Professional Documents
Culture Documents
MECHANICAL UNIT
MAINTENANCE MANUAL
B-82585EN/02
Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.
SAFETY PRECAUTIONS
B-82585EN/02
SAFETY PRECAUTIONS
For the safety of the operator and the system, follow all safety
precautions when operating a robot and its peripheral devices installed
in a work cell.
In addition, refer to the FANUC Robot SAFETY HANDBOOK
(B-80687EN).
1.1
WORKING PERSON
The personnel can be classified as follows.
Operator:
Power ON/OFF for robot controller
Start of robot program with operators panel
Programmer or teaching operator:
Operate for Robot
Teaching inside safety fence
Maintenance engineer:
Operate for Robot
Teaching inside safety fence
Maintenance (adjustment, replacement)
-
Table 1 lists the workings of outside the fence. In this table, the
symbol { means the working allowed to be carried out by the
personnel.
s-1
SAFETY PRECAUTIONS
B-82585EN/02
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
Maintenance
engineer
{
{
{
{
{
{
{
{
{
{
{
{
{
s-2
B-82585EN/02
1.2
SAFETY PRECAUTIONS
s-3
SAFETY PRECAUTIONS
B-82585EN/02
E-stop board
FENCE1
FENCE11
NOTE
Terminal FENCE1 and terminal FENCE11 are on
the PC board in the E-stop unit.
NOTE
Please drop the power supply of the robot control
system at once when the worker is placed by the
robot by any chance or it is confined, push the robot
arm directly, change posture, and liberate the
worker.
s-4
B-82585EN/02
1.2.1
SAFETY PRECAUTIONS
E-stop board
EMGIN1
EMGIN11
s-5
SAFETY PRECAUTIONS
1.2.2
B-82585EN/02
Teach pendant
Peripheral device
On
Ignored
Allowed to start
Not allowed
Off
Local
Remote
Not allowed
Not allowed
Not allowed
Allowed to start
s-6
SAFETY PRECAUTIONS
B-82585EN/02
Software remote
condition
Teach pendant
Operator panel
Peripheral device
Local
Remote
Local
Remote
Local
Remote
Local
Remote
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
s-7
SAFETY PRECAUTIONS
1.2.3
B-82585EN/02
s-8
B-82585EN/02
SAFETY PRECAUTIONS
1.3
1.3.1
Precautions in Programming
(1) Use a limit switch or other sensor to detect a dangerous condition
and, if necessary, design the program to stop the robot when the
sensor signal is received.
(2) Design the program to stop the robot when an abnormal
condition occurs in any other robots or peripheral devices, even
though the robot itself is normal.
(3) For a system in which the robot and its peripheral devices are in
synchronous motion, particular care must be taken in
programming so that they do not interfere with each other.
(4) Provide a suitable interface between the robot and its peripheral
devices so that the robot can detect the states of all devices in the
system and can stop them according to the their states.
1.3.2
s-9
SAFETY PRECAUTIONS
1.4
1.4.1
Precautions in Operation
B-82585EN/02
(1) When operating the robot in the jog mode, set it at an appropriate
speed so that the operator can manage the robot in any
eventuality.
(2) Before pressing the jog key, be sure you know in advance what
motion the robot will perform in the jog mode.
1.4.2
Precautions in Programming
(1) When the work areas of robots overlap, make certain that the
motions of the robots do not interfere with each other.
(2) Be sure to specify the predetermined work origin in a motion
program for the robot and program the motion so that it starts
from the origin and terminates at the origin.
Make it possible for the operator to easily distinguish at a glance
that the robot motion has terminated.
1.4.3
s-10
B-82585EN/02
SAFETY PRECAUTIONS
1.5
1.5.1
Precautions in Programming
(1) To control the pneumatic, hydraulic and electric actuators,
carefully consider the necessary time delay after issuing each
control command up to actual motion and ensure safe control.
(2) Provide the end effector with a limit switch, and control the robot
system by monitoring the state of the end effector.
s-11
SAFETY PRECAUTIONS
1.6
B-82585EN/02
WARNING LABEL
(1) Transportation attention label 1
500kg
100kg 4
80kg4
Description
1)
2)
3)
s-12
B-82585EN/02
SAFETY PRECAUTIONS
CAUTION
Description
Keep the following in mind about eyebolt.
1)
2)
s-13
SAFETY PRECAUTIONS
B-82585EN/02
grease
applying
kit:
CAUTION
2.5mm
1cc
Please knead a tube and make
grease soft before supply grease
to cylinder.
When you give a plunger 2.5mm
push, 1cc grease is injected.
/AXIS
/AMOUNT
J1
J2
J3
J4
J5
J6
3cc(7mm)
3cc(7mm)
2cc(5mm)
2cc(5mm)
2cc(5mm)
2cc(5mm)
/AT GRESING
A370-3031-0130
Description
Keep the following in mind about grease applying kit.
1) Please knead a tube and make grease soft before supply
grease to cylinder.
2) When you give a plunger 2.5mm push, 1ml grease is injected.
s-14
SAFETY PRECAUTIONS
0deg
-180deg
+180deg
MOTION RANGE
OF J5-AXIS
ROTATION CENTER
J5-AXIS
ROTATION CENTER
B-82585EN/02
D
UNIT:mm
A
B
C
D
STANDARD 959 228 704 513
LONG ARM 1147 393 892 742
MAX.PAYLOAD:5kg
Fig.1.6 (d) Range of motion and payload mark label
s-15
PREFACE
B-82585EN/02
PREFACE
This manual explains the maintenance and connection procedures for
the mechanical units of the following robots:
Model name
Mechanical unit
specification No.
A05B-1139-B201
A05B-1139-B202
A05B-1139-B203
A05B-1139-B204
Maximum
load
A05B-1139-B211
FANUC Robot LR Mate 200iC/5L
A05B-1139-B212
5kg
FANUC Robot LR Mate 200iC/5LC
A05B-1139-B213
A05B-1139-B221
A05B-1139-B231
A05B-1139-B101
A05B-1139-B102
A05B-1139-B103
A05B-1139-B104
Remarks
3-axes brake type
Non-severe dust/liquid
protection specification
6-axes brake type
Non-severe dust/liquid
protection specification
3-axes brake type
severe dust/liquid protection
specification
6-axes brake type
severe dust/liquid protection
specification
6-axes brake type Non-severe
dust/liquid protection
specification
6-axes brake type
severe dust/liquid protection
specification
6-axes brake type
Clean class 100 specification
6-axes brake type
Clean class 100 specification
6-axes brake type
Washing specification
3-axes brake type
Non-severe dust/liquid
protection specification
5-axes brake type
Non-severe dust/liquid
protection specification
3-axes brake type
severe dust/liquid protection
specification
5-axes brake type
severe dust/liquid protection
specification
NOTE
The following abbreviations are used herein.
STANDARD : LR Mate 200iC
5L
: LR Mate 200iC/5L
5LC
: LR Mate 200iC/5LC
5C
: LR Mate 200iC/5C
5WP
: LR Mate 200iC/5WP
5H
: LR Mate 200iC/5H
p-1
PREFACE
B-82585EN/02
(1)
TYPE
NO.
DATE
(2)
(3)
(4)
WEIGHT
(5)
OSHINO-MURA.
YAMANASHI PREF.JAPAN
TABLE 1
(1)
CONTENTS
(2)
(3)
TYPE
(4)
No.
DATE
(5)
WEIGHT
(Without controller)
A05B-1139-B201
FANUC Robot
LR Mate 200iC
FANUC Robot
LR Mate 200iC/5L
LETTERS
FANUC Robot
LR Mate 200iC/5LC
FANUC Robot
LR Mate 200iC/5C
FANUC Robot
LR Mate 200iC/5WP
A05B-1139-B202
27kg
A05B-1139-B203
A05B-1139-B204
A05B-1139-B211
A05B-1139-B212
A05B-1139-B213
A05B-1139-B221
29kg
PRINT
SERIAL NO.
PRINT
PRODUCTION
YEAR AND MONTH
27kg
A05B-1139-B231
A05B-1139-B101
FANUC Robot
LR Mate 200iC/5H
A05B-1139-B102
26kg
A05B-1139-B103
A05B-1139-B104
p-2
PREFACE
B-82585EN/02
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
Safety handbook B-80687EN
All persons who use the FANUC
Robot and system designer must
read and understand thoroughly this
handbook
R-30iA Mate
controller
Operations
manual
LR HANDLING
TOOL
B-82724EN-1
Maintenance
manual
B-82725EN
B-82725EN-1
(For Europe)
B-82725EN-2
(For RIA)
Mechanical unit
Operators
manual
FANUC Robot
LR Mate 200iC
B-82584EN
p-3
Intended readers:
All persons who use FANUC Robot,
system designer
Topics:
Safety items for robot system
design, operation, maintenance
Intended readers:
Operator, programmer,
maintenance person, system
designer
Topics:
Robot functions, operations,
programming, setup, interfaces,
alarms
Use:
Robot operation, teaching, system
design
Intended readers:
Maintenance person, system
designer
Topics:
Installation, connection to peripheral
equipment, maintenance
Use:
Installation, start-up, connection,
maintenance
Intended readers:
System designer, Maintenance
person
Topics:
Installation, connection to controller,
maintenance
Use:
Installation, start-up, connection,
maintenance
TABLE OF CONTENTS
B-82585EN/02
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1
1.7
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
TROUBLESHOOTING .......................................................................... 23
3.1
3.2
3.3
OVERVIEW ................................................................................................. 24
FAILURES, CAUSES AND MEASURES ..................................................... 25
BACKLASH MEASUREMENT..................................................................... 32
TABLE OF CONTENTS
4.6
4.7
4.8
4.9
4.10
4.11
4.12
4.13
4.14
4.15
4.16
4.17
4.18
B-82585EN/02
CABLE WIRING........................................................................................... 90
CABLE FORMING ....................................................................................... 92
CABLE AND AIR TUBE REPLACEMENT ................................................... 95
5.3.1
5.3.2
REPLAING CABLE K106, K107, K108 and Air tube (J2 base to J3
casing) ..................................................................................................................102
5.3.3
5.3.4
5.3.5
ADJUSTMENTS.................................................................................. 117
6.1
6.2
6.2.2
APPENDIX
A
B-82585EN/02
NOTE
The periodic maintenance procedures described in
this chapter assume that the FANUC robot is used
for up to 3840 hours a year. When using the robot
beyond this total operating time, correct the
maintenance frequencies shown in this chapter by
calculation in proportion to the difference between
the actual operating time and 3840 hours/year.
-1-
1.1
B-82585EN/02
DAILY CHECKS
Clean each part, and visually check component parts for damage
before daily system operation. Check the following items as the
occasion demands.
(1) Before turning on power
Item
1
Check items
When air
Air pressure
control set
is provided.
2
3
5
6
7
8
9
Check points
When air
purge kit is
prorided.
Leakage from
hose
Supply
pressure
Dryer
Pressure
Adjusting Knob
2-6.516.5
Length round hole
Rc1/4
AIR OUTLET
Pressure gauge
Rc1/4
AIR SUPPLY
-2-
B-82585EN/02
Pneumatic tube
Dry air
Pressure gauge
Pneumatic
air outlet
Air inlet
(O10 air tube)
Pressure adjustment knob
S
Dryer unit
Fig.1.1(b)
Check items
Check points
Vibration, abnormal
noises, and motor
heating
Changing
repeatability
Peripheral devices
for proper operation
-3-
B-82585EN/02
(Note 1) Cleaning
-
-4-
B-82585EN/02
1.2
1.3
Check items
Check points
Check items
2
3
Check points
(See Section 1.2)
Check the following items at the first quarterly inspection, then every
year thereafter. (See the Section 1.4.)
(2) First quarterly inspection
Item
1
2
Check items
Connector used in
mechanical unit
Further tightening
external main bolts
-5-
Check points
Check that the connectors of the connector
panels are securely engaged. (NOTE2)
Tighten the end-effecter mounting bolts and
external main bolts. (NOTE3)
B-82585EN/02
Check items
-
-6-
B-82585EN/02
1.4
1.5
Check items
Tightness of major
external bolts
Tightness of major
external bolts
Battery (battery
built-in type)
Check points
(See Section 1.3)
(See Section 1.3)
Replace battery in the mechanical unit. (See
Section 2.1)
Check items
Battery
(external battery
type)
-7-
Check points
Replace battery in the mechanical unit. (See
Section 2.1)
1.6
B-82585EN/02
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
1.7
MAINTENANCE TOOLS
The following tools and instruments are required for the maintenance
procedures contained in this manual.
(a) Measuring instruments
Instrument
Tension meter
Instruments
Specifications
Vendor
Application
DOCTOR TENSION
TYPE-
Accuracy/Tolerance
Applications
Dialgauge accuracy
1/100 mm
Measurement of
positioning and backlash
Slide calipers
150 mm
(b) Tools
Torque wrench
Setting 5.6Nm(57kgfcm)
Setting 5.4Nm(55kgfcm)
Setting 4.5Nm(46kgfcm)
Setting 2.0Nm(20kgfcm)
Setting 1.3Nm(13kgfcm)
Cross tip (+) screwdrivers
Flat tip () screwdrivers
Box driver
Hex-head wrench set
Monkey wrench
Pincers
Radio pincers
Nippers
Glasses wrench
Pliers for Cretaining ring
Loctite 242262518638
Grease applying kit A05B-1139-K021
(It is options that grease (80g) for the grease
greasing with the injection syringe and the
tube makes a set.)
grease in tube (80g) A05B-1139-K022
-9-
M5
M4
M4
M3, M4
M3
Large, medium,
and small sizes
Large, medium,
and small sizes
M2.5 to M6
M2.5 to M6
Middle, little
O5
B-82585EN/02
- 10 -
2.PERIODIC MAINTENANCE
B-82585EN/02
PERIODIC MAINTENANCE
- 11 -
2.PERIODIC MAINTENANCE
2.1
B-82585EN/02
CAUTION
Replacing the batteries with the power supply
turned off causes all current position data to be lost.
Therefore, mastering will be required again.
2
3
4
Packing
A290-7139-X253
(*)
Bolt with plate processing
hex-head hole
M4X20(4pcs)
(*)
Battery box cover
(*)
- 12 -
2.PERIODIC MAINTENANCE
B-82585EN/02
CAUTION
Be sure to keep the power on.
Replacing the batteries with the power supply
turned off causes all current position data to be lost.
Therefore, mastering will be required again.
2
3
4
5
Battery case
Case cap
Battery spec;A98L-0031-0005
(D battery4pcs)
Fig.2.1 (b) Replacing the battery (external battery type)
- 13 -
2.PERIODIC MAINTENANCE
B-82585EN/02
- 14 -
2.PERIODIC MAINTENANCE
B-82585EN/02
2.2
2.7g(3ml)
2.7g(3ml)
1.8g(2ml)
1.8g(2ml)
1.8g(2ml)
1.8g(2ml)
J1
J2
-90
90
Arbitrary Arbitrary
Attitude
J3
J4
J5
J6
CAUTION
The following maintenance kits are prepared for the
grease greasing.
Greasing kit: A05B-1139-K021
(This a set of greasing syringe and grease in tube.)
Grease in tube: A05B-1139-K022
There is no J6-axis for LR Mate 200iC/5H
- 15 -
2.PERIODIC MAINTENANCE
B-82585EN/02
1
2
3
4
NOTE
If greasing is performed incorrectly, the internal
pressure of the grease bath may suddenly increase,
possibly causing damage to the seal, which would in
turn lead to grease leakage and abnormal operation.
When performing greasing, therefore, observe the
following cautions.
In case of J1-axis and J3-axis, before starting to
grease, open the grease outlet (remove the seal bolt
from the grease outlet).
Use grease only of the specified type. Grease of a
type other than that specified may damage the
reducer or lead to other problems. Do no use
Harmonic grease SK-3
To prevent accidents caused by slipping, completely
remove any excess grease from the floor or robot.
Please fill a necessary amount to the injection
syringe after softening grease in the tube massaging
it by the hand when you use the grease greasing kit.
Please install the nozzle in the point of the injection
syringe. Please remove the nozzle and do the cap
when you do not use the injection syringe.
- 16 -
2.PERIODIC MAINTENANCE
B-82585EN/02
2.2.1
1
2
4
Specification
Amount
BOLT
SEAL BOLT
SEAL BOLT
Loctite
A6-BA-4X8
4
1
A97L-0218-0496#M4X10BC(*1)
4
4.5 N-m (46kgf-cm)
A97L-0218-0496#M4X10EN(*2)
4
A290-7139-X332(*3)
1
2 COVER U
A290-7139-Y332(*4)
1
A290-7139-Z332(*5)
1
3 PACKING
A290-7139-X356 (*6)
1
4 COVER
A290-7139-X347
1
(*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*2) When LR Mate 200iC/5LC,5WP 5C is specified.
(*3) When LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*4) When LR Mate 200iC,LR Mate 200iC/5C,5LC is specified.
(*5) When LR Mate 200iC,LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP 5C is specified.
- 17 -
2.PERIODIC MAINTENANCE
2.2.2
B-82585EN/02
Pay attention
to direction
A
2
DETAIL A
Specification
Amount
SEAL BOLT
A97L-0218-0738#040808BC(*1)
1
SEAL BOLT
A97L-0218-0738#040808EN(*2)
SEAL BOLT
A97L-0218-0595#040808BC(*1)
2
SEAL BOLT
A97L-0218-0595#040808EN(*2)
3 COVER S
A290-7139-X309
4 PACKING
A290-7139-X351
(*1) When LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*2) When LR Mate 200iC/5LC,5WP,5C is specified.
- 18 -
2
2
2
2
1
1
Loctite
2.PERIODIC MAINTENANCE
B-82585EN/02
2.2.3
3
4
J3-axis reducer
grease inlet
seal bolt
Specification
Amount
BOLT
SEAL BOLT
SEAL BOLT
Loctite
A97L-0218-0504#M4X10
3
2.0 N-m (20kgf-cm)
1
A97L-0218-0496#M4X12BC(*1)
8
4.5 N-m (46kgf-cm)
A97L-0218-0496#M4X12EN(*2)
8
4.5 N-m (46kgf-cm)
A290-7139-X306
1
A290-7139-X308 (*1)
1
2
J2 ARM COVER
A290-7139-Y308 (*3)
1
A290-7139-Z308 (*4)
1
3
PACKING
A290-7139-X355 (*5)
1
(*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*2) When LR Mate 200iC/5LC,5WP,5C is specified.
(*3) When LR Mate 200iC/5LC,5C is specified.
(*4) When LR Mate 200iC/5WP is specified.
(*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 19 -
2.PERIODIC MAINTENANCE
2.2.4
B-82585EN/02
2
3
Fig. 2.2.4 Replacing grease of the J4-axis reducer (LR Mate 200iC)
- 20 -
2.PERIODIC MAINTENANCE
B-82585EN/02
Name
Specification
Amount
A97L-0218-0504#M4X10
3
2.0 N-m (20kgf-cm)
A97L-0218-0496#M4X12BC(*1)
6
2.0 N-m (20kgf-cm)
A97L-0218-0496#M4X12EN(*2)
6
2.0 N-m (20kgf-cm)
A290-7139-X404
1
A290-7139-X406 (*1)
1
2
J3 COVER
A290-7139-Y406 (*3)
1
A290-7139-Z406 (*4)
1
3
PACKING
A290-7139-X451 (*5)
1
(*1) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*2) When LR Mate 200iC/5LC,5WP 5C is specified.
(*3) When LR Mate 200iC/5LC,5C is specified.
(*4) When LR Mate 200iC/5WP is specified.
(*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP 5C is specified.
1
BOLT
PLATED BOLT
PLATED BOLT
Loctite
- 21 -
2.PERIODIC MAINTENANCE
2.2.5
B-82585EN/02
Fig. 2.2.5 Replacing grease of the J5/J6-axis reducer (LR Mate 200iC)
Replacing grease of the J4/J5-axis reducer (LR Mate 200iC/5H)
- 22 -
3.TROUBLESHOOTING
B-82585EN/02
TROUBLESHOOTING
- 23 -
3.TROUBLESHOOTING
3.1
B-82585EN/02
OVERVIEW
The cause of a failure in the mechanical unit may be difficult to
localize, because failures can arise from many interrelated factors. If
you fail to take the correct measures, the failure may be aggravated.
Therefore, it is necessary to analyze the symptoms of the failure
precisely so that the true cause can be found.
- 24 -
3.TROUBLESHOOTING
B-82585EN/02
3.2
Cause
Measure
[Rack or floor]
-It is likely that the rack or floor is not
sufficiently rigid.
-If the rack or floor is not sufficiently
rigid, reaction from the robot deforms
the rack or floor, leading to vibration.
[Overload]
-It is likely that the load on the robot is
greater than the maximum rating.
-It is likely that the robot control
program is too demanding for the
robot hardware.
-It is likely that the ACCELERATION
value is excessive.
- 25 -
3.TROUBLESHOOTING
Symptom
Vibration
Noise
(Continued)
B-82585EN/02
Description
Cause
Measure
- 26 -
3.TROUBLESHOOTING
B-82585EN/02
Symptom
Vibration
Noise
(Continued)
Description
Cause
Measure
- 27 -
3.TROUBLESHOOTING
Symptom
B-82585EN/02
Description
Vibration
Rattling
Cause
Measure
[Increase in backlash]
-It is likely that excessive force applied
to the drive mechanism, due to a
collision or overloading, has broken a
gear or the inside of the reducer,
resulting in an increase in the amount
of backlash.
-It is likely that prolonged use has
caused the tooth surfaces of a gear
and the inside of the reducer to wear
out, resulting in an increase in the
amount of backlash.
-It is likely that prolonged use without
changing the grease has caused the
tooth surfaces of a gear and the inside
of the reducer to wear out, resulting in
an increase in the amount of
backlash.
- 28 -
3.TROUBLESHOOTING
B-82585EN/02
Symptom
Motor
overheating
Description
Cause
Measure
[Ambient temperature]
-It is likely that a rise in the ambient
temperature prevented the motor from
releasing heat efficiently, thus leading
to overheating.
[Operating condition]
-It is likely that the robot was operated
with the maximum average current
exceeded.
[Parameter]
-If data input for a workpiece is invalid,
the robot cannot be accelerated or
decelerated normally, so the average
current increases, leading to
overheating.
[Mechanical section problems]
-It is likely that problems occurred in
the mechanical unit drive mechanism,
thus placing an excessive load on the
motor.
