EN/02 5.5C is specified.5C is specified.5WP.5H or LR Mate 200iC/5LC. 104 - .5.REPLACING CABLES 黒 BLACK 黄 YELLOW 赤 RED 青 BLUE B-82585EN/02 緑 GREEN CABLE 透明 CLEAR ナイロンバンド NYLON BAND 橙 ORANGE D DETAIL D SECTION C-C ナイロンバンド NYLON BAND MARKING クランプ J4-2 A290-7139-X334 ナイロンバンド NYLON BAND C ケーブル Cable エアチューブ Air tube C Fig.3.5.3.2 (b) Clamp of J3 arm part 1 3 2 Fig.5.2(c) Remove the J3 cover . H003.H004 2B(GREEN) ※H003.18 7pcs) Power line (REDXWHITE) 1B(BLUE) ※H002.5Nm(46kgfcm) A97L-0218-0417#M4X12EN (*3) 6 4.H004 F 2A(YELLOW) ※H003.B-82585EN/02 5.pcs) D Pulse coder line (BLUEXWHITE) DETAIL F Fig.H004 Air tube (O3.5H is specified.5. AIR2 (WHITE) AIR1 (BLACK) Pulse coder line (BLUEXWHITE) Power line (REDXWHITE) Cable NYLON BAND Cable and air tube Clamp J4-1 A290-7139-X432 Air tube (O3.REPLACING CABLES Specifications Number Loctite Torque N-m (kgf-cm) Parts name BOLT 1 PLATED BOLT PLATED BOLT A97L-0218-0504#M4X10(*1) 4 2.H004 3B(ORANGE) ※H004 3A(CLEAR) ※H004 SECTION D-D AIR TUBE (O6 2.5H is specified. LR Mate 200iC/5L.2 (d) Cable clamp in parts of J3 casing .5H or LR Mate 200iC/5LC.5C is specified.105 - .3.0Nm(20kgfcm) A97L-0218-0417#M4X12BC (*2) 6 4.5WP. (*3) When LR Mate 200iC/5LC. LR Mate 200iC/5L.5Nm(46kgfcm) A290-7139-X404 (*1) 1 A290-7139-X406 (*2) 1 2 J3 COVER A290-7139-Y406 (*4) 1 A290-7139-Z406 (*5) 1 3 PACKING A290-7139-X451 (*6) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC. (*6) When severe dust/liquid protection specification of LR Mate 200iC.18 7pcs) Clamp J3-2 A290-7139-X431 DETAIL E AIR TUBE (O6 2pcs) Cable and air tube NYLON BAND D NYLON BAND E Cable AIR1(BLACK) 1A(RED) ※H002. (*2) When severe dust/liquid protection specification of LR Mate 200iC.5C is specified. LR Mate 200iC/5L.H003. (*5) When LR Mate 200iC/5WP is specified.5C is specified.5WP. (*4) When LR Mate 200iC/5LC. REPLACING CABLES B-82585EN/02 G H Clamp J2-2 A290-7139-X334 CABLE K103 CABLE K105 CABLE K102 CABLE K104 DETAIL H G SECTION G-G Fig.5.3.2 (e) Cable clamp in J3 casing part 2 1 3 4 Fig.6Nm(57kgfcm) 5.106 - .2 (f) Remove the guide arm Parts name SEAL BOLT 1 SEAL BOLT SEAL BOLT 2 GUIDE ARM 3 BOLT 4 PACKING Specifications A97L-0218-0423#051616(*1) A97L-0218-0546#051616BC(*2) A97L-0218-0546#051616EN(*3) A290-7139-X304(*4) A290-7139-Y304(*5) A290-7139-Z304(*6) A6-BA-4X8 A290-7139-X353 (*7) Number 4 4 4 1 1 1 2 1 Loctite Torque N-m (kgf-cm) 5.6Nm(57kgfcm) .5.5.3.6Nm(57kgfcm) 5. B-82585EN/02 5.REPLACING CABLES (*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*3) When LR Mate 200iC/5LC,5WP,5C is specified. (*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified. (*5) When LR Mate 200iC/5LC,5C is specified. (*6) When LR Mate 200iC/5WP is specified. (*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is specified. Table 5.3.2 Air tube (*1) H002,H003,H004,H005,H012,H013,H014,H017,H018,H022,H023,H032,H033 is specified (*2) H004,H005,H014,H015 is specified (*3) H003,H004,H005,H013,H014,H015,H018,H023,H024,H033 is specified ナイロンバンド NYLON BAND ナイロンバンド NYLON BAND 2番目マーキング SECOND MARKING AIR 1 (BLACK) ナイロンバンド NYLON BAND マーキングを合わせること。 ADJUST THE MARKING. CABLE K107 CABLE K108 3番目マーキング THIRD MARKING AIR 2 (WHITE) ナイロンバンド NYLON BAND CABLE　K106 シート SHEET ナイロンバンド NYLON BAND クランプ J3-1 A290-7521-X335 クランプJ2-2 CLAMP J2-2 A290-7139-X334 (1) Fig.5.3.2 (g) Cable clamp inside the guide arm (LR Mate 200iC, LR Mate 200iC/5L,5WP,5H) ナイロンバンド NYLON BAND ナイロンバンド NYLON BAND 2番目マーキング SECOND MARKING AIR 1 (O4 BLACK) EXT (O4 WHITE) ナイロンバンド NYLON BAND マーキングを合わせること。 ADJUST THE MARKING. CABLE K107 CABLE K108 3番目マーキング THIRD MARKING AIR 2 (6O WHITE) ナイロンバンド NYLON BAND クランプ J2-2 CLAMP A290-7139-X334 シート SHEET ナイロンバンド NYLON BAND CABLE K106 クランプ J3-1 CLAMP J3-1 A290-7139-X335 (1) Fig.5.3.2 (h) Cable clamp inside the guide arm (LR Mate 200iC/5C,5LC) - 107 - 5.REPLACING CABLES B-82585EN/02 5.3.3 REPLAING CABLE K102, K103, K104, K105, K109, K110, K111, K112, K113 1 2 Turn off the power of the controller. (In case of except LR Mate 200iC/5H) In case of cable K102 and K103, remove J2-axis motor, In case of cable K104 and K105, remove J3-axis motor. In case of cable K109, remove J4-axis motor. In case of cable K110 or K111, remove J5-axis motor. In case of cable K112 or K113, remove J6-axis motor. See section 4 about replacing procedure of motor. (In case of LR Mate 200iC/5H) In case of cable K102 and K103 remove J2-axis motor, In case of cable K104 and K105, remove J3-axis motor. In case of cable K110 or K111, remove J4-axis motor. In case of cable K112 or K113, remove J5-axis motor. See section 4 about replacing procedure of motor. Replace cable to new one and assemble it by opposite procedure. Install motor referring to Section 4. In case of replacing K103 or K104 or K105 or K109 or K111 or K112 or K113, perform mastering referring to section 6.2 or chapter 8 of Operator’s manual. 3 4 5 - 108 - B-82585EN/02 5.REPLACING CABLES 5.3.4 REPLAING CABLE K104 1 2 3 4 5 Turn off the power of the controller. Remove J3 arm cover. (See Fig.5.3.2 (a)) Remove nut on J3 arm. Remove relay of K107 and cable K114. Replace cable to new one, and assemble it by opposite procedure. Spread Loctite referring to Fig.5.3.4 and tighten nut with the specified torque. When packing is attached, be sure to replace packing. relay to cable K107 Nut (Attached to K114) Tightening torque　3.0Nm (31kgfcm) LT262 Cable K114 Fig.5.3.4 Replace the cable K114 - 109 - When packing is attached . Replacing procedure of air tube between J2 base to J3 casing 1 See section 5. which connects air tube to clamp J4-1.2(c)) Cut the nylon band.REPLACING CABLES B-82585EN/02 5. (See Fig.3.5.3. .5. Replace air tube to new one. and install them by opposite procedure.110 - .3.3.5.2. Replacing procedure of air tube between J3 casing to J3 arm 1 2 3 4 5 6 7 8 9 Turn off the power of the controller.5(h)) Drag air tube from the part removed by 7.3.1.2 (a)) Remove air tube from panel union on J3 motor. (See Fig.5 REPLAING AIR TUBE Replacing procedure of air tube between connector plate to J2 base 1 See section 5. Remove the cover of solenoid valve (See Fig. Cut the nylon band.5. Remove J3 cover. which connects air tube to clamp J4-2. be sure to replace packing.3. Remove J3 arm cover. 5H) 580 300 AIR 1 (φ4 黒 BLACK) 570 290 AIR 2 (φ6 白 WHITE) 570 290 EXT (φ4 白　WHITE) 分線盤 ← Connector panel → J2ベース J2 base Fig.B-82585EN/02 5.5. LR Mate 200iC/5WP.111 - .5LC) 700 340 AIR 1 (黒 BLACK) 910 570 AIR 2 (白 WHITE) J3ケーシング ← J3 casing → J2ベース J2 base 290 290 Fig.5 (a) Marking of air tube (connector plate to J2 base)( LR Mate 200iC.3.5. LR Mate 200iC/5L.5WP.3.5 (b) Marking of air tube (connector plate to J2 base)(LR Mate 200iC/5C.5H) .5 (c) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC.REPLACING CABLES 580 300 AIR 1 (黒 BLACK) 570 290 AIR 2 (白 WHITE) 分線盤 ← Connector panel → J2ベース J2 base Fig.5.3. 5.5.3.5 (f) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5LC) .112 - .3.REPLACING CABLES B-82585EN/02 800 340 AIR 1 (黒 BLACK) 1010 570 AIR 2 (白 WHITE) J3ケーシング ← J3 casing 390 → J2ベース J2 base 390 Fig.5 (e) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5C) 800 340 AIR 1 (φ4 黒 BLACK) 1010 AIR 2 (φ6 白WHITE) 570 390 390 800 EXT (φ4 白 WHITE) J3ケーシング ← J3 casing 340 390 → J2ベース J2 base Fig.3.5.5.5 (d) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5L) 700 340 AIR 1 (φ4 黒 BLACK) 910 AIR 2 (φ6 白WHITE) 570 290 290 700 340 EXT (φ4 白 WHITE) J3ケーシング ← J3 casing → J2ベース J2 base 290 Fig. REPLACING CABLES 赤 RED 青 BLUE 黒 BLACK 黄 YELLOW 緑 GREEN コネクタキー向き KEY DIRECTION CABLE 透明 CLEAR ナイロンバンド NYLON BAND 橙 ORANGE プラグ Plug C DETAIL C SECTION B-B 継手 Panel union B A ナイロンバンド NYLON BAND MARKING クランプ J4-2 A290-7139-X334 ナイロンバンド NYLON BAND B A05B-1139- 黒 BLACK (*1) 透明 CLEAR (*2) 黄 緑 橙 ORANGE YELLOW GREEN (*2) (*3) (*3) 赤 RED (*1) 青 BLUE (*1) DETAIL A (*)Refer to table 5.3. Fig.3.5(g) Remove the air tube in J3 arm 1 3 4 2 Fig.3.2 (h) Remove the cover of solenoid valve part .B-82585EN/02 5.113 - .5.5. .5WP.5H or LR Mate 200iC/5LC.5C is specified.5C is specified.5. (*7) When severe dust/liquid protection specification of LR Mate 200iC.5WP.5H is specified. (*5) When LR Mate 200iC/5LC.114 - .REPLACING CABLES Parts name BOLT 1 SEAL BOLT SEAL BOLT BOLT 2 SEAL BOLT SEAL BOLT Specifications Number Loctite B-82585EN/02 Torque N-m (kgf-cm) A6-BA-4X8(*1) 4 A97L-0218-0546#040808BC(*2) 4 4.5H is specified.LR Mate 200iC/5L. LR Mate 200iC/5L. (*3) When LR Mate 200iC/5LC.5Nm(46kgfcm) A290-7139-X433(*4) 1 3 SV PLATE A290-7139-Y433(*5) A290-7139-Z433(*6) 4 PACKING A290-7139-X452 (*7) 1 (*1) When not severe dust/liquid protection specification of LR Mate 200iC. LR Mate 200iC/5L.5C is specified.5Nm(46kgfcm) A6-BA-4X8(*1) 2 A97L-0218-0546#040808BC(*2) 2 4.5Nm(46kgfcm) A97L-0218-0546#040808EN(*3) 2 4.5Nm(46kgfcm) A97L-0218-0546#040808EN(*3) 4 4. LR Mate 200iC/5L. (*6) When LR Mate 200iC/5WP is specified. (*4) When LR Mate 200iC. (*2) When severe dust/liquid protection specification of LR Mate 200iC.5H is specified. H005.H015指定時 is specified Fig.H014指定時) is specified エアチューブ Air tube エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) エアチューブ(透明) Air tube (Clear) エアチューブ(オレンジ Air tube (Orange) エアチューブ(黄色) Air tube (Yellow) エアチューブ(緑) Air tube (Green) エアチューブ(赤) Air tube (Red) エアチューブ(青) Air tube (Blue) H004.H015指定時) is specified A97L-0218-0113#D3(1) (H004.5 (i) Remove the air tube of solenoid valve part (LR Mate200iC. LR Mate200iC/5C.5H) .3.H014.5WP.H013.115 - .B-82585EN/02 5.H006指定時 is specified 継手 Panel union エアチューブ(黒) Air tube (Black) エアチューブ(赤) Air tube (Red) エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(青) Air tube (Blue) 電磁弁 Solenoid valve A97L-0218-0113#D1 エアチューブ Air tube H002.H033指定時 is specified 継手 Panel union エアチューブ(白) Air tube (White) 電磁弁 Solenoid valve A97L-0218-0113#D3R (1) (H005.5.H032指定時 is specified 継手 Panel union エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) 電磁弁 Solenoid valve A97L-0218-0113#D2 (1) エアチューブ Air tube エアチューブ(黒) Air tube (Black) エアチューブ(緑) Air tube (Green) エアチューブ(黄) Air tube (Yellow) エアチューブ(赤) Air tube (Red) エアチューブ(青) Air tube (Blue) H003.REPLACING CABLES 継手 Panel union エアチューブ(白) Air tube (White) エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) H001. H022指定時 is specified 継手 Panel union エアチューブ(白) Air tube (White) 電磁弁 Solenoid valve A97L-0218-0113#D2 (1) 継手 Panel union エアチューブ Air tube エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) エアチューブ(黄) Air tube(Yellow) エアチューブ(緑) Air tube (Green) エアチューブ(赤) Air tube(Red) エアチューブ(青) Air tube (Blue) エアチューブ Air tube H018.H023指定時 is specified 継手 Panel union エアチューブ(白) Air tube (White) エアチューブ(黒) Air tube (Black) 電磁弁 Solenoid valve A97L-0218-0113#D3(1) エアチューブ(黒) Air tube (Black) エアチューブ(透明) Air tube (Clear) エアチューブ(黄) Air tube (Yellow) エアチューブ(オレンジ) Air tube (Orange) 継手 Panel union エアチューブ Air tube エアチューブ(緑) Air tube (Green) エアチューブ(赤) Air tube (Red) エアチューブ(青) Air tube (Blue) エアチューブ Air tube H024指定時 is specified Fig.3.5 (j) Remove the air tube of solenoid valve part (LR Mate 200iC/5L.5.5LC) .116 - .5.REPLACING CABLES 継手 Panel union B-82585EN/02 エアチューブ(白) Air tube (White) 継手 Panel union エアチューブ Air tube 電磁弁 Solenoid valve A97L-0218-0113#D1 (1) エアチューブ(黒) Air tube (Black) エアチューブ(黒) Air tube (Black) エアチューブ(赤) Air tube (Red) エアチューブ(青) Air tube(Blue) エアチューブ Air tube H017. The customer does not need to make adjustments on the robot when it is delivered.B-82585EN/02 6.ADJUSTMENTS 6 ADJUSTMENTS Each part of the mechanical units of a robot is set to the best condition before the robot is shipped to the customer.117 - . . ADJUSTMENTS B-82585EN/02 6. 