B-82234EN/11 5.

PIPING AND WIRING TO THE END EFFECTOR

5 PIPING AND WIRING TO THE END

EFFECTOR
WARNING
・ Use mechanical unit cables that have required user interface.
・ Don’t add user cable or hose to inside of mechanical unit.
・ Please do not obstruct the movement of the mechanical unit cable when cables are
added to outside of mechanical unit.
・ Please do not perform remodeling (Adding a protective cover and fix an outside cable
more) obstructing the behavior of the outcrop of the cable.
・ Please do not interfere with the other parts of mechanical unit when equipment is
installed in the robot.
・ Cut unnecessary length of wire rod. Make insulation processing like winding acetate
tape. (See Fig.5)
・ If you can not prevent electrostatic charge of work and end effector, keep away an
end effector (a hand) cable from an end effector and a work as much as possible,
when wiring it. When they come to close unavoidable, make insulation processing
between them.
・ Be sure to seal connectors of hand side and robot side and terminal parts of cables,
to prevent water from entering the mechanical unit. Also, attach cover to unused
connector.
・ Check looseness of connector and wound of coating of cables routinely.
When these attentions are not kept, unexpected troubles might occur.

End effector (hand) cable

Cut unnecessary length of unused wire rod Insulation processing

Fig.5 Treatment method of end effector (hand) cable

5.1 AIR SUPPLY (OPTION)

Robot has two or one air inlet and air outlet openings on the back of the J1 base and the front or side of
the J3 casing. The connector is a Rc1/2 female (ISO).
As coupling are not supplied, it will be necessary to prepare couplings which suit to the hose size.

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Four air line : Panel union x 4

Dual air line : Panel union x 2
Single air line : Panel union x 1
Rc1/2 Female (Air outlet side)

Air tube x 4 or 2 or 1
Outside diameter : 12mm
Inside diameter : 8mm

Four air line : Panel union x 4

Dual air line : Panel union x 2
Single air line : Panel union x 1
Rc1/2 Female (Air inlet side)
Fig. 5.1 (a) Air supply (option) (R-2000iB / 165F, 210F, 185L, 250F, 125L, 175L, 100H, 150U, 220U)

Air tube
Outside diameter
Inside diameter

Dual air line : Panel union × 2

Dual air line : Panel union × 2 Single air line : Panel union × 1
Single air line : Panel union × 1 Ro1 / 2 Female (Air outlet side)
Rc1 / 2 Female (Air inlet side)

Fig. 5.1 (b) Air supply (option) (R-2000iB/165R,200R,100P)

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Purge air inlet Air inlet A1 to end effector

Rc 1/2 female Air inlet B1 to end effector

Dual air line: panel union X 2

　Rc 1/2　female (Air outlet side)

Detail A Airt tube×2

Outside diameter　12mm
Inside diameter　8mm

A Dual air line: panel union X 2

　Rc 1/2　female (Air inlet side)

Fig. 5.1 (c) Air supply (option) (R-2000iB/210WE)

Dual air line : Panel union X 2

Single air line: Panel union X 1
Rc 1/2　Female(Air outlet side)　

Air tubeX2 or
Air tubeX1
Outside diameter　12mm
Inside diameter　 8mm

Dual air line : Panel union X 2

Single air line : Panel union X 1
Rc 1/2　Femal(Air inlet side)　
Fig. 5.1 (d) Air supply (option) (R-2000iB/170CF)

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Dual air line　 ：　Panel union × 2 It is connected to A. Cut off

Single air line　：　Panel union ×１
　Rc1/2 Female （Air outlet side）　A

Air tube X 2 or
Air tube X 1
Air tube X 2 or Outside diameter 12mm
Air tube X 1 Inside diameter 9mm
Outside diameter 12mm
Inside diameter 8mm

Dual air line　 ：　Panel union × 2

Single air line　：　Panel union ×１
　Rc1/2 Female （Air inet side）　A

J1-axis-J3-axis option J4-axis-J6-axis option

Fig. 5.1 (e) Air supply (option) (R-2000iB/210FS,220US)