[Motor problems]
-It is likely that a failure of the motor
brake resulted in the motor running
with the brake applied, thus placing an
excessive load on the motor.
-It is likely that a failure of the motor
prevented it from delivering its rated
performance, thus causing an
excessive current to flow through the
motor.
- 29 -
3.TROUBLESHOOTING
Symptom
Grease
B-82585EN/02
Description
-Grease is leaking from the
mechanical unit.
Cause
Measure
[Poor sealing]
-Probable causes are a crack in the
casting, a broken O-ring, a damaged
oil seal, or a loose seal bolt.
-A crack in a casting can occur due to
excessive force that might be caused
in collision.
-An O-ring can be damaged if it is
trapped or cut during disassembling or
re-assembling.
-An oil seal might be damaged if
extraneous dust scratches the lip of
the oil seal.
-A loose seal bolt might allow grease
to leak along the threads.
- 30 -
3.TROUBLESHOOTING
B-82585EN/02
Symptom
Description
BZAL alarm
occurred
Cause
Measure
2 mm
2 mm
NOTE
Each value indicates the amount by which an end
effector mounting surface may fall.
- 31 -
3.TROUBLESHOOTING
3.3
B-82585EN/02
BACKLASH MEASUREMENT
Measurement method
1
2
3
Stop position
0
+3kg
Firtst step
(Do not measure)
-3kg
+3kg
L1
-3kg
0kg
L2
0kg
+3kg
0kg
L3
-3kg
Second step
(B2 =L 1+ L2)
Third step
(B3=L 3+ L4)
0kg
L4
B2 + B3
2
- 32 -
3.TROUBLESHOOTING
B-82585EN/02
Table 3.3(a) Backlash measurement posture, position and permissible value
Measurement
position
Measurement
J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis
axis
J1-axis
Arbitrary
90
90
J2-axis
Arbitrary
90
J3-axis
Arbitrary
90
-90
180
J4-axis
Arbitrary
90
-90
90
J5-axis
Arbitrary
90
-90
J6-axis
Arbitrary
90
-90
0 or
180
90 or
-90
Rotation center of
J5-axis
Rotation center of
J3-axis of J2 arm
Rotation center of
J5-axis
100mm from rotation
center of J4-axis
206mm from rotation
center of J5-axis
100mm from rotation
center of J6-axis
Table 3.3(b) Distance at axis and measurement position and permissible value for backlash
Measured Distance at axis and measurement position
axis
(mm)
LR Mate 200iC,
LR Mate 200iC,
LR Mate 200iC/5C, LR Mate 200iC/5L,5LC LR Mate 200iC/5C, LR Mate 200iC/5L,5LC
5WP,5H
5WP,5H
J1-axis
695
885
0.40
0.51
J2-axis
300
400
0.17
0.23
J3-axis
320
410
0.19
0.24
J4-axis
100
100
0.16
0.16
J5-axis
180
180
0.18
0.18
J6-axis
100
100
0.15
0.15
NOTE
In case of 5H type, read J5/J6 as J4/J5.
100
Loading position
Measurement position
(Rotation center of J5-axis)
Fig.3.3 (b) Backlash measurement position of J1-axis
- 33 -
3.TROUBLESHOOTING
B-82585EN/02
Loading
position
Measurement
position
100
Measurement
position
100
Loading
position
- 34 -
3.TROUBLESHOOTING
B-82585EN/02
Rotation center of
J4-axis (J6-axis)
100
Loading position
Measurement position
100
Measurement
position
Loading
position
100
100
Loading position
Measurement position
Fig.3.3 (g) Backlash measurement position of J6-axis
- 35 -
4.REPLACING PARTS
B-82585EN/02
REPLACING PARTS
CAUTION
The packing must not be reused. To maintain dust
and drip preventive effects, replace the old packing
with new ones and then perform assembly.
To secure the performance of the seal, replace seal bolt to new one
after replacing parts as much as possible. If it is not possible to
prepare it, peel off the sealant, spread Loctite on the internal
thread, and recycle.
NOTE
When applying Loctite to the important bolt
tighteningpoints, make sure that it is applied to the
entire longitudinal portion in the engaging section of
the female threads. If it is applied to the male threads,
the bolts may be loosened because sufficient effects
cannot be obtained. Remove the dust within the bolts
and taps and wipe oil off the engaging section. Make
sure that there is no solvent in the taps.
- 36 -
4.REPLACING PARTS
B-82585EN/02
NOTE
The following abbreviations are used herein.
STANDARD : LR Mate 200iC
5L
: LR Mate 200iC/5L
5LC
: LR Mate 200iC/5LC
5C
: LR Mate 200iC/5C
5WP
: LR Mate 200iC/5WP
5H
: LR Mate 200iC/5H
- 37 -
4.REPLACING PARTS
4.1
B-82585EN/02
CAUTION
When robot is 5H,please read J5/J6 as J4/J5.
J2 AXIS BASE
PIPE
J1 AXIS REDUCER
(HOLLOW SHAFT)
OUTPUT GEAR
INPUT GEAR
J1 AXIS BASE
- 38 -
4.REPLACING PARTS
B-82585EN/02
J2 AXIS ARM
J2 AXIS REDUCER
J2 AXIS BASE
J3 AXIS HOUSING
J3 AXIS REDUCER
J2 AXIS ARM
BELT
- 39 -
4.REPLACING PARTS
B-82585EN/02
J4 AIXS REDUCER
PIPE
J3 AIXS ARM
J5 AXIS REDUCER
BELT
J6 AXIS OUTPUT GEAR
J3 AIXS ARM
J6 AXIS REDUCER
J6 AXIS HOUSING
- 40 -
4.REPLACING PARTS
B-82585EN/02
4.2
Replacing procedure
1
2
3
4
5
6
7
8
9
10
- 41 -
4.REPLACING PARTS
B-82585EN/02
13
12
11
8
7
5
10
6
2
1
A
VIEW A
Fig. 4.2 Replacing J1-axis motor
Parts Name
1
2
3
4
5
Specifications
Number
BOLT
MOTOR
O-RING
SEAL BOLT
WASHER PLATE
Loctite
A6-BA-5X20
4
A06B-0116-B855#0048
1
A98L-0001-0347#S46
1
A97L-0218-0423#030606
3
1.3Nm (13kgfcm)
A290-7139-X231
1
A290-7139-X211(*1)
1
6 GEAR J1-1
A290-7139-X213(*2)
1
7 HOLDER
A290-7139-X221
1
8 O-RING
A98L-0001-0347#S46
1
9 KEY
JB-HKY-3X3X12B
1
10 OIL SEAL
A98L-0040-0223#01001805
1
A290-7139-X233 (*3)
1
11 COVER B
A290-7139-Y233 (*4)
1
PLATED BOLT
A97L-0218-0496#M4X8BC (*3)
9
4.5Nm (46kgfcm)
12
PLATED BOLT
A97L-0218-0496#M4X8EN (*4)
9
4.5Nm (46kgfcm)
13 PACKING
A290-7139-X252 (*5)
1
(*1) When LR Mate 200iC,LR Mate 200iC/5C,5WP,5H is specified.
(*2 )When LR Mate 200iC/5L,5LC is specified.
(*3) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*4) When LR Mate 200iC/5LC,5WP,5C is specified.
(*5) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H
or LR Mate 200iC/5LC,5WP 5C is specified.
- 42 -
4.REPLACING PARTS
B-82585EN/02
4.3
Replacing procedure
1
2
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).
Otherwise, hardening of sealant is prevented,
causing a grease leak.
- 43 -
4.REPLACING PARTS
B-82585EN/02
18 Pass the cable K101 through J2 base side, and connect it with the
relay connector. In this time, pull out the cable after it pushes into
the pipe on the tip of the part of the relayed connector and it
passes it. Do not pull it out forcibly with the relayed connector
caught.
19 Attach J2 base cover (6) by bolt/plated bolt (5) after sponge (7) is
attached inside of J2 base. When severe dust/liquid protection
specification is specified, replace packing (19) to new one, and
attach it.
20 Attach J1 motor referring to Section 4.2.
21 When severe dust/liquid protection specification of LR Mate
200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is
specified, attach cover B.
22 Attach robot to floor plate.
23 Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.).
- 44 -
4.REPLACING PARTS
B-82585EN/02
1
2
18
19
9
10
11
12
13
15
16
14
17
4
3
Fig. 4.3 (a) Replacing J1-axis reducer
- 45 -
4.REPLACING PARTS
Parts Name
BOLT
1 SEAL BOLT
SEAL BOLT
2 COVER U
3 BOLT
4 BOLT
BOLT
5 PLATED BOLT
PLATED BOLT
6 J2 BASE COVER
7 SPONGE
8 O-RING
9 WAVE-WASHER
10 J1 REDUCER
11
12
13
WAVE
GENERATOR
SEAL BOLT
GEAR J1-2
BOLT
SEAL BOLT
SEAL BOLT
O-RING
J1 RING
B-82585EN/02
Specifications
Number
A6-BA-4X8(*1)
A97L-0218-0546#040808BC(*2)
A97L-0218-0546#040808EN(*3)
A290-7139-X332
A6-BA-4X12
A6-BA-4X20
A97L-0218-0504#M4X10(*1)
A97L-0218-0496#M4X12BC (*2)
A97L-0218-0496#M4X12EN (*3)
A290-7139-X305(*1)
A290-7139-X307 (*2)
A290-7139-Y307 (*5)
A290-7139-Z307 (*6)
A290-7139-X346
(Attached to J1 REDUCER)
(Attached to J1 REDUCER)
A97L-0218-0812#80(*4)
A97L-0218-0812#80C(*3)
4
4
4
1
7
9
3
8
8
1
1
1
1
1
1
1
1
1
(Attached to J1 REDUCER)
Loctite
A97L-0218-0423#030505
6
A290-7139-X212
1
A6-BA-4X30(*1)
12
5.4Nm (55kgfcm)
14
A97L-0218-0546#043016BC(*2)
12
5.4Nm (55kgfcm)
A97L-0218-0546#043016EN(*3)
12
5.4Nm (55kgfcm)
15
(Attached to J1 REDUCER)
1
16
A290-7139-X241
1
A290-7139-X201(*4)
1
17 J1 BASE
A290-7139-Y201(*5)
1
A290-7139-Z201(*6)
1
18 PACKING
A290-7139-X356 (*7)
1
19 PACKING
A290-7139-X354 (*7)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
(*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 46 -
4.REPLACING PARTS
B-82585EN/02
- 47 -
4.REPLACING PARTS
B-82585EN/02
M4X20
M4X12
Fig. 4.3 (d) Position of taps for pulled out to remove J1 base.
- 48 -
4.REPLACING PARTS
B-82585EN/02
4.4
Replacing procedure
1
2
3
4
5
6
7
8
9
CAUTION
When the motor is removed, the arm moves
downward by its weight. Hold the arm so that the
arm does not collide with any other objects.
10 Remove cable K102 and K103 from motor (14).
11 Assemble it in the opposite procedure after exchanging Motor,
O-ring, packing and shaft (15) for the new article. In this time, pay
attention to the following.
Spread Loctite 638 referring to Fig.4.4(b) when you apply
shaft(15).
Be sure to attach wave generator(18) after attaching motor(14).
Spread grease inside of reducer.
Pay attention the phase when you apply the cover S (10)
referring to Fig.4.4(c).
12 Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.).
- 49 -
4.REPLACING PARTS
B-82585EN/02
8
10
11
12
21
18
17
16
15
20
14
13
7
5
4
6
3
19
2
1
- 50 -
4.REPLACING PARTS
B-82585EN/02
Parts Name
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4X10(*1)
3
2.0Nm (20kgfcm)
A97L-0218-0496#M4X12BC (*2)
8
4.5Nm (46kgfcm)
A97L-0218-0496#M4X12EN (*3)
8
4.5Nm (46kgfcm)
A290-7139-X305(*1)
1
A290-7139-X307 (*2)
1
2 J2 BASE COVER
A290-7139-Y307 (*4)
1
A290-7139-Z307 (*5)
1
3 SPONGE
A290-7139-X346
1
4 BOLT
A6-BA-4X8
2
5 CLAMP J2-1
A290-7139-X333
1
6 SEAL BOLT
A97L-0218-0423#041212
7
4.5Nm (46kgfcm)
A290-7139-X303(*6)
1
7 SUPPORT
A290-7139-Y303(*4)
1
A290-7139-Z303(*5)
1
SEAL BOLT
A97L-0218-0595#040808BC(*6)
2
2.0Nm (20kgfcm)
8
SEAL BOLT
A97L-0218-0595#040808EN(*3)
2
2.0Nm (20kgfcm)
SEAL BOLT
A97L-0218-0738#040808BC(*6)
2
2.0Nm (20kgfcm)
9
SEAL BOLT
A97L-0218-0738#040808EN(*3)
2
2.0Nm (20kgfcm)
A290-7139-X309(*6)
1
10 COVER S
A290-7139-Y309(*4)
1
A290-7139-Z309(*5)
1
11 SEAL BOLT
A97L-0218-0423#031616
1
1.3Nm (13kgfcm)
12 WASHER
A290-7210-X532
1
13 SEAL BOLT
A97L-0218-0423#051212
4
14 MOTOR
A06B-0116-B855#0048
1
15 SHAFT
A290-7139-X322
1
LT638
16 KEY
JB-HKY-3X3X12B
1
17 O RING
JB-OR1A-G45
4
18 WAVE GENERATOR (Attached to J2 REDUCER)
1
19 PACKING
A290-7139-X354 (*7)
1
20 PACKING
A290-7139-X352 (*7)
1
21 PACKING
A290-7139-X351
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*7)When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 51 -
4.REPLACING PARTS
B-82585EN/02
VIEW A
Fig. 4.4(b) Apply Loctite 638 to shaft
- 52 -
4.REPLACING PARTS
B-82585EN/02
4.5
Replacing procedure
1
2
3
4
5
6
7
8
9
10
11
12
13
14
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
OPERATORS MANUAL.).
8
10
11
12
13
14
15
16
22
23
24
21
20
26
19
18
7
4
25
2
1
- 54 -
17
4.REPLACING PARTS
B-82585EN/02
Parts Name
BOLT
1 PLATED BOLT
PLATED BOLT
2 J2 BASE COVER
3
4
5
6
SPONGE
CLAMP J2-1
BOLT
SEAL BOLT
7 SUPPORT
SEAL BOLT
SEAL BOLT
SEAL BOLT
9
SEAL BOLT
8
10 COVER S
11 PACKING
12 SEAL BOLT
13 WASHER
Specifications
Number
A97L-0218-0504#M4X10(*1)
A97L-0218-0496#M4X12BC (*2)
A97L-0218-0496#M4X12EN (*3)
A290-7139-X305(*1)
A290-7139-X307 (*2)
A290-7139-Y307 (*4)
A290-7139-Z307 (*5)
A290-7139-X346
A290-7139-X333
A6-BA-4X8
A97L-0218-0423#041212
A290-7139-X303(*6)
A290-7139-Y303(*4)
A290-7139-Z303(*5)
A97L-0218-0595#040808BC(*6)
A97L-0218-0595#040808EN(*3)
A97L-0218-0738#040808BC(*6)
A97L-0218-0738#040808EN(*3)
A290-7139-X309(*6)
A290-7139-Y309(*4)
A290-7139-Z309(*5)
A290-7139-X351
A97L-0218-0423#031616
A290-7210-X532
3
8
8
1
1
1
1
1
1
2
7
1
1
1
2
2
2
2
1
1
1
1
1
1
15 BOLT
16
1
1
1
1
1
1
1
1
1
4
1
1
12
12
12
1
1
1
1
1
16 J2 BASE
17 J2 ARM
18
19
20
21
MOTOR
SEAL BOLT
O RING
O RING
BOLT
22 SEAL BOLT
SEAL BOLT
23 O RING
24 J2 REDUCER
25 PACKING
26 PACKING
A6-BA-4X20
A290-7139-X301(*6)
A290-7139-Y301(*4)
A290-7139-Z301(*5)
A290-7139-X302 (*7)
A290-7139-X310*8
A290-7139-Y302*9
A290-7139-Y310*10
A290-7139-Z302*5
A06B-0116-B855#0048
A97L-0218-0423#051212
JB-OR1A-G45
(Attached to J2 REDUCER)
A6-BA-4X35
A97L-0218-0546#043516BC(*6)
A97L-0218-0546#043516EN(*3)
(Attached to J2 REDUCER)
A97L-0218-0813#120(*11)
A97L-0218-0813#120C(*3)
A290-7139-X354 (*11)
A290-7139-X352 (*11)
- 55 -
Loctite
4.5Nm (46kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
1.3Nm (13kgfcm)
5.4Nm (55kgfcm)
5.4Nm (55kgfcm)
5.4Nm (55kgfcm)
4.REPLACING PARTS
B-82585EN/02
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified.
(*7) When LR Mate 200iC, LR Mate 200iC/5H is specified.
(*8) When LR Mate 200iC/5L is specified.
(*9) When LR Mate 200iC/5C is specified.
(*10) When LR Mate 200iC/5LC is specified.
(*11)When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 56 -
4.REPLACING PARTS
B-82585EN/02
4.6
Replacing procedure
1
2
3
CAUTION
When removing the belt, put the part beyond the
J3 housing on a workbench to prevent the arm
from dropping
4
5
6
7
8
9
10
11
12
13
- 57 -
4.REPLACING PARTS
B-82585EN/02
3 4
VIEW
5
2
6
14
11
12 13
10
1
Specifications
Number
Loctite
A97L-0218-0423#051616(*1)
4
5.6Nm (57kgfcm)
A97L-0218-0546#051616BC(*2)
4
5.6Nm (57kgfcm)
A97L-0218-0546#051616EN(*3)
4
5.6Nm (57kgfcm)
2 GUIDE ARM
A290-7139-X304
1
BOLT
A97L-0218-0504#M4X10 (*1)
3
2.0Nm (20kgfcm)
3 PLATED BOLT
A97L-0218-0496#M4X12BC (*2)
8
4.5Nm (46kgfcm)
PLATED BOLT
A97L-0218-0496#M4X12EN (*3)
8
4.5Nm (46kgfcm)
A290-7139-X306 (*4)
1
A290-7139-X308 (*2)
1
4 J2 ARM COVER
A290-7139-Y308 (*5)
1
A290-7139-Z308 (*6)
1
5 BELT
A98L-0040-0190#007-098
1
6 BOLT
A97L-0218-0504#M5X12
3
5.6Nm (57kgfcm)
7 SEAL BOLT
A97L-0218-0423#030606
3
8 WASHER PLATE
A290-7139-X231
1
9 PULLEY
A290-7139-X311
1
10 KEY
JB-HKY-3X3X12B
1
11 MOTOR
A06B-0115-B855#0048
1
12 BOLT
A6-BA-5X12
4
13 PACKING
A290-7139-X353 (*7)
1
14 PACKING
A290-7139-X355 (*7)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC,LR Mate 200iC/5H,5Lis specified
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
(*7)When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP 5C is specified.
1 SEAL BOLT
- 58 -
4.REPLACING PARTS
B-82585EN/02
4.7
Replacing procedure
1
2
3
CAUTION
When removing the belt, put the part beyond the
J3 housing on a workbench to prevent the arm
from dropping
4
5
CAUTION
Do not apply grease to the O-ring (11).
Otherwise, hardening of sealant is prevented,
causing a grease leak.
12 Install pulley (3) and belt.
13 Adjust the tension of the belt referring to Section 6.1 after the
installation of the belt.
14 Install J2 arm cover referring to Section 4.6.
15 Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.).
- 59 -
4.REPLACING PARTS
B-82585EN/02
1
2
11
5
7
6
8
9
10
- 60 -
12
4.REPLACING PARTS
B-82585EN/02
Parts Name
Specifications
Number
Loctite
1
2
3
4
5
SEAL BOLT
WASHER
PULLEY
BOLT
KEY
BOLT
6 SEAL BOLT
SEAL BOLT
7 WAVE GENERATOR
A97L-0218-0423#030606
1
1.3Nm (13kgfcm)
A290-7210-X532
1
A290-7139-X312
1
A6-BA-3X16
16
2.0Nm (20kgfcm)
(Attached to J3 REDUCER)
1
A6-BA-3X25(*1)
12
2.0Nm (20kgfcm)
A97L-0218-0546#032504BC(*2)
12
2.0Nm (20kgfcm)
A97L-0218-0546#032504EN(*3)
12
2.0Nm (20kgfcm)
(Attached to J3 REDUCER)
1
A97L-0218-0814#100 (*4)
1
8 J3 REDUCER
A97L-0218-0814#100C (*3)
1
9 O-RING
(Attached to J3 REDUCER)
1
10 WAVE WASHER
(Attached to J3 REDUCER)
1
11 O-RING
(Attached to J3 REDUCER)
1
A290-7139-X401 (*4)
1
12 J3 HOUSING
A290-7139-Y401 (*5)
1
A290-7139-Z401 (*6)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
- 61 -
4.REPLACING PARTS
4.8
B-82585EN/02
Replacing procedure
CAUTION
This section is for standard type. This mechanical
part does't exist in 5H. If you replace J4-axis motor
of 5H, refer to Section 4.10
1
2
3
CAUTION
When the motor is removed, the J3 arm can be rotated.
Do as the J3arm is put on the stand so that the arm
should not collide with surroundings.
4
5
6
7
Wipe the grease of the gear (6) off. In this time, pay attention not
to damage the tooth side.
Remove cable K107 and K109 from motor (11).
Remove seal bolt (4), washer plate (5), gear (6), key (7), holder
(8) and O-ring (9).
Assemble it in the opposite procedure after exchanging
Motor-ring and packing for the new article.
- Confirm the thing that the oil seal is at the position, and note
that the lip cannot be turned over.
- Spread grease on surroundings of the gear.
Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.).
