B--80785EN/03 MAINTENANCE 6.

REPLACING PARTS

6.13 1 Remove the cover with packing at the rear of the J3 arm.
REPLACING 2 Solenoid valves are on the rear side of the cover with packing. Remove
the connectors and air tubes to remove the solenoid valves.
SOLENOID VALVES 3 Remove the joint and replace the solenoid valves and remount them
in the reverse procedure. See Fig.6.13 (b), (c), (d) and (e) for the
location of the connectors and air tubes.

Button head screw

Fig.6.13 (a) Replacing solenoid valves (LR Mate 100 )

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Optional solenoid valves (a) For Standard and high--speed specifications

Optional solenoid valve Solenoid valve Cable
A05B--1131--H001 A97L--0218--0018#002 This option comes
(2 position double solenoid M02C *1 with the solenoid
" 2 pcs) valve. The user
does not need to
order it.
A05B--1131--H002 A97L--0118--0050#V2 A660--4003--T228
(2 position double solenoid
" 2 pcs + 2 position single so-
lenoid x 2 pcs)
A05B--1131--H003 A97L--0118--0050#V4 A660--4003--T228
(3 position ABR port connec-
tion " 1 pcs + 2 position double
solenoid " 1 pcs + 2 position
single solenoid " 2 pcs)

*1 When replacing the solenoid valve attached to a robot shipped in May,

1998 or earlier, order the solenoid valve maintenance kit
(order number: A05B--1134--K021).
(b)For Clean--type specification
Optional solenoid valve Solenoid valve Cable
A05B--1134--H011 A97L--0218--0018#102 This option comes
(2 position double solenoid " 2 M02C with the solenoid
pcs) valve. The user
does not need to
order it.

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6. REPLACING PARTS MAINTENANCE B--80785EN/03

Fig.6.13 (b) Replacing solenoid valves (LR Mate 100 )

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(Solenoid optional specification A05B--1131--H001)

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B--80785EN/03 MAINTENANCE 7. PIPING AND WIRING

7.1 Fig.7.1 (a) and (b) show the internal piping diagram of the mechanical
unit.
PIPING

Fig.7.1 (a) Piping diagram (LR Mate 100 )

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7. PIPING AND WIRING MAINTENANCE B--80785EN/03

Fig.7.1 (b) Piping diagram of clean type (LR Mate 100 )

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Fig.7.1 (c) shows the pneumatic circuit diagram in the mechanical unit.

Fig.7.1 (c) Pneumatic circuit diagram (LR Mate 100 )

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7.2 Fig.7.2 (a) and (b) show mechanical unit wiring diagram.
WIRING DIAGRAM

Fig.7.2 (a) Mechanical unit wiring diagram (LR Mate 100 )

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Fig.7.2 (b) Mechanical unit wiring diagram (LR Mate 100 ) (Battery stand alone option)
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3. INSTALLING THE END

3
EFFECTOR CONNECTION B--80785EN/03

INSTALLING THE END EFFECTOR

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 3. INSTALLING THE END
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3.1 Fig.3.1 shows the end effector mounting face at the tip of the wrist. Fit
the end effector to the wrist using a $20H7 or $40h7 engagement, position
INSTALLING THE the effector using a $5H7 reamed hole, and fix the effector to the wrist
END EFFECTOR TO using 4--M5 tapped holes.
THE WRIST Specify the lengths of the M5 bolts and positioning pin in consideration
of the depths of the tapped holes and reamed hole.

Fig.3.1 Surface for installing the end effector

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3.2 Fig.3.2 shows the position of the tapped holes for installing the cover
protecting the cables and pneumatic tubes for the robot’s hand.
SURFACE FOR
INSTALLING THE NOTE
COVER You must manufacture your own covers, that satisfy the load
conditions at the wrist as specified in Section 3.5.

Fig.3.2 Surface for installing the cover

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3.3 Air is supplied to the end effector with the four M5 holes (RDO1 to
RDO4) [AIR11, AIR12, AIR13, AIR14] and the two M5 holes (RDO5
SUPPLYING AIR and RDO6) [AIR21, AIR22]. Optional solenoid valves can be mounted
at RDO1 to RDO6 as shown in Tables 3.3 (a) and (c). The J1--axis
connector panel has two ports (PT 1/4) for supplying air to the end
effector. Port AIR1 is used for RDO1 to RDO4 [AIR11, AIR12, AIR13,
AIR14]. Port AIR2 is used for RDO5 and RDO6 [AIR21, AIR22]. Plugs
are inserted in all the ports used for supplying air before the robot is
shipped. To use the air circuit, you must remove the plugs and connect
the couplings with the ports.
When the solenoid valve is to be replaced, the entire manifold should be
replaced.
Table 3.3 (a) Optional solenoid valves
Option name Specification number Description
LR Mate 100i solenoid A05B--1131--H001 Two double solenoids
valve A
LR Mate 100i solenoid A05B--1131--H002 Two double solenoids+two
valve B single solenoids
LR Mate 100i solenoid A05B--1131--H003 One double solenoids +
valve C two single solenoids + one
3 position solenoid (ABR
connection)
LR Mate 100i air pipe A05B--1131--H010 Air joint only (no solenoid
valve)