Single air line : Panel union × 2

Dual air line : Panel union × 1
Rc1 / 2 Female (Air outlet side)
Air tube × 2 or 1
Outside diameter 12mm
Inside diameter 8mm

Single air line : Panel union × 2

Dual air line : Panel union × 1
Rc1 / 2 Female (Air inlet side)

Fig. 5.1 (f) Air supply (option) (R-2000iB/165CF)

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5.2 AIR PIPING (OPTION)

Fig. 5.2 (a) shows how to connect air hose to the robot. If the air control set is specified as an option, the
air hose between the mechanical unit and the air control set is provided. Mount the air control set using
the information in Fig. 5.2 (b).

Elbow nipple
R3/8
R3/8 Straight nipple
R3/8

Air hose 3m In dotted line

Outer 12mm Inner 8mm Air control set (Option)
Fig. 5.2 (a) Air piping (option)
Air control set
Fill the lubricator having three air components to the specified level with turbine oil#90 to # 140. The
machine tool builder is required to prepare mounting bolts.

70

64

Air filter Lubricator

Fig. 5.2 (b) Air control set option

NOTE
The capacity values of the three air components are determined as follows.
These values must not be exceeded.

Supply air pressure
Air pressure
Amount of consumption
2
0.49 to 0.69MPa(5 to 7kgf/cm )，
2
Setting: 0.49MPa(5kgf/cm )
Maximum instantaneous amount 150Nl/min(0.15Nm3/min)

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5.3 INTERFACE FOR OPTION CABLE (OPTION)

Fig. 5.3 (a) to (d) show the position of the option cable interface. Fig. 5.3 (e) to (k) show the option
cable interface.
EE interface (RI/RO), I/O Unit-MODEL B interface and user cable (signal lines, signal line usable to the
force sensor, power lines ), DeviceNet cable (signal lines, power lines), additional axis motor
cable(Pulsecoder line) ,additional axis motor cable(power and brake), 3DL sensor cable, camera cable and
LED lighting are prepared as options.

NOTE
Each option cable is written like below on connector panel
EE(RI/RO) interface : EE
I/O Unit Model B : I/O
User cable (signal) : AS
User cable (signal usable to force sensor) : ASH
User cable (power) : AP
Devicenet cable (signal) : DS
Devicenet cable (power) : DP
Additional axis motor cable (Pulsecoder) : ARP
Additional axis motor cable (power,brake) : ARM
3DL sensor cable : SEN
Camera cable : CAM

NOTE
In case of R-2000iB/210WE, option cable in this section cannot be used.

Fig. 5.3 (a) Interface for optional cable (OPTION)

(R-2000iB/165F, 210F, 185L, 250F, 125L, 175L, 100H, 150U, 220U)

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B
A

Fig. 5.3 (b) Interface for optional cable (OPTION) (R-2000iB/165R, 200R,100P)

Fig. 5.3 (c) Interface for optional cable (OPTION) (R-2000iB/170CF)

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A C

Please refer to specification

for details of pin layout and
connector specification.

J1-axis-J3-axis option J4-axis-J6-axis option

Fig. 5.3 (d) Interface for optional cable (OPTION) (R-2000iB/210FS,220US)

Fig. 5.3 (e) Interface for optional cable (OPTION) (R-2000iB/165CF)

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J3 casing connector panel (Output) J1 base connector panel (Input)

User cable (signal) (Air inlet)

EE interface interface
(RI/RO)

User cable (power)