9
7 10
12
- 62 -
11
13
4.REPLACING PARTS
B-82585EN/02
Parts Name
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4X10 (*1)
4
2.0Nm (20kgfcm)
A97L-0218-0496#M4X12BC (*2)
6
2.0Nm (20kgfcm)
A97L-0218-0496#M4X12EN (*3)
6
2.0Nm (20kgfcm)
A290-7139-X404 (*4)
1
A290-7139-X406 (*2)
1
2 J3 COVER
A290-7139-Y406 (*5)
1
A290-7139-Z406 (*6)
1
3 O-RING
A98L-0001-0347#S46
1
4 SEAL BOLT
A97L-0218-0423#030606
3
1.3Nm (13kgfcm)
5 WASHER PLATE
A290-7139-X231
1
6 GEAR J4-1
A290-7139-X411
1
7 KEY
JB-HKY-3X3X12B
1
8 HOLDER
A290-7139-X221
1
9 O-RING
A98L-0001-0347#S46
1
10 OIL SEAL
A98L-0040-0223#01001805
1
No brake
A06B-0114-B205#0048
11 MOTOR
1
With brake
A06B-0114-B855#0048
12 BOLT
A6-BA-5X20
4
13 PACKING
A290-7139-X451 (*7)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5Lis specified
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
(*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate
200iC/5C,5LC,5WP is specified
- 63 -
4.REPLACING PARTS
4.9
B-82585EN/02
Replacing procedure
CAUTION
This section is for standard type. This mechanical
part does't exist in 5H. If you replace J4-axis
reducer of 5H, refer to Section 4.11.
1
2
3
4
5
6
7
8
9
10
11
CAUTION
Do not apply grease to the O-ring (11).
Otherwise, hardening of sealant is prevented,
causing a grease leak.
12 Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.).
- 64 -
4.REPLACING PARTS
B-82585EN/02
6 7
9
13
10 11
12
Specifications
Number
BOLT
CLAMP J4-1
BOLT
BOLT
SEAL BOLT
BOLT
PLATED BOLT
PLATED BOLT
SEAL BOLT
OIL SEAL
PIPE
Loctite
A6-BA-4X8
1
A290-7139-X432
2
A6-BA-3X30
4
2.0Nm (20kgfcm)
A6-BA-3X35
10
2.0Nm (20kgfcm)
A97L-0218-0423#030606
4
1.3Nm (13kgfcm)
A6-BA-3X25(*1)
9
2.0Nm (20kgfcm)
6
A97L-0218-0496#M3X25BC (*2)
9
2.0Nm (20kgfcm)
A97L-0218-0496#M3X25EN (*3)
9
2.0Nm (20kgfcm)
7
A97L-0218-0423#030505
6
1.3Nm (13kgfcm)
8
A98L-0040-0049#02603707
1
9
A290-7139-X421
1
A97L-0218-0815#80(*4)
1
LT518
10 J4 REDUCER
A97L-0218-0815#80C(*3)
1
LT518
11 O-RING
(Attached to J4 REDUCER)
1
12 GEAR J4-2
A290-7139-X412
1
A290-7139-X402(*4)
1
13 J3 ARM 1
A290-7139-Y402(*5)
1
A290-7139-Z402(*6)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5Lis specified
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
- 65 -
4.REPLACING PARTS
B-82585EN/02
Pipe
SECTION A-A
Applying area of
LT518
Severe dust/liquid protection specification of
LR Mate 200iC,LR Mate 200iC/5H or
LR Mate 200iC/5C,5WP
or
- 66 -
part (*1)
4.REPLACING PARTS
B-82585EN/02
M3X35(10)
M3X30(4)
(M3X35)
- 67 -
4.REPLACING PARTS
4.10
B-82585EN/02
Replacing procedure
CAUTION
This mechanism becomes J4 axis in 5H. When you
replace part of 5H, read J5/J6 as J4/J5.
1
2
3
4
5
CAUTION
When the belt is removed, the wrist moves to bellow
side. Do as the wrist is put on the stand so that the wrist
should not collide with surroundings.
6
7
8
9
- 68 -
4.REPLACING PARTS
B-82585EN/02
4
11
9 7
10
13
6
12
TENSION ADJUSTING
BOLT
14
VIEW A
Fig. 4.10(b) Replacing J5-axis motor
- 69 -
4.REPLACING PARTS
Parts Name
B-82585EN/02
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4X10(*1)
3
2.0Nm (20kgfcm)
A97L-0218-0496#M4X12BC (*2)
11
4.5Nm (46kgfcm)
A97L-0218-0496#M4X12EN (*3)
11
4.5Nm (46kgfcm)
A290-7139-X405(*1)
1
A290-7139-X407 (*2)
1
2 J3 ARM COVER
A290-7139-Y407 (*4)
1
A290-7139-Z407 (*5)
1
BOLT
A97L-0218-0504#M4X10(*1)
3
2.0Nm (20kgfcm)
3 PLATED BOLT
A97L-0218-0496#M4X12BC (*2)
11
4.5Nm (46kgfcm)
PLATED BOLT
A97L-0218-0496#M4X12EN (*3)
11
4.5Nm (46kgfcm)
A290-7139-X405(*1)
1
A290-7139-X407 (*2)
1
4 J3 ARM COVER
A290-7139-Y407 (*4)
1
A290-7139-Z407 (*5)
1
5 BOLT
A97L-0218-0504#M5X12
3
5.6Nm (57kgfcm)
6 BELT
A98L-0040-0227#006-152
1
7 SEAL BOLT
A97L-0218-0423#030606
1
1.3Nm (13kgfcm)
8 WASHER
A290-7210-X532
1
9 MOTOR PULLEY A290-7139-X413
1
10 KEY
JB-HKY-3X3X6B
1
With brake A06B-0117-B855#0049
1
11 MOTOR
No brake A06B-0117-B205#0049
1
12 PACKING
A290-7139-X454 (*6)
1
13 PACKING
A290-7139-X454 (*6)
1
14 BOLT
A97L-0218-0423#030606
3
1.3Nm (13kgfcm)
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate
200iC/5C,5LC,5WP is specified
- 70 -
4.REPLACING PARTS
B-82585EN/02
4.11
Replacing procedure
CAUTION
This mechanism becomes J4 axis in 5H.When you
replace part of 5H, read J5/J6 as J4/J5.
1
2
3
4
CAUTION
When the belt is removed, the wrist moves to bellow
side. Do as the wrist is put on the stand so that the wrist
should not collide with surroundings.
5
6
7
Remove seal bolt (2), washer plate (3) and pulley (4)
Remove key (6) and bolt (7).
Remove seal bolt (8) and J3 arm (9). When severe dust/liquid
protection specification is specified, remove packing (16), too. In
this time, pay attention not to damage oil seal (5). Pay attention
that there is a possibility that grease goes out, too.
8 Remove relay of cable K112, K113 and K106, K107.
9 Remove bolt/plated bolt (10) and remove reducer (13).
10 Replace reducer and packing to new one, and assemble robot by
opposite procedure. In this time, pay attention below.
- Fill grease to the reducer. It is total 7ml greasing in inside of
reducer, gear and bearing of wave generator and install it
horizontally. Install O-ring (11) and (14) and wave washer (15)
without forgetting.
- Apply grease to the lip of the Oil seal (5)
- Adjust the tension of the belt referring to Section 6.1 after the
installation of the belt.
- When severe dust/liquid protection specification of LR Mate
200iC, LR Mate 200iC/5L or LR Mate 200iC/5C,5LC,5WP is
specified, spread sealant to the reducer referring to Fig.4.11 (b).
CAUTION
Do not apply grease to the O-ring (11).
Otherwise, hardening of sealant is prevented,
causing a grease leak.
11 Perform mastering (See subsection 6.2 and refer to section 8 of
OPERATORS MANUAL.). In this time, perform not only
J5-axis but also J6-axis.
- 71 -
4.REPLACING PARTS
B-82585EN/02
16
1
12
13
14
15
3
4
6
11
10
Specifications
Number
BELT
SEAL BOLT
WASHER PLATE
PULLEY
OIL SEAL
KEY
BOLT
SEAL BOLT
A98L-0040-0227#006-152
A97L-0218-0423#030606
A290-7139-X231
A290-7139-X414
A98L-0040-0223#01001805
JB-HKY-3X3X6B
A6-BA-3X8
A97L-0218-0423#041616
A290-7139-X403(*1)
9 J3 ARM 2
A290-7139-Y403(*2)
A290-7139-Z403(*3)
BOLT
A6-BA-3X22(*4)
10 PLATED BOLT
A97L-0218-0496#M3X22BC (*5)
PLATED BOLT
A97L-0218-0496#M3X22EN (*6)
11 O-RING
(Attached to J5 REDUCER)
12 WAVE GENERATOR (Attached to J5 REDUCER)
A97L-0218-0816#50(*1)
13 J5 REDUCER
A97L-0218-0816#50C(*6)
14 O-RING
(Attached to J5 REDUCER)
15 WAVE WASHER
(Attached to J5 REDUCER)
16 PACKING
A290-7139-X453 (*7)
(*1) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
- 72 -
1
3
1
1
1
1
12
7
1
1
1
9
9
9
1
1
1
1
1
1
1
Loctite
2.0Nm (20kgfcm)
4.5Nm (46kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
4.REPLACING PARTS
B-82585EN/02
- 73 -
4.REPLACING PARTS
4.12
B-82585EN/02
Replacing procedure
CAUTION
This mechanism becomes J5 axis in 5H.When you
replace part of 5H,read J6 as J5.
1
2
3
CAUTION
When the belt (1) is removed, the wrist moves to bellow
side. Do as the wrist is put on the stand so that the wrist
should not collide with surroundings.
4
Loosen bolt (2) and lower tension and remove belt (3).
CAUTION
When the belt (3) is removed, the wrist become
rotatable, When end effector is attached, fix it so that the
wrist should not collide with surroundings.
5
6
7
8
- 74 -
4.REPLACING PARTS
B-82585EN/02
1
A
4
5
7
B
3
Fig. 4.12(a) Replacing J6-axis motor
TENSION ADJUSTING
BOLT
VIEW A
VIEW B
Fig. 4.12(b) Replacing J6-axis motor
- 75 -
TENSION ADJUSTING
BOLT
4.REPLACING PARTS
Parts Name
1 BELT
FLANGE
2
SOCKET BOLT
3 BELT
4 SEAL BOLT
5 WASHER
6 MOTOR PULLEY
7 KEY
8 MOTOR
9 BOLT
B-82585EN/02
Specifications
Number
A98L-0040-0227#006-152
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
1
1
1
1
1
- 76 -
Loctite
1.3Nm (13kgfcm)
1
3
1.3Nm (13kgfcm)
4.REPLACING PARTS
B-82585EN/02
4.13
Replacing procedure
CAUTION
If you replace unit of 5H, read J5/J6 as J4/J5.
1
2
3
CAUTION
When the belt (1), (8) is removed, the wrist moves to
bellow side or rotate. Do as the wrist is put on the stand
so that the wrist should not collide with surroundings.
4
5
6
7
8
9
10
11
12
13
14
Remove seal bolt (9), washer (10), pulley (11) and key (12).
Remove seal bolt (13) and J3 arm (14). When packing is attached,
remove packing (21), too.
Remove relay of cable K112, K113 of J6-axis motor and cable
K107 and K108.
Remove seal bolt (2), washer plate (3) and pulley (4)
Remove bolt (7), wrist unit (20) and key (5). In this time, pay
attention not to damage oil seal. Pay attention that there is a
possibility that grease goes out, too.
Remove bolt/plated bolt (19) and J5-axis reducer (16).
Replace wrist unit to new one and attach it. Attach reducer
horizontally after apply greasing to gear of reducer. In this time,
replace wave washer (15), O-ring (17), (18) without forgetting,
too. Apply greasing to the lip of the oil seal (6).
Assemble it in the reverse order of 3-8.
Adjust belt referring to Section 6.1.
Install J3 arm cover.
Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.). In this time, perform not only
J6-axis but also J5-axis.
- 77 -
4.REPLACING PARTS
B-82585EN/02
14
21
13
16
15
1012
9
11
17
18 19
20
- 78 -
5
2
7
4.REPLACING PARTS
B-82585EN/02
Parts Name
1
2
3
4
5
6
7
8
9
10
11
12
13
BELT
SEAL BOLT
WASHER PLATE
PULLEY
KEY
OIL SEAL
BOLT
BELT
SEAL BOLT
WASHER
MOTOR PULLEY
KEY
SEAL BOLT
14 J3 ARM 2
15 WAVE WASHER
16 J5 REDUCER
17 O-RING
18 O-RING
BOLT
19 PLATED BOLT
PLATED BOLT
20 WRIST ASSY
21 PACKING
Specifications
Number
A98L-0040-0227#006-152
A97L-0218-0423#030606
A290-7139-X23 1
A290-7139-X414
JB-HKY-3X3X6B
A98L-0040-0223#01001805
A6-BA-3X8
A98L-0040-0227#006-100
A97L-0218-0423#030606
A290-7210-X532
A290-7139-X413
JB-HKY-3X3X6B
A97L-0218-0423#041616
A290-7139-X403(*1)
A290-7139-Y403(*2)
A290-7139-Z403(*3)
(Attached to J5 REDUCER)
A97L-0218-0816#50(*1)
A97L-0218-0816#50C(*4)
(Attached to J5 REDUCER)
(Attached to J5 REDUCER)
A6-BA-3X22(*5)
A97L-0218-0496#M3X22BC (*6)
A97L-0218-0496#M3X22EN (*4)
A290-7139-V501(*5)
A290-7139-V502 (*6
A290-7139-V521 (*2)
A290-7139-V531 (*3)
1
3
1
1
1
1
12
1
1
1
1
1
7
1
1
1
1
1
1
1
1
9
9
9
1
1
1
1
A290-7139-X453 (*7)
Loctite
2.0Nm (20kgfcm)
1.3Nm (13kgfcm)
4.5Nm (46kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
2.0Nm (20kgfcm)
- 79 -
4.REPLACING PARTS
4.14
B-82585EN/02
Replacing procedure
CAUTION
This mechanism becomes J5 axis in 5H.When you
replace part of 5H,read J6 as J5.
1
2
3
4
5
6
7
8
Make to posture that J6 turns to the right under and turn off the
power of the controller as shown in Fig.4.14 (a).
Remove bolt (1) and reducer.
Remove seal bolt (3), washer (4) and wave generator (5).
Remove O-ring (6).
Apply greasing to bearing of wave generator (5) to which attach
new reducer and install to the robot.
Greasing total 6ml inside and gear of reducer (2) and wave
generator by using the injection syringe.
Install new reducer (2) to the robot. In this time, replace O-ring (6)
to new one, too.
Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATORS MANUAL.). In this time, perform not only
J6-axis but also J5-axis.
6
5
4
3
2
1
Fig. 4.14(a) Replacing J6-axis reducer
- 80 -
4.REPLACING PARTS
B-82585EN/02
M3X25
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A6-BA-3X25 (*1)
8
2.0Nm (20kgfcm)
A97L-0218-0496#M3X25BC (*2)
8
2.0Nm (20kgfcm)
A97L-0218-0496#M3X25EN (*3)
8
2.0Nm (20kgfcm)
A97L-0218-0817#50(*4)
1
2 REDUCER
A97L-0218-0817#50C(*3)
1
3 SEAL BOLT
A97L-0218-0432#030808
1
1.3Nm (13kgfcm)
4 WASHER
A290-7210-X532
1
5 WAVE GENERATOR (ATTACHED TO J6 REDUCER)
1
6 O RING
(ATTACHED TO J6 REDUCER)
1
2.0Nm (20kgfcm)
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP 5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified.
- 81 -
4.REPLACING PARTS
4.15
B-82585EN/02
REPLACING J3 BELT
Replacing procedure
1
2
3
CAUTION
When removing the belt, put the part beyond the
J3 housing on a workbench to prevent the arm
from dropping.
4
2 3
TENSION ADJUSTING
BOLT
- 82 -
4.REPLACING PARTS
B-82585EN/02
Parts Name
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4X10(*1)
3
2.0Nm (20kgfcm)
A97L-0218-0496#M4X12BC (*2)
8
4.5Nm (46kgfcm)
A97L-0218-0496#M4X12EN (*3)
8
4.5Nm (46kgfcm)
A290-7139-X306(*1)
1
A290-7139-X308 (*2)
1
2 J2 ARM COVER
A290-7139-Y308 (*4)
1
A290-7139-Z308 (*5)
1
3 PACKING
A290-7139-X355 (*6)
1
4 BELT
A98L-0040-0190#007-098
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 83 -
4.REPLACING PARTS
4.16
B-82585EN/02
Replacing procedure
CAUTION
When replacing 5H,please read J5/J6 as J4/J5.
1
2
3
4
CAUTION
When the belt (7) is removed, the wrist moves to bellow
side or rotate. Do as the wrist is put on the stand so That
the wrist should not collide with surroundings.
CAUTION
When the belt (8) is removed, the wrist become
rotatable, When end effector is attached, fix it so that the
wrist should not collide with surroundings.
5
- 84 -
4.REPLACING PARTS
B-82585EN/02
3
2
1
4
8
7
Fig. 4.16 Replacing J5/J6 belt
Parts Name
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4X10(*1)
3
2.0Nm (20kgfcm)
A97L-0218-0496#M4X12BC (*2)
11
4.5Nm (46kgfcm)
A97L-0218-0496#M4X12EN (*3)
11
4.5Nm (46kgfcm)
A290-7139-X405(*1)
1
A290-7139-X407 (*2)
1
2 J3 ARM COVER
A290-7139-Y407 (*4)
1
A290-7139-Z407 (*5)
1
3 PACKING
A290-7139-X454 (*6)
1
BOLT
A97L-0218-0504#M4X10(*1)
3
2.0Nm (20kgfcm)
4 PLATED BOLT
A97L-0218-0496#M4X12BC (*2)
11
4.5Nm (46kgfcm)
PLATED BOLT
A97L-0218-0496#M4X12EN (*3)
11
4.5Nm (46kgfcm)
A290-7139-X405(*1)
1
A290-7139-X407 (*2)
1
5 J3 ARM COVER
A290-7139-Y407 (*4)
1
A290-7139-Z407 (*5)
1
6 PACKING
A290-7139-X454 (*6)
1
7 BELT
A98L-0040-0227#006-152
1
8 BELT
A98L-0040-0227#006-100
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 85 -
4.REPLACING PARTS
4.17
B-82585EN/02
Replacing procedure
1
2
3
4
5
5
1
2
3
4
- 86 -
4.REPLACING PARTS
B-82585EN/02
Parts Name
Specifications
Number
BOLT
PLATED BOLT
1
PLATED BOLT
PLATED BOLT
Loctite
A6-BA-4X8(*1)
4
A97L-0218-0546#040808BC(*2)
4
A97L-0218-0546#040808EN(*3)
4
A97L-0218-0546#041010EN(*4)
4
A290-7139-X433
1
2 SV PLATE
A290-7139-Y433(*3)
1
A290-7139-Z433(*4)
1
BOLT
A6-BA-4X8(*1)
2
PLATED BOLT
A97L-0218-0546#040808BC(*2)
2
3
PLATED BOLT
A97L-0218-0546#040808EN(*3)
2
PLATED BOLT
A97L-0218-0546#041010EN(*4)
2
1
A97L-0218-0113#D3R or
A97L-0218-0113#D3 or
SOL VALVE
4
A97L-0218-0113#D2 or
A97L-0218-0113#D1
5 PACKING
A290-7139-X452 (*5)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5C is specified.
(*4) When LR Mate 200iC/5WP is specified.
(*5) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 87 -
4.REPLACING PARTS
4.18
B-82585EN/02
SEALANT APPLICATION
2
3
4
CAUTION
Oil may drip from the inside of the reducer. After
degreasing, make sure that no oil is dripping.
Applying sealant
5
6
Make sure that the reducer and the arm is dry (with no alcohol
remaining). If they are still wet with alcohol, wipe them dry.
Apply sealant (Loctite 518) to the surfaces.
CAUTION
The portions to which sealant is to be applied
vary from one axis to another. See descriptions
about reducer replacement for the relevant axes
for details.
Assembling
7
- 88 -
5.REPLACING CABLES
B-82585EN/02
REPLACING CABLES
Replace the cables every four years (15,360 hours). When the cable is
broken or damaged or shows signs of wear, replace it according to this
chapter.
BATTERY BACKUP
DON'T
DISCONNECT
- 89 -
5.REPLACING CABLES
5.1
B-82585EN/02
CABLE WIRING
Followings are the routing of the robot cables.
K114
(End effector)
K112
(J6 power)
K113
(J6 pulse coder)
K110
(J5 power)
K111
(J5 pulse coder)
K108
(RO)
K109
(J4 power)
K106
(J4 to J6 power)
K107
(J4 to J6 pulse coder)
K102
(J2 power)
K103
(J2 pulse coder)
K104
(J3 power)
K105
(J3 pulse coder)
K101
( toJ6 power,pulse coder)
Fig.5.1 (a) Routing of the robot cables (LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP,)
- 90 -
5.REPLACING CABLES
B-82585EN/02
K114
(End effector)
K112
(J5 power)
K113
(J5 pulse coder)
K110
(J4 power)
K111
(J4 pulse coder)
K108
(RO)
K106
(J4 to J5 power)
K107
(J4 to J5 pulse coder)
K102
(J2 power)
K103
(J2 pulse coder)
K104
(J3 power)
K105
(J3 pulse coder)
K101
( to J5 power pulse coder)
Fig. 5.1 (b) Routing of the robot cables (LR Mate 200iC/5H)
- 91 -
5.REPLACING CABLES
5.2
B-82585EN/02
CABLE FORMING
When replacing cables, clamp the cable at the position specified in
Fig.5.2 (a) to (d) using a clamp or a nylon band. Otherwise, cables can
be loosened or pulled by force to cause their disconnection. Refer to
the Fig.5.2 (a) to (d) for the cable clamp.