6. be sure to replace packing to new one.6. In this time.1(a) Measurement condition of J3 belt BELT TENSION MASS WIDTH SPAN 85±5N 0. Remove the bolt and arm cover (refer to Chapter 5). tighten the bolt with the specified torque. . Attach arm cover. Application DOCTOR TENSION TYPE-Ⅱ Adjustment of belt tension 1 2 3 4 5 Move the robot posture to J2=0° and J3=0°. Manufacturer model No. 6. remove packing.1(a) Adjusting tension of J3 belt Table. TENSION ADJUSTING BOLT Fig. please read J5/J6 as J4/J5. In case of LR Mate 200iC/5H.1 ADJUSTING TENSION OF BELT Please use the following tension meters for the tension adjustment of the belt. Instrument Tension meter Specifications A97L-0218-0700 Vendor Mitsuboshi Belting Ltd.0367kg 7mm 175mm NOTE This is example of LR Mate 200iC. In case of severe dust/liquid protection specification. Adjust it so that it may loosen tension-adjusting bolts and the tension may reach a regulated value. too.118 - . When severe dust/liquid protection specification is selected. B-82585EN/02 6.0171kg 6mm 110mm .1(c) Measurement condition of J6 belt BELT TENSION MASS WIDTH SPAN 27.0171kg 6mm 180mm Table 6.1(c) Adjusting tension of J6 belt Table 6.5±2.5N 0.1(b) Adjusting tension of J5 belt TENSION ADJUSTING BOLT Fig.5±2.1(b) Measurement condition of J5 belt BELT TENSION MASS WIDTH SPAN 27.ADJUSTMENTS TENSION ADJUSTING BOLT Fig.5N 0. 6.119 - . 6. This is useful in performing mastering on a specific axis. The current position of the robot is determined according to the pulse count value supplied from the pulse coder on each axis. A zero-position mark (eye mark) is attached to each robot axis.Batteries for pulse count backup in the mechanical unit have gone dead. Data will be lost if the batteries go dead. Fixture position mastering Zero-position mastering (eye mark mastering) This is performed using a mastering fixture before the machine is shipped from the factory. 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. Mastering is factory-performed.6.120 - . This mastering is performed with all axes aligned to their respective eye marks.Reducer replacement . Replace the batteries in the control and mechanical units periodically. This is performed for one axis at a time. It is unnecessary to perform mastering in daily operations. Mastering data is entered directly. Mastering method There are following five methods of mastering. mastering is an operation for obtaining the pulse count value corresponding to the zero position. This is performed with all axes set at the 0-degree position. The mastering position for each axis can be specified by the user.Pulse coder replacement . This is performed at a user-specified position. To be specific. NOTE Robot data (including mastering data) and pulse coder data are backed up by their respective backup batteries. An alarm will be issued to warn the user of a low battery voltage. mastering becomes necessary after: .Cable replacement .ADJUSTMENTS B-82585EN/02 6. Simplified mastering One-axis mastering Mastering data entry .Motor replacement .2 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. However. After performing positioning. it is necessary to release the relevant alarm and display the positioning menu. the positioning screen is designed to appear only when the $MASTER_ENB system variable is 1 or 2. the robot may behave unexpectedly. press F5 [DONE] on the positioning screen. 5 Switch the controller power off and on again. 4 Press the F3 RES_PCA. The $MASTER_ENB system variable is reset to 0 automatically. it is necessary to carry out positioning. CAUTION It is recommended that the current mastering data be backed up before mastering is performed. Alarm displayed “Servo 062 BZAL” or “Servo 075 Pulse mismatch” Procedure 1 Display the positioning menu by following steps 1 to 6. and select [SYSTEM Variable] from the menu. NOTE If mastering is performed incorrectly. 6. then key in “1” and press [ENTER].1 RESETTING ALARMS AND PREPARING FOR MASTERING Before performing mastering because a motor is replaced. Once mastering is performed. 4 Place the cursor on $MASTER_ENB. 2 Press [0 NEXT] and Select [6 SYSTEM]. and select [Mater/Cal] from the menu. 3 Press F1 [TYPE]. 1 Press the screen selection key. then press F4 [TRUE]. follow steps 1 to 3.B-82585EN/02 6.2. 3 Press F1 [TYPE]. Therefore. follow steps 1 to 5. or calibration. 1 Press the screen selection key. 2 Press [0 NEXT] and Select [6 SYSTEM].121 - 2 3 . For other mastering methods.ADJUSTMENTS This MAINTENANCE MANUAL describes fixture position mastering that is mainly required during replacement of parts. thus hiding the positioning screen. 5 Press F1 [TYPE]. . To reset the “Servo 062 BZAL” alarm. and select [SYSTEM Variable] from the menu. Positioning is an operation is which the control unit reads the current pulse count value to sense the current position of the robot. refer to OPERATOR’S MANUAL. To reset the “Servo 075 Pulse mismatch” alarm. This is very dangerous. 6 Select the desired mastering type from the [Master/Cal] menu. The alarm is reset.122 - . Fixture position mastering is accurate because a dedicated mastering fixture is used. (Set the robot mounting face so that the levelness of the entire surface is 1 mm or less. .Make the robot mounting base horizontal within 1 mm. 6.2 FIXTURE POSITION MASTER Fixture position mastering is performed using a mastering fixture.2(a) Assembling the fixture base .) .Remove the hand and other parts form the wrist. the message “Servo 075 Pulse mismatch” appears again. This mastering is carried out in the predetermined fixture position. Rotate the axis for which the message mentioned above has appeared through 10 degrees in either direction.Set the robot in the condition protected from an external force. .6.2. arrange the robot to meet the following conditions.ADJUSTMENTS 1 2 3 B-82585EN/02 When the controller power is switched on again.2. PIN A290-7139-X913 PIN A290-7139-X914 M8X20(4pcs) FIXTURE BASE A A290-7139-X911 FIXTURE BASE B A290-7139-X912 PLATE A290-7137-X913 M5X16 (2pcs) PLATE A290-7137-X912 M5X16(2pcs) Fig. 6. 6.2. Assembling the fixture base 1 Assemble the fixture base as shown in Fig. Press [FAULT RESET]. When mastering the robot.2 (a). 2 (b) M8X25(4pcs) PIN A290-7139-X914 PIN A290-7139-X913 Fig.2 (c).6. 6.B-82585EN/02 6.2 (b) Mounting dial indicator 3 Mount the fixture to the wrist flange as shown Fig.2.2. By using the calibration block. adjust the dial gage needle to 3. (In case of LR Mate 200iC/5H.3 is not necessary to adjust. .) NOTE The dial gage could be damaged if the bolt is fastened too tight.6.ADJUSTMENTS 2 Mount the fixture on the J1–axis base with bolts as shown in Fig.123 - .00 mm and fasten it with M-5 bolt. the dial gage No.2. 5 B-82585EN/02 How to assemble diag gauge NO.3 NO.4 CLAMP CALIBRATION BLOCK FIXTURE A A290-7139-X916 FIXTURE C A290-7139-X917 FIXTURE B A290-7131-X964 Fig.ADJUSTMENTS FIXTURE D A290-7135-X966 NO.124 - .2.6 NO. PIN A290-7130-X966 M5X16(4pcs) Fig.2.1 BOLT M5 NO.2. 6. 6.2 (d).2 (d) Assembling the fixture to the wrist flange .2 (c) Mounting the wrist fixture 4 Assemble the fixture to the wrist flange as shown in Fig. 6.6.2 NO. .00mm. 2) Move the J6 axis so that dial gages No.3 and No.5LC.4 and No. 6 shown in Fig.3 may show 3. J3.2 (c) touch the points indicated by arrows No. To prevent an error from occurring due to axis backlash at this time.1 through No. [ TYPE ] LOAD RES_PCA DONE 5 Release brake control. modify it to make correspond.6.125 - .5C. No. start all over again. switch the control unit power off and on again.B-82585EN/02 6. Press F1.2 (e).$SV_OFF_ALL: FALSE $PARAM_GROUP. Select Mater/Cal.2 deviates.2. Press NEXT and select SYSTEM. and jog the robot into a posture for mastering.ADJUSTMENTS Mastering 1 2 3 4 Press MENUS.00 mm.1 and No.5WP) 1) Move the robot gradually so that dial gages No.5 and move the J1–axis and the J4–axis so that the dial gauge No. ensure that the dial gage needle is adjusted to a specified position in the decreasing direction.00 mm. (In case of LR Mate 200iC. 4) Move the J2. and J5 axes so that dial gages No. 1 through No. 6 shown in Fig.2.1 and No.2.6. 5) After the operations above. LR Mate 200iC/5L. JOINT 10% SYSTEM Master/Cal 1 FIXTURE POSITION MASTER 2 ZERO POSTIION MASTER 3 QUICK MASTER 4 SINGLE AXIS MASTER 5 SET QUICK MASTER REF 6 CALLIBRATE Press ‘ ENTER ‘ or number key to select. 3) Set the corresponding value of dial gauges No. check that all dial gages indicate 3.$SV_OFF_ENB[*]: FALSE (for all axes) After changing the system variables. NOTE Brake control can be released by setting the system variables as follows: $PARAM_GROUP.2 indicate same value. [TYPE]. When the value of dial gauge No.4 indicate 3. If the needle is adjusted in the reverse direction. 4 and No.6.ADJUSTMENTS B-82585EN/02 (In case of LR Mate 200iC/5H) 1) Move the robot gradually so that dial gages No. YES.2.2. Switching the power on always causes positioning to be performed.2 (c) touch the points indicated by arrows No. (Dial gauge No. J3.6 shown in Fig. 8 WARNING Since the axis stroke is not checked during the mastering.2. After positioning is completed. Mastering will be performed.2 (e).6. press F5 [DONE]. be careful to stay clear of the robot motion. switch the power off and on again. No. check that all dial gages indicate 3.6 shown in Fig. No. 6 7 Select “ 1 FIXTURE POSITION MASTER” and Press F4.2(e) is set in this position. No.2.6. No. “MASTER POSITION” shown in Figs.5 and No.1.4.No. No.00 mm.6 indicate 3. Alternatively.1. No. YES.00 mm.5 and No.3 is not used.2 indicate same value.5 indicate same value. Select “ 6 CALIBRATE “ and press F4.5.) 