(Air outlet) interface
User cable (power) User cable (signal)
interface interface
VIEW A VIEW B
With user cable (signa/power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U　Standard:A05B-1329-H201/CE:A05B-1329-H501
R-2000iB/165R,200R　Standard:A05B-1329-H301/CE:A05B-1329-H601
R-2000iB/100P Standard:A05B-1329-H901/CE:A05B-1329-H921
R-2000iB/100H Standard:A05B-1329-H211/CE:A05B-1329-H511
R-2000iB/220U CE:A05B-1329-H781
J3 casing connector panel (Output) J1 base connector panel (Input) J2 base connector panel (Output)
(Air inlet)
EE interface Devicenet cable
(RI/RO) (signal) interface
Devicenet cable
(power) interface

Devicenet cable
(signal) interface
(Air outlet) Devicenet cable
(signal) interface
Devicenet cable
(power) interface
Devicenet cable
(power) interface
VIEW A VIEW C
VIEW B
With devicenet cable (signal/power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Standard:A05B-1329-H202/CE:A05B-1329-H502
R-2000iB/165R,200R Standard:A05B-1329-H302/CE:A05B-1329-H602
R-2000iB/100P Stanadard:A05B-1329-H902/CE:A05B-1329-H922
R-2000iB/100H Stanadard:A05B-1329-H212/CE:A05B-1329-H512
R-2000iB/220U CE:A05B-1329-H782
J3 casing connector panel (Output) J1 base connector panel (Input)
EE interface
(RI/RO) (Air inlet)
I/O unit MODEL B
interface

User cable (power)

(Air outlet) interface

I/O unit MODEL B

interface User cable (power)
interface
VIEW A VIEW B
With I/O unit MODEL B and user cable (power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Standard:A05B-1329-H203/CE:A05B-1329-H503
R-2000iB/165R,200R Standard:A05B-1329-H303/CE:A05B-1329-H603
R-2000iB/100P Standard:A05B-1329-H903/CE:A05B-1329-H923
R-2000iB/100H Standard:A05B-1329-H213/CE:A05B-1329-H513
J3 casing connector panel (Output) J1 base connector panel (Input)

Additional axis motor cable (Air inlet)

EE interface (Pulsecoder) interface
(RI/RO)

(Air outlet)
Additional axis motor cable Additional axis motor cable
(power,brake) interface (Pulsecoder) interface

Additional axis motor cable

VIEW A VIEW B (power,brake) interface

Withd additional axis motor cable (Pulsecoder/power,brake)

Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U Stanadard:A05B-1329-H204/CE:A05B-1329-H504
R-2000iB/165R,200R Standard:A05B-1329-H304/CE:A05B-1329-H604
R-2000iB/100P Standard:A05B-1329-H904/CE:A05B-1329-H924
R-2000iB/100H Standard:A05B-1329-H214/CE:A05B-1329-H514
R-2000iB/220U CE:A05B-1329-H784

Fig. 5.3 (f) Interface for option cable

(R-2000iB/165F, 210F, 185L,250F,165R, 200R,100P,125L,175L,100H,150U,220U)

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J3 casing panel （Output) J1 base panel（Input)

Additional axis motor cable

(Pulsecoder line) (Air inlet)
interface
User cable (signal line)
interface
User cable (signal line)
interface
Additional axis motor cable
(Pulsecoder line)
interface

(Air outlet)

Additional axis motor cable

(power,brake line) Additional axis motor cable
VIEW A interface
VIEW B (power,brake line)
interface

With user cable (signal line) and additional axis motor cable

Spec. of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U　 CE:A05B-1329-H207
R-2000iB/165R,200R CE:A05B-1329-H307

J3 casing panel （Output) J1 base panel（Input)

EE interface User cable (signal line usable
(RI/RO) to the 3DL sensor and force sensor)
interface

(Air inlet)

Camera cable User cable (signal line usable

interface to the 3DL sensor and force sensor)
interface
(Air outlet)
Camera cable
interface
VIEW A VIEW B
With user cable (sinagl line usable to the 3DL sensor and force sensor) and camera
(for iRVision camera package)

Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U　CE:A05B-1329-H209
R-2000iB/165R,200R　CE:A05B-1329-H309
J3 casing panel （Output) J1 base panel（Input) (Air inlet)

(Air outlet)