- 92 -
5.REPLACING CABLES
B-82585EN/02
relay in J2 base
Clamp
J2-2
M2M
M2M
M2M1 K102
M2M1
Clamp
J2-1
M2BK
M2BK
K102
M3M
M3M
K110
relay in J3 arm
BATTERY BACKUP
DON'T
DISCONNECT
EE1 K114
EE1
M5P
M6P
EE
EE
K113
M5P
M6P
K111
M6P1
BATTERY BACKUP
DON'T
DISCONNECT
Clamp
J3-1
BATTERY BACKUP
DON'T
DISCONNECT
M5P1 K111
M5P1
Clamp
J4-2
M456PEE1 K107
M456PEE1
K107
M4M
M3P
M4P
BATTERY BACKUP
DON'T
DISCONNECT
Clamp
J4-1
BATTERY BACKUP
DON'T
DISCONNECT
BATTERY BACKUP
DON'T
DISCONNECT
M 6M1 K112
M2P
M3P
M6P1 K113
Clamp
J2-2
K101
M6M
M4P
K105
M5M
Clamp
J2-2
BATTERY BACKUP
DON'T
DISCONNECT
M3P1 K105
M1P
M1P
BATTERY BACKUP
DON'T
DISCONNECT
M3P1
K103
BATTERY BACKUP
DON'T
DISCONNECT
M2P K112
BATTERY BACKUP
DON'T
DISCONNECT
M2P1 K103
BATTERY BACKUP
DON'T
DISCONNECT
M2P1
M6M1
K101
Clamp
J4-2
M4M
M5M
Clamp
J3-1
K106
M4M1 K109
K109
M6M
M3BK
M4M1
Clamp
J4-1
Clamp
J1-1
relay in J3 arm
M3BK
M 5M1 K110
M456M1
M1BK
M1BK
Clamp
J2-2
M5M1
K104
M456M1 K106
M1M
M1M
M3M1 K104
M3M1
Connector plate
YV2
YV1 K108
YV1
K114
K108
Connected to
solenoid valve
Fig.5.2 (a) Cable externals chart of Mechanical unit (LR Mate 200iC 3-axes brake type)
relay in J2 base
Clamp
J2-2
Clamp
J2-1
M2M1 K102
M2BK
M2BK
K102
relay in J3 arm
M5M
M6BK
M6M
M6BK
relay in J3 arm
M5P
M5P1 K111
EE1 K114
EE1
YV2
YV1 K108
M5P
BATTERY BACKUP
DON'T
DISCONNECT
M6P
M6P
K113
Connected to
solenoid valve
- 93 -
BATTERY BACKUP
DON'T
DISCONNECT
EE
BATTERY BACKUP
DON'T
DISCONNECT
K111
K114
YV1
M5BK
M3P
Clamp
J4-2
M456PEE1 K107
M456PEE1
M4P
Clamp
J3-1
K108
M5M
Clamp
J4-1
BATTERY BACKUP
DON'T
DISCONNECT
M6M1 K112
M6M
BATTERY BACKUP
DON'T
DISCONNECT
K107
M4BK
M3P
M4P
BATTERY BACKUP
DON'T
DISCONNECT
Clamp
J2-2
BATTERY BACKUP
DON'T
DISCONNECT
K112
M2P
M2P1 K103
M2P
M4M
Clamp
J2-2
M5P1
K105
BATTERY BACKUP
DON'T
DISCONNECT
M6P1
M1P
BATTERY BACKUP
DON'T
DISCONNECT
M1P
M3P1
K103
M3P1 K105
M2P1
M6M1
K 101
BATTERY BACKUP
DON'T
DISCONNECT
BATTERY BACKUP
DON'T
DISCONNECT
M5BK
Clamp
J4-2
Clamp
J1-1
K101
M4M1 K109
K110
Clamp
J3-1
M5M1 K110
M5M1
M456M1 K106
K106
M1BK
M6P1 K113
M1BK
K109
Clamp
J4-1
M1M
M456M1
M1M
M4M1
M4M
Clamp
J2-2
Connector plate
M3BK
M3BK
K104
M3M1 K104
M3M1
M3M
M3M
M4BK
M2M1
M2M
M2M
EE
5.REPLACING CABLES
B-82585EN/02
Clamp
J2-2
M2M
M2M1 K102
M2M1
Clamp
J2-1
M2M
relay in J2 base
M2BK
M2BK
K102
M3M
M3M
relay in J3 arm
M2P1 K103
Clamp
J4-1
Clamp
J4-2
relay in J3 arm
EE1 K114
EE1
M4P
M5P
M5P
BATTERY BACKUP
DON'T
DISCONNECT
M4P
EE
EE
K113
Clamp
J3-1
BATTERY BACKUP
DON'T
DISCONNECT
M5P1 K113
M5P1H
M456PEE1 K107
M456PEE1
K111
K107
M4M
M3P
K101
M 5M1 K 110
M2P
M3P
BATTERY BACKUP
DON'T
DISCONNECT
Clamp
J2-2
BATTERY BACKUP
DON'T
DISCONNECT
M5M
Clamp
J2-2
M4P1 K111
K105
BATTERY BACKUP
DON'T
DISCONNECT
M4P1H
BATTERY BACKUP
DON'T
DISCONNECT
M1P
M1P
BATTERY BACKUP
DON'T
DISCONNECT
M3P1
K103
M3P1 K105
M2P1
K101
BATTERY BACKUP
DON'T
DISCONNECT
K112
Clamp
J4-2
Clamp
J4-1
M4M
M2P
Clamp
J3-1
K106
Clamp
J1-1
M5M1H
M456M1 K106
M456M1
M1BK
M1BK
K110
M5M
M3BK
M4M1 K109
Clamp
J2-2
M3BK
K104
M3M1 K104
M1M
M4M1H
M1M
M3M1
Conncetor plate
K108
YV2
YV1 K108
YV1
K114
Connected to
solenoid valve
Fig.5.2(c) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 3-axes brake type)
Clamp
J2-2
M2M
M2M1 K102
M2M1
Clamp
J2-1
M2M
relay in J2 base
M2BK
M2BK
K102
M3M
M3M
EE1 K114
EE1
K113
BATTERY BACKUP
DON'T
DISCONNECT
M4P
BATTERY BACKUP
DON'T
DISCONNECT
M5P
M4P1 K111
K111
EE
BAT TE RY BAC KU P
DON' T
DISC ONNE CT
relay in J3 arm
M5P1 K113
M456PEE1 K107
M456PEE1
M5BK
M3P
Clamp
J4-1
Clamp
J4-2
Clamp
J3-1
YV2
YV1 K108
YV1
K114
K108
Connected to
solenoid valve
Fig.5.2 (d) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 5-axes brake type)
- 94 -
M5BK
M3P
BAT TE RY BAC KU P
DON' T
DISC ONNE CT
K107
M5M
M2P
M2P1 K103
Clamp
J2-2
BATTERY BACKUP
DON'T
DISCONNECT
M5M1 K112
M5M1H
K105
M4BK
Clamp
J2-2
BATTERY BACKUP
DON'T
DISCONNECT
M4P1H
M1P
M3P1
BATTERY BACKUP
DON'T
DISCONNECT
K112
M4M
M2P
M5P1H
BATTERY BACKUP
DON'T
DISCONNECT
M1P
K103
BATTERY BACKUP
DON'T
DISCONNECT
M3P1 K105
M2P1
K101
Clamp
J4-1
BATTERY BACKUP
DON'T
DISCONNECT
K101
M5M
Clamp
J4-2
Clamp
J3-1
K106
Clamp
J1-1
M4BK
K110
M456M1 K106
M456M1
M1BK
M1BK
M4M
relay in J3 arm
M3BK
M4M1 K110
Clamp
J2-2
M3BK
K104
M3M1 K104
M1M
M4M1H
M1M
M3M1
Connector plate
M4P
M5P
EE
5.REPLACING CABLES
B-82585EN/02
5.3
5.3.1
Replacing procedure
1
- 95 -
5.REPLACING CABLES
B-82585EN/02
5
6
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4X10(*1)
3
2.0Nm(20kgfcm)
A97L-0218-0496#M4X12BC (*2)
8
4.5Nm(46kgfcm)
A97L-0218-0496#M4X12EN (*3)
8
4.5Nm(46kgfcm)
A290-7139-X305(*1)
1
A290-7139-X307 (*2)
1
2 J2 BASE COVER
A290-7139-Y307 (*4)
1
A290-7139-Z307 (*5)
1
3 SPONGE
A290-7139-X346
1
4 PACKING
A290-7139-X354 (*6)
1
A6-BA-4X8(*1)
4
5 BOLT
A97L-0218-0546#040808BC(*2)
4
A97L-0218-0546#040808EN(*3)
4
6 COVER U
A290-7139-X332
1
7 PACKING
A290-7139-X356(*6)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 96 -
5.REPLACING CABLES
B-82585EN/02
B
B
K102
Cable K102
K103
Cable K103
AIR 1
(BLACK)
Panel union
AIR 2
(WHITE)
Pulsecoder line
(BLUEXWHITE)
K104
Cable K104
K105
Cable K105
YV1
SECTION A-A
AIR 1
(BLACK)
Power line
(REDXWHITE)
AIR 2
(WHITE)
M456PEE1
M2M1
M3M1
M3P1
SECTION B-B
J2-1
Clamp J2-1
A290-7139-X333
M2P1
DETAIL C
- 97 -
M456M1
5.REPLACING CABLES
B-82585EN/02
E
E
K102
Cable K102
K103
Cable K103
AIR 1
(O4 BLACK)
EXT
(O4 WHITE)
Panel union
AIR 2
(O6 WHITE)
SECTION D-D
K104
Cable K104
K105
Cable K105
Pulsecoder line
(BLUEXWHITE)
AIR 1
(O4 BLACK)
EXT
(O4 WHITE)
Power line
(REDXWHITE)
AIR 2
(O6 WHITE)
YV1
SECTION E-E
M456PEE1
M2M1
M3M1
M3P1
M2P1
J2-1
Clamp J2-1
A290-7139-X333
DETAIL F
M456M1
- 98 -
5.REPLACING CABLES
B-82585EN/02
Fig.5.3.1(d) Remove the cover B (When only severe dust/liquid protection specification is specified)
When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
Parts name
Specifications
Number
A97L-0218-0496#M4X8BC(*1)
9
4.5Nm(46kgfcm)
A97L-0218-0496#M4X8EN(*2)
9
4.5Nm(46kgfcm)
A290-7139-X233(*1)
1
2 COVER B
A290-7139-Y233(*2)
1
3 PACKING
A290-7139-X252
1
(*1) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When LR Mate 200iC/5LC,5WP,5C is specified.
1
PLATED BOLT
PLATED BOLT
Loctite
- 99 -
5.REPLACING CABLES
B-82585EN/02
Nylon band
Power line
(REDXWHITE)
AIR 2
(WHITE)
AIR 1
(BLACK)
AIR 1
(BLACK)
C
DETAIL C
Pulsecoder line
(BLUEXWHITE)
J1-2
Clamp J1-2
A290-7139-X331
Nylon band
(REDXWHITE)
AIR 2
(O6 WHITE)
AIR 1
(O4 BLACK)
EXT
(O4 WHITE)
DETAIL C
(LR Mate 200iC/5LC,5C)
NO.1 PIN
Fig.5.3.1 (f) Replace the parts of connector plate
- 100 -
5.REPLACING CABLES
B-82585EN/02
Parts name
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
2 BOLT
Loctite
A6-BA-4X10(*1)
4
2.0Nm(20kgfcm)
A97L-0218-0496#M4X10BC (*2)
4
4.5Nm(46kgfcm)
A97L-0218-0496#M4X10EN (*3)
4
4.5Nm(46kgfcm)
A6-BA-4X8
4
LT242
A290-7139-X233(*4)
1
3 CON.PLATE
A290-7139-Y233(*3)
1
4 PACKING
A290-7139-X251 (*5)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*5) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
Clamp J1-1
A290-7139-X234
Power line
(REDXWHITE)
- 101 -
5.REPLACING CABLES
5.3.2
B-82585EN/02
REPLAING CABLE K106, K107, K108 and Air tube (J2 base to
J3 casing)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Turn off the power of the controller and remove cable of controller
side from connector plate of back of J1-axis.
Remove the J3 arm cover which is in view of in front of the robot,
it is left referring to Fig.5.3.2 (a).
When packing is attached, remove packing, too.
Drag cable to remove the relay easily.
Remove relay of K106 and K110, K112.
Remove relay of K107 and K111, K113.
Cut the nylon band, which connect cable to clamp J4-2 referring to
Fig.5.3.2 (b).
Remove J3 cover referring to Fig.5.3.2(c).
Remove air tube of six in diameter which color is black and white
that has come from J2 base to J3 casing.
When packing is attached, remove packing, too.
Cut the nylon band, which connect cable to clamp J4-1 referring to
Fig.5.3.2 (d).
Pull out the cable of the J3 arm to the J3 casing side. In this time,
pull out the cable after it pushes into the pipe on the tip of the part
of the relayed connector and it passes.
Remove relay of cable K106 and K109
(In case of LR Mate 200iC/5H,there is no K109.)
Cut the nylon band, which connect cable to clamp J3-2 referring to
Fig.5.3.2 (d).
Remove J2 base cover referring to Section 4.4.
When packing is attached, remove packing, too.
Cut the nylon band, which connect cable to clamp J2-2 referring to
Fig.5.3.2 (e).
Remove relay to K101 and air tube.
Remove clamp J2-1 from J2 base referring to Fig.5.3.1 (b).
Remove guide arm.
When packing is attached, remove packing.
Remove clamp J3-1 from guide arm.
Drag the cable from the upper part and the lower side of the guide
arm. In this time, drag it after it passes it on the tip of the part of
the connector.
Cut the nylon band which connect cable and air tube to clamp J3-2
and sheet referring to Fig.5.3.2 (g) and (h).
Replace cable and air tube for the new article and assemble it by
opposite procedure. When packing is attached, be sure to replace
packing to new one.
Perform mastering (See section 6.2 and referring to chapter 8 of
OPERATORS MANUAL.).
- 102 -
5.REPLACING CABLES
B-82585EN/02
3
2
1
Fig.5.3.2 (a) Remove the J2 arm cover
Parts name
Specifications
Number
BOLT
1 PLATED BOLT
PLATED BOLT
Loctite
A97L-0218-0504#M4x10(*1)
3
2.0Nm(20kgfcm)
A97L-0218-0496#M4X12BC (*2)
11
4.5Nm(46kgfcm)
A97L-0218-0496#M4X12EN (*3)
11
4.5Nm(46kgfcm)
A290-7139-X405 (*1)
1
A290-7139-X407 (*2)
1
2 J3 ARM COVER
A290-7139-Y407 (*4)
1
A290-7139-Z407 (*5)
1
3 PACKING
A290-7139-X454 (*6)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 103 -
5.REPLACING CABLES
B-82585EN/02
RED
BLACK
BLUE
YELLOW
GREEN
CABLE
CLEAR
NYLON BAND
ORANGE
SECTION C-C
DETAIL D
NYLON BAND
MARKING
J4-2
A290-7139-X334
NYLON BAND
Cable
Air tube
1
3
2
- 104 -
5.REPLACING CABLES
B-82585EN/02
Parts name
Specifications
Number
Loctite
Torque N-m
(kgf-cm)
BOLT
1 PLATED BOLT
PLATED BOLT
A97L-0218-0504#M4X10(*1)
4
2.0Nm(20kgfcm)
A97L-0218-0417#M4X12BC (*2)
6
4.5Nm(46kgfcm)
A97L-0218-0417#M4X12EN (*3)
6
4.5Nm(46kgfcm)
A290-7139-X404 (*1)
1
A290-7139-X406 (*2)
1
2 J3 COVER
A290-7139-Y406 (*4)
1
A290-7139-Z406 (*5)
1
3 PACKING
A290-7139-X451 (*6)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC/5LC,5C is specified.
(*5) When LR Mate 200iC/5WP is specified.
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
AIR2
(WHITE)
AIR1
(BLACK)
NYLON BAND
Cable and air tube
Clamp J4-1
A290-7139-X432
Clamp J3-2
A290-7139-X431
Air tube
(O3.18 7pcs)
Cable
DETAIL E
AIR TUBE
(O6 2pcs)
Cable and air tube
NYLON BAND
NYLON BAND
1A(RED)
H002,H003,H004
Cable
1B(BLUE)
H002,H003,H004
3B(ORANGE)
H004
3A(CLEAR)
H004
AIR1(BLACK)
2A(YELLOW)
H003,H004
2B(GREEN)
H003,H004
SECTION D-D
AIR TUBE
(O6 2;pcs)
Air tube
(O3.18 7pcs) Power line
(REDXWHITE)
- 105 -
DETAIL F
5.REPLACING CABLES
B-82585EN/02
CABLE K103
CABLE K105
Clamp J2-2
A290-7139-X334
CABLE K102
CABLE K104
DETAIL H
SECTION G-G
2
1
Specifications
A97L-0218-0423#051616(*1)
A97L-0218-0546#051616BC(*2)
A97L-0218-0546#051616EN(*3)
A290-7139-X304(*4)
A290-7139-Y304(*5)
A290-7139-Z304(*6)
A6-BA-4X8
A290-7139-X353 (*7)
- 106 -
Number
4
4
4
1
1
1
2
1
Loctite
5.REPLACING CABLES
B-82585EN/02
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
(*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
Table 5.3.2
Air tube
NYLON BAND
NYLON BAND
CABLE K107
CABLE K108
AIR 2
(WHITE)
NYLON BAND
3
THIRD MARKING
CABLEK106
SHEET
NYLON BAND
AIR 1
(BLACK)
2
SECOND MARKING
J2-2
CLAMP J2-2
A290-7139-X334 (1)
NYLON BAND
J3-1
A290-7521-X335
Fig.5.3.2 (g) Cable clamp inside the guide arm (LR Mate 200iC, LR Mate 200iC/5L,5WP,5H)
NYLON BAND
NYLON BAND
2
SECOND MARKING
NYLON BAND
AIR 1
(O4 BLACK)
EXT
(O4 WHITE)
CABLE K107
CABLE K108
SHEET
AIR 2
(6O WHITE)
3
THIRD MARKING
CABLE K106
NYLON BAND
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 -
NYLON BAND
J2-2
CLAMP
A290-7139-X334
5.REPLACING CABLES
5.3.3
B-82585EN/02
3
4
5
- 108 -
5.REPLACING CABLES
B-82585EN/02
5.3.4
Cable K114
- 109 -
5.REPLACING CABLES
5.3.5
B-82585EN/02
- 110 -
5.REPLACING CABLES
B-82585EN/02
580
300
AIR 1
( BLACK)
570
290
AIR 2
( WHITE)
J2
J2 base
Connector panel
Fig.5.3.5 (a) Marking of air tube (connector plate to J2 base)( LR Mate 200iC, LR Mate 200iC/5L,5WP,5H)
580
300
AIR 1
(4 BLACK)
570
290
AIR 2
(6 WHITE)
570
290
EXT
(4 WHITE)
Connector panel
J2
J2 base
Fig.5.3.5 (b) Marking of air tube (connector plate to J2 base)(LR Mate 200iC/5C,5LC)
700
340
290
AIR 1
( BLACK)
910
570
290
AIR 2
( WHITE)
J3
J3 casing
J2
J2 base
Fig.5.3.5 (c) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC, LR Mate 200iC/5WP,5H)
- 111 -
5.REPLACING CABLES
B-82585EN/02
800
340
390
AIR 1
( BLACK)
1010
570
390
AIR 2
( WHITE)
J2
J2 base
J3
J3 casing
Fig.5.3.5 (d) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5L)
700
340
290
AIR 1
(4 BLACK)
910
570
AIR 2
(6 WHITE)
290
700
340
290
EXT
(4 WHITE)
J2
J2 base
J3
J3 casing
Fig.5.3.5 (e) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5C)
800
340
390
AIR 1
(4 BLACK)
1010
570
AIR 2
(6 WHITE)
390
800
340
EXT
(4 WHITE)
390
J2
J2 base
J3
J3 casing
Fig.5.3.5 (f) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5LC)
- 112 -
5.REPLACING CABLES
B-82585EN/02
RED
BLACK
BLUE
YELLOW
GREEN
KEY DIRECTION
CABLE
Plug
CLEAR
NYLON BAND
ORANGE
DETAIL C
SECTION B-B
Panel union
NYLON BAND
MARKING
J4-2
A290-7139-X334
NYLON BAND
A05B-1139-
BLACK
CLEAR
(*1)
(*2)
RED
BLUE
(*3)
(*1)
(*1)
(*2)
(*3)
DETAIL A
4
2
- 113 -
5.REPLACING CABLES
Parts name
B-82585EN/02
Specifications
Number
BOLT
1 SEAL BOLT
SEAL BOLT
BOLT
2 SEAL BOLT
SEAL BOLT
Loctite
A6-BA-4X8(*1)
4
A97L-0218-0546#040808BC(*2)
4
4.5Nm(46kgfcm)
A97L-0218-0546#040808EN(*3)
4
4.5Nm(46kgfcm)
A6-BA-4X8(*1)
2
A97L-0218-0546#040808BC(*2)
2
4.5Nm(46kgfcm)
A97L-0218-0546#040808EN(*3)
2
4.5Nm(46kgfcm)
A290-7139-X433(*4)
1
3 SV PLATE
A290-7139-Y433(*5)
A290-7139-Z433(*6)
4 PACKING
A290-7139-X452 (*7)
1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
(*7) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.
- 114 -
5.REPLACING CABLES
B-82585EN/02
Panel union
()
Air tube (White)
()
Air tube (White)
()
Air tube (Black)
()
Air tube (Black)
H001,H006
is specified
Panel union
Solenoid valve
A97L-0218-0113#D1
()
Air tube (Black)
Air tube
()
Air tube (Red)
()
Air tube (White)
()
Air tube (Black)
()
Air tube (Blue)
H002,H032
is specified
Panel union
()
Air tube (White)
()
Air tube (Black)
Solenoid valve
A97L-0218-0113#D2 (1)
Air tube
()
Air tube (Yellow)
()
Air tube (Red)
()
Air tube (Black)
()
Air tube (Green)
()
Air tube (Blue)
H003,H013,H033
is specified
Solenoid valve
A97L-0218-0113#D3R (1)
(H005,H015)
is specified
A97L-0218-0113#D3(1)
(H004,H014)
is specified
Air tube
Panel union
()
Air tube (White)
()
Air tube (Black)
()
Air tube (Black)
()
Air tube (Clear)
(
Air tube (Orange)
()
Air tube (Yellow)
()
Air tube (Red)
()
Air tube (Green)
()
Air tube (Blue)
H004,H005,H014,H015
is specified
Fig.5.3.5 (i) Remove the air tube of solenoid valve part (LR Mate200iC, LR Mate200iC/5C,5WP,5H)
- 115 -
5.REPLACING CABLES
B-82585EN/02
Panel union
Panel union
()
Air tube (Black)
Solenoid valve
A97L-0218-0113#D1 (1)
()
Air tube (Red)
Air tube
Air tube
()
Air tube (White)
()
Air tube (Black)
()
Air tube(Blue)
H017,H022
is specified
Panel union
()
Air tube (Black)
Solenoid valve
A97L-0218-0113#D2 (1)
()
Air tube(Yellow)
Panel union
Air tube
Air tube
()
Air tube(Red)
()
Air tube (White)
()
Air tube (Black)
()
Air tube (Green)
()
Air tube (Blue)
H018,H023
is specified
()
Air tube (White)
Panel union
()
Air tube (Black)
()
Air tube (Black)
Solenoid valve
A97L-0218-0113#D3(1)
()
Air tube (Clear)
()
Air tube (Yellow)
Panel union
Air tube
Air tube
()
Air tube (Red)
()
Air tube (Orange)
()
Air tube (Green)
()
Air tube (Blue)
H024
is specified
Fig.5.3.5 (j) Remove the air tube of solenoid valve part (LR Mate 200iC/5L,5LC)
- 116 -
6.ADJUSTMENTS
B-82585EN/02
ADJUSTMENTS
Each part of the mechanical units of a robot is set to the best condition
before the robot is shipped to the customer. The customer does not
need to make adjustments on the robot when it is delivered.