2) Move the J5 axis so that dial gages No. and J4 axes so that dial gages No.2. 5) After the operations above.4. 3) Move the J1 axis so that dial gages No. 4) Move the J2. . 1.126 - . No. 6.1 and No. 3 is not used.4 Fig. 6.035 deg J5 J6 0 deg NO.3(*) NO.2 (e) Mastering posture (LR Mate 200iC.035 deg J4 0 deg J5 (*)In case of LR Mate 200iC /5H.2.5C AXIS POSITION J1 90 deg J2 61.127 - .965 deg J3 -94.1 NO.B-82585EN/02 6.965 deg J3 J4 0 deg -94.112 deg -85.5 MASTERING POSITION LR Mate 200iC/5H AXIS POSITION 90 deg J1 J2 61. LR Mate 200iC/5WP.NO. LR Mate 200iC/5WP.ADJUSTMENTS MASTERING POSITION LR Mate 200iC.112 deg -85.5C) .6 NO. NO.2 NO. 5LC AXIS POSITION 90 deg J1 J2 52.284 deg J3 J4 0 deg -85.4 Fig.5 MASTERING POSITION LR Mate 200iC/5L.ADJUSTMENTS B-82585EN/02 NO.716 deg J5 J6 0 deg NO.147 deg -94.2.3 NO.5LC) .2 (f) Mastering posture (LR Mate 200iC/5L.2 NO. 6.6.1 NO.128 - .6 NO. APPENDIX . . J6 pulse coder Relay of end effector Relay of YV J4 power A660-8016-T285 A660-8016-T495 A660-4004-T706 A660-2006-T657 A660-4004-T707 A660-2006-T658 A660-4004-T708 Table A (a1) List of Basic cable (Specifications of Standard. J6 power J4 pulse coder A660-4004-T709 A660-2006-T659 A660-2006-T660 (3-axis brake type) A660-4004-T710 (6-axis brake type) A660-2006-T661 (3-axis brake type) A660-4004-T711 (6-axis brake type) A660-2006-T662 A660-2006-T663 (3-axis brake type) A660-4004-T712 (6-axis brake type) A660-2006-T664 A660-2006-T665 A660-8016-T498#L5R003 J6 pulse coder End effector External battery cable (When external battery option is selected) J5 pulse coder J6 power J5 power Relay of J5.5C) RMP(5WP) J2 power J2 pulse coder J3 power J3 pulse coder Relay of J4. J5.B-82585EN/02 APPENDIX A.131 - .5C) Name Specifications .5WP.SPARE PARTS LIST A K101 K102 K103 K104 K105 K106 K107 K108 K109 K110 K111 K112 K113 K114 K131 SPARE PARTS LIST Remarks RMP(Standard. SPARE PARTS LIST APPENDIX B-82585EN/02 Table A (a2) List of Basic cable (Specifications of 5L. J5 power Relay of J4.5LC) Name Specifications K101 K102 K103 K104 K105 K106 K107 K108 K109 K110 K111 K112 K113 K114 K131 A660-8016-T285 A660-4004-T822 A660-2006-T789 A660-4004-T823 A660-2006-T790 A660-4004-T824 A660-4004-T825 A660-2006-T791 A660-2006-T710 A660-2006-T711 A660-2006-T662 A660-4004-T712 A660-2006-T664 A660-2006-T665 A660-8016-T498#L5R003 RMP J2 power J2 pulsecoder J3 power J3 pulsecoder Remarks Relay of J4. J5 pulse coder Relay of end effector Relay of YV J4 power J4 pulse coder J5 power J5 pulse coder End effector External battery cable (When external battery option is selected) . J5.A. J6 pulsecoder Relay of end effector Relay of YV J4 power J5 power J5 pulse coder J6 power J6 pulsecoder End effector External battery cable (When external battery option is selected) Table A (a3) List of Basic cable (5H) Name K101 K102 K103 K104 K105 K106 K107 K108 K110 K111 K112 K113 K114 K131 Specifications RMP J2 power J2 pulse coder J3 power J3 pulse coder Remarks A660-8016-T285 A660-4004-T706 A660-2006-T657 A660-4004-T707 A660-2006-T658 A660-4004-T810 A660-4004-T811 A660-2006-T659 A660-2006-T771 (3-axis brake type) A660-4004-T812 (5-axis brake type) A660-2006-T772 A660-2006-T773 (3-axis brake type) A660-4004-T813 (5-axis brake type) A660-2006-T774 A660-2006-T665 A660-8016-T498#L5R003 Relay of J4. J6 power J4 pulsecoder Relay of J5.132 - . 2/4000 A06B-0116-B855#0048 A06B-0115-B855#0048 A06B-0114-B205#0048 A06B-0114-B855#0048 A06B-0117-B205#0049 A06B-0117-B855#0049 J1. please order shaft “A290-7139-X322” at the same time.5WP.B-82585EN/02 APPENDIX A.2/4000 Specifications A06B-0116-B855#0048 A06B-0115-B855#0048 A06B-0117-B205#0049 A06B-0117-B855#0049 J1.5LC.2/4000 βiSR0.4/4000 βiSR0.J5-axis(6-axis brake type) (*) When J2-axis motor is replaced .2/4000 βiSR0.J6-axis(6-axis brake type) (*) When J2-axis motor is replaced .5/6000 βiSR0. please order shaft “A290-7139-X322” at the same time. . J2-axis J3-axis Remarks J4-axis (3-axis brake type) J4-axis(6-axis brake type) J5.5/6000 βiSR0.5C) Name Specifications βiSR1/6000 βiSR0.133 - .J6-axis(3-axis brake type) J5.J2-axis J3-axis Remarks J4.J5-axis(3-axis brake type) J4. 5L.4/4000 βiSR0. Table A (b2) Motor (5H) Name βiSR1/6000 βiSR0.SPARE PARTS LIST Table A (b1) Motor (Standard. 5WP) J4-axis(Standard.5WP. As for other reducers. the waving generator is separated from the main body of the reducer machine. key Name Pulley Pulley Pulley Pulley Motor pulley Shaft Key Key Specifications A290-7139-X211 A290-7139-X213 A290-7139-X212 A290-7139-X411 A290-7139-X412 Remarks J1-axis(Standard. Table A (d) Gear Name GEAR J1-1 GEAR J1-2 GEAR J4-1 GEAR J4-2 Table A (e) Pulley.5LC.5LC.5L) J4-axis(5C. shaft.5WP.5WP) J6-axis(Standard.5LC.5L.5WP) J5-axis(Standard.134 - .5WP.5LC. J5-axis(5C.5L).5WP.5L.5H) J3-axis(5C.5LC. J6-axis(5C.SPARE PARTS LIST Table A (c) Reducer Name APPENDIX B-82585EN/02 Specifications A97L-0218-0812#80 A97L-0218-0812#80C A97L-0218-0813#120 A97L-0218-0813#120C A97L-0218-0814#100 A97L-0218-0814#100C A97L-0218-0815#80 A97L-0218-0815#80C A97L-0218-0816#50 A97L-0218-0816#50C A97L-0218-0817#50 A97L-0218-0817#50C Remarks J1-axis(Standard.5H) J1-axis(5L.5L).5H) J1-axis(5C.5L.5WP.5WP) J5-axis(5H) J4-axis(5H) Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive Harmonic drive NOTE When arranging in the reducer machine unit.5WP.5LC. pulley.5C) J4-axis(5H) J6-axis(Standard.5C) J5-axis(5H) J5.5WP) J3-axis(Standard.A.5C.5L.J5-axis(5H) J2-axis Motor.5L.5L.5LC.5LC) J1-axis J4-axis(Standard.5LC.J6-axis(Standard. pulley.5LC.5LC.5L.5C) J4.5LC.5WP or 5C reducer.5WP) J1-axis(Standard.5C) Specifications A290-7139-X311 A290-7139-X312 A290-7139-X414 A290-7139-X415 A290-7139-X413 A290-7139-X322 JB-HKY-3X3X12B JB-HKY-3X3X6B J3-axis J3-axis Remarks J5-axis(Standard.5H) J2-axis(5C.5C) J4-axis(Standard.5L.5LC. gear . gear Motor.5L. the waving generator is built into the main body of the reducer machine beforehand as for J4-axis of Standard. 5L.5C. belt Name Specifications A97L-0001-0192#08Z000A A97L-0218-0596 A98L-0040-0190#007-098 A98L-0040-0227#006-100 A98L-0040-0227#006-152 J1-axis reducer Remarks J4-axis reducer(Standard.5WP.5WP.5LC.5LC5WP.5LC5WP.5LC5WP.5LC5WP.5H or 5WP.5C) J4-axis reducer (5H) J1.5LC is specified) Name Specifications Remarks Packing Packing Packing Packing (*) Packing Packing Packing Packing Packing Packing Packing Packing Packing A290-7139-X251 A290-7139-X252 A290-7139-X253 A290-7139-X351 A290-7139-X352 A290-7139-X353 A290-7139-X354 A290-7139-X355 A290-7139-X356 A290-7139-X451 A290-7139-X452 A290-7139-X453 A290-7139-X454 Connector plate Cover B Battery box Cover S Support Guide arm J2 base cover J2 arm over Cover U J3 base cover SV plate J3 arm J3 arm cover (2pcs/1 machines) (*) This packing is attached when non-severe dust/liquid protection specification of Standard.B-82585EN/02 APPENDIX A.5L.5L.5WP.5C) J5-axis motor (5H) Table A (g) Packing(When severe dust/liquid protection specification of standard.5L.5L.5LC.5C) J5-axis reducer (Standard.SPARE PARTS LIST Table A (f) Bearing Bearing Belt Belt Belt Bearing. J4-axis motor (Standard. O-RING Name Specifications A98L-0040-0223#01001805 A98L-0040-0049#02603707 A98L-0040-0223#01001805 A98L-0001-0347#S46 A98L-0001-0347#S35 JB-OR1A-G45 Remarks J1.5L.5H Table A (h) Oil seal.5C) J3-axis motor J5-axis motor (Standard.5LC.5C) J1-axis motor (5H) J4-axis reducer (Standard.5L.5L. J4-axis motor (Standard.5L.135 - .5C) J4-axis motor (5H) J6-axis motor (Standard.5C) J1-axis motor (5H) J1-axis reducer J2-axis motor Oil seal Oil seal Oil seal O-RING O-RING O-RING . 5H Severe dust/liquid protection specification) J3-axis reducer (5C.5H Severe dust/liquid protection specification) J2-axis reducer (5C.5L.5L.A. J5.5L.5C) GEAR J1-2 (Specifications of 5H) J1 pipe Support Cover S(Standard. J3. J5 grease inlet (5H) J3 grease outlet Seal bolt A97L-0218-0546#043516BC A97L-0218-0546#043516EN Seal bolt A97L-0218-0546#032504BC A97L-0218-0546#032504EN Seal bolt Seal bolt Seal bolt Seal bolt Seal bolt Seal bolt Seal bolt A97L-0218-0423#030505 A97L-0218-0423#040808 A97L-0218-0423#041212 A97L-0218-0595#040808BC A97L-0218-0595#040808EN A97L-0218-0738#040808BC A97L-0218-0738#040808EN A97L-0218-0423#051616 A97L-0218-0546#051616BC A97L-0218-0546#051616EN Seal bolt Seal bolt A97L-0218-0423#041616 A97L-0218-0546#040808BC A97L-0218-0546#040808EN Seal bolt A97L-0218-0417#060606 Seal bolt A97L-0218-0417#040505 . GEAR J4-2 (Standard.5L.5LC.5LC.136 - . J4.5H) Cover S (5C.5L.5L.5WP.5WP) J3-axis reducer(Standard.5H) Cover S (5C.5L. J5.5H Severe dust/liquid protection specification) Guide arm(5C.5WP.5C) J3.5WP) J2-axis reducer(Standard. J3. J5-axis reducer Wrist unit.5H Severe dust/liquid protection specification) J1-axis reducer (5C. J5-axis motor J2.5WP) GEAR J1-2.5L. J6-axis motor J2.5LC.5LC.5WP) Guide arm Guide arm(Standard. J6 grease inlet (Standard. J4.5WP) J3 arm cover Cover U Standard. J3.5C Seal bolt A97L-0218-0423#030606 Seal bolt Seal bolt Seal bolt A97L-0218-0423#031616 A97L-0218-0423#051212 A97L-0218-0546#043016BC A97L-0218-0546#043016EN J2-axis motor J2-axis motor J1-axis reducer(Standard.5LC. J4 pipe J 1..5WP. J3.SPARE PARTS LIST Table A (i) Seal bolt Name APPENDIX B-82585EN/02 Specifications Remarks J 1.5H Severe dust/liquid protection specification) Cover U (5C.5LC.5LC.5WP) Cover S Standard.5L. J4-axis reducer Wrist unit 5H Standard.5L. 5LC.5WP) J1 grease outlet J3. J4.5LC. J4.5LC. B-82585EN/02 APPENDIX A.5L severe dust/liquid protection specification) J5-axis reducer is included (5H severe dust/liquid protection specification ) A290-7139-V521 A290-7139-V531 Sheet A290-7139-X345 A290-7139-X349 J6-axis reducer is included (5C.5LC) J6-axis reducer is included (5WP) J2-axis motor(Standard. Sheet Name Specifications Spring pin Stopper A6-PS-5X18S A290-7139-X441 J3 Stopper J3Stopper Remarks J6-axis reducer is included (Standard.137 - .SPARE PARTS LIST Table A (j) Spring pin. Wrist unit.5H) J2-axis motor(5L.5LC) . Stopper.5WP.5L not severe dust/liquid A290-7139-V501 protection specification) J5-axis reducer is included (5H not severe dust/liquid protection specification ) J6-axis reducer is included Wrist unit A290-7139-V502 (Standard.5C. 18mm YELLOW A2 A97L-0218-0010#EFL745R0 J3 casing to J3 arm 3.H024.H004.18mm BLUE B1 A97L-0218-0010#DFL745R0 J3 casing to J3 arm 3. H033） Air tube (H003.H032.H005.5C.H022.H032.H024） Air tube (H004.H033） Air tube (H003. H023.H022.H024.H004.H024.H005.H005.H004.H005. H023.H004.H005.18mm BLACK AIR1 Air tube Air tube Air tube Air tube Air tube Air tube