User cable (signal)

interface

User cable (signal)

VIEW A interface VIEW B

With user cable (signal) and AIRX2

Spec. of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U　 Standard:A05B-1329-H210
J3 casing panel （Output) J1 base panel（Input)

(Air outlet)
(Air inlet)
User cable (signal line usable
EE interface to the 3DL sensor and force sensor) Camera cable
interface interface
(RI/RO)

User cable (signal line usable

Camera cable to the 3DL sensor and force sensor)
interface interface

VIEW A VIEW B
With camera cable (usable to force sensor and 3DL　sensor)
Spec. of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE：A05B-1329-H215
R-2000iB/165R,200R　CE：A05B-1329-H315

(Air inlet)
J3 casing panel （Output) J1 base panel（Input) 3DL sensor
interface

3DL sensor User cable (signal)

interface interface

Camera cable
interface
User cable (signal)
interface

User cable (power)

interface
(Air outlet) 3DL sensor Camera cable User cable (power)
interface interface interface

VIEW A VIEW B

Withd 3DL sensor, camera,LED light and user cable (signal/power) and without EE(RI/RO)
Spec of cables
R-2000iB/165F,185L,250F,210F,125L,175L,150U CE:A05B-1329-H801
R-2000iB/165R,200R CE:A05B-1329-H851

Fig. 5.3 (g) Interface for option cable (R-2000iB/165F, 210F, 185L, 250F, 165R, 200R,125L,175L,150U)
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J3 casing panel （Output) J1 base panel（Input)

3DL sensor
3DL sensor (Air inlet)
User cable (signal) interface
interface
interface

Camera cable
interface

User cable (signal)

interface
(Air outlet) EE interface
(RI/RO) LED light Camera cable
interface interface
VIEW A VIEW B
With 3DL sensor,camera,LED light and user cable (signal)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H802
R-2000iB/165R,200R CE: A05B-1329-H852

J3 casing panel （Output) J1 base panel（Input)

Additional axis motor cable (Pulsecoder) Additional axis motor cable (Pulsecoder)
interface interface
(Air inlet)
User cable (signal)
interface

Camera cable
interface
User cable (signal)
interface

(Air outlet)

Additional axis motor cable (power,brake) Additional axis motor cable (power,brake)
VIEW A interface VIEW B Camera cable interface
interface

With additional axis motor cable,camera and user cable (signal) and without EE(RI/RO)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H804

J3 casing panel (Output) J1 base panel (Input)

3DL sensor (Air inlet)

User cable
interface (signal usable to
the force sensor)

User cable
(signal usable to
the force sensor)
3DL sensor
interface
Camera cable User cable
interface (power)
(Air outlet)
VIEW A Camera cable VIEW B User cable
interface (power)

With user cable (signal usable to the force sensor/power) , 3DL sensora and camera
and withouout EE(RI/RO)
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U　CE: A05B-1329-H808
R-2000iB/165R,200R　CE:A05B-1329-H858

J3 casing panel (Output) J1 base panel (Input)

(Air inlet)
User cable 3DL sensor
3DL sensor (signal usable to interface
interface the force sensor)

User cable
(signal usable to
the force sensor)

(Air outlet) Camera cable EE interface

interface (RI/RO) Camera cable
VIEW A VIEW B interface

With user cable (signal usable to the force senor), 3DL sensor and camera
Spec of cables
R-2000iB/165F,210F,185L,250F,125L,175L,150U　　　CE:A05B-1329-H809
R-2000iB/165R,200R　CE:A05B-1329-H859

Fig. 5.3 (h) Interface for option cable (R-2000iB/165F, 210F, 185L, 250F, 165R, 200R, 125L,175L, 150U)

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J3 casing connector panel (Output) J1 base connector panel (Input)

(Air outlet)
(Air inlet)

User cable (signal)

interface User cable (power)
interface
User cable (signal)
interface

EE interface User cable (power)