- 117 -
6.ADJUSTMENTS
6.1
B-82585EN/02
Instrument
Specifications
Tension meter
A97L-0218-0700
Vendor
Mitsuboshi Belting Ltd.
1
2
3
4
5
TENSION
ADJUSTING BOLT
855N
0.0367kg
7mm
175mm
NOTE
This is example of LR Mate 200iC. In case of LR
Mate 200iC/5H, please read J5/J6 as J4/J5.
- 118 -
6.ADJUSTMENTS
B-82585EN/02
TENSION
ADJUSTING BOLT
TENSION
ADJUSTING BOLT
27.52.5N
0.0171kg
6mm
180mm
- 119 -
27.52.5N
0.0171kg
6mm
110mm
6.ADJUSTMENTS
6.2
B-82585EN/02
MASTERING
Mastering is an operation performed to associate the angle of each
robot axis with the pulse count value supplied from the absolute pulse
coder connected to the corresponding axis motor. To be specific,
mastering is an operation for obtaining the pulse count value
corresponding to the zero position.
The current position of the robot is determined according to the pulse
count value supplied from the pulse coder on each axis.
Mastering is factory-performed. It is unnecessary to perform
mastering in daily operations. However, mastering becomes necessary
after:
- Motor replacement
- Pulse coder replacement
- Reducer replacement
- Cable replacement
- Batteries for pulse count backup in the mechanical unit have gone
dead.
NOTE
Robot data (including mastering data) and pulse
coder data are backed up by their respective backup
batteries. Data will be lost if the batteries go dead.
Replace the batteries in the control and mechanical
units periodically. An alarm will be issued to warn the
user of a low battery voltage.
Mastering method
There are following five methods of mastering.
Fixture position
mastering
Zero-position mastering
(eye mark mastering)
Simplified mastering
One-axis mastering
- 120 -
6.ADJUSTMENTS
B-82585EN/02
NOTE
If mastering is performed incorrectly, the robot may
behave unexpectedly. This is very dangerous.
Therefore, the positioning screen is designed to
appear only when the $MASTER_ENB system
variable is 1 or 2. After performing positioning, press
F5 [DONE] on the positioning screen. The
$MASTER_ENB system variable is reset to 0
automatically, thus hiding the positioning screen.
CAUTION
It is recommended that the current mastering data
be backed up before mastering is performed.
6.2.1
Alarm displayed
Servo 062 BZAL or Servo 075 Pulse mismatch
Procedure
1
- 121 -
6.ADJUSTMENTS
B-82585EN/02
1
2
3
6.2.2
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-X912
M5X16(2pcs)
PLATE
A290-7137-X913
M5X16 (2pcs)
- 122 -
6.ADJUSTMENTS
B-82585EN/02
M8X25(4pcs)
PIN
A290-7139-X914
PIN
A290-7139-X913
NOTE
The dial gage could be damaged if the bolt is
fastened too tight.
- 123 -
6.ADJUSTMENTS
B-82585EN/02
FIXTURE D
A290-7135-X966
NO.3
NO.5
NO.2
NO.6
NO.1
BOLT M5
NO.4
CLAMP
CALIBRATION BLOCK
FIXTURE A
A290-7139-X916
FIXTURE B
A290-7131-X964
FIXTURE C
A290-7139-X917
PIN
A290-7130-X966
M5X16(4pcs)
- 124 -
6.ADJUSTMENTS
B-82585EN/02
Mastering
1
2
3
4
Press MENUS.
Press NEXT and select SYSTEM.
Press F1, [TYPE].
Select Mater/Cal.
SYSTEM Master/Cal
JOINT 10%
LOAD RES_PCA
DONE
Release brake control, and jog the robot into a posture for
mastering.
NOTE
Brake control can be released by setting the system
variables as follows:
$PARAM_GROUP.$SV_OFF_ALL: FALSE
$PARAM_GROUP.$SV_OFF_ENB[*]: FALSE (for all
axes)
After changing the system variables, switch the
control unit power off and on again.
To prevent an error from occurring due to axis backlash at this
time, ensure that the dial gage needle is adjusted to a specified
position in the decreasing direction. If the needle is adjusted in the
reverse direction, start all over again.
(In case of LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP)
1) Move the robot gradually so that dial gages No.1 through No. 6
shown in Fig.6.2.2 (c) touch the points indicated by arrows No.
1 through No. 6 shown in Fig.6.2.2 (e).
2) Move the J6 axis so that dial gages No.1 and No.2 indicate
same value.
3) Set the corresponding value of dial gauges No.4 and No.5 and
move the J1axis and the J4axis so that the dial gauge No.3
may show 3.00mm. When the value of dial gauge No.1 and No.2
deviates, modify it to make correspond.
4) Move the J2, J3, and J5 axes so that dial gages No.2, No.3 and
No.4 indicate 3.00 mm.
5) After the operations above, check that all dial gages indicate 3.00
mm.
- 125 -
6.ADJUSTMENTS
B-82585EN/02
WARNING
Since the axis stroke is not checked during the
mastering, be careful to stay clear of the robot
motion.
- 126 -
6.ADJUSTMENTS
B-82585EN/02
MASTERING POSITION
LR Mate 200iC,
LR Mate 200iC/5WP,5C
AXIS
POSITION
J1
90
deg
J2
61.112 deg
-85.965 deg
J3
J4
0
deg
-94.035 deg
J5
J6
0
deg
MASTERING POSITION
LR Mate 200iC/5H
AXIS
POSITION
90
deg
J1
J2
61.112 deg
-85.965 deg
J3
-94.035 deg
J4
0
deg
J5
NO.1 NO.6
NO.2
NO.3(*)
NO.5
- 127 -
6.ADJUSTMENTS
B-82585EN/02
NO.6
NO.1
NO.2
NO.3
NO.5
MASTERING POSITION
LR Mate 200iC/5L,5LC
AXIS
POSITION
90 deg
J1
J2
52.147 deg
-94.284 deg
J3
J4
0 deg
-85.716 deg
J5
J6
0 deg
NO.4
Fig. 6.2.2 (f) Mastering posture (LR Mate 200iC/5L,5LC)
- 128 -
APPENDIX
APPENDIX
B-82585EN/02
Remarks
A660-8016-T285
RMP(Standard,5C)
A660-8016-T495
RMP(5WP)
K102
A660-4004-T706
J2 power
K103
A660-2006-T657
J2 pulse coder
K104
A660-4004-T707
J3 power
K105
A660-2006-T658
J3 pulse coder
K106
A660-4004-T708
K101
K107
A660-4004-T709
K108
K109
K110
K111
K112
A660-2006-T659
Relay of YV
J4 power
J5 power
J5 pulse coder
J6 power
K113
A660-2006-T664
J6 pulse coder
K114
A660-2006-T665
End effector
K131
A660-8016-T498#L5R003
- 131 -
APPENDIX
B-82585EN/02
Remarks
K101
A660-8016-T285
RMP
K102
A660-4004-T822
J2 power
K103
A660-2006-T789
J2 pulsecoder
K104
A660-4004-T823
J3 power
K105
A660-2006-T790
J3 pulsecoder
K106
A660-4004-T824
K107
A660-4004-T825
K108
A660-2006-T791
Relay of YV
K109
A660-2006-T710
J4 power
K110
A660-2006-T711
J5 power
K111
A660-2006-T662
J5 pulse coder
K112
A660-4004-T712
J6 power
K113
A660-2006-T664
J6 pulsecoder
K114
A660-2006-T665
End effector
K131
A660-8016-T498#L5R003
Specifications
Remarks
K101
A660-8016-T285
RMP
K102
A660-4004-T706
J2 power
K103
A660-2006-T657
J2 pulse coder
K104
A660-4004-T707
J3 power
K105
A660-2006-T658
J3 pulse coder
K106
A660-4004-T810
K107
A660-4004-T811
K108
A660-2006-T659
Relay of YV
J4 power
K110
K111
K112
J4 pulse coder
J5 power
K113
A660-2006-T774
J5 pulse coder
K114
A660-2006-T665
End effector
K131
A660-8016-T498#L5R003
- 132 -
B-82585EN/02
APPENDIX
Remarks
iSR1/6000
A06B-0116-B855#0048
J1, J2-axis
iSR0.5/6000
A06B-0115-B855#0048
J3-axis
iSR0.4/4000
A06B-0114-B205#0048
iSR0.4/4000
A06B-0114-B855#0048
iSR0.2/4000
A06B-0117-B205#0049
iSR0.2/4000
A06B-0117-B855#0049
(*) When J2-axis motor is replaced , please order shaft A290-7139-X322 at the same time.
Table A (b2) Motor (5H)
Name
Specifications
Remarks
iSR1/6000
A06B-0116-B855#0048
J1,J2-axis
iSR0.5/6000
A06B-0115-B855#0048
J3-axis
iSR0.2/4000
A06B-0117-B205#0049
iSR0.2/4000
A06B-0117-B855#0049
(*) When J2-axis motor is replaced , please order shaft A290-7139-X322 at the same time.
- 133 -
Reducer
Name
APPENDIX
B-82585EN/02
Specifications
Remarks
Harmonic drive
A97L-0218-0812#80
J1-axis(Standard.5L,5H)
Harmonic drive
A97L-0218-0812#80C
J1-axis(5C,5LC,5WP)
Harmonic drive
A97L-0218-0813#120
J1-axis(Standard.5L,5H)
Harmonic drive
A97L-0218-0813#120C
J2-axis(5C,5LC,5WP)
Harmonic drive
A97L-0218-0814#100
J3-axis(Standard.5L,5H)
Harmonic drive
A97L-0218-0814#100C
J3-axis(5C,5LC,5WP)
Harmonic drive
A97L-0218-0815#80
J4-axis(Standard,5L)
Harmonic drive
A97L-0218-0815#80C
J4-axis(5C,5LC,5WP)
Harmonic drive
A97L-0218-0816#50
J5-axis(Standard.5L),
Harmonic drive
A97L-0218-0816#50C
J5-axis(5C,5LC,5WP)
Harmonic drive
A97L-0218-0817#50
J6-axis(Standard.5L),
Harmonic drive
A97L-0218-0817#50C
J6-axis(5C,5LC,5WP)
J4-axis(5H)
J5-axis(5H)
NOTE
When arranging in the reducer machine unit, the
waving generator is built into the main body of the
reducer machine beforehand as for J4-axis of
Standard,5L,5LC,5WP or 5C reducer. As for other
reducers, the waving generator is separated from the
main body of the reducer machine.
Table A (d) Gear
Name
GEAR J1-1
Specifications
Remarks
A290-7139-X211
J1-axis(Standard,5WP,5C,5H)
A290-7139-X213
J1-axis(5L,5LC)
GEAR J1-2
A290-7139-X212
J1-axis
GEAR J4-1
A290-7139-X411
J4-axis(Standard,5L,5LC,5WP,5C)
GEAR J4-2
A290-7139-X412
J4-axis(Standard,5L,5LC,5WP,5C)
Specifications
Remarks
Pulley
A290-7139-X311
J3-axis
Pulley
A290-7139-X312
J3-axis
Pulley
A290-7139-X414
Pulley
A290-7139-X415
Motor pulley
A290-7139-X413
Shaft
A290-7139-X322
J2-axis
Key
JB-HKY-3X3X12B
Key
JB-HKY-3X3X6B
J5-axis(Standard,5L,5LC,5WP,5C)
J4-axis(5H)
J6-axis(Standard,5L,5LC,5WP,5C)
J5-axis(5H)
J5,J6-axis(Standard,5L,5LC,5WP,5C)
J4,J5-axis(5H)
- 134 -
Table A (f)
Bearing, belt
Name
APPENDIX
B-82585EN/02
Specifications
Remarks
Bearing
A97L-0001-0192#08Z000A
J1-axis reducer
Bearing
A97L-0218-0596
J4-axis reducer(Standard.5L,5LC,5WP,5C)
Belt
A98L-0040-0190#007-098
J3-axis motor
Belt
A98L-0040-0227#006-100
Belt
A98L-0040-0227#006-152
A290-7139-X251
Connector plate
Packing
A290-7139-X252
Cover B
Packing
A290-7139-X253
Battery box
Packing (*)
A290-7139-X351
Cover S
Packing
A290-7139-X352
Support
Packing
A290-7139-X353
Guide arm
Packing
A290-7139-X354
J2 base cover
Packing
A290-7139-X355
J2 arm over
Packing
A290-7139-X356
Cover U
Packing
A290-7139-X451
J3 base cover
Packing
A290-7139-X452
SV plate
Packing
A290-7139-X453
J3 arm
Packing
A290-7139-X454
(*) This packing is attached when non-severe dust/liquid protection specification of Standard,5L,5H
Table A (h)
Specifications
Remarks
J1, J4-axis motor (Standard,5L,5LC5WP,5C)
Oil seal
A98L-0040-0223#01001805
Oil seal
A98L-0040-0049#02603707
Oil seal
A98L-0040-0223#01001805
O-RING
A98L-0001-0347#S46
O-RING
A98L-0001-0347#S35
J1-axis reducer
O-RING
JB-OR1A-G45
J2-axis motor
- 135 -
Seal bolt
Name
APPENDIX
B-82585EN/02
Specifications
Remarks
J 1, J3, J4, J5, J6-axis motor
J2, J3, J5-axis reducer
Seal bolt
A97L-0218-0423#030606
Standard,5L,
5LC,5WP,5C
Seal bolt
A97L-0218-0423#031616
J2-axis motor
Seal bolt
A97L-0218-0423#051212
J2-axis motor
Seal bolt
A97L-0218-0546#043016BC
A97L-0218-0546#043016EN
Seal bolt
A97L-0218-0546#043516BC
A97L-0218-0546#043516EN
Seal bolt
A97L-0218-0546#032504BC
A97L-0218-0546#032504EN
5H
Seal bolt
A97L-0218-0423#030505
(Standard,,5L,5LC,5WP,5C)
Seal bolt
A97L-0218-0423#040808
J1 pipe
Seal bolt
A97L-0218-0423#041212
Support
Seal bolt
A97L-0218-0595#040808BC
Cover S(Standard,5L,5H)
A97L-0218-0595#040808EN
Cover S (5C,5LC,5WP)
A97L-0218-0738#040808BC
Cover S Standard,5L,5H)
A97L-0218-0738#040808EN
Cover S (5C,5LC,5WP)
Seal bolt
A97L-0218-0423#051616
Guide arm
Seal bolt
A97L-0218-0546#051616BC
Seal bolt
Guide arm(5C,5LC,5WP)
Seal bolt
A97L-0218-0423#041616
J3 arm cover
Seal bolt
A97L-0218-0546#040808BC
Seal bolt
A97L-0218-0546#040808EN
Cover U (5C,5LC,5WP)
A97L-0218-0417#060606
J1 grease outlet
J3, J4, J5, J6 grease inlet
Seal bolt
A97L-0218-0417#040505
(Standard,5L,5LC,5WP,5C)
J3, J4, J5 grease inlet (5H)
J3 grease outlet
- 136 -
APPENDIX
B-82585EN/02
Remarks
Spring pin
A6-PS-5X18S
J3 Stopper
Stopper
A290-7139-X441
J3Stopper
J6-axis reducer is included
(Standard,5L not severe dust/liquid
protection specification)
A290-7139-V501
Wrist unit
specification)
A290-7139-V502
A290-7139-V521
(5C,5LC)
J6-axis reducer is included
A290-7139-V531
Sheet
(5WP)
A290-7139-X345
J2-axis motor(Standard,5WP,5C,5H)
A290-7139-X349
J2-axis motor(5L,5LC)
- 137 -
APPENDIX
B-82585EN/02
Air tube
A97L-0218-0114#ABL640R0
Air tube
A97L-0218-0010#AAL580R0
Air tube
A97L-0218-0114#BBL570R0
Air tube
A97L-0218-0010#BAL570R0
Air tube
A97L-0218-0114#ABL700R0
Air tube
A97L-0218-0010#AAL700R0
Air tube
A97L-0218-0114#BBL910R0
Air tube
A97L-0218-0010#BAL700R0
Air tube
(H002,H003,H004,H005,H022,
Remarks
6mm BLACK AIR1
Connector plate to J2base
4mm BLACK AIR1 (5C)
Connector plate to J2base
6mm WHITE AIR2
Connector plate to J2base
4mm
EXT(5C)
WHITE
EXT(5C)
J2 base to J3 casing
4mm
A97L-0218-0010#BAL150R0
WHITE
WHITE
EXHAUST
J3 casing
H023,H024,H032, H033
Air tube
(H002,H003,H004,H005,H022,
J3 casing to J3 arm
H023,H024,H032, H033
Air tube
(H002,H003,H004,H005,H022,
3.18mm RED
A97L-0218-0010#CFL745R0
A1
J3 casing to J3 arm
H023,H024,H032,H033
Air tube
(H002,H003,H004,H005,H022,
3.18mm BLUE B1
A97L-0218-0010#DFL745R0
J3 casing to J3 arm
H023,H024,H032,H033
Air tube
(H003,H004,H005,H023,H024,
3.18mm YELLOW A2
A97L-0218-0010#EFL745R0
J3 casing to J3 arm
H033
Air tube
(H003,H004,H005,H023,H024,
3.18mm GREEN
A97L-0218-0010#FFL745R0
B2
J3 casing to J3 arm
H033
Air tube
(H004,H005,H024
Air tube
(H004,H005,H024
A97L-0218-0010#GFL745R0
A97L-0218-0010#HFL745R0
- 138 -
3.18mm CLEAR
A3
J3 casing to J3 arm
3.18mm ORANGE B3
J3 casing to J3 arm
Table A (k2)
Air tube(5L,5LC)
Name
Specifications
Air tube
A97L-0218-0114#ABL580R0
Air tube
A97L-0218-0010#AAL580R0
Air tube
A97L-0218-0114#BBL570R0
Air tube
A97L-0218-0010#BAL570R0
Air tube
A97L-0218-0114#ABL800R0
Air tube
A97L-0218-0010#AAL800R0
Air tube
A97L-0218-0114#BBL1R013
Air tube
A97L-0218-0010#BAL800R0
Air tube
A97L-0218-0010#BAL150R0
Air tube
H012,H013,H014,H015,
APPENDIX
B-82585EN/02
Remarks
6mm BLACK AIR1(5L)
Connector plateJ2 base
4mm BLACK AIR1 (5C)
Connector plateJ2 base
6mm
WHITE
AIR2
WHITE
EXT(5C)
WHITE
AIR2
J2 baseJ3 casing
4mm
WHITE
EXT(5C)
J2 baseJ3 casing
4mm
WHITE
EXHAUST
J3 casing
3.18mm BLACK AIR1
A97L-0218-0010#AFL945R0
J3 casing to J3 arm
H017,H018
Air tube
H012,H013,H014,H015,
3.18mm RED
A97L-0218-0010#CFL835R0
A1
J3 casing to J3 arm
H017,H018
Air tube
H012,H013,H014,H015,
3.18mm BLUE B1
A97L-0218-0010#DFL835R0
J3 casing to J3 arm
H017,H018
Air tube
H013,H014,H015,H018
Air tube
H013,H014,H015,H018
Air tube
H014,H015
Air tube
H014,H015
A97L-0218-0010#EFL835R0
A97L-0218-0010#FFL835R0
A97L-0218-0010#GFL835R0
A97L-0218-0010#HFL835R0
- 139 -
3.18mm YELLOW
A2
J3 casing to J3 arm
3.18mm GREEN
B2
J3 casing to J3 arm
3.18mm
CLEAR
A3
J3 casing to J3 arm
3.18mm ORANGE B3
J3 casing to J3 arm
APPENDIX
B-82585EN/02
Table A (l) Solenoid valve (Either the following is installed by the option specification) (except H001,H006,H011
and H016)
Name
Specifications
Remarks
Solenoid valve
A97L-0218-0113#D1
Solenoid valve
A97L-0218-0113#D2
Solenoid valve
A97L-0218-0113#D3
Solenoid valve
A97L-0218-0113#D3R
Double solenoidX3
(2 positonX2, 3 positionX1)
Specifications
A98L-0031-0027
Remarks
C battery/1.5V
(When battery built-in option is selected)
Battery
A98L-0031-0005
D battery/1.5V
(When external battery option is selected)
Specifications
A98L-0040-0230#2KG
Remarks
Harmonic grease 4BNo.2
- 140 -
B-82585EN02
APPENDIX
CIRCUIT
DIAGRM
DIAGRAM,
- 141 -
AIR
PRESSURE
APPENDIX
B-82585EN/02
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
J1V1
J1W1
1
4
J1U1
J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
2
3
BK(J1)
1 BKCOM1(J1)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M2M1
(
X-KEY
BLACK
A1 J2U1
A2 BK(J2)
A3 J2W1
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
B1 J2G1
B2 J2V1
B3 BKCOM1(J2)
J2 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M2M
2
3
K102
A660-4004-T706
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1)
BKCOM1(J1)
J1U1
J1V1
J1W1
J1G1
XROT
RI1
RO1
+5V(A1)
PRQJ1
XPRQJ1
13
14
15
16
17
18
19
20
21
22
23
24
BK(J2)
BK(J3)
BKCOM1(J2)
25
26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
RI2
32
RO2
33
+5V(B1,B2) 34
PRQJ2
35
36
XPRQJ2
BKCOM1(J3)
J3U1
J3V1
J3W1
J3G1
XHBK
RI3
RO3
+5V(C1,C2,C3)
PRQJ3
XPRQJ3
G
37
38
39
40
41
42
43
44
45
46
47
48
SG
(BK(J4)) 49
50
J4U
51
J4V
52
J4W
53
J4G
54
+24V(B1) 55
RI4
56
RO4
57
0V(A1) 58
PRQJ4
59
60
XPRQJ4
(BKCOM1(J4))
Han 72DD
(2.5SQ 10A)
(BK(J5)) 61 (BK(J6))
62 (BKCOM1(J6))
J5U
63 J6U
J5V
64 J6V
J5W
65 J6W
J5G
66 J6G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
RI5
68 RI6
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2,C3)
PRQJ5
71 PRQJ6
72 XPRQJ6
XPRQJ5
Y-KEY
WHITE
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2
B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
M3M1
A1 J3U1
A2 BK(J3)
A3 J3W1
F06DYW
CTM
B1 J3G1
B2 J3V1
B3 BKCOM1(J3)
8
9 +5V(B1)
10 0V(B1)
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3
B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
( X-KEY
WHITE )
F20DX
CTM
J4U
B1 J4G
(BK(J4)) B2 J4V
J4W
B3 (BKCOM1(J4))
B4
J5G
B5 J5U
J5V
B6 (BK(J5))
(BKCOM1(J5)) B7 J5W
J6U
B8 J6G
(BK(J6)) B9 J6V
A10 J6W
B10 (BKCOM1(J6))
1 BKCOM1(J2)
4
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
J3 MOTOR (iSR0.5/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M3M
2
3
K104
A660-4004-T707
A63L-0001-0865#2
A63L-0001-0864#CS
J3V1
J3W1
1
4
J3U1
J3G1
M3BK
BK(J3)
1 BKCOM1(J3)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
K101
A660-8016-T285
BK(J2)
M2P
K103
A660-2006-T657
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
(BKCOM1(J5))
J2U1
J2G1
A63L-0001-0848#E10SL1
A63L-0001-0850
M2P1
( Y-KEY
BLACK )
1
4
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J2V1
J2W1
A63L-0001-0865#2
A63L-0001-0864#CS
M3P
8
9 +5V(B2)
10 0V(B2)
K105
A660-2006-T658
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
X-KEY
BLACK
A1
A2
A3
A4
A5
A6
A7
A8
A9
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M4M1
K106
A660-4004-T708
X-KEY
BLACK
A1 J4U
A2
A3 J5W
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
0V
(BT1,BT2,BT3,
BT4,BT5,BT6)
F20DY
CTM
B1 XPRQJ4
B2 0V(BT4,BT5,BT6)
PRQJ5
B3 XPRQJ5
+5V(C1,C2,C3) B4 0V(C1,C2,C3)
PRQJ6
B5 XPRQJ6
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
RI1
B8 RI2
RI3
B9 RI4
A10 RI5
B10 RI6
M456PEE1
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
(
SIZE C )
-
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
A1
A2
A3
A4
A5
A6
A7
A8
A9
PRQJ4
+6V(BT4,BT5,BT6)
YV1
( X-KEY
BLACK )
A1 0V(E1,E3,E5)
A2 RO1
A3 RO3
A4 RO5
F08DX
CTM
B1 0V(E2,E4,E6)
B2 RO2
B3 RO4
B4 RO6
K107
A660-4004-T709
K108
A660-2006-T659
NOTE)
1. (***)
SIGNALS ARE NOT USED.