Air tube Air tube Air tube (H002.H003.18mm GREEN B2 A97L-0218-0010#FFL745R0 J3 casing to J3 arm 3.H003.H032. H033） Air tube (H002.18mm ORANGE B3 J3 casing to J3 arm A3 A97L-0218-0010#GFL745R0 A97L-0218-0010#HFL745R0 . H033） Air tube (H004.H023. H023.18mm CLEAR J3 casing to J3 arm 3.A.H023.18mm RED A1 A97L-0218-0010#CFL745R0 J3 casing to J3 arm 3.H004. H033） Air tube (H002.H005.5WP.H024） A97L-0218-0010#BAL150R0 A97L-0218-0010#AFL855R0 J3 casing to J3 arm 3.H024.H003.138 - .H005.H022.H033） Air tube (H002.H005.H022. H023.H024.H024.5H) Name Specifications A97L-0218-0114#ABL640R0 A97L-0218-0010#AAL580R0 A97L-0218-0114#BBL570R0 A97L-0218-0010#BAL570R0 A97L-0218-0114#ABL700R0 A97L-0218-0010#AAL700R0 A97L-0218-0114#BBL910R0 A97L-0218-0010#BAL700R0 Remarks 6mm BLACK AIR1 Connector plate to J2base 4mm BLACK AIR1 (5C) Connector plate to J2base 6mm WHITE AIR2 Connector plate to J2base 4mm WHITE EXT(5C) Connector plate to J2base 6mm BLACK AIR1 J2 base to J3 casing 4mm BLACK AIR1 (5C) J2 base to J3 casing 6mm WHITE AIR2 J2 base to J3 casing 4mm 4mm WHITE WHITE EXT(5C) EXHAUST J2 base to J3 casing J3 casing 3.H032.SPARE PARTS LIST Table A (k) APPENDIX B-82585EN/02 Air tube (Standard.H004.H003. H013. H017.18mm BLUE B1 A97L-0218-0010#DFL835R0 J3 casing to J3 arm 3.18mm CLEAR A3 J3 casing to J3 arm 3.H015.5LC) Name Specifications Remarks 6mm BLACK AIR1(5L) Connector plate∼J2 base 4mm BLACK AIR1 (5C) Connector plate∼J2 base 6mm 4mm WHITE WHITE AIR2 EXT(5C) Connector plate∼J2 base Connector plate∼J2 base 6mm BLACK AIR1(5L) J2 base∼J3 casing 4mm BLACK AIR1(5C) J2 base∼J3 casing 6mm 4mm 4mm WHITE WHITE WHITE AIR2 EXT(5C) EXHAUST J2 base∼J3 casing J2 base∼J3 casing J3 casing 3.H014.H015.H014.H014.H018） Air tube （H013.H015.H013.139 - .H014.B-82585EN/02 APPENDIX A. H017.H013.H018） Air tube （H014.SPARE PARTS LIST Table A (k2) Air tube(5L. H017.18mm BLACK AIR1 J3 casing to J3 arm 3.18mm RED A1 Air tube Air tube Air tube Air tube Air tube Air tube Air tube Air tube Air tube Air tube （H012.H018） Air tube （H013.H014.H018） Air tube （H012.H015） Air tube （H014.18mm GREEN J3 casing to J3 arm 3.H018） Air tube （H012.H015） A97L-0218-0114#ABL580R0 A97L-0218-0010#AAL580R0 A97L-0218-0114#BBL570R0 A97L-0218-0010#BAL570R0 A97L-0218-0114#ABL800R0 A97L-0218-0010#AAL800R0 A97L-0218-0114#BBL1R013 A97L-0218-0010#BAL800R0 A97L-0218-0010#BAL150R0 A97L-0218-0010#AFL945R0 A97L-0218-0010#CFL835R0 J3 casing to J3 arm 3.H015.18mm YELLOW J3 casing to J3 arm 3.18mm ORANGE B3 J3 casing to J3 arm B2 A2 A97L-0218-0010#EFL835R0 A97L-0218-0010#FFL835R0 A97L-0218-0010#GFL835R0 A97L-0218-0010#HFL835R0 .H015. 3 positionX1) Specifications A98L-0031-0027 A98L-0031-0005 C battery/1.2 .SPARE PARTS LIST APPENDIX B-82585EN/02 Table A (l) Solenoid valve (Either the following is installed by the option specification) (except H001.5V (When external battery option is selected) Table A (n) Grease Name Grease Specifications A98L-0040-0230#2KG Remarks Harmonic grease 4BNo.140 - .H006.H011 and H016) Name Specifications Remarks Solenoid valve Solenoid valve Solenoid valve Solenoid valve Table A (m) Battery Name Battery Battery A97L-0218-0113#D1 A97L-0218-0113#D2 A97L-0218-0113#D3 A97L-0218-0113#D3R Double solenoidX1(2 positionX1) Double solenoidX2(2 positionX2) Double solenoidX3(2 positionX3) Double solenoidX3 (2 positonX2.A.5V Remarks (When battery built-in option is selected) D battery/1. AIR PRESSURE . AIR PRESSURE DIAGRM B CIRCUIT DIAGRM DIAGRAM.141 - .B-82585EN02 APPENDIX B.CIRCUIT DIAGRAM. B (a) CIRCUIT DIAGRM (LR Mate 200iC 3-axes brake type) .C3) PRQJ6 B5 XPRQJ6 +24V(A1.A2) 31 RI2 32 RO2 33 +5V(B1.C3) A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T285 M3P1 ( X-KEY ) WHITE F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P K105 A660-2006-T658 8 9 +5V(B2) 10 0V(B2) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) PRQJ3 XPRQJ3 G A63L-0002-0066#R20DX A63L-0002-0066#CRM ( X-KEY BLACK ) F20DX CTM J4U B1 J4G (BK(J4)) B2 J4V J4W B3 (BKCOM1(J4)) B4 J5G B5 J5U J5V B6 (BK(J5)) (BKCOM1(J5)) B7 J5W J6U B8 J6G (BK(J6)) B9 J6V A10 J6W B10 (BKCOM1(J6)) M456M1 A1 A2 A3 A4 A5 A6 A7 A8 A9 A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1 K106 A660-4004-T708 ( X-KEY BLACK ) A1 J4U A2 A3 J5W F06DX CTM B1 J4G B2 J4V B3 K109 A660-2006-T660 BATTERY +6V (BT1. 2.C2.A2) B6 XHBK +24V(B1) B7 0V(D1.E3.BT6) + A63L-0002-0066#R20DY A63L-0002-0066#CRM ( 単二電池 ) SIZE C 0V (BT1.E6) B2 RO2 B3 RO4 B4 RO6 K108 A660-2006-T659 注） NOTE) 1.E4.BT3. BT4. BT4.BT5.B2) 34 PRQJ2 35 36 XPRQJ2 BKCOM1(J2) BK(J2) BK(J3) BKCOM1(J3) J3U1 J3V1 J3W1 J3G1 XHBK RI3 RO3 +5V(C1.BT3.C3) PRQJ5 71 PRQJ6 72 XPRQJ6 XPRQJ5 Y-KEY WHITE ) F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.142 - .E3.BT6) PRQJ5 B3 XPRQJ5 +5V(C1. オプション指定時は、A05C-1139-B202を参照。 REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS. Fig.C2.C2. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J1) 1 BKCOM1(J1) 4 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ( X-KEY BLACK ) A1 J2U1 A2 BK(J2) A3 J2W1 F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 BKCOM1(J2) 4 A63L-0002-0066#R06DY A63L-0002-0066#CRM M2P1 ( Y-KEY ) BLACK A63L-0002-0066#R06DYW A63L-0002-0066#CRM F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 M2P K103 A660-2006-T657 8 9 +5V(B1) 10 0V(B1) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) BKCOM1(J1) ( 37 38 39 40 41 42 43 44 45 46 47 48 SG (BK(J4)) 49 (BKCOM1(J4)) 50 J4U 51 J4V 52 J4W 53 J4G 54 +24V(B1) 55 RI4 56 RO4 57 0V(A1) 58 PRQJ4 59 60 XPRQJ4 Han 72DD (2.C3) B4 0V(C1. (***)：使用されていない信号。 SIGNALS ARE NOT USED.B.E2.BT6) - ( Y-KEY ) BLACK F20DY CTM B1 XPRQJ4 B2 0V(BT4.BT2.5SQ 10A) (BK(J5)) 61 (BK(J6)) (BKCOM1(J5)) 62 (BKCOM1(J6)) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1.D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 M456PEE1 A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4.BT5.A1.5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS M3BK 2 3 BK(J3) 1 BKCOM1(J3) 4 J1U1 J1V1 J1W1 J1G1 XROT RI1 RO1 +5V(A1) PRQJ1 XPRQJ1 13 14 15 16 17 18 19 20 21 22 23 24 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT.E5.BT2.D2) 67 0V(E1.BT5.C2.BT5.B2) 70 0V(C1.BT6) K107 A660-4004-T709 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 A1 0V(E1.E5) A2 RO1 A3 RO3 A4 RO5 ( X-KEY ) BLACK F08DX CTM B1 0V(E2.E6) RI5 68 RI6 RO5 69 RO6 0V(B1.CIRCUIT DIAGRAM. E4. CIRCUIT DIAGRAM.2/6000) M6M 2 3 J6V J6W 1 4 J6U J6G K112 A660-2006-T663 A63L-0002-0066#R06DXW A63L-0002-0066#CRM M6P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A63L-0001-0848#E10SL1 A63L-0001-0850 M6P K113 A660-2006-T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 ( X-KEY ) BLACK F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-2006-T665 2 1 RI2 3 A63L-0002-0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K110 A660-2006-T661 M5P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P 8 9 +5V(C2) 10 0V(C2) K111 A660-2006-T662 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M6M1 ( Y-KEY WHITE ) A1 J6U A2 A3 J6W F06DYW CTM B1 J6G B2 J6V B3 A63L-0001-0865#1 A63L-0001-0864#CS J6 MOTOR (βiSR0.B-82585EN02 APPENDIX B.4/6000) M4M 2 3 J4V J4W 1 4 J4U J4G A63L-0001-0848#E10SL1 A63L-0001-0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B-1139-H002 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B-1139-H004 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X-KEY ) BLACK A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 SOLENOID VALVE A97L-0218-0113#D3 A05B-1139-H003 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) A05B-1139-H005 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L-0218-0113#D2 SOLENOID VALVE A97L-0218-0113#D3R LR Mate 200iC (3BK) :可動部用 MOVABLE .143 - . AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M5M1 A1 J5U A2 A3 J5W ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM F06DX CTM B1 J5G B2 J5V B3 A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0. CIRCUIT DIAGRAM.C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BKCOM1(J3) Han 72DD (2.5SQ 10A) BK(J5) 61 BK(J6) 62 BKCOM1(J6) 63 J6U J5U 64 J6V J5V 65 J6W J5W 66 J6G J5G 0V(D1.BT5.E5.C3) PRQJ6 B5 XPRQJ6 +24V(A1. E4. BT4.B2) 34 PRQJ2 35 XPRQJ2 36 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) 39 J4U J3U1 40 J4V J3V1 41 J4W J3W1 42 J4G J3G1 43 +24V(B1) XHBK 44 RI4 RI3 45 RO4 RO3 +5V(C1.C2.BT2.A1.E6) B2 RO2 B3 RO4 B4 RO6 K108 A660-2006-T659 Fig.B2) 70 0V(C1.E3.E2.B(b) Circuit diagram (LR Mate 200iC 6-axes brake type When H301 is specified) (LR Mate 200iC/5C When H321 is specified) .BT3.C2.D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 PRQJ5 K107 A660-4004-T709 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 ( X-KEY ) BLACK A1 0V(E1.C3) B4 0V(C1.A2) B6 XHBK +24V(B1) B7 0V(D1.BT3.BT6) B3 XPRQJ5 +5V(C1.C3) PRQJ5 71 PRQJ6 XPRQJ5 72 XPRQJ6 M3BK 2 3 BK(J3) 1 4 BKCOM1(J3) A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T285 M3P1 ( X-KEY ) WHITE F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P 8 9 +5V(B2) 10 0V(B2) K105 A660-2006-T658 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 ( X-KEY BLACK ) F20DX CTM J4U B1 J4G BK(J4) B2 J4V J4W B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1 K106 A660-4004-T708 ( X-KEY BLACK ) F06DX CTM A1 J4U B1 J4G A2 BK(J4) B2 J4V A3 J5W B3 BKCOM1(J4) K109 A660-4004-T710 BATTERY +6V (BT1.BT5.BT2.5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS BK(J1) 13 14 J1U1 15 J1V1 16 J1W1 17 J1G1 18 XROT 19 RI1 20 RO1 21 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BK(J2) 25 26 27 J2U1 28 J2V1 29 J2W1 30 J2G1 +24V(OT. BT4.C2.BT6) + A63L-0002-0066#R20DY A63L-0002-0066#CRM M456PEE1 A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4.144 - .E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2.E6) 68 RI6 RI5 69 RO6 RO5 0V(B1.A2) 31 32 RI2 33 RO2 +5V(B1.BT6) - ( Y-KEY ) BLACK F20DY CTM B1 XPRQJ4 B2 0V(BT4.BT5.BT5.B.E3.BT6) ( 単二電池 ) SIZE C 0V (BT1. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A05B-1139-H301指定時 SPECIFIED A05B-1139-H302 A05B-1139-H321(5C)指定時 SPECIFIED A05B-1139-H321(5C) A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J1) 1 4 BKCOM1(J1) M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM F06DX CTM A1 J2U1 B1 J2G1 A2 BK(J2) B2 J2V1 A3 J2W1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 4 BKCOM1(J2) M2P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 K103 A660-2006-T657 M2P 8 9 +5V(B1) 10 0V(B1) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M3M1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BKCOM1(J1) ( 49 50 51 52 53 54 55 56 57 58 59 60 BKCOM1(J5) Y-KEY WHITE ) F06DYW CTM A1 J3U1 B1 J3G1 A2 BK(J3) B2 J3V1 A3 J3W1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.C2.D2) 67 0V(E1.E4. -H023 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) A05B-1139-H005 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L-0218-0113#D2 SOLENOID VALVE A97L-0218-0113#D3R LR Mate 200iC (6BK) LR Mate 200iC/5C .CIRCUIT DIAGRAM.