(RI/RO) interface

DETAIL A VIEW B
With user cable (signal/power)
Spec of cable
Standard：A05B-1329-H401/CE:A05B-1329-H701
J3 casing connector panel (Output) J1 base connector panel (Input) J2 base connector panel (Output)

Devicenet cable
(signal) interface (Air inlet)
(Air outlet)

Devicenet cable
(power) interface
Devicenet cable
(power) interface

Devicenet cable
(signal) interface
EE interface Devicenet cable
(RI/RO) Devicenet cable (signal) interface
(power) interface

DETAIL A VIEW B VIEW C

With devicenet cable (signal/power)
Spec of cable
Standard：A05B-1329-H402/CE：A05B-1329-H702
J3 casing connector panel (Output) J1 base connector panel (Input)
(Air outlet)

(Air inlet)
User cable (power)
interface

I/O Unit MODEL B

interface

EE interface I/O Unit MODEL B User cable (power)

(RI/RO) interface interface

DETAIL A VIEW B
With I/O Unit MODEL B and user cable (power)
Spec of cable
Standard:A05B-1329-H403/CE:A05B-1329-H703
J3 casing connector panel (Output) J1 base connector panel (Input)

(Air outlet)
Additional axis motor cable
(power,brake) interface (Air inlet)

Additional axis motor cable

(pulsecoder) interface

EE interface Additional axis motor cable

(RI/RO) (pulsecoder) interface
Additional axis motor cable
DETAIL A VIEW B (power,brake) interface

With additional axis motor cable (pulsecoder/power,brake)

Spec of cable
Standard：A05B-1329-H404/CE：A05B-1329-H704

Fig. 5.3 (i) Interface for option cable (R-2000iB/170CF)

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J3 casing connector panel (Output) J1 base connector panel (Input)

EE interface User cable (signal) (Air inlet)

(RI/RO) interface

(Air outlet)
User cable (power)
interface
User cable (power) User cable (signal)
interface interface
VIEW A VIEW B
With user cable (signal/power)

Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U　CE:A05B-1329-H521
R-2000iB/165R,200R :A05B-1329-H621
J3 casing connector panel (Output) J1 base connector panel (Input) J2 base connector panel (Output)

EE interface
(RI/RO)
(Air inlet)
Devicenet cable
(power) interface

Devicenet cable
(signal) interface

Devicenet cable
(Air outlet) (signal) interface
Devicenet cable
(power) interface
Devicenet cable Devicenet cable
(power) interface (signal) interface

VIEW A VIEW B VIEW C

Withd devicenet cable (signal/power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U　CE:A05B-1329-H522
R-2000iB/165R,200R　CE:A05B-1329-H622
J3 casing connector panel (Output) J1 base connector panel (Input)
(Air inlet)
EE interface I/O Unit MODEL B
(RI/RO) interface

(Air outlet)

User cable (power) I/O Unit MODEL B

User cable (power)
interface interface
interface
VIEW A VIEW B
With I/O unit MODEL B and user cable (power)
Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H523
R-2000iB/165R,200R CE:A05B-1329-H623
J3 casing connector panel (Output) J1 base connector panel (Input)
(Air inlet)
Additional axis motor cable
(pulsecoder) interface
EE interface
(RI/RO)

Additional axis motor cable

(Air outlet) Additional axis motor cable (pulsecoder) interface
(power,brake) interface
Additional axis motor cable
VIEW A VIEW B (power,brake) interface

With additional axis motor cable (pulsecoder/power,brake)

Spec of cable
R-2000iB/165F,210F,185L,250F,125L,175L,150U CE:A05B-1329-H524
R-2000iB/165R,200R 　CE:A05B-1329-H624

Fig. 5.3 (j) Interface for option cable (R-2000iB/165F, 210F, 185L, 250F, 165R, 200R,125L,175L,150U)
(Severe dust/ liquid protection package) (option)
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J3 casing connector panel (Output) J1 base connector panel (Input)

(Air outlet)
(Air inlet)