2. A05C-1139-B202
REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.
Fig. B (a) CIRCUIT DIAGRM (LR Mate 200iC 3-axes brake type)
- 142 -
F06DX
CTM
B1 J4G
B2 J4V
B3
K109
A660-2006-T660
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M5M1
( X-KEY
BLACK )
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
Y-KEY
BLACK
A1 J5U
A2
A3 J5W
F06DY
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5
B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
M6M1
(
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
A1 J6U
A2
A3 J6W
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
F06DYW
CTM
B1 J6G
B2 J6V
B3
F06DXW
CTM
A1 +6V(BT6) B1 0V(BT6)
A2 PRQJ6
B2 XPRQJ6
A3 +5V(C3) B3 0V(C3)
( X-KEY
BLACK )
EE1
A1
A2
A3
A4
A5
A6
RI1
RI2
RI3
RI4
RI5
RI6
B1
B2
B3
B4
B5
B6
M5M
2
3
A63L-0001-0848#E10SL1
A63L-0001-0850
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
J5V
J5W
1
4
M5P
8
9 +5V(C2)
10 0V(C2)
K111
A660-2006-T662
A63L-0001-0865#1
A63L-0001-0864#CS
J5U
J5G
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
J6 MOTOR (iSR0.2/6000)
M6M
2
3
K112
A660-2006-T663
J6V
J6W
1
4
J6U
J6G
A63L-0001-0848#E10SL1
A63L-0001-0850
M6P
M6P1
X-KEY
WHITE
J5 MOTOR (iSR0.2/6000)
K110
A660-2006-T661
M5P1
)
Y-KEY
WHITE
A63L-0001-0865#1
A63L-0001-0864#CS
F06DX
CTM
B1 J5G
B2 J5V
B3
8
9 +5V(C3)
10 0V(C3)
K113
A660-2006-T664
EE
2
K114
A660-2006-T665
1
RI2
3
4 +6V(BT6)
1
5 XPRQJ6
2
6 PRQJ6
3
7 0V(BT6)
A63L-0002-0072#12SN
RI1
9 +24V(A2) 8 +24V(A1)
10 +24V(B1) 12 0V(D2) 7 XHBK
RI3
11 0V(D1) 6 RI6
4 RI4
5 RI5
J4 MOTOR (iSR0.4/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2
3
J4V
J4W
1
4
J4U
J4G
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P
8
9 +5V(C1)
10 0V(C1)
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A05B-1139-H002
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
YV2
( X-KEY
BLACK )
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
A05B-1139-H004
YV2
A1
A2
A3
A4
A5
A6
SOLENOID VALVE
A97L-0218-0113#D1
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
A05B-1139-H005
A05B-1139-H003
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
YV2
A1
A2
A3
A4
A5
A6
SOLENOID VALVE
A97L-0218-0113#D2
:
MOVABLE
- 143 -
SOLENOID VALVE
A97L-0218-0113#D3
RO1
RO2
RO3
RO4
RO5
RO6
SOLENOID VALVE
A97L-0218-0113#D3R
A05B-1139-H301
SPECIFIED A05B-1139-H302
A05B-1139-H321(5C)
SPECIFIED A05B-1139-H321(5C)
APPENDIX
B-82585EN/02
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
J1V1
J1W1
1
4
J1U1
J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
2
3
A63L-0001-0848#E10SL1
A63L-0001-0850
BK(J1)
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
1
4
BKCOM1(J1)
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
A1 J2U1
B1 J2G1
A2 BK(J2) B2 J2V1
A3 J2W1
B3 BKCOM1(J2)
J2 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M2M1
( X-KEY
BLACK )
M2M
2
3
K102
A660-4004-T706
A63L-0001-0865#2
A63L-0001-0864#CS
Y-KEY
BLACK
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2 B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0001-0848#E10SL1
A63L-0001-0850
M2P1
)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
F06DYW
CTM
A1 J3U1
B1 J3G1
A2 BK(J3) B2 J3V1
A3 J3W1
B3 BKCOM1(J3)
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1) 13
14
J1U1
15
J1V1
16
J1W1
17
J1G1
18
XROT
19
RI1
20
RO1
21
+5V(A1) 22
PRQJ1 23
XPRQJ1 24
BKCOM1(J1)
BK(J2) 25
26
27
J2U1
28
J2V1
29
J2W1
30
J2G1
+24V(OT,A1,A2) 31
32
RI2
33
RO2
+5V(B1,B2) 34
PRQJ2 35
XPRQJ2 36
BKCOM1(J2)
BK(J3) 37 BK(J4)
38 BKCOM1(J4)
39 J4U
J3U1
40 J4V
J3V1
41 J4W
J3W1
42 J4G
J3G1
43 +24V(B1)
XHBK
44 RI4
RI3
45 RO4
RO3
+5V(C1,C2,C3) 46
0V(A1)
PRQJ3 47 PRQJ4
XPRQJ3 48 XPRQJ4
G
SG
BKCOM1(J3)
49
50
51
52
53
54
55
56
57
58
59
60
Han 72DD
(2.5SQ 10A)
BK(J5) 61 BK(J6)
62 BKCOM1(J6)
63 J6U
J5U
64 J6V
J5V
65 J6W
J5W
66 J6G
J5G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
68 RI6
RI5
69 RO6
RO5
0V(B1,B2) 70 0V(C1,C2,C3)
PRQJ5 71 PRQJ6
XPRQJ5 72 XPRQJ6
M2P
K101
A660-8016-T285
( X-KEY
WHITE )
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3 B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
1
4
BKCOM1(J2)
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
M3M
2
3
A63L-0001-0865#2
A63L-0001-0864#CS
J3V1
J3W1
1
4
J3U1
J3G1
M3BK
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
F20DX
CTM
J4U
B1 J4G
BK(J4) B2 J4V
J4W
B3 BKCOM1(J4)
B4
J5G
B5 J5U
J5V
B6 BK(J5)
BKCOM1(J5) B7 J5W
J6U
B8 J6G
BK(J6) B9 J6V
A10 J6W
B10 BKCOM1(J6)
J2U1
J2G1
J3 MOTOR (iSR0.5/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
K104
A660-4004-T707
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
BKCOM1(J5)
BK(J2)
8
9 +5V(B1)
10 0V(B1)
K103
A660-2006-T657
M3M1
Y-KEY
WHITE
1
4
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J2V1
J2W1
BK(J3)
M3P
8
9 +5V(B2)
10 0V(B2)
K105
A660-2006-T658
1
4
BKCOM1(J3)
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
X-KEY
BLACK
A1
A2
A3
A4
A5
A6
A7
A8
A9
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
F06DX
CTM
A1 J4U
B1 J4G
A2 BK(J4) B2 J4V
A3 J5W
B3 BKCOM1(J4)
M4M1
K106
A660-4004-T708
X-KEY
BLACK
K109
A660-4004-T710
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
0V
(BT1,BT2,BT3,
BT4,BT5,BT6)
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
Fig.B(b)
F20DY
CTM
B1 XPRQJ4
B2 0V(BT4,BT5,BT6)
B3 XPRQJ5
+5V(C1,C2,C3) B4 0V(C1,C2,C3)
PRQJ6 B5 XPRQJ6
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
RI1
B8 RI2
RI3
B9 RI4
A10 RI5
B10 RI6
M456PEE1
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
(
SIZE C )
A1
A2
A3
A4
A5
A6
A7
A8
A9
PRQJ4
+6V(BT4,BT5,BT6)
PRQJ5
YV1
A1 0V(E1,E3,E5)
A2 RO1
A3 RO3
A4 RO5
F08DX
CTM
B1 0V(E2,E4,E6)
B2 RO2
B3 RO4
B4 RO6
K107
A660-4004-T709
K108
A660-2006-T659
Circuit diagram (LR Mate 200iC 6-axes brake type When H301 is specified)
(LR Mate 200iC/5C When H321 is specified)
- 144 -
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
F06DX
CTM
A1 J5U
B1 J5G
A2 BK(J5) B2 J5V
A3 J5W
B3 BKCOM1(J5)
A63L-0001-0865#1
A63L-0001-0864#CS
M5M1
( X-KEY
BLACK )
J5 MOTOR (iSR0.2/6000)
M5M
2
3
K110
A660-4004-T711
A63L-0001-0865#2
A63L-0001-0864#CS
M5P1
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
Y-KEY
WHITE
F06DY
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5 B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
A63L-0001-0848#E10SL1
A63L-0001-0850
F06DYW
CTM
A1 J6U
B1 J6G
A2 BK(J6) B2 J6V
A3 J6W
B3 BKCOM1(J6)
8
9 +5V(C2)
10 0V(C2)
A63L-0001-0865#1
A63L-0001-0864#CS
M6M
2
3
K112
A660-4004-T712
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
X-KEY
BLACK
EE1
)
A1
A2
A3
A4
A5
A6
RI1
RI2
RI3
RI4
RI5
RI6
B1
B2
B3
B4
B5
B6
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
BKCOM1(J5)
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
J6V
J6W
1
4
J6U
J6G
BK(J6)
1
4
BKCOM1(J6)
A63L-0001-0848#E10SL1
A63L-0001-0850
M6P1
X-KEY
WHITE
1
4
A63L-0001-0865#2
A63L-0001-0864#CS
M6BK
F06DXW
CTM
A1 +6V(BT6) B1 0V(BT6)
A2 PRQJ6 B2 XPRQJ6
A3 +5V(C3) B3 0V(C3)
J5U
J5G
J6 MOTOR (iSR0.2/6000)
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
BK(J5)
M5P
K111
A660-2006-T662
M6M1
1
4
M5BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J5V
J5W
M6P
8
9 +5V(C3)
10 0V(C3)
K113
A660-2006-T664
EE
2
K114
A660-2006-T665
1
RI2
3
4 +6V(BT6)
1
5 XPRQJ6
2
6 PRQJ6
3
7 0V(BT6)
A63L-0002-0072#12SN
RI1
9 +24V(A2) 8 +24V(A1)
10 +24V(B1) 12 0V(D2) 7 XHBK
RI3
11 0V(D1) 6 RI6
4 RI4
5 RI5
J4 MOTOR (iSR0.4/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2
3
K109
A660-4004-T710
J4V
J4W
1
4
J4U
J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
2
3
A63L-0001-0848#E10SL1
A63L-0001-0850
BK(J4)
M4P
8
9 +5V(C1)
10 0V(C1)
1
4
BKCOM1(J4)
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A05B-1139-H002,-H022
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
YV2
( X-KEY
BLACK )
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
A05B-1139-H004,-H024
YV2
SOLENOID VALVE
A97L-0218-0113#D1
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
A05B-1139-H005
A05B-1139-H003,-H023
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
YV2
SOLENOID VALVE
A97L-0218-0113#D2
- 145 -
SOLENOID VALVE
A97L-0218-0113#D3
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
SOLENOID VALVE
A97L-0218-0113#D3R
A05B-1139-H302
SPECIFIED A05B-1139-H302
APPENDIX
B-82585EN/02
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
A63L-0001-0865#2
A63L-0001-0864#CS
J1V1
J1W1
M1BK
2
3
A63L-0001-0848#E10SL1
A63L-0001-0850
BK(J1)
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
1
4
1
4
J1U1
J1G1
BKCOM1(J1)
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
A1 J2U1
B1 J2G1
A2 BK(J2) B2 J2V1
A3 J2W1
B3 BKCOM1(J2)
J2 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M2M1
(
X-KEY
BLACK
M2M
2
3
K102
A660-4004-T706
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
Y-KEY
BLACK
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1) 13
14
J1U1
15
J1V1
16
J1W1
17
J1G1
18
XROT
19
20
RI1
RO1
21
+5V(A1) 22
PRQJ1 23
XPRQJ1 24
BKCOM1(J1)
BK(J2) 25
26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
RI2
32
RO2
33
+5V(B1,B2) 34
PRQJ2 35
XPRQJ2 36
BKCOM1(J2)
BK(J3) 37 BK(J4)
38 BKCOM1(J4)
J3U1
39 J4U
J3V1
40 J4V
J3W1
41 J4W
J3G1
42 J4G
XHBK
43 +24V(B1)
RI3
44 RI4
RO3
45 RO4
+5V(C1,C2,C3) 46
0V(A1)
PRQJ3 47 PRQJ4
XPRQJ3 48 XPRQJ4
G
SG
BKCOM1(J3)
49
50
51
52
53
54
55
56
57
58
59
60
Han 72DD
(2.5SQ 10A)
BK(J5) 61 BK(J6)
62 BKCOM1(J6)
J5U
63 J6U
J5V
64 J6V
J5W
65 J6W
J5G
66 J6G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
RI5
68 RI6
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2,C3)
PRQJ5 71 PRQJ6
XPRQJ5 72 XPRQJ6
Y-KEY
WHITE
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2 B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0001-0848#E10SL1
A63L-0001-0850
M2P1
)
F06DYW
CTM
A1 J3U1
B1 J3G1
A2 BK(J3) B2 J3V1
A3 J3W1
B3 BKCOM1(J3)
K101
A660-8016-T495
X-KEY
WHITE
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3 B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
M2P
M3M
2
3
K104
A660-4004-T707
A63L-0001-0865#2
A63L-0001-0864#CS
J3V1
J3W1
M3BK
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
F20DX
CTM
J4U
B1 J4G
BK(J4) B2 J4V
J4W
B3 BKCOM1(J4)
B4
J5G
B5 J5U
J5V
B6 BK(J5)
BKCOM1(J5) B7 J5W
J6U
B8 J6G
BK(J6) B9 J6V
A10 J6W
B10 BKCOM1(J6)
1
4
J2U1
J2G1
1
4
BKCOM1(J2)
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
J3 MOTOR (iSR0.5/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M3M1
BK(J2)
8
9 +5V(B1)
10 0V(B1)
K103
A660-2006-T657
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
BKCOM1(J5)
J2V1
J2W1
A63L-0001-0865#2
A63L-0001-0864#CS
BK(J3)
M3P
8
9 +5V(B2)
10 0V(B2)
K105
A660-2006-T658
1
4
1
4
J3U1
J3G1
BKCOM1(J3)
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
X-KEY
BLACK
A1
A2
A3
A4
A5
A6
A7
A8
A9
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
X-KEY
BLACK
F06DX
CTM
A1 J4U
B1 J4G
A2 BK(J4) B2 J4V
A3 J5W
B3 BKCOM1(J4)
M4M1
K106
A660-4004-T708
K109
A660-4004-T710
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
(
SIZE D )
0V
(BT1,BT2,BT3,
BT4,BT5,BT6)
GB2
K131
A660-8016-T498
A
B
C
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A63L-0001-0648#610SL3SJ
GB2
A
B
C
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A63L-0001-0648#210SL3PJ
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
Fig.B(c)
F20DY
CTM
B1 XPRQJ4
B2 0V(BT4,BT5,BT6)
B3 XPRQJ5
+5V(C1,C2,C3) B4 0V(C1,C2,C3)
PRQJ6 B5 XPRQJ6
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
RI1
B8 RI2
RI3
B9 RI4
A10 RI5
B10 RI6
M456PEE1
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
A1
A2
A3
A4
A5
A6
A7
A8
A9
PRQJ4
+6V(BT4,BT5,BT6)
PRQJ5
YV1
A1 0V(E1,E3,E5)
A2 RO1
A3 RO3
A4 RO5
F08DX
CTM
B1 0V(E2,E4,E6)
B2 RO2
B3 RO4
B4 RO6
K107
A660-4004-T709
K108
A660-2006-T659
Circuit diagram (LR Mate 200iC 6-axes brake type When H302 is specified)
- 146 -
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
F06DX
CTM
A1 J5U
B1 J5G
A2 BK(J5) B2 J5V
A3 J5W
B3 BKCOM1(J5)
A63L-0001-0865#1
A63L-0001-0864#CS
M5M1
(
X-KEY
BLACK
J5 MOTOR (iSR0.2/6000)
M5M
2
3
K110
A660-4004-T711
F06DY
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5 B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
Y-KEY
WHITE
F06DYW
CTM
A1 J6U
B1 J6G
A2 BK(J6) B2 J6V
BKCOM1(J6)
A3 J6W
B3
X-KEY
WHITE
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A63L-0001-0865#1
A63L-0001-0864#CS
8
9 +5V(C2)
10 0V(C2)
A63L-0001-0865#1
A63L-0001-0864#CS
M6M1
F06DXW
CTM
A1 +6V(BT6) B1 0V(BT6)
A2 PRQJ6 B2 XPRQJ6
A3 +5V(C3) B3 0V(C3)
A1
A2
A3
A4
A5
A6
RI1
RI2
RI3
RI4
RI5
RI6
B1
B2
B3
B4
B5
B6
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
BKCOM1(J5)
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
M6M
2
3
K112
A660-4004-T712
J6V
J6W
1
4
J6U
J6G
A63L-0001-0865#2
A63L-0001-0864#CS
A63L-0001-0848#E10SL1
A63L-0001-0850
M6P1
EE1
1
4
J6 MOTOR (iSR0.2/6000)
M6BK
BK(J6)
M6P
8
9 +5V(C3)
10 0V(C3)
K113
A660-2006-T664
EE
2
K114
A660-2006-T665
1
RI2
3
1
4
BKCOM1(J6)
4 +6V(BT6)
1
5 XPRQJ6
2
6 PRQJ6
3
7 0V(BT6)
A63L-0002-0072#12SN
RI1
9 +24V(A2) 8 +24V(A1)
10 +24V(B1) 12 0V(D2) 7 XHBK
RI3
11 0V(D1) 6 RI6
4 RI4
5 RI5
J4 MOTOR (iSR0.4/6000)
M4M
2
3
K109
A660-4004-T710
BK(J5)
M5P
K111
A660-2006-T662
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
J5U
J5G
A63L-0001-0848#E10SL1
A63L-0001-0850
M5P1
( Y-KEY
BLACK )
1
4
M5BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J5V
J5W
A63L-0001-0865#2
A63L-0001-0864#CS
J4V
J4W
1
4
J4U
J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
2
3
BK(J4)
1
4
BKCOM1(J4)
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P
8
9 +5V(C1)
10 0V(C1)
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A05B-1139-H002
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
YV2
X-KEY
BLACK
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
A05B-1139-H004
YV2
SOLENOID VALVE
A97L-0218-0113#D1
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
A05B-1139-H003
YV2
A1 RO1
A2 RO2
A3 RO3
A4 RO4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3 0V(E3)
B4 0V(E4)
B5
B6
A05B-1139-H005
YV2
SOLENOID VALVE
A97L-0218-0113#D2
- 147 -
SOLENOID VALVE
A97L-0218-0113#D3
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
SOLENOID VALVE
A97L-0218-0113#D3R
:
MOVABLE
APPENDIX
B-82585EN/02
A05B-1139-H006
SPECIFIED A05B-1139-H006
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
J1V1
J1W1
1
4
J1U1
J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
2
3
A63L-0001-0848#E10SL1
A63L-0001-0850
BK(J1)
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M2M1
( X-KEY
BLACK )
A1 J2U1
A2 BK(J2)
A3 J2W1
1 BKCOM1(J1)
4
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
B1 J2G1
B2 J2V1
B3 BKCOM1(J2)
A63L-0001-0865#1
A63L-0001-0864#CS
J2 MOTOR (iSR1/6000)
M2M
2
3
K102
A660-4004-T706
A63L-0001-0865#2
A63L-0001-0864#CS
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
B2 XPRQJ2
A2 PRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
M3M1
(
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1)
13
BKCOM1(J1) 14
15
J1U1
16
J1V1
17
J1W1
18
J1G1
19
XROT
20
RI1
21
RO1
+5V(A1) 22
PRQJ1 23
XPRQJ1
24
BK(J2) 25
BKCOM1(J2) 26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
RI2
32
RO2
33
+5V(B1,B2) 34
35
PRQJ2
36
XPRQJ2
BK(J3)
37 BK(J4)
BKCOM1(J3) 38 BKCOM1(J4)
J3U1
39 J4U
J3V1
40 J4V
J3W1
41 J4W
J3G1
42 J4G
XHBK
43 +24V(B1)
RI3
44 RI4
RO3
45 RO4
+5V(C1,C2,C3) 46
0V(A1)
PRQJ3 47 PRQJ4
XPRQJ3 48 XPRQJ4
G
SG
49
50
51
52
53
54
55
56
57
58
59
60
Han 72DD
(2.5SQ 10A)
61 BK(J6)
BKCOM1(J5) 62 BKCOM1(J6)
J5U
63 J6U
J5V
64 J6V
J5W
65 J6W
J5G
66 J6G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
RI5
68 RI6
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2,C3)
71 PRQJ6
PRQJ5
72 XPRQJ6
XPRQJ5
Y-KEY
WHITE
A1 J3U1
A2 BK(J3)
A3 J3W1
F06DYW
CTM
B1 J3G1
B2 J3V1
B3 BKCOM1(J3)
8
9 +5V(B1)
10 0V(B1)
A63L-0001-0865#1
A63L-0001-0864#CS
2
3
J3V1
J3W1
F20DX
CTM
B1 J4G
B2 J4V
B3 BKCOM1(J4)
B4
J5G
B5 J5U
J5V
B6 BK(J5)
BKCOM1(J5) B7 J5W
J6U
B8 J6G
BK(J6) B9 J6V
A10 J6W
B10 BKCOM1(J6)
1
4
J3U1
J3G1
A63L-0001-0865#2
A63L-0001-0864#CS
BK(J3)
1 BKCOM1(J3)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
X-KEY
WHITE
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
M3M
K104
A660-4004-T707
M3BK
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
B2 XPRQJ3
A2 PRQJ3
A3 +5V(B2) B3 0V(B2)
1 BKCOM1(J2)
4
J3 MOTOR (iSR0.5/6000)
2
3
K101
A660-8016-T285
BK(J2)
M2P
K103
A660-2006-T657
BK(J5)
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
J2U1
J2G1
A63L-0001-0848#E10SL1
A63L-0001-0850
M2P1
Y-KEY
BLACK
1
4
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J2V1
J2W1
M3P
8
9 +5V(B2)
10 0V(B2)
K105
A660-2006-T658
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