-H022 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B-1139-H004. AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M5M1 ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM F06DX CTM A1 J5U B1 J5G A2 BK(J5) B2 J5V A3 J5W B3 BKCOM1(J5) A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0.-H024 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X-KEY ) BLACK A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 SOLENOID VALVE A97L-0218-0113#D3 A05B-1139-H003.145 - .2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K110 A660-4004-T711 A63L-0001-0865#2 A63L-0001-0864#CS M5BK 2 3 BK(J5) 1 4 BKCOM1(J5) M5P1 ( Y-KEY ) BLACK A63L-0002-0066#R06DYW A63L-0002-0066#CRM F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P 8 9 +5V(C2) 10 0V(C2) K111 A660-2006-T662 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) M6M1 ( Y-KEY WHITE ) F06DYW CTM A1 J6U B1 J6G A2 BK(J6) B2 J6V A3 J6W B3 BKCOM1(J6) A63L-0001-0865#1 A63L-0001-0864#CS J6 MOTOR (βiSR0.2/6000) M6M 2 3 J6V J6W 1 4 J6U J6G K112 A660-4004-T712 A63L-0001-0865#2 A63L-0001-0864#CS M6BK 2 3 BK(J6) 1 4 BKCOM1(J6) A63L-0002-0066#R06DXW A63L-0002-0066#CRM M6P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A63L-0001-0848#E10SL1 A63L-0001-0850 M6P K113 A660-2006-T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 ) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 ( X-KEY BLACK F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-2006-T665 2 1 RI2 3 A63L-0002-0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.B-82585EN02 APPENDIX B.4/6000) M4M 2 3 J4V J4W 1 4 J4U J4G K109 A660-4004-T710 A63L-0001-0865#2 A63L-0001-0864#CS M4BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J4) 1 4 BKCOM1(J4) M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B-1139-H002. BT3.BT5. BT4.E2. BT4.D2) 67 0V(E1.BT2.BT5.B2) 34 PRQJ2 35 XPRQJ2 36 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1.B2) 70 0V(C1.5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 M3BK 2 3 BK(J3) BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT.BT6) - A63L-0001-0648#610SL3SJ A63L-0001-0648#210SL3PJ ( Y-KEY ) BLACK F20DY CTM B1 XPRQJ4 B2 0V(BT4. BT4.BT2.BT6) GB2 A B C +6V(BT1.A2) 31 RI2 32 RO2 33 +5V(B1.BT3.E3.BT3.BT3. E4.BT6) 0V(BT1.BT3.C2.BT3.B(c) Circuit diagram (LR Mate 200iC 6-axes brake type When H302 is specified) .C3) PRQJ6 B5 XPRQJ6 +24V(A1.D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 PRQJ5 K107 A660-4004-T709 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 ( X-KEY ) BLACK A1 0V(E1.E6) B2 RO2 B3 RO4 B4 RO6 K108 A660-2006-T659 Fig.BT6) 0V(BT1.C2.BT5.BT5.A1.BT6) + K131 A660-8016-T498 ( 単一電池 ) SIZE D 0V (BT1.BT6) B3 XPRQJ5 +5V(C1. BT4.BT2.C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BKCOM1(J3) 1 4 BKCOM1(J3) A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T495 M3P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 K105 A660-2006-T658 M3P 8 9 +5V(B2) 10 0V(B2) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 ( X-KEY BLACK ) F20DX CTM J4U B1 J4G BK(J4) B2 J4V J4W B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) A63L-0002-0066#R06DX A63L-0002-0066#CRM K106 A660-4004-T708 M4M1 ) ( X-KEY BLACK F06DX CTM A1 J4U B1 J4G A2 BK(J4) B2 J4V A3 J5W B3 BKCOM1(J4) K109 A660-4004-T710 BATTERY +6V (BT1.C2. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A05B-1139-H302指定時 SPECIFIED A05B-1139-H302 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 BK(J1) 1 4 BKCOM1(J1) A63L-0001-0848#E10SL1 A63L-0001-0850 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ( X-KEY BLACK ) F06DX CTM A1 J2U1 B1 J2G1 A2 BK(J2) B2 J2V1 A3 J2W1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 4 BKCOM1(J2) A63L-0002-0066#R06DY A63L-0002-0066#CRM M2P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 K103 A660-2006-T657 M2P 8 9 +5V(B1) 10 0V(B1) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M3M1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 J1U1 15 J1V1 16 J1W1 17 J1G1 18 XROT 19 20 RI1 RO1 21 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) ( 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.C2.BT6) +6V(BT1.E6) RI5 68 RI6 RO5 69 RO6 0V(B1. BT4.BT2. BT4.BT6) GB2 A B C M456PEE1 A63L-0002-0066#R20DY A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4.BT5.146 - .B.E3.5SQ 10A) BK(J5) 61 BK(J6) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1.CIRCUIT DIAGRAM.BT2.E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2.C3) B4 0V(C1.BT2.BT5.E4.BT5.BT5.E5.C3) PRQJ5 71 PRQJ6 XPRQJ5 72 XPRQJ6 BKCOM1(J5) Y-KEY WHITE ) F06DYW CTM A1 J3U1 B1 J3G1 A2 BK(J3) B2 J3V1 A3 J3W1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS J3 MOTOR (βiSR0.A2) B6 XHBK +24V(B1) B7 0V(D1. AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M5M1 ( X-KEY BLACK ) F06DX CTM A1 J5U B1 J5G A2 BK(J5) B2 J5V A3 J5W B3 BKCOM1(J5) A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0.CIRCUIT DIAGRAM.2/6000) M6M 2 3 J6V J6W 1 4 J6U J6G K112 A660-4004-T712 A63L-0001-0865#2 A63L-0001-0864#CS M6BK 2 3 BK(J6) 1 4 BKCOM1(J6) A63L-0002-0066#R06DXW A63L-0002-0066#CRM M6P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A63L-0001-0848#E10SL1 A63L-0001-0850 M6P K113 A660-2006-T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 A1 A2 A3 A4 A5 A6 ( X-KEY ) BLACK RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-2006-T665 2 1 RI2 3 A63L-0002-0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.147 - .B-82585EN02 APPENDIX B.4/6000) M4M 2 3 J4V J4W 1 4 J4U J4G K109 A660-4004-T710 A63L-0001-0865#2 A63L-0001-0864#CS M4BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J4) 1 4 BKCOM1(J4) M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B-1139-H002 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B-1139-H004 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X-KEY BLACK ) A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 SOLENOID VALVE A97L-0218-0113#D3 A05B-1139-H003 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 A05B-1139-H005 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L-0218-0113#D2 SOLENOID VALVE A97L-0218-0113#D3R :可動部用 MOVABLE .2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K110 A660-4004-T711 A63L-0001-0865#2 A63L-0001-0864#CS M5BK 2 3 BK(J5) 1 4 BKCOM1(J5) A63L-0002-0066#R06DY A63L-0002-0066#CRM M5P1 ( Y-KEY ) BLACK A63L-0002-0066#R06DYW A63L-0002-0066#CRM F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P K111 A660-2006-T662 8 9 +5V(C2) 10 0V(C2) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) M6M1 ( Y-KEY WHITE ) F06DYW CTM A1 J6U B1 J6G A2 BK(J6) B2 J6V BKCOM1(J6) A3 J6W B3 A63L-0001-0865#1 A63L-0001-0864#CS J6 MOTOR (βiSR0. BT4.B2) 34 35 PRQJ2 36 XPRQJ2 37 BK(J4) BKCOM1(J3) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1.D2) B8 RI2 RI1 B9 RI4 RI3 A10 RI5 B10 RI6 M456PEE1 A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4.E4.C2.E3.BT6) + A63L-0002-0066#R20DY A63L-0002-0066#CRM ( 単二電池 ) SIZE C 0V (BT1.B.E5) B1 0V(E2.BT6) PRQJ5 K107 A660-4004-T709 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 ( X-KEY ) BLACK F08DX CTM A1 0V(E1.C2. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A05B-1139-H006指定時 SPECIFIED A05B-1139-H006 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J1) 1 BKCOM1(J1) 4 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM A1 J2U1 A2 BK(J2) A3 J2W1 F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 BKCOM1(J2) 4 M2P1 ( Y-KEY BLACK ) F06DY CTM A1 +6V(BT2) B1 0V(BT3) B2 XPRQJ2 A2 PRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 M2P K103 A660-2006-T657 8 9 +5V(B1) 10 0V(B1) 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M3M1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 13 BKCOM1(J1) 14 15 J1U1 16 J1V1 17 J1W1 18 J1G1 19 XROT 20 RI1 21 RO1 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BK(J1) BK(J2) 25 BKCOM1(J2) 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT.BT6) - ( Y-KEY ) BLACK F20DY CTM B1 XPRQJ4 B2 0V(BT4.BT6) B3 XPRQJ5 +5V(C1.148 - .BT3.E2.C3) B4 0V(C1.C2.BT2. BT4.B2) 70 0V(C1.E5.BT5.E3.E6) RI5 68 RI6 RO5 69 RO6 0V(B1.D2) 67 0V(E1.5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS M3BK 2 3 BK(J3) 1 BKCOM1(J3) 4 A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T285 M3P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) B2 XPRQJ3 A2 PRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P K105 A660-2006-T658 8 9 +5V(B2) 10 0V(B2) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 J4U BK(J4) J4W ( X-KEY ) BLACK F20DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1 K106 A660-4004-T708 ( X-KEY ) BLACK F06DX CTM B1 J4G A1 J4U A2 BK(J4) B2 J4V BKCOM1(J4) B3 A3 J5W K109 A660-4004-T710 BATTERY +6V (BT1.A2) 31 RI2 32 RO2 33 +5V(B1.BT3.A1.E6) A2 RO1 B2 RO2 A3 RO3 B3 RO4 A4 RO5 B4 RO6 K108 A660-2006-T659 Fig.C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BK(J3) 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.BT5.CIRCUIT DIAGRAM.C3) B5 XPRQJ6 PRQJ6 +24V(A1.B(d) Circuit diagram (LR Mate 200iC 6-axes brake type When H006 is specified) (LR Mate 200iC/5C H006 is specified) . E4.BT5.BT2.C3) 71 PRQJ6 PRQJ5 72 XPRQJ6 XPRQJ5 BK(J5) ( Y-KEY WHITE ) A1 J3U1 A2 BK(J3) A3 J3W1 F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.5SQ 10A) 61 BK(J6) BKCOM1(J5) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1.C2.A2) B6 XHBK +24V(B1) B7 0V(D1.BT5. 