Table 3.3 (b) Solenoid valve specifications for A05B--1131--H002

and A05B--1131--H003
RDO number Manufacturer Effective cross--
specifications spectional area
RDO1 to 4 4SB029--00--C2--DC24V 1.8mm2 (CV value)
[AIR11, AIR12, (2--position, double)
AIR13, AIR14] manufactured by CKD
RDO 5 and 6 4SB019--00--C2--DC24V
[AIR21, AIR22] (2--position, single)
manufactured by CKD
RDO1 and 2 4SB049--00--C2--DC24V
(3--position, ABR connection)
manufactured by CKD

Table 3.3 (c) Solenoid valve specifications for A05B--1131--H001

RDO number Manufacturer Effective cross--
specifications spectional area
RDO1 to RDO4 VQ1241--5L0--C4 6.3mm2 (CV value)
manufactured by SMC

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D Clean type Air is supplied to the end effector with the four M5 holes (RDO1 to
RDO4) and two M5 holes (AIR21, AIR22). The optional solenoid valves
indicated in Table 3.3 (d) and Table 3.3 (e) are available for RDO1 to
RDO4.
The J1--axis connector panel has two ports (PT1/4) for supplying air to the
end effector. AIR1 is used for RDO1 to RDO4, and AIR2 is used for
AIR21 and AIR22. When an optional solenoid valve is installed, air from
the solenoid valve is output through EXT (PT1/4) on the same connector
panel.
When the clean type is selected, clean--type optional solenoid valves and
internal pneumatic fittings are used, so that the air within the mechanical
unit is not contaminated. When clean air is used, clean air is supplied to
the hand as well.
At shipment, all air inlets are plugged or capped. Before using the air
circuit, remove the plugs or caps, and seal the fittings.
When the solenoid valve is to be replaced, the entire manifold should be
replaced.
Table 3.3 (d) Describes the solenoid valves based on a clean specification.
Table 3.3 (d) Solenoid valves based on clean type
Option Specification number Description
LR Mate 100i A05B--1134--H011 Clean specification
clean--type Two 2--position double solenoids
solenoid valve A
LR Mate 100i A05B--1134--H020 Clean specification
clean--type Air joint only (no solenoid valve)
air pipe

Table 3.3 (e) Solenoid valves for A05B--1134--H011

RDO number Manufacturer specification Effective cross--sectional
area
RDO1 to 4 10--VQ--1241--5LO--C4--X11 6.3 mm2 (CV value)
manufactured by SMC

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 3. INSTALLING THE END
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Fig.3.3 (a) Supplying air

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3. INSTALLING THE END
EFFECTOR CONNECTION B--80785EN/03

Fig.3.3 (b) Supplying air (clean type)

Fig.3.3 (c) Air supply ports RDO1 to RDO4 [AIR11, AIR12, AIR13, AIR14]

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 3. INSTALLING THE END
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Fig.3.3 (d) Air supply ports RDO5 and RDO6 [AIR21, AIR22]

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3. INSTALLING THE END
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3.4 To use confirmation signals in the end effector, the wrist casing contains
the DI signal interface for the end effector. The J2 base contains a terminal
DI/DO SIGNAL block for the RDI common switch, *HBK signal, and *PPABN signal.
INTERFACES FOR When no solenoid valve is fitted, a DO signal interface for the end effector
THE END EFFECTOR is provided on the rear surface of the J3 arm.
Fig.3.4 (a) shows the locations of each interface and the pin assignment.

Fig.3.4 (a) Signal interfaces for the end effector

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 3. INSTALLING THE END
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In addition, the J2 base contains the terminal block for the signal
switching the RDI common voltage *HBK signal, and *PPABN signal.
(Refer to Figs.3.4 (b) to (d))

Fig.3.4 (b) Setting of the RDI common voltage

Fig.3.4 (c) *HBK signal

To be available this signal,change system variable #PARAM_GROUP. #PPABN_ENBL from

“FALSE” to “TRUE” and turn off and on the power supply of controller.
Fig.3.4 (d) *PPABN signal

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3. INSTALLING THE END
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3.5 The following figure shows load conditions at the wrist.

LOAD CONDITIONS
AT THE WRIST

Load conditions at the wrist corresponding to a maximum load of 3kgf

Allowable moment of swing around the J4--axis 544 Ncm (55.5kg fcm)
Allowable inertia of swing around the J4--axis 0.108kgm2 (1.10kgfcms 2)
Allowable moment of rotation around the J5--axis 392 Ncm (40.0kgfcm)
Allowable inertia of rotation around the J5--axis 0.0402kgm2 (0.41 kgfcms2)

Load conditions at the wrist corresponding to a maximum load of 4kgf

Allowable moment of swing around the J4--axis 725 Ncm (74.0 kg fcm)
Allowable inertia of swing around the J4--axis 0.138kgm2 (1.40 kgfcms2)
Allowable moment of rotation around the J5--axis 392 Ncm (40.0kgfcm)
Allowable inertia of rotation around the J5--axis 0.0402kgm2 (0.41 kgfcms2)

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 3. INSTALLING THE END
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Load conditions at the wrist corresponding to a maximum load of 5kgf

Allowable moment of swing around the J4--axis 490 Ncm (50.0kg fcm)
Allowable inertia of swing around the J4--axis 0.221kgm2 (2.25kgfcms 2)
Allowable moment of rotation around the J5--axis 43 Ncm (4.4kgfcm)
Allowable inertia of rotation around the J5--axis 0.050kgm2 (0.51kgfcms 2)

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