J4U
BK(J4)
J4W
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
K106
A660-4004-T708
( X-KEY
BLACK )
F06DX
CTM
B1 J4G
A1 J4U
A2 BK(J4) B2 J4V
BKCOM1(J4)
B3
A3 J5W
M4M1
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
0V
(BT1,BT2,BT3,
BT4,BT5,BT6)
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
Fig.B(d)
F20DY
CTM
B1 XPRQJ4
B2 0V(BT4,BT5,BT6)
B3 XPRQJ5
+5V(C1,C2,C3) B4 0V(C1,C2,C3)
B5 XPRQJ6
PRQJ6
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
B8 RI2
RI1
B9 RI4
RI3
A10 RI5
B10 RI6
M456PEE1
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
(
SIZE C )
A1
A2
A3
A4
A5
A6
A7
A8
A9
PRQJ4
+6V(BT4,BT5,BT6)
PRQJ5
F08DX
CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1
B2 RO2
A3 RO3
B3 RO4
A4 RO5
B4 RO6
K107
A660-4004-T709
YV1
K108
A660-2006-T659
Circuit diagram (LR Mate 200iC 6-axes brake type When H006 is specified)
(LR Mate 200iC/5C H006 is specified)
- 148 -
K109
A660-4004-T710
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
A63L-0001-0865#1
A63L-0001-0864#CS
F06DX
CTM
B1 J5G
B2 J5V
B3 BKCOM1(J5)
M5M1
X-KEY
BLACK
A1 J5U
A2 BK(J5)
A3 J5W
J5 MOTOR (iSR0.2/6000)
M5M
2
3
K110
A660-4004-T711
F06DY
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5 B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
A1 J6U
A2 BK(J6)
A3 J6W
8
9 +5V(C2)
10 0V(C2)
A63L-0001-0865#1
A63L-0001-0864#CS
2
3
J6V
J6W
RI1
RI2
RI3
RI4
RI5
RI6
A1
A2
A3
A4
A5
A6
( X-KEY
BLACK )
B1
B2
B3
B4
B5
B6
1
4
J6U
J6G
BK(J6)
1
4
BKCOM1(J6)
A63L-0001-0848#E10SL1
A63L-0001-0850
F06DXW
CTM
A1 +6V(BT6) B1 0V(BT6)
A2 PRQJ6 B2 XPRQJ6
A3 +5V(C3) B3 0V(C3)
EE1
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
A63L-0001-0865#2
A63L-0001-0864#CS
M6BK
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
BKCOM1(J5)
M6M
K112
A660-4004-T712
M6P1
X-KEY
WHITE
1
4
J6 MOTOR (iSR0.2/6000)
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
BK(J5)
M5P
K111
A660-2006-T662
F06DYW
CTM
B1 J6G
B2 J6V
B3 BKCOM1(J6)
M6M1
Y-KEY
WHITE
J5U
J5G
A63L-0001-0848#E10SL1
A63L-0001-0850
M5P1
Y-KEY
BLACK
1
4
M5BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J5V
J5W
A63L-0001-0865#2
A63L-0001-0864#CS
M6P
K113
A660-2006-T664
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
8
9 +5V(C3)
10 0V(C3)
4 +6V(BT6)
1
5 XPRQJ6
2
6 PRQJ6
3
7 0V(BT6)
EE
K114
A660-4004-T864
1
2
3
4
0V(E1)
0V(E2)
0V(D1)
0V(D2)
5
6
7
8
9
10
RO1
RO2
RO3
RO4
RO5
RO6
11
12
13
14
15
16
A63L-0002-0072#20SN
RI1
RI2
17 XHBK
RI3
18 +24V(A1)
RI4
19 +24V(A2)
RI5
20 +24V(B1)
RI6
J4 MOTOR (iSR0.4/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2
3
K109
A660-4004-T710
J4V
J4W
1
4
J4U
J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
2
3
BK(J4)
1
4
BKCOM1(J4)
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P
8
9 +5V(C1)
10 0V(C1)
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A05B-1139-H006
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
(0V(E3))
(0V(E4))
(0V(E5))
(0V(E6))
YV2
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
(0V(E3))
(0V(E4))
(0V(E5))
(0V(E6))
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
K116
A660-2006-T834
( X-KEY
BLACK )
RO
A1
A2
A3
A4
0V(E1)
RO1
RO3
RO5
B1
B2
B3
B4
F08DX
CTM
0V(E2)
RO2
RO4
RO6
:
MOVABLE
- 149 -
APPENDIX
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
A63L-0001-0865#2
A63L-0001-0864#CS
J1V1
J1W1
2
3
BK(J1)
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
1
4
J1U1
J1G1
M1BK
A63L-0001-0848#E10SL1
A63L-0001-0850
X-KEY
BLACK
B-82585EN/02
M2M1
)
A1 J2U1
A2 BK(J2)
A3 J2W1
1 BKCOM1(J1)
4
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
B1 J2G1
B2 J2V1
B3 BKCOM1(J2)
A63L-0001-0865#1
A63L-0001-0864#CS
J2 MOTOR (iSR1/6000)
M2M
2
3
K102
A660-4004-T822
A63L-0001-0865#2
A63L-0001-0864#CS
Y-KEY
BLACK
M2P1
)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1)
BKCOM1(J1)
J1U1
J1V1
J1W1
J1G1
XROT
RI1
RO1
+5V(A1)
PRQJ1
XPRQJ1
13
14
15
16
17
18
19
20
21
22
23
24
BK(J2) 25
26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
RI2
32
RO2
33
+5V(B1,B2) 34
35
PRQJ2
36
XPRQJ2
BKCOM1(J2)
BK(J3) 37 BK(J4)
38 BKCOM1(J4)
J3U1
39 J4U
J3V1
40 J4V
J3W1
41 J4W
J3G1
42 J4G
XHBK
43 +24V(B1)
RI3
44 RI4
RO3
45 RO4
+5V(C1,C2,C3) 46 0V(A1)
47 PRQJ4
PRQJ3
48 XPRQJ4
XPRQJ3
G
SG
BKCOM1(J3)
49
50
51
52
53
54
55
56
57
58
59
60
Han 72DD
(2.5SQ 10A)
61 BK(J6)
62 BKCOM1(J6)
J5U
63 J6U
J5V
64 J6V
J5W
65 J6W
J5G
66 J6G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
RI5
68 RI6
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2,C3)
71 PRQJ6
PRQJ5
72 XPRQJ6
XPRQJ5
Y-KEY
WHITE
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2 B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0001-0848#E10SL1
A63L-0001-0850
M3M1
A1 J3U1
A2 BK(J3)
A3 J3W1
F06DYW
CTM
B1 J3G1
B2 J3V1
B3 BKCOM1(J3)
A63L-0001-0865#1
A63L-0001-0864#CS
M2P
A63L-0001-0865#2
A63L-0001-0864#CS
K101
A660-8016-T285
X-KEY
WHITE
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3 B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
F20DX
CTM
B1 J4G
B2 J4V
B3 BKCOM1(J4)
B4
J5G
B5 J5U
J5V
B6 BK(J5)
BKCOM1(J5) B7 J5W
J6U
B8 J6G
BK(J6) B9 J6V
A10 J6W
B10 BKCOM1(J6)
J3V1
J3W1
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
1
4
J3U1
J3G1
M3BK
BK(J3)
M3P
8
9 +5V(B2)
10 0V(B2)
K105
A660-2006-T790
1 BKCOM1(J2)
4
M3M
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
J2U1
J2G1
J3 MOTOR (iSR0.5/6000)
2
3
K104
A660-4004-T823
BK(J5)
BKCOM1(J5)
BK(J2)
8
9 +5V(B1)
10 0V(B1)
K103
A660-2006-T789
1
4
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J2V1
J2W1
1 BKCOM1(J3)
4
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
J4U
BK(J4)
J4W
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M4M1
K106
A660-4004-T824
( X-KEY
BLACK )
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
0V
(BT1,BT2,BT3,
BT4,BT5,BT6)
F20DY
CTM
B1 XPRQJ4
B2 0V(BT4,BT5,BT6)
B3 XPRQJ5
+5V(C1,C2,C3) B4 0V(C1,C2,C3)
PRQJ6 B5 XPRQJ6
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
B8 RI2
RI1
B9 RI4
RI3
A10 RI5
B10 RI6
M456PEE1
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
(
SIZE C )
-
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
PRQJ4
+6V(BT4,BT5,BT6)
PRQJ5
YV1
A1 0V(E1,E3,E5)
A2 RO1
A3 RO3
A4 RO5
F08DX
CTM
B1 0V(E2,E4,E6)
B2 RO2
B3 RO4
B4 RO6
K107
A660-4004-T825
K108
A660-2006-T791
NOTE)
1. A05C-1139-B202
REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.
Fig.B(e)
- 150 -
A1 J4U
A2 BK(J4)
A3 J5W
F06DX
CTM
B1 J4G
B2 J4V
B3 BKCOM1(J4)
K109
A660-4004-T710
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
A63L-0001-0865#1
A63L-0001-0864#CS
F06DX
CTM
A1 J5U
B1 J5G
A2 BK(J5) B2 J5V
A3 J5W
B3 BKCOM1(J5)
M5M1
( X-KEY
BLACK )
J5 MOTOR (iSR0.2/6000)
M5M
2
3
K110
A660-4004-T711
A63L-0001-0865#2
A63L-0001-0864#CS
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
F06DY
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5 B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
8
9 +5V(C2)
10 0V(C2)
F06DYW
CTM
A1 J6U
B1 J6G
A2 BK(J6) B2 J6V
A3 J6W
B3 BKCOM1(J6)
A63L-0001-0865#1
A63L-0001-0864#CS
M6M
2
3
K112
A660-4004-T712
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
X-KEY
BLACK
A63L-0001-0865#1
A63L-0001-0864#CS
F06DXW
CTM
A1 +6V(BT6) B1 0V(BT6)
A2 PRQJ6 B2 XPRQJ6
A3 +5V(C3) B3 0V(C3)
A1
A2
A3
A4
A5
A6
RI1
RI2
RI3
RI4
RI5
RI6
B1
B2
B3
B4
B5
B6
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
1
4
J6U
J6G
BK(J6)
1
4
BKCOM1(J6)
A63L-0001-0848#E10SL1
A63L-0001-0850
M6P
8
9 +5V(C3)
10 0V(C3)
K113
A660-2006-T664
EE
2
K114
A660-2006-T665
1
RI2
3
4 +6V(BT6)
1
5 XPRQJ6
2
6 PRQJ6
3
7 0V(BT6)
A63L-0002-0072#12SN
RI1
9 +24V(A2) 8 +24V(A1)
10 +24V(B1) 12 0V(D2) 7 XHBK
RI3
11 0V(D1) 6 RI6
4 RI4
5 RI5
J4 MOTOR (iSR0.4/6000)
M4M
2
3
A63L-0001-0865#2
A63L-0001-0864#CS
J6V
J6W
M6BK
EE1
BKCOM1(J5)
A63L-0001-0865#2
A63L-0001-0864#CS
M6P1
X-KEY
WHITE
1
4
J6 MOTOR (iSR0.2/6000)
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
BK(J5)
M5P
K111
A660-2006-T662
M6M1
( Y-KEY
WHITE )
J5U
J5G
A63L-0001-0848#E10SL1
A63L-0001-0850
M5P1
Y-KEY
BLACK
1
4
M5BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J5V
J5W
J4V
J4W
M4BK
2
3
BK(J4)
1
4
1
4
J4U
J4G
BKCOM1(J4)
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P
8
9 +5V(C1)
10 0V(C1)
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A05B-1139-H012
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
YV2
( X-KEY
BLACK )
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
A05B-1139-H014
YV2
SOLENOID VALVE
A97L-0218-0113#D1
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
A05B-1139-H013
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
A05B-1139-H015
YV2
SOLENOID VALVE
A97L-0218-0113#D2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
:
MOVABLE
- 151 -
SOLENOID VALVE
A97L-0218-0113#D3
SOLENOID VALVE
A97L-0218-0113#D3R
LR Mate 200iC/5L
APPENDIX
B-82585EN/02
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
J1V1
J1W1
1
4
J1U1
J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
2
3
BK(J1)
1 BKCOM1(J1)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
A1 J2U1
B1 J2G1
A2 BK(J2) B2 J2V1
A3 J2W1
B3 BKCOM1(J2)
A63L-0001-0865#1
A63L-0001-0864#CS
M2M1
( X-KEY
BLACK )
J2 MOTOR (iSR1/6000)
M2M
2
3
K102
A660-4004-T706
A63L-0001-0865#2
A63L-0001-0864#CS
Y-KEY
BLACK
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2 B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0001-0848#E10SL1
A63L-0001-0850
M2P1
)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
F06DYW
CTM
B1 J3G1
A1 J3U1
A2 BK(J3) B2 J3V1
B3 BKCOM1(J3)
A3 J3W1
A63L-0001-0865#1
A63L-0001-0864#CS
M3M1
( Y-KEY
WHITE )
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1) 13
14
15
J1U1
16
J1V1
17
J1W1
18
J1G1
19
XROT
20
(RI1)
21
RO1
+5V(A1) 22
PRQJ1 23
XPRQJ1 24
BKCOM1(J1)
BK(J2) 25
26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
(RI2)
32
RO2
33
+5V(B1,B2) 34
PRQJ2 35
XPRQJ2 36
BKCOM1(J2)
BK(J3) 37 BK(J4)
38 BKCOM1(J4)
J3U1
39 J4U
J3V1
40 J4V
J3W1
41 J4W
J3G1
42 J4G
(XHBK) 43 (+24V(B1))
(RI3)
44 (RI4)
RO3
45 RO4
+5V(C1,C2,C3) 46
0V(A1)
PRQJ3 47 PRQJ4
XPRQJ3 48 XPRQJ4
G
SG
BKCOM1(J3)
49
50
51
52
53
54
55
56
57
58
59
60
Han 72DD
(2.5SQ 10A)
BK(J5) 61 BK(J6)
62 BKCOM1(J6)
J5U
63 J6U
J5V
64 J6V
J5W
65 J6W
J5G
66 J6G
(0V(D1,D2)) 67 0V(E1,E2,E3,
E4,E5,E6)
(RI5)
68 (RI6)
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2,C3)
PRQJ5 71 PRQJ6
XPRQJ5 72 XPRQJ6
M2P
X-KEY
WHITE
1 BKCOM1(J2)
4
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
M3M
2
3
K104
A660-4004-T707
J3V1
J3W1
1
4
J3U1
J3G1
A63L-0001-0865#2
A63L-0001-0864#CS
M3BK
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3 B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
F20DX
CTM
J4U
B1 J4G
BK(J4) B2 J4V
J4W
B3 BKCOM1(J4)
B4
J5G
B5 J5U
J5V
B6 BK(J5)
BKCOM1(J5) B7 J5W
J6U
B8 J6G
BK(J6) B9 J6V
A10 J6W
B10 BKCOM1(J6)
BK(J3)
1 BKCOM1(J3)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
K101
A660-8016-T495
J2U1
J2G1
J3 MOTOR (iSR0.5/6000)
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
BKCOM1(J5)
BK(J2)
8
9 +5V(B1)
10 0V(B1)
K103
A660-2006-T657
1
4
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J2V1
J2W1
M3P
8
9 +5V(B2)
10 0V(B2)
K105
A660-2006-T658
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
(
SIZE D )
0V
(BT1,BT2,BT3,
BT4,BT5,BT6)
GB2
K131
A660-8016-T498
A
B
C
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A63L-0001-0648#610SL3SJ
GB2
A
B
C
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A63L-0001-0648#210SL3PJ
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
Fig.B(f)
F20DY
CTM
B1 XPRQJ4
B2 0V(BT4,BT5,BT6)
B3 XPRQJ5
+5V(C1,C2,C3) B4 0V(C1,C2,C3)
PRQJ6 B5 XPRQJ6
(+24V(A1,A2)) B6 (XHBK)
(+24V(B1)) B7 (0V(D1,D2))
(RI1)
B8 (RI2)
(RI3)
B9 (RI4)
A10 (RI5)
B10 (RI6)
M456PEE1
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
A1
A2
A3
A4
A5
A6
A7
A8
A9
PRQJ4
+6V(BT4,BT5,BT6)
PRQJ5
YV1
A1 0V(E1,E3,E5)
A2 RO1
A3 RO3
A4 RO5
F08DX
CTM
B1 0V(E2,E4,E6)
B2 RO2
B3 RO4
B4 RO6
K107
A660-4004-T709
K108
A660-2006-T659
- 152 -
F06DX
CTM
B1 J4G
A1 J4U
A2 BK(J4) B2 J4V
B3 BKCOM1(J4)
A3 J5W
M4M1
K106
A660-4004-T708
K109
A660-4004-T710
APPENDIX
B-82585EN02
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 (iSR0.2/6000)
M5M
2
3
K110
A660-4004-T711
M5BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
Y-KEY
BLACK
F06DY
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5
B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
A63L-0001-0848#E10SL1
A63L-0001-0850
M5P1
)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
( Y-KEY
WHITE )
M6M1
A1 J6U
A2 BK(J6)
A3 J6W
F06DYW
CTM
B1 J6G
B2 J6V
B3 BKCOM1(J6)
A63L-0001-0865#1
A63L-0001-0864#CS
M5P
1
4
J5U
J5G
1 BKCOM1(J5)
4
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
J6 MOTOR (iSR0.2/6000)
M6M
2
3
K112
A660-4004-T712
J6V
J6W
1
4
J6U
J6G
A63L-0001-0865#2
A63L-0001-0864#CS
M6BK
F06DXW
CTM
A1 +6V(BT6) B1 0V(BT6)
A2 PRQJ6
B2 XPRQJ6
A3 +5V(C3) B3 0V(C3)
BK(J6)
1 BKCOM1(J6)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M6P1
X-KEY
WHITE
BK(J5)
8
9 +5V(C2)
10 0V(C2)
K111
A660-2006-T662
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
J5V
J5W
A63L-0001-0865#2
A63L-0001-0864#CS
M6P
K113
A660-2006-T664
8
9 +5V(C3)
10 0V(C3)
4 +6V(BT6)
1
5 XPRQJ6
2
6 PRQJ6
3
7 0V(BT6)
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A63L-0001-0865#1
A63L-0001-0864#CS
J4 MOTOR (iSR0.4/6000)
M4M
2
3
K109
A660-4004-T710
A63L-0001-0865#2
A63L-0001-0864#CS
J4V
J4W
1
4
J4U
J4G
M4BK
2
3
BK(J4)
1 BKCOM1(J4)
4
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P
8
9 +5V(C1)
10 0V(C1)
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A05B-1139-H032
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
YV2
( X-KEY
BLACK )
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
SOLENOID VALVE
A97L-0218-0113#D1
A05B-1139-H033
YV2
A1 RO1
A2 RO2
A3 RO3
A4 RO4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3 0V(E3)
B4 0V(E4)
B5
B6
LR Mate 200iC/5WP
SOLENOID VALVE
A97L-0218-0113#D2
:
MOVABLE
- 153 -
APPENDIX
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
A63L-0001-0865#2
A63L-0001-0864#CS
J1V1
J1W1
M1BK
2
3
A63L-0001-0848#E10SL1
A63L-0001-0850
BK(J1)
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
X-KEY
BLACK
B-82585EN/02
M2M1
)
A1 J2U1
A2 BK(J2)
A3 J2W1
1
4
1
4
J1U1
J1G1
BKCOM1(J1)
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
B1 J2G1
B2 J2V1
B3 BKCOM1(J2)
A63L-0001-0865#1
A63L-0001-0864#CS
J2 MOTOR (iSR1/6000)
M2M
2
3
K102
A660-4004-T706
A63L-0001-0865#2
A63L-0001-0864#CS
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
Y-KEY
BLACK
M2P1
)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1) 13
14
15
J1U1
16
J1V1
17
J1W1
18
J1G1
19
XROT
20
RI1
21
RO1
+5V(A1) 22
PRQJ1 23
XPRQJ1 24
BKCOM1(J1)
BK(J2) 25
26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
RI2
32
RO2
33
+5V(B1,B2) 34
35
PRQJ2
36
XPRQJ2
BKCOM1(J2)
BK(J3) 37 (BK(X))
38 (BKCOM1(X))
J3U1
39 (XU)
J3V1
40 (XV)
J3W1
41 (XW)
J3G1
42 (XG)
XHBK
43 +24V(B1)
RI3
44 RI4
RO3
45 RO4
+5V(C1,C2) 46 0V(A1)
PRQJ3 47 (PRQX)
XPRQJ3 48 (XPRQX)
G
SG
BKCOM1(J3)
49
50
51
52
53
54
55
56
57
58
59
60
Han 72DD
(2.5SQ 10A)
(BK(J4)) 61 (BK(J5))
62 (BKCOM1(J5))
J4U
63 J5U
J4V
64 J5V
J4W
65 J5W
J4G
66 J5G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
RI5
68 RI6
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2)
PRQJ4 71 PRQJ5
XPRQJ4 72 XPRQJ5
Y-KEY
WHITE
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2
B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0001-0848#E10SL1
A63L-0001-0850
M3M1
A1 J3U1
A2 BK(J3)
A3 J3W1
F06DYW
CTM
B1 J3G1
B2 J3V1
B3 BKCOM1(J3)
K101
A660-8016-T285
A63L-0001-0865#1
A63L-0001-0864#CS
X-KEY
WHITE
A63L-0001-0865#2
A63L-0001-0864#CS
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3
B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
A63L-0001-0848#E10SL1
A63L-0001-0850
F20DX
CTM
B1 (XG)
B2 (XV)
B3 (BKCOM1(X))
B4
J4G
B5 J4U
J4V
B6 (BK(J4))
(BKCOM1(J4)) B7 J4W
J5U
B8 J5G
(BK(J5)) B9 J5V
A10 J5W
B10 (BKCOM1(J5))
K105
A660-2006-T658
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
(XU)
(BK(X))
(XW)
K106
A660-4004-T810
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5)
M456PEE1 F20DY
CTM
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
(
SIZE C )
0V
(BT1,BT2,BT3,
BT4,BT5)
M2P
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
(PRQX)
B1 (XPRQX)
B2 0V(BT4,BT5)
B3 XPRQJ4
B4 0V(C1,C2)
B5 XPRQJ5
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
RI1
B8 RI2
RI3
B9 RI4
A10 RI5
B10 RI6
+6V(BT4,BT5)
PRQJ4
+5V(C1,C2)
PRQJ5
F08DX
CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1
B2 RO2
A3 RO3
B3 RO4
A4 RO5
B4 RO6
K107
A660-4004-T811
YV1
K108
A660-2006-T659
NOTE)
1. (***)
SIGNALS ARE NOT USED.