149 - . AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M5M1 ( X-KEY BLACK ) A1 J5U A2 BK(J5) A3 J5W F06DX CTM B1 J5G B2 J5V B3 BKCOM1(J5) A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0.2/6000) M6M 2 3 J6V J6W 1 4 J6U J6G K112 A660-4004-T712 A63L-0001-0865#2 A63L-0001-0864#CS M6BK 2 3 BK(J6) 1 4 BKCOM1(J6) A63L-0002-0066#R06DXW A63L-0002-0066#CRM M6P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A63L-0001-0848#E10SL1 A63L-0001-0850 M6P K113 A660-2006-T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 ( X-KEY ) BLACK F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-4004-T864 1 2 3 4 0V(E1) 0V(E2) 0V(D1) 0V(D2) 5 6 7 8 9 10 RO1 RO2 RO3 RO4 RO5 RO6 11 12 13 14 15 16 A63L-0002-0072#20SN RI1 RI2 17 XHBK RI3 18 +24V(A1) RI4 19 +24V(A2) RI5 20 +24V(B1) RI6 A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.CIRCUIT DIAGRAM.2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K110 A660-4004-T711 A63L-0001-0865#2 A63L-0001-0864#CS M5BK 2 3 BK(J5) 1 4 BKCOM1(J5) A63L-0002-0066#R06DY A63L-0002-0066#CRM M5P1 ( Y-KEY BLACK ) F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P K111 A660-2006-T662 8 9 +5V(C2) 10 0V(C2) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M6M1 ( Y-KEY WHITE ) A1 J6U A2 BK(J6) A3 J6W F06DYW CTM B1 J6G B2 J6V B3 BKCOM1(J6) A63L-0001-0865#1 A63L-0001-0864#CS J6 MOTOR (βiSR0.4/6000) M4M 2 3 J4V J4W 1 4 J4U J4G K109 A660-4004-T710 A63L-0001-0865#2 A63L-0001-0864#CS M4BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J4) 1 4 BKCOM1(J4) M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B-1139-H006 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) (0V(E3)) (0V(E4)) (0V(E5)) (0V(E6)) YV2 ( X-KEY ) BLACK A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) (0V(E3)) (0V(E4)) (0V(E5)) (0V(E6)) A63L-0002-0066#R08DX A63L-0002-0066#CRM RO A1 A2 A3 A4 0V(E1) RO1 RO3 RO5 B1 B2 B3 B4 K116 A660-2006-T834 ( X-KEY ) BLACK F08DX CTM 0V(E2) RO2 RO4 RO6 :可動部用 MOVABLE .B-82585EN02 APPENDIX B. C3) 71 PRQJ6 PRQJ5 72 XPRQJ6 XPRQJ5 BK(J5) BKCOM1(J5) Y-KEY WHITE ) F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.E5.C3) B4 0V(C1.C2.B2) 34 35 PRQJ2 36 XPRQJ2 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1. E4.BT5.E3. Fig.E2.BT2.D2) B8 RI2 RI1 B9 RI4 RI3 A10 RI5 B10 RI6 PRQJ5 K107 A660-4004-T825 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 ( X-KEY ) BLACK A1 0V(E1.C2.A2) B6 XHBK +24V(B1) B7 0V(D1.150 - .BT3.BT5.E3.E5) A2 RO1 A3 RO3 A4 RO5 F08DX CTM B1 0V(E2.C3) 46 0V(A1) 47 PRQJ4 PRQJ3 48 XPRQJ4 XPRQJ3 G SG BKCOM1(J3) A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T285 M3P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P 8 9 +5V(B2) 10 0V(B2) K105 A660-2006-T790 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 J4U BK(J4) J4W ( X-KEY ) BLACK F20DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1 K106 A660-4004-T824 ( X-KEY ) BLACK A1 J4U A2 BK(J4) A3 J5W F06DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) K109 A660-4004-T710 BATTERY +6V (BT1.E4.E6) RI5 68 RI6 RO5 69 RO6 0V(B1. オプション指定時は、A05C-1139-B202を参照。 REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.A1.B2) 70 0V(C1.CIRCUIT DIAGRAM. BT4. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 BK(J1) 1 BKCOM1(J1) 4 A63L-0001-0848#E10SL1 A63L-0001-0850 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ) A1 J2U1 A2 BK(J2) A3 J2W1 ( X-KEY BLACK F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T822 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 BKCOM1(J2) 4 A63L-0002-0066#R06DY A63L-0002-0066#CRM M2P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 M2P 8 9 +5V(B1) 10 0V(B1) K103 A660-2006-T789 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) BKCOM1(J1) ( 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.D2) 67 0V(E1.5SQ 10A) 61 BK(J6) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G 0V(D1.5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T823 A63L-0001-0865#2 A63L-0001-0864#CS M3BK 2 3 BK(J3) 1 BKCOM1(J3) 4 J1U1 J1V1 J1W1 J1G1 XROT RI1 RO1 +5V(A1) PRQJ1 XPRQJ1 13 14 15 16 17 18 19 20 21 22 23 24 BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT.BT6) ( 単二電池 ) SIZE C 0V (BT1.BT6) + A63L-0002-0066#R20DY A63L-0002-0066#CRM M456PEE1 A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4.B.B(e) Circuit diagram (LR Mate 200iC/5L) .BT5.C2. BT4.BT3.C3) PRQJ6 B5 XPRQJ6 +24V(A1.BT6) - ( Y-KEY ) BLACK F20DY CTM B1 XPRQJ4 B2 0V(BT4.A2) 31 RI2 32 RO2 33 +5V(B1.E6) B2 RO2 B3 RO4 B4 RO6 K108 A660-2006-T791 注） NOTE) 1.BT2.BT6) B3 XPRQJ5 +5V(C1.C2.BT5. AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M5M1 ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM F06DX CTM A1 J5U B1 J5G A2 BK(J5) B2 J5V A3 J5W B3 BKCOM1(J5) A63L-0001-0865#1 A63L-0001-0864#CS K110 A660-4004-T711 A63L-0001-0865#2 A63L-0001-0864#CS J5 MOTOR (βiSR0.B-82585EN02 APPENDIX B.4/6000) M4M 2 3 J4V J4W 1 4 J4U J4G A63L-0001-0865#2 A63L-0001-0864#CS M4BK 2 3 BK(J4) 1 4 BKCOM1(J4) A63L-0001-0848#E10SL1 A63L-0001-0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B-1139-H012 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B-1139-H014 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X-KEY ) BLACK A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 SOLENOID VALVE A97L-0218-0113#D3 A05B-1139-H013 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) A05B-1139-H015 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L-0218-0113#D2 SOLENOID VALVE A97L-0218-0113#D3R LR Mate 200iC/5L :可動部用 MOVABLE .2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G M5BK 2 3 BK(J5) 1 4 BKCOM1(J5) M5P1 ( Y-KEY BLACK ) F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P K111 A660-2006-T662 8 9 +5V(C2) 10 0V(C2) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M6M1 ( Y-KEY ) WHITE A63L-0002-0066#R06DXW A63L-0002-0066#CRM F06DYW CTM A1 J6U B1 J6G A2 BK(J6) B2 J6V A3 J6W B3 BKCOM1(J6) A63L-0001-0865#1 A63L-0001-0864#CS J6 MOTOR (βiSR0.151 - .2/6000) M6M 2 3 J6V J6W 1 4 J6U J6G K112 A660-4004-T712 A63L-0001-0865#2 A63L-0001-0864#CS M6BK 2 3 BK(J6) 1 4 BKCOM1(J6) M6P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) A63L-0001-0848#E10SL1 A63L-0001-0850 M6P K113 A660-2006-T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 ) A1 A2 A3 A4 A5 A6 ( X-KEY BLACK RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-2006-T665 2 1 RI2 3 A63L-0002-0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.CIRCUIT DIAGRAM. BT6) 0V(BT1. BT4.B.BT3.BT6) +6V(BT1.C3) 46 0V(A1) PRQJ3 47 PRQJ4 XPRQJ3 48 XPRQJ4 G SG BKCOM1(J3) A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T495 M3P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P K105 A660-2006-T658 8 9 +5V(B2) 10 0V(B2) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 ( X-KEY ) BLACK F20DX CTM J4U B1 J4G BK(J4) B2 J4V J4W B3 BKCOM1(J4) B4 J5G B5 J5U J5V B6 BK(J5) BKCOM1(J5) B7 J5W J6U B8 J6G BK(J6) B9 J6V A10 J6W B10 BKCOM1(J6) A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1 K106 A660-4004-T708 ( X-KEY ) BLACK F06DX CTM B1 J4G A1 J4U A2 BK(J4) B2 J4V B3 BKCOM1(J4) A3 J5W K109 A660-4004-T710 BATTERY +6V (BT1.BT5.BT5.B2) 70 0V(C1. BT4.BT6) B3 XPRQJ5 +5V(C1.E3. BT4.BT3.BT5.BT3.BT2.BT5.E5.A2)) B6 (XHBK) (+24V(B1)) B7 (0V(D1.5SQ 10A) BK(J5) 61 BK(J6) 62 BKCOM1(J6) J5U 63 J6U J5V 64 J6V J5W 65 J6W J5G 66 J6G (0V(D1.B(f) Circuit diagram (LR Mate 200iC/5WP) .5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS M3BK 2 3 BK(J3) 1 BKCOM1(J3) 4 BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT.BT2.BT3.BT6) GB2 A B C +6V(BT1.BT6) 0V(BT1.C2.D2)) (RI1) B8 (RI2) (RI3) B9 (RI4) A10 (RI5) B10 (RI6) PRQJ5 K107 A660-4004-T709 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 A1 0V(E1.E2. E4.BT3.BT5.C3) B4 0V(C1.BT2.BT6) GB2 A B C M456PEE1 A63L-0002-0066#R20DY A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 PRQJ4 +6V(BT4.CIRCUIT DIAGRAM.E4.C2.BT6) + K131 A660-8016-T498 ( 単一電池 ) SIZE D 0V (BT1.BT3.D2)) 67 0V(E1.B2) 34 PRQJ2 35 XPRQJ2 36 BKCOM1(J2) BK(J3) 37 BK(J4) 38 BKCOM1(J4) J3U1 39 J4U J3V1 40 J4V J3W1 41 J4W J3G1 42 J4G (XHBK) 43 (+24V(B1)) (RI3) 44 (RI4) RO3 45 RO4 +5V(C1. BT4.152 - .E6) B2 RO2 B3 RO4 B4 RO6 K108 A660-2006-T659 Fig.BT5. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J1) 1 BKCOM1(J1) 4 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM F06DX CTM A1 J2U1 B1 J2G1 A2 BK(J2) B2 J2V1 A3 J2W1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 BKCOM1(J2) 4 M2P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 M2P 8 9 +5V(B1) 10 0V(B1) K103 A660-2006-T657 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M3M1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 15 J1U1 16 J1V1 17 J1W1 18 J1G1 19 XROT 20 (RI1) 21 RO1 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) ( Y-KEY ) WHITE 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.E6) (RI5) 68 (RI6) RO5 69 RO6 0V(B1.BT5.BT2.C2.BT6) - A63L-0001-0648#610SL3SJ A63L-0001-0648#210SL3PJ ( Y-KEY ) BLACK F20DY CTM B1 XPRQJ4 B2 0V(BT4.C3) PRQJ6 B5 XPRQJ6 (+24V(A1. BT4. BT4.E3.BT2.E5) A2 RO1 A3 RO3 A4 RO5 ( X-KEY ) BLACK F08DX CTM B1 0V(E2.C3) PRQJ5 71 PRQJ6 XPRQJ5 72 XPRQJ6 BKCOM1(J5) F06DYW CTM B1 J3G1 A1 J3U1 A2 BK(J3) B2 J3V1 B3 BKCOM1(J3) A3 J3W1 A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.BT5.A1.C2.BT2.A2) 31 (RI2) 32 RO2 33 +5V(B1. AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M5M1 ( X-KEY BLACK ) A1 J5U A2 BK(J5) A3 J5W F06DX CTM B1 J5G B2 J5V B3 BKCOM1(J5) A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0.2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K110 A660-4004-T711 A63L-0001-0865#2 A63L-0001-0864#CS M5BK 2 3 BK(J5) 1 BKCOM1(J5) 4 A63L-0002-0066#R06DY A63L-0002-0066#CRM M5P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P 8 9 +5V(C2) 10 0V(C2) K111 A660-2006-T662 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M6M1 A1 J6U A2 BK(J6) A3 J6W ( Y-KEY ) WHITE A63L-0002-0066#R06DXW A63L-0002-0066#CRM F06DYW CTM B1 J6G B2 J6V B3 BKCOM1(J6) A63L-0001-0865#1 A63L-0001-0864#CS J6 MOTOR (βiSR0.153 - .CIRCUIT DIAGRAM.B-82585EN02 APPENDIX B.2/6000) M6M 2 3 J6V J6W 1 4 J6U J6G K112 A660-4004-T712 A63L-0001-0865#2 A63L-0001-0864#CS M6BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J6) 1 BKCOM1(J6) 4 M6P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT6) B1 0V(BT6) A2 PRQJ6 B2 XPRQJ6 A3 +5V(C3) B3 0V(C3) M6P K113 A660-2006-T664 8 9 +5V(C3) 10 0V(C3) 4 +6V(BT6) 1 5 XPRQJ6 2 6 PRQJ6 3 7 0V(BT6) A63L-0002-0066#R12DX A63L-0002-0066#CRM ( X-KEY ) BLACK A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.4/6000) M4M 2 3 J4V J4W 1 4 J4U J4G K109 A660-4004-T710 A63L-0001-0865#2 A63L-0001-0864#CS M4BK 2 3 BK(J4) 1 BKCOM1(J4) 4 A63L-0001-0848#E10SL1 A63L-0001-0850 M4P 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A05B-1139-H032 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 A1 RO1 A2 RO2 A3 A4 A5 A6 ( X-KEY ) BLACK F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 A05B-1139-H033 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 LR Mate 200iC/5WP SOLENOID VALVE A97L-0218-0113#D2 :可動部用 MOVABLE . B(g) CIRCUIT DIAGRAM (LR Mate 200iC/5H 3-axes brake type) . AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 BK(J1) 1 4 BKCOM1(J1) A63L-0001-0848#E10SL1 A63L-0001-0850 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ) A1 J2U1 A2 BK(J2) A3 J2W1 ( X-KEY BLACK F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 4 BKCOM1(J2) A63L-0002-0066#R06DY A63L-0002-0066#CRM M2P1 ) ( Y-KEY BLACK F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 M2P 8 9 +5V(B1) 10 0V(B1) K103 A660-2006-T657 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) 13 14 15 J1U1 16 J1V1 17 J1W1 18 J1G1 19 XROT 20 RI1 21 RO1 +5V(A1) 22 PRQJ1 23 XPRQJ1 24 BKCOM1(J1) ( 49 50 51 52 53 54 55 56 57 58 59 60 Han 72DD (2.E3.E3. 2.CIRCUIT DIAGRAM.E5.B2) 70 0V(C1.BT5) ( 単二電池 ) SIZE C 0V (BT1.5/6000) M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS M3BK 2 3 BK(J3) BK(J2) 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT. BT4.C2) K107 A660-4004-T811 A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 ( X-KEY ) BLACK F08DX CTM A1 0V(E1.E6) RI5 68 RI6 RO5 69 RO6 0V(B1.D2) 67 0V(E1. オプション指定時は、A05C-1139-B202を参照。 REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.A2) 31 RI2 32 RO2 33 +5V(B1. (***)：使用されていない信号。 SIGNALS ARE NOT USED.B2) 34 35 PRQJ2 36 XPRQJ2 BKCOM1(J2) BK(J3) 37 (BK(X)) 38 (BKCOM1(X)) J3U1 39 (XU) J3V1 40 (XV) J3W1 41 (XW) J3G1 42 (XG) XHBK 43 +24V(B1) RI3 44 RI4 RO3 45 RO4 +5V(C1.BT5) + A63L-0002-0066#R20DY A63L-0002-0066#CRM M456PEE1 F20DY CTM A1 A2 A3 A4 A5 A6 A7 A8 A9 (PRQX) PRQJ4 PRQJ5 +6V(BT4.E6) A2 RO1 B2 RO2 A3 RO3 B3 RO4 A4 RO5 B4 RO6 K108 A660-2006-T659 注） NOTE) 1.E4.C2) B5 XPRQJ5 +24V(A1.BT5) B3 XPRQJ4 B4 0V(C1.BT3.D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 +5V(C1.154 - .E5) B1 0V(E2.5SQ 10A) (BK(J4)) 61 (BK(J5)) (BKCOM1(J4)) 62 (BKCOM1(J5)) J4U 63 J5U J4V 64 J5V J4W 65 J5W J4G 66 J5G 0V(D1.C2) 46 0V(A1) PRQJ3 47 (PRQX) XPRQJ3 48 (XPRQX) G SG BKCOM1(J3) 1 4 BKCOM1(J3) A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T285 M3P1 ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P K105 A660-2006-T658 8 9 +5V(B2) 10 0V(B2) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 (XU) (BK(X)) (XW) ( X-KEY ) BLACK F20DX CTM B1 (XG) B2 (XV) B3 (BKCOM1(X)) B4 J4G B5 J4U J4V B6 (BK(J4)) (BKCOM1(J4)) B7 J4W J5U B8 J5G (BK(J5)) B9 J5V A10 J5W B10 (BKCOM1(J5)) K106 A660-4004-T810 BATTERY +6V (BT1. E4.B.BT5) - ( Y-KEY ) BLACK B1 (XPRQX) B2 0V(BT4.BT3.BT2.C2) PRQJ4 71 PRQJ5 XPRQJ4 72 XPRQJ5 Y-KEY WHITE ) F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.E2.A2) B6 XHBK +24V(B1) B7 0V(D1.A1. Fig.BT2. BT4. 2/6000) M4M 2 3 J4V J4W 1 4 J4U J4G K110 A660-2006-T771 A63L-0002-0066#R06DY A63L-0002-0066#CRM M4P1H ( Y-KEY BLACK ) F06DY CTM A1 +6V(BT4) B1 0V(BT4) B2 XPRQJ4 A2 PRQJ4 A3 +5V(C1) B3 0V(C1) A63L-0001-0848#E10SL1 A63L-0001-0850 M4P K111 A660-2006-T772 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) A63L-0002-0066#R06DYW A63L-0002-0066#CRM M5M1H ( Y-KEY ) WHITE A63L-0002-0066#R06DXW A63L-0002-0066#CRM A1 J5U A2 A3 J5W F06DYW CTM B1 J5G B2 J5V B3 A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0.2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K112 A660-2006-T773 M5P1H ( X-KEY WHITE ) F06DXW CTM A1 +6V(BT5) B1 0V(BT5) B2 XPRQJ5 A2 PRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P K113 A660-2006-T774 8 9 +5V(C2) 10 0V(C2) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 ) A1 A2 A3 A4 A5 A6 ( X-KEY BLACK RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-2006-T665 2 1 RI2 3 A63L-0002-0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A05B-1139-H002 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B-1139-H004 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 A1 RO1 A2 RO2 A3 A4 A5 A6 ( X-KEY ) BLACK F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 SOLENOID VALVE A97L-0218-0113#D3 A05B-1139-H003 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 A05B-1139-H005 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L-0218-0113#D2 SOLENOID VALVE A97L-0218-0113#D3R LR Mate 200iC/5H (3BK) :可動部用 MOVABLE . AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1H ( X-KEY BLACK ) A1 J4U A2 A3 J4W F06DX CTM B1 J4G B2 J4V B3 A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.155 - .B-82585EN02 APPENDIX B.CIRCUIT DIAGRAM. E3.E5.E5) B1 0V(E2.C2) 46 PRQJ3 47 XPRQJ3 48 G SG BKCOM1(J3) Han 72DD (2.B2) 34 PRQJ2 35 XPRQJ2 36 BK(J2) BKCOM1(J2) BK(J3) 37 38 J3U1 39 J3V1 40 J3W1 41 J3G1 42 XHBK 43 RI3 44 RO3 45 +5V(C1.E3. 2.B2) 70 0V(C1.D2) RI1 B8 RI2 RI3 B9 RI4 A10 RI5 B10 RI6 A1 A2 A3 A4 A5 A6 A7 A8 A9 (PRQX) PRQJ4 +6V(BT4. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 A63L-0001-0865#1 A63L-0001-0864#CS J1 MOTOR (βiSR1/6000) M1M 2 3 J1V1 J1W1 1 4 J1U1 J1G1 A63L-0001-0865#2 A63L-0001-0864#CS M1BK 2 3 BK(J1) 1 BKCOM1(J1) 4 A63L-0001-0848#E10SL1 A63L-0001-0850 M1P 8 9 +5V(A1) 10 0V(A1) 4 +6V(BT1) 1 5 XPRQJ1 2 6 PRQJ1 3 7 0V(BT1) A63L-0002-0066#R06DX A63L-0002-0066#CRM M2M1 ( X-KEY BLACK ) A1 J2U1 A2 BK(J2) A3 J2W1 F06DX CTM B1 J2G1 B2 J2V1 B3 BKCOM1(J2) A63L-0001-0865#1 A63L-0001-0864#CS J2 MOTOR (βiSR1/6000) M2M 2 3 J2V1 J2W1 1 4 J2U1 J2G1 K102 A660-4004-T706 A63L-0001-0865#2 A63L-0001-0864#CS M2BK 2 3 BK(J2) 1 BKCOM1(J2) 4 A63L-0002-0066#R06DY A63L-0002-0066#CRM M2P1 ( Y-KEY ) BLACK A63L-0002-0066#R06DYW A63L-0002-0066#CRM F06DY CTM A1 +6V(BT2) B1 0V(BT3) A2 PRQJ2 B2 XPRQJ2 A3 +5V(B1) B3 0V(B1) A63L-0001-0848#E10SL1 A63L-0001-0850 M2P 8 9 +5V(B1) 10 0V(B1) K103 A660-2006-T657 4 +6V(BT2) 1 5 XPRQJ2 2 6 PRQJ2 3 7 0V(BT2) M3M1 A1 J3U1 A2 BK(J3) A3 J3W1 J1 CONNECTOR PANEL RMP 1 2 3 4 5 6 7 8 9 10 11 12 BK(J1) BKCOM1(J1) ( 49 50 (XU) 51 (XV) 52 (XW) 53 (XG) 54 +24V(B1) 55 RI4 56 RO4 57 0V(A1) 58 (PRQX) 59 (XPRQX) 60 (BK(X)) (BKCOM1(X)) Y-KEY WHITE ) F06DYW CTM B1 J3G1 B2 J3V1 B3 BKCOM1(J3) A63L-0001-0865#1 A63L-0001-0864#CS J3 MOTOR (βiSR0.CIRCUIT DIAGRAM.BT5) - +5V(C1. オプション指定時は、A05C-1139-B202を参照。 REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.E6) RI5 68 RI6 RO5 69 RO6 0V(B1.E6) A2 RO1 B2 RO2 A3 RO3 B3 RO4 A4 RO5 B4 RO6 K108 A660-2006-T659 注） NOTE) 1.BT5) + A63L-0002-0066#R20DY A63L-0002-0066#CRM M456PEE1 F20DY CTM B1 (XPRQX) B2 0V(BT4.A1.E4.D2) 67 0V(E1.C2) PRQJ5 B5 XPRQJ5 +24V(A1. (***)：使用されていない信号。 SIGNALS ARE NOT USED.A2) 31 RI2 32 RO2 33 +5V(B1. BT4. Fig.BT2.B. B(h) CIRCUIT DIAGRAM (LR Mate 200iC/5H 6-axes brake type) .BT3.BT5) B3 XPRQJ4 B4 0V(C1.156 - .C2) K107 A660-4004-T811 ( Y-KEY ) BLACK A63L-0002-0066#R08DX A63L-0002-0066#CRM YV1 ( X-KEY ) BLACK F08DX CTM A1 0V(E1.C2) PRQJ4 71 PRQJ5 XPRQJ4 72 XPRQJ5 BKCOM1(J4) M3BK 2 3 BK(J3) 1 BKCOM1(J3) 4 A63L-0002-0066#R06DXW A63L-0002-0066#CRM K101 A660-8016-T285 M3P1 ( X-KEY ) WHITE F06DXW CTM A1 +6V(BT3) B1 0V(BT3) A2 PRQJ3 B2 XPRQJ3 A3 +5V(B2) B3 0V(B2) A63L-0001-0848#E10SL1 A63L-0001-0850 M3P K105 A660-2006-T658 8 9 +5V(B2) 10 0V(B2) 4 +6V(BT3) 1 5 XPRQJ3 2 6 PRQJ3 3 7 0V(BT3) M456M1 A63L-0002-0066#R20DX A63L-0002-0066#CRM A1 A2 A3 A4 A5 A6 A7 A8 A9 (XU) (BK(X)) (XW) ( X-KEY ) BLACK F20DX CTM B1 (XG) B2 (XV) (BKCOM1(X)) B3 B4 J4G B5 J4U J4V B6 BK(J4) BKCOM1(J4) B7 J4W J5U B8 J5G BK(J5) B9 J5V A10 J5W B10 BKCOM1(J5) K106 A660-4004-T810 BATTERY +6V (BT1.BT3.5SQ 10A) BK(J4) 61 BK(J5) 62 BKCOM1(J5) J4U 63 J5U J4V 64 J5V J4W 65 J5W J4G 66 J5G 0V(D1. BT4.A2) B6 XHBK +24V(B1) B7 0V(D1.E2.BT5) ( 単二電池 ) SIZE C 0V (BT1.BT2. E4.5/600 M3M 2 3 J3V1 J3W1 1 4 J3U1 J3G1 K104 A660-4004-T707 A63L-0001-0865#2 A63L-0001-0864#CS J1U1 J1V1 J1W1 J1G1 XROT RI1 RO1 +5V(A1) PRQJ1 XPRQJ1 13 14 15 16 17 18 19 20 21 22 23 24 25 26 J2U1 27 J2V1 28 J2W1 29 J2G1 30 +24V(OT. 2/6000) M5M 2 3 J5V J5W 1 4 J5U J5G K112 A660-4004-T813 A63L-0001-0865#2 A63L-0001-0864#CS M5BK 2 3 BK(J5) 1 BKCOM1(J5) 4 A63L-0002-0066#R06DXW A63L-0002-0066#CRM M5P1 ( X-KEY ) WHITE F06DXW CTM A1 +6V(BT5) B1 0V(BT5) A2 PRQJ5 B2 XPRQJ5 A3 +5V(C2) B3 0V(C2) A63L-0001-0848#E10SL1 A63L-0001-0850 M5P K113 A660-2006-T774 8 9 +5V(C2) 10 0V(C2) 4 +6V(BT5) 1 5 XPRQJ5 2 6 PRQJ5 3 7 0V(BT5) A63L-0002-0066#R12DX A63L-0002-0066#CRM EE1 ) A1 A2 A3 A4 A5 A6 RI1 RI2 RI3 RI4 RI5 RI6 B1 B2 B3 B4 B5 B6 ( X-KEY BLACK F12DX CTM XHBK +24V(A1) +24V(A2) +24V(B1) 0V(D1) 0V(D2) EE K114 A660-2006-T665 2 1 RI2 3 A63L-0002-0072#12SN RI1 9 +24V(A2) 8 +24V(A1) 10 +24V(B1) 12 0V(D2) 7 XHBK RI3 11 0V(D1) 6 RI6 4 RI4 5 RI5 A05B-1139-H002 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 R12DX CRM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) A05B-1139-H004 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) YV2 ( X-KEY ) BLACK A1 RO1 A2 RO2 A3 A4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 B4 B5 B6 SOLENOID VALVE A97L-0218-0113#D1 SOLENOID VALVE A97L-0218-0113#D3 A05B-1139-H003 YV2 A1 RO1 A2 RO2 A3 RO3 A4 RO4 A5 A6 F12DX CTM B1 0V(E1) B2 0V(E2) B3 0V(E3) B4 0V(E4) B5 B6 A05B-1139-H005 YV2 A1 A2 A3 A4 A5 A6 RO1 RO2 RO3 RO4 RO5 RO6 B1 B2 B3 B4 B5 B6 F12DX CTM 0V(E1) 0V(E2) 0V(E3) 0V(E4) 0V(E5) 0V(E6) SOLENOID VALVE A97L-0218-0113#D2 SOLENOID VALVE A97L-0218-0113#D3R LR Mate 200iC/5H (5BK) :可動部用 MOVABLE .CIRCUIT DIAGRAM. AIR PRESSURE DIAGRM A63L-0002-0066#R06DX A63L-0002-0066#CRM M4M1 ( X-KEY ) BLACK A63L-0002-0066#R06DY A63L-0002-0066#CRM A1 J4U A2 BK(J4) A3 J4W F06DX CTM B1 J4G B2 J4V B3 BKCOM1(J4) A63L-0001-0865#1 A63L-0001-0864#CS J4 MOTOR (βiSR0.157 - .2/6000) M4M 2 3 J4V J4W 1 4 J4U J4G K110 A660-4004-T812 A63L-0001-0865#2 A63L-0001-0864#CS M4BK 2 3 A63L-0001-0848#E10SL1 A63L-0001-0850 BK(J4) 1 BKCOM1(J4) 4 M4P1 ( Y-KEY ) BLACK A63L-0002-0066#R06DYW A63L-0002-0066#CRM F06DY CTM A1 +6V(BT4) B1 0V(BT4) A2 PRQJ4 B2 XPRQJ4 A3 +5V(C1) B3 0V(C1) M4P K111 A660-2006-T772 8 9 +5V(C1) 10 0V(C1) 4 +6V(BT4) 1 5 XPRQJ4 2 6 PRQJ4 3 7 0V(BT4) M5M1 ( Y-KEY WHITE ) A1 J5U A2 BK(J5) A3 J5W F06DYW CTM B1 J5G B2 J5V B3 BKCOM1(J5) A63L-0001-0865#1 A63L-0001-0864#CS J5 MOTOR (βiSR0.B-82585EN02 APPENDIX B. B(j) Air pressure diagram (Double solenoid valve×2 A05B-1139-H003.B.H022.H013. AIR PRESSURE DIAGRM APPENDIX B-82585EN/02 J1 connector plate AIR 1 J1 connector plate AIR 2 J3 arm J3 casing Exhaust port RO1 RO2 RO2 RO1 Fig.CIRCUIT DIAGRAM.H012.158 - .H032 is specified) J1 connector plate AIR 1 J1 connector plate AIR 2 J3 arm J3 casing Exhaust port RO3 RO1 RO2 RO4 RO4 RO3 RO2 RO1 Fig. B(i) Air pressure diagram (Double solenoid valve×1 A05B-1139-H002.H033 is specified) .H023.H017.H018. B(l) Air pressure diagram (Double solenoid valve×3R A05B-1139-H005.159 - .H015 is specified) . B(k) Air pressure diagram (Double solenoid valve×3 A05B-1139-H004.B-82585EN02 APPENDIX B.H014.H024 is specified) J1 connector plate AIR 1 J1 connector plate AIR 2 J3 arm J3 casing Exhaust port RO5 RO3 RO1 RO2 RO4 RO6 RO2 RO1 RO6 RO5 RO4 RO3 Fig. AIR PRESSURE DIAGRM J1 connector plate AIR 1 J1 connector plate AIR 2 J3 arm J3 casing Exhaust port RO5 RO3 RO1 RO2 RO6 RO4 RO2 RO1 RO6 RO5 RO4 RO3 Fig.CIRCUIT DIAGRAM. 0H 0. Tighten the cover and main Mechanical unit 4 Remove spatter and dust etc.C.2H 2.0H 0. LR Mate 200iC/5C.(loosening) Check time 1 First Oil 6 9 3 Grease check months months months years amount 320 960 1920 2880 3840 2 years 4800 5760 6720 7680 8640 9600 10560 0.2H 0. 