2. A05C-1139-B202
REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.
Fig. B(g) CIRCUIT DIAGRAM (LR Mate 200iC/5H 3-axes brake type)
- 154 -
1
4
1
4
J2U1
J2G1
BKCOM1(J2)
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
J3 MOTOR (iSR0.5/6000)
M3M
2
3
K104
A660-4004-T707
M3P1
BK(J2)
8
9 +5V(B1)
10 0V(B1)
K103
A660-2006-T657
J3V1
J3W1
M3BK
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
(BKCOM1(J4))
J2V1
J2W1
BK(J3)
M3P
8
9 +5V(B2)
10 0V(B2)
1
4
1
4
J3U1
J3G1
BKCOM1(J3)
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M4M1H
(
X-KEY
BLACK
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
A1 J4U
A2
A3 J4W
A63L-0001-0865#1
A63L-0001-0864#CS
F06DX
CTM
B1 J4G
B2 J4V
B3
M4M
2
3
K110
A660-2006-T771
F06DY
CTM
A1 +6V(BT4) B1 0V(BT4)
B2 XPRQJ4
A2 PRQJ4
A3 +5V(C1) B3 0V(C1)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
M5M1H
( Y-KEY
WHITE )
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
A1 J5U
A2
A3 J5W
F06DYW
CTM
B1 J5G
B2 J5V
B3
F06DXW
CTM
A1 +6V(BT5) B1 0V(BT5)
B2 XPRQJ5
A2 PRQJ5
A3 +5V(C2) B3 0V(C2)
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
X-KEY
BLACK
EE1
)
A1
A2
A3
A4
A5
A6
RI1
RI2
RI3
RI4
RI5
RI6
B1
B2
B3
B4
B5
B6
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
8
9 +5V(C1)
10 0V(C1)
A63L-0001-0865#1
A63L-0001-0864#CS
YV2
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
YV2
( X-KEY
BLACK )
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
2
3
YV2
A1 RO1
A2 RO2
A3 RO3
A4 RO4
A5
A6
M5P
1
4
8
9 +5V(C2)
10 0V(C2)
EE
2
K114
A660-2006-T665
J5U
J5G
1
RI2
3
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
A63L-0002-0072#12SN
RI1
9 +24V(A2) 8 +24V(A1)
10 +24V(B1) 12 0V(D2) 7 XHBK
RI3
11 0V(D1) 6 RI6
4 RI4
5 RI5
A05B-1139-H004
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
SOLENOID VALVE
A97L-0218-0113#D3
A05B-1139-H005
YV2
SOLENOID VALVE
A97L-0218-0113#D2
J5V
J5W
A63L-0001-0848#E10SL1
A63L-0001-0850
K113
A660-2006-T774
A05B-1139-H003
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3 0V(E3)
B4 0V(E4)
B5
B6
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
M5M
YV2
SOLENOID VALVE
A97L-0218-0113#D1
J4U
J4G
J5 MOTOR (iSR0.2/6000)
K112
A660-2006-T773
A05B-1139-H002
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
1
4
M4P
K111
A660-2006-T772
M5P1H
X-KEY
WHITE
J4V
J4W
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P1H
Y-KEY
BLACK
J4 MOTOR (iSR0.2/6000)
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
:
MOVABLE
- 155 -
SOLENOID VALVE
A97L-0218-0113#D3R
APPENDIX
J1 MOTOR (iSR1/6000)
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2
3
A63L-0001-0865#2
A63L-0001-0864#CS
J1V1
J1W1
2
3
BK(J1)
M1P
8
9 +5V(A1)
10 0V(A1)
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M2M1
(
1
4
J1U1
J1G1
M1BK
A63L-0001-0848#E10SL1
A63L-0001-0850
X-KEY
BLACK
B-82585EN/02
A1 J2U1
A2 BK(J2)
A3 J2W1
1 BKCOM1(J1)
4
4 +6V(BT1)
1
5 XPRQJ1
2
6 PRQJ1
3
7 0V(BT1)
F06DX
CTM
B1 J2G1
B2 J2V1
B3 BKCOM1(J2)
A63L-0001-0865#1
A63L-0001-0864#CS
J2 MOTOR (iSR1/6000)
M2M
2
3
K102
A660-4004-T706
A63L-0001-0865#2
A63L-0001-0864#CS
M2P1
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
J1 CONNECTOR PANEL
RMP
1
2
3
4
5
6
7
8
9
10
11
12
BK(J1)
BKCOM1(J1)
J1U1
J1V1
J1W1
J1G1
XROT
RI1
RO1
+5V(A1)
PRQJ1
XPRQJ1
13
14
15
16
17
18
19
20
21
22
23
24
25
26
J2U1
27
J2V1
28
J2W1
29
J2G1
30
+24V(OT,A1,A2) 31
RI2
32
RO2
33
+5V(B1,B2) 34
PRQJ2
35
XPRQJ2
36
BK(J2)
BKCOM1(J2)
BK(J3) 37
38
J3U1
39
J3V1
40
J3W1
41
J3G1
42
XHBK
43
RI3
44
RO3
45
+5V(C1,C2) 46
PRQJ3
47
XPRQJ3
48
G
SG
BKCOM1(J3)
49
50
(XU)
51
(XV)
52
(XW)
53
(XG)
54
+24V(B1) 55
RI4
56
RO4
57
0V(A1) 58
(PRQX)
59
(XPRQX) 60
(BK(X))
(BKCOM1(X))
Han 72DD
(2.5SQ 10A)
BK(J4) 61 BK(J5)
62 BKCOM1(J5)
J4U
63 J5U
J4V
64 J5V
J4W
65 J5W
J4G
66 J5G
0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6)
RI5
68 RI6
RO5
69 RO6
0V(B1,B2) 70 0V(C1,C2)
PRQJ4
71 PRQJ5
XPRQJ4
72 XPRQJ5
Y-KEY
WHITE
F06DY
CTM
A1 +6V(BT2) B1 0V(BT3)
A2 PRQJ2
B2 XPRQJ2
A3 +5V(B1) B3 0V(B1)
A63L-0001-0848#E10SL1
A63L-0001-0850
M3M1
A1 J3U1
A2 BK(J3)
A3 J3W1
F06DYW
CTM
B1 J3G1
B2 J3V1
B3 BKCOM1(J3)
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
K101
A660-8016-T285
( X-KEY
WHITE )
A63L-0001-0865#1
A63L-0001-0864#CS
A63L-0001-0865#2
A63L-0001-0864#CS
F06DXW
CTM
A1 +6V(BT3) B1 0V(BT3)
A2 PRQJ3
B2 XPRQJ3
A3 +5V(B2) B3 0V(B2)
A63L-0001-0848#E10SL1
A63L-0001-0850
M3P1
F20DX
CTM
B1 (XG)
B2 (XV)
(BKCOM1(X))
B3
B4
J4G
B5 J4U
J4V
B6 BK(J4)
BKCOM1(J4) B7 J4W
J5U
B8 J5G
BK(J5) B9 J5V
A10 J5W
B10 BKCOM1(J5)
K105
A660-2006-T658
( X-KEY
BLACK )
A1
A2
A3
A4
A5
A6
A7
A8
A9
(XU)
(BK(X))
(XW)
K106
A660-4004-T810
BATTERY
+
0V
(BT1,BT2,BT3,
BT4,BT5)
M456PEE1 F20DY
CTM
A63L-0002-0066#R20DY
A63L-0002-0066#CRM
(
SIZE C )
-
( Y-KEY
BLACK )
A63L-0002-0066#R08DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
B1 (XPRQX)
B2 0V(BT4,BT5)
B3 XPRQJ4
B4 0V(C1,C2)
PRQJ5
B5 XPRQJ5
+24V(A1,A2) B6 XHBK
+24V(B1) B7 0V(D1,D2)
RI1
B8 RI2
RI3
B9 RI4
A10 RI5
B10 RI6
A1
A2
A3
A4
A5
A6
A7
A8
A9
(PRQX)
+6V(BT4,BT5)
PRQJ4
+5V(C1,C2)
F08DX
CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1
B2 RO2
A3 RO3
B3 RO4
A4 RO5
B4 RO6
K107
A660-4004-T811
YV1
K108
A660-2006-T659
NOTE)
1. (***)
SIGNALS ARE NOT USED.
2. A05C-1139-B202
REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.
Fig. B(h) CIRCUIT DIAGRAM (LR Mate 200iC/5H 6-axes brake type)
- 156 -
J2U1
J2G1
1 BKCOM1(J2)
4
4 +6V(BT2)
1
5 XPRQJ2
2
6 PRQJ2
3
7 0V(BT2)
J3 MOTOR (iSR0.5/600
M3M
2
3
K104
A660-4004-T707
M456M1
A63L-0002-0066#R20DX
A63L-0002-0066#CRM
+6V
(BT1,BT2,BT3,
BT4,BT5)
M2P
J3V1
J3W1
1
4
J3U1
J3G1
M3BK
2
3
BKCOM1(J4)
BK(J2)
8
9 +5V(B1)
10 0V(B1)
K103
A660-2006-T657
1
4
M2BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J2V1
J2W1
BK(J3)
M3P
8
9 +5V(B2)
10 0V(B2)
1 BKCOM1(J3)
4
4 +6V(BT3)
1
5 XPRQJ3
2
6 PRQJ3
3
7 0V(BT3)
APPENDIX
B-82585EN02
A63L-0002-0066#R06DX
A63L-0002-0066#CRM
M4M1
( X-KEY
BLACK )
A1 J4U
A2 BK(J4)
A3 J4W
F06DX
CTM
B1 J4G
B2 J4V
B3 BKCOM1(J4)
A63L-0001-0865#1
A63L-0001-0864#CS
J4 MOTOR (iSR0.2/6000)
M4M
2
3
K110
A660-4004-T812
F06DY
CTM
A1 +6V(BT4) B1 0V(BT4)
A2 PRQJ4
B2 XPRQJ4
A3 +5V(C1) B3 0V(C1)
A63L-0002-0066#R06DYW
A63L-0002-0066#CRM
M5M1
(
Y-KEY
WHITE
A1 J5U
A2 BK(J5)
A3 J5W
F06DYW
CTM
B1 J5G
B2 J5V
B3 BKCOM1(J5)
8
9 +5V(C1)
10 0V(C1)
A63L-0001-0865#1
A63L-0001-0864#CS
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
X-KEY
BLACK
EE1
)
A1
A2
A3
A4
A5
A6
RI1
RI2
RI3
RI4
RI5
RI6
B1
B2
B3
B4
B5
B6
F12DX
CTM
XHBK
+24V(A1)
+24V(A2)
+24V(B1)
0V(D1)
0V(D2)
M5M
2
3
A1
A2
A3
A4
A5
A6
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
R12DX
CRM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
YV2
( X-KEY
BLACK )
A1 RO1
A2 RO2
A3
A4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3
B4
B5
B6
A1 RO1
A2 RO2
A3 RO3
A4 RO4
A5
A6
F12DX
CTM
B1 0V(E1)
B2 0V(E2)
B3 0V(E3)
B4 0V(E4)
B5
B6
J5U
J5G
1 BKCOM1(J5)
4
EE
2
1
RI2
3
4 +6V(BT5)
1
5 XPRQJ5
2
6 PRQJ5
3
7 0V(BT5)
A63L-0002-0072#12SN
RI1
9 +24V(A2) 8 +24V(A1)
10 +24V(B1) 12 0V(D2) 7 XHBK
RI3
11 0V(D1) 6 RI6
4 RI4
5 RI5
A05B-1139-H004
A1
A2
A3
A4
A5
A6
SOLENOID VALVE
A97L-0218-0113#D1
8
9 +5V(C2)
10 0V(C2)
K114
A660-2006-T665
YV2
RO1
RO2
RO3
RO4
RO5
RO6
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
B1
B2
B3
B4
B5
B6
F12DX
CTM
0V(E1)
0V(E2)
0V(E3)
0V(E4)
0V(E5)
0V(E6)
SOLENOID VALVE
A97L-0218-0113#D3
A05B-1139-H005
YV2
SOLENOID VALVE
A97L-0218-0113#D2
1
4
BK(J5)
M5P
K113
A660-2006-T774
A05B-1139-H003
YV2
J5V
J5W
A63L-0001-0848#E10SL1
A63L-0001-0850
A05B-1139-H002
YV2
4 +6V(BT4)
1
5 XPRQJ4
2
6 PRQJ4
3
7 0V(BT4)
A63L-0001-0865#2
A63L-0001-0864#CS
M5BK
F06DXW
CTM
A1 +6V(BT5) B1 0V(BT5)
A2 PRQJ5
B2 XPRQJ5
A3 +5V(C2) B3 0V(C2)
1 BKCOM1(J4)
4
J5 MOTOR (iSR0.2/6000)
K112
A660-4004-T813
M5P1
( X-KEY
WHITE )
BK(J4)
M4P
K111
A660-2006-T772
2
3
A63L-0002-0066#R06DXW
A63L-0002-0066#CRM
J4U
J4G
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P1
( Y-KEY
BLACK )
1
4
M4BK
2
3
A63L-0002-0066#R06DY
A63L-0002-0066#CRM
J4V
J4W
A63L-0001-0865#2
A63L-0001-0864#CS
A1
A2
A3
A4
A5
A6
:
MOVABLE
- 157 -
RO1
RO2
RO3
RO4
RO5
RO6
SOLENOID VALVE
A97L-0218-0113#D3R
APPENDIX
B-82585EN/02
J1 connector plate
AIR 1
J3 arm
J1 connector plate
AIR 2
J3 casing
Exhaust port
RO1
RO2
RO2
RO1
Fig. B(i)
Air pressure diagram
(Double solenoid valve1 A05B-1139-H002,H012,H017,H022,H032 is specified)
J1 connector plate
AIR 1
J3 arm
J1 connector plate
AIR 2
J3 casing
Exhaust port
RO3
RO1
RO2
RO4
RO4
RO3
RO2
RO1
Fig. B(j)
Air pressure diagram
(Double solenoid valve2 A05B-1139-H003,H013,H018,H023,H033 is specified)
- 158 -
B-82585EN02
APPENDIX
J1 connector plate
AIR 1
J3 arm
J1 connector plate
AIR 2
J3 casing
Exhaust port
RO5
RO3
RO6
RO4
RO1
RO2
RO6
RO5
RO4
RO3
RO1
RO2
J1 connector plate
AIR 1
J3 arm
J1 connector plate
AIR 2
J3 casing
Exhaust port
RO5
RO3
RO1
RO2
RO4
RO6
RO6
RO5
RO4
RO3
RO2
RO1
- 159 -
APPENDIX
B-82585EN/02
FANUC Robot LR Mate 200iC, LR Mate 200iC/5C, /5L, /5LC Periodic Maintenance Table
Check
time
Items
1
4800
5760
6720
7680
0.2H
3 bolt.
2.0H
1.0H
0.1H
Mechanical unit
2
years
0.2H
Replacing battery.
(if built-in batteries are
specified)
Replacing battery.
(if external batteries are
specified)
7 unit *1
0.5H
8640
9600 10560
0.1H
14ml
4.0H
0.2H
0.2H
0.2H
11 Replacing battery *1
0.1H
Control unit
1
First
Oil
6
9
3
Grease check
months months months years
amount 320
960
1920 2880 3840
- 160 -
APPENDIX
B-82585EN/02
years
years
years
years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
Overhaul
6
7
10
11
- 161 -
APPENDIX
B-82585EN/02
Mechanical unit
1
First
Check
Oil
6
9
3
time Grease check
months months months years
amount 320
960
1920 2880 3840
2
years
4800
5760
6720
7680
1 connector.(loosening)
0.2H
0.2H
Replacing battery.(external
1.0H
5 battery)
0.1H
0.5H
14ml
4.0H
8 pendant cable
0.2H
0.2H
0.2H
11 Replacing battery *1
0.1H
7 unit *
Control unit
8640
9600 10560
- 162 -
APPENDIX
B-82585EN/02
3
years
4
years
Item
5
Overhaul
6
7
10
11
- 163 -
APPENDIX
B-82585EN/02
Check
time
Items
1
2
years
4800
5760
6720
7680
0.2H
3 bolt.
2.0H
1.0H
0.1H
Mechanical unit
1
First
Oil
6
9
3
Grease check
months months months years
amount 320
960
1920 2880 3840
0.2H
Replacing battery.
(if built-in batteries are
specified)
Replacing battery.
(if external batteries are
specified)
4.0H
0.2H
0.2H
0.2H
11 Replacing battery *1
0.1H
8640
9600 10560
12ml
0.1H
0.5H
7 unit *
Control unit
- 164 -
APPENDIX
B-82585EN/02
years
years
years
years
years
years
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
Item
Overhaul
6
7
10
11
- 165 -
APPENDIX
B-82585EN/02
- 166 -
APPENDIX
B-82585EN/02
Nominal
diameter
M3
M4
M5
M6
M8
M10
M12
(M14)
M16
(M18)
M20
(M22)
M24
(M27)
M30
M36
Unit: Nm (kgf-cm)
Tightening torque
Upper limit
Lower limit
Tightening torque
Upper limit
Lower limit
1.8(18)
4.0(41)
7.9(81)
14(140)
32(330)
66(670)
110(1150)
180(1850)
270(2800)
380(3900)
530(5400)
730(7450)
930(9500)
1400(14000)
1800(18500)
3200(33000)
1.3(13)
2.8(29)
5.6(57)
9.6(98)
23(230)
46(470)
78(800)
130(1300)
190(1900)
260(2700)
370(3800)
510(5200)
650(6600)
960(9800)
1300(13000)
2300(23000)
0.76(7.7)
1.8(18)
3.4(35)
5.8(60)
14(145)
27(280)
48(490)
76(780)
120 (1200)
160(1650)
230(2300)
-
- 167 -
0.53(5.4)
1.3(13)
2.5(25)
4.1(42)
9.8(100)
19(195)
33(340)
53(545)
82(840)
110(1150)
160(1600)
-
1.3(13)
2.8(29)
5.6(57)
9.6(98)
23(230)
-
INDEX
B-82585EN/02
INDEX
<Number>
<M>
<O>
OVERVIEW ................................................................... 24
<P>
<A>
PREFACE...................................................................... p-1
<B>
<R>
REPLACING CABLES.................................................. 89
<C>
CABLE WIRING............................................................ 90
REPLACING J3 BELT................................................... 82
<D>
DAILY CHECKS..............................................................2
<F>
REPLACING PARTS..................................................... 36
REPLACING SOLENOID VALVE............................... 86
<G>
reducer............................................................................. 17
reducer............................................................................. 18
reducer............................................................................. 19
reducer............................................................................. 20
reducer............................................................................. 22
i-1
INDEX
B-82585EN/02
<S>
SAFETY PRECAUTIONS ............................................ s-1
SEALANT APPLICATION............................................ 88
SPARE PARTS LIST.................................................... 131
<T>
TROUBLESHOOTING .................................................. 23
i-2
Revision Record
FANUC Robot LR Mate 200iC MECHANICAL UNIT MAINTENANCE MANUAL (B-82585EN)
Revice
01
Nov., 2007
Edition
Date
Contents
Edition
Date
Contents