7 unit *1 Replacing cable of mechanical Check the robot cable and 14ml ― ― ― ― ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 teach pendant cable Control unit 9 Cleaning the ventilator 10 Check the source voltage *1 11 Replacing battery *1 *1 Refer to manual of controller.2H 0.1H 0. *2 ●: requires exchange of parts ○: does not require exchange of parts .5H 4. /5LC Periodic Maintenance Table Working time (H) Check the exposed connector. /5L.2H 0. 3 bolt.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 C Items 1 PERIODIC MAINTENANCE TABLE FANUC Robot LR Mate 200iC.160 - .1H ― ― ― ― ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ 2 Tighten the end effector bolt. (if external batteries are specified) 5 6 Greasing the reducers. (if built-in batteries are specified) Replacing battery.1H 0. Replacing battery.2H 0.0H 1. B-82585EN/02 APPENDIX C.PERIODIC MAINTENANCE TABLE 3 years 4 years 5 years 6 years 7 years 8 years 11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720 Item 1 2 3 ○ ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ● ● ● ● ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ 4 5 ● Overhaul ○ ○ 6 7 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 9 10 11 .161 - . PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 FANUC Robot LR Mate 200iC/5WP Periodic Maintenance Table Working time (H) Items 1 connector.2H 0.0H 4 Remove spatter and dust etc.162 - .1H 6 Greasing the reducers.0H 0.C.(loosening) 2 Tighten the end effector bolt. 5 battery) Replacing battery. Mechanical unit Check the exposed 1 First Check Oil 6 9 3 time Grease check months months months years amount 320 960 1920 2880 3840 2 years 4800 5760 6720 7680 8640 9600 10560 0.2H 0. 2.2H 0. 7 unit * Replacing cable of mechanical Check the robot cable and teach 14ml ● ― ― ― ― ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 pendant cable Control unit 9 Cleaning the ventilator 10 Check the source voltage *1 11 Replacing battery *1 *1 Refer to manual of controller.(external 1.5H 4.1H 0. *2 ●: requires exchange of parts ○: does not require exchange of parts .2H ― ― ― ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ 3 Tighten the cover and main bolt.2H 0.0H 0. B-82585EN/02 APPENDIX C.PERIODIC MAINTENANCE TABLE 3 years 4 years 11520 12480 13440 14400 15360 Item 1 2 3 ○ ○ ○ ○ ● Overhaul ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 4 5 6 7 8 9 10 11 .163 - . 5H 4.0H 1.0H 0. 3 bolt. Replacing battery.C. 7 unit * Replacing cable of mechanical Check the robot cable and 12ml ― ― ― ― ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 teach pendant cable Control unit 9 Cleaning the ventilator 10 Check the source voltage *1 11 Replacing battery *1 *1 Refer to manual of controller.1H 0. *2 ●: requires exchange of parts ○: does not require exchange of parts . Tighten the cover and main Mechanical unit 4 Remove spatter and dust etc.2H 0.164 - .1H ― ― ― ― ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ 2 Tighten the end effector bolt.2H 0.2H 0. (if built-in batteries are specified) Replacing battery.2H 0.2H 2.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02 FANUC Robot LR Mate 200iC/5H Periodic Maintenance Table Working time (H) Items 1 Check the exposed connector. (if external batteries are specified) 5 6 Greasing the reducers.(loosening) Check time 1 First Oil 6 9 3 Grease check months months months years amount 320 960 1920 2880 3840 2 years 4800 5760 6720 7680 8640 9600 10560 0.0H 0.1H 0. B-82585EN/02 APPENDIX C.PERIODIC MAINTENANCE TABLE 3 years 4 years 5 years 6 years 7 years 8 years 11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720 Item 1 2 3 ○ ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ● ● ● ● ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ● ● ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ 4 5 ● Overhaul ○ ○ 6 7 ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8 9 10 11 .165 - . the bolts may be loosened because sufficient effects cannot be obtained.166 - . make sure that it is applied to the entire longitudinal portion in the engaging section of the female threads.D. If it is applied to the male threads. . Remove the dust within the bolts and taps and wipe oil off the engaging section.MOUNTING BOLT TORQUE LIST APPENDIX B-82585EN/02 D MOUNTING BOLT TORQUE LIST NOTE When applying Loctite to the important bolt tightening points. Make sure that there is no solvent in the taps. 4) 1.8(60) 14(145) 27(280) 48(490) 76(780) 120 (1200) 160(1650) 230(2300) 0.3(13) 2.3(13) 2.MOUNTING BOLT TORQUE LIST If no tightening torque is specified for a bolt.0(41) 7.76(7.8(18) 3.6(98) 23(230) - Nominal diameter .5(25) 4.4(35) 5. Recommended bolt tightening torques Hexagon socket head bolt (Steel in strength category 12.1(42) 9.8(100) 19(195) 33(340) 53(545) 82(840) 110(1150) 160(1600) - Unit: Nm (kgf-cm) Hexagon socket head boss bolt Hexagon socket head flush bolt (steel in strength category 12.9(81) 14(140) 32(330) 1.9) Tightening torque Upper limit Lower limit 1.0(41) 7.B-82585EN/02 APPENDIX D.167 - .6(98) 23(230) 46(470) 78(800) 130(1300) 190(1900) 260(2700) 370(3800) 510(5200) 650(6600) 960(9800) 1300(13000) 2300(23000) Hexagon socket head bolt (stainless) Tightening torque Upper limit Lower limit 0.8(29) 5.6(57) 9.6(57) 9.7) 1.3(13) 2.8(29) 5.53(5.8(18) 4.9) Tightening torque Upper limit Lower limit M3 M4 M5 M6 M8 M10 M12 (M14) M16 (M18) M20 (M22) M24 (M27) M30 M36 1. tighten it according to this table.8(18) 4.9(81) 14(140) 32(330) 66(670) 110(1150) 180(1850) 270(2800) 380(3900) 530(5400) 730(7450) 930(9500) 1400(14000) 1800(18500) 3200(33000) 1. . .................................................................................... 11 PERIODIC MAINTENANCE TABLE ........................ 80 REPLACING PARTS. 108 REPLAING CABLE K104.... 84 REPLACING J5-AXIS MOTOR...................................................................................... K111...................................................... 74 REPLACING J6-AXIS REDUCER..........8 3-month (960 hours) checks ............................. 38 First 1-Month (320 hours operating) Check ..................................... K113 ........................................................5 FIXTURE POSITION MASTER.................................. 43 REPLACING J2-AXIS MOTOR.......................................680 hours) checks (LR Mate 200iC /5WP) 4-year (15.......................................................................................................7 1-year (3.................... /5C........ K109............................... 110 REPLAING CABLE K101 and Air tube (Connector plate to J2 base)...........................5 <M> MAINTENANCE TOOLS ....................................................... 49 REPLACING J2-AXIS REDUCER........................... 18 Grease replacement procedure of the J3-axis reducer................................. 9 MASTERING ........ 24 <A> ADJUSTING TENSION OF BELT ... 62 REPLACING J4-AXIS REDUCER.................................................... 22 i-1 ............ LR Mate 200iC/5L ..................... 95 REPLAING CABLE K102... 12 REPLACING WRIST UNIT .......................... 122 <G> Grease replacement procedure of the J1-axis reducer....................360 hours) checks (LR Mate 200iC............... K103............ 57 REPLACING J3-AXIS REDUCER............................................................................ K104............................................. 32 <R> REPLACING CABLES......760 hours) checks .. 118 ADJUSTMENTS ............. 25 FIGURE OF DRIVE MECHANISM ................................ 160 PREFACE.............. 41 REPLACING J1-AXIS REDUCER.....5-year (5................................... 17 Grease replacement procedure of the J2-axis reducer............. AIR PRESSURE DIAGRM ......................................................... 19 Grease replacement procedure of the J4-axis reducer..................B-82585EN/02 INDEX INDEX <Number> 1..... 71 REPLACING J6-AXIS MOTOR........................... K105........... 36 REPLACING SOLENOID VALVE..........7 2-year (7...... 166 <O> OVERVIEW .......................................... 20 Grease replacement procedure of the J5/J6-axis reducer.................................... 109 REPLAING CABLE K106................. 120 MOUNTING BOLT TORQUE LIST ......5-YEAR CHECKS (external battery type))............................................................................................. /5H) .. K110................................. CAUSES AND MEASURES...... 89 REPLACING J1-AXIS MOTOR................. K112..............2 <F> FAILURES................................................1 CIRCUIT DIAGRAM..................................................................... 102 <C> CABLE AND AIR TUBE REPLACEMENT .. 53 REPLACING J3 BELT....................................................... 68 REPLACING J5-AXIS REDUCER.................. 64 REPLACING J5/J6 BELT ...................................................................................... 82 REPLACING J3-AXIS MOTOR......................................................840 hours) checks ................................ 92 CABLE WIRING................................................................... K108 and Air tube (J2 base to J3 casing) .......................................... /5LC........................ K107.................................................................... p-1 <B> BACKLASH MEASUREMENT .......................... 141 <D> DAILY CHECKS. 86 REPLACING THE BATTERIES (1-YEAR CHECKS (battery built-in type)) (1..................................................... 95 CABLE FORMING ............................. 77 REPLAING AIR TUBE ......................... 59 REPLACING J4-AXIS MOTOR.......... 90 CHECKS AND MAINTENANCE ............................... 117 <P> PERIODIC MAINTENANCE ...................................... ...........INDEX REPLENISH THE GREASE OF THE DRIVE MECHANISM (4 years (11. 23 i-2 ........................................................................................................ 88 SPARE PARTS LIST..............520 hours) checks) ................... s-1 SEALANT APPLICATION............................................. 121 B-82585EN/02 <S> SAFETY PRECAUTIONS ...................................... 15 RESETTING ALARMS AND PREPARING FOR MASTERING............. 131 <T> TROUBLESHOOTING ............... .5C 02 Feb.2008 ・ Addition of Air pressure diagram ・ Revice 01 Nov.Revision Record FANUC Robot LR Mate 200iC MECHANICAL UNIT MAINTENANCE MANUAL (B-82585EN) ・ Addition of LR Mate 200iC/5L.5WP.5LC. 2007 Edition Date Contents Edition Date Contents ..