User cable (signal)

interface
User cable (power)
interface
User cable (signal)
interface

EE interface User cable (power)

(RI/RO) interface

DETAIL A VIEW B
With user cable (signal/poer)

Spec of cable : A05B-1329-H741

J3 casing connector panel (Output) J1 base connector panel (Input) J2 base connector panel (Output)

(Air inlet)
(Air outlet) Devicenet cable
(signal) interface
Devicenet cable
(power) interface
Devicenet cable
(power) interface

Devicenet cable
(signal) interface
EE interface Devicenet cable Devicenet cable
(RI/RO) (power) interface (signal) interface

DETAIL A VIEW B VIEW C

With devicenet cable (signal/power)

Spec of cable：A05B-1329-H742

J3 casing connector panel (Output) J1 base connector panel (Input)

(Air outlet)

(Air inlet)
User cable (power)
interface
I/O Unit MODEL B
inerface

EE interface I/O Unit MODEL B User cable (power)

inerface interface
(RI/RO)

DETAIL A VIEW B

With I/O Unit MODEL B,user cable(power)

Spec of cable：A05B-1329-H743

J3 casing connector panel (Output) J1 base connector panel (Input)

(Air outlet)
(Air inlet)
Additional axis motor cable
(power,brake) interface

Additional axis motor cable

(pulsecoder) interface

Additional axis motor cable

EE interface (pulsecoder) interface
(RI/RO)
Additional axis motor cable
DETAIL A VIEW B (power,brake) interface

With additional axis motor cable (pulsecoder/power,brake)

Spec of cable：A05B-1329-H744

Fig. 5.3 (k) Interface for option cable (R-2000iB/170CF)

(Severe dust/ liquid protection package) (option)

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J3 casing panel (Output) J1 base panel (Input)

User cable (signal)
interface
(Air outlet)
I/O
EE interface
A IR
A2 (RI/RO)
AS1 AP1

EE AIR A1 AIR B1
A IR
B2

AP2 AS2

(Air inlet)
User cable (power)
User cable (power) User cable (signal) interface
interface interface
DETAIL A DETAIL B

With user cable (signal/power)

Spec of cable：A05B-1324-H291
J3 casing panel (Output) J1 base panel (Input) J2 base panel (Output)

EE interface
(Air outlet) (RI/RO)
EE
AIR2
DP1 DS1

AIR A1
DP3 DS3
DP2
Devicenet cable
Devicenet cable （power)
（signal) DS2 interface
interface Devicenet cable
（signal) Devicenet cable
AS2
interface （signal)
interface
Devicenet cable
（power) (Air inlet) Devicenet cable
interface （power)
interface
DETAIL A DETAIL B VIEW C

With devicenet cable (signal/power)

Spec of cable:A05B-1324-H292
J3 casing panel (Output) J1 base panel (Input) J2 base panel (Output)
(Air outlet)
I/O Unit MODEL B
interface I/O RM1 RP1
I/O
A IR
A2 EE interface AS1 AP1
(RI/RO)
EE AIR A1 AIR B1
A IR
B2

AP2 AS2

(Air inlet) User cable (power) I/O Unit MODEL B

User cable (power) interface interface
interface
DETAIL A DETAIL B DETAIL D

With I/O Unit MODEL B, user cable (power)

Spec of cable:A05B-1324-H293
J3 casing panel (Output) J1 base panel (Input)
I/

Additional axis motor cable

(pulsecoder) interface
(Air outlet)
EE interface
A IR
A2
(RI/RO)
ARP1 ARM1

EE AIR A1 AIR B1
A IR
B2

ARM2 ARP2

(Air inlet) Additional axis motor cable

Additional axis motor cable (power,brake) interface
(pulsecoder) interface
Additional axis motor cable
(power,brake) interface DETAIL A DETAIL B

With additional axis motor cable (pulsecoder/power,brake)

Spec of cable：A05B-1324-H294
Fig. 5.3 (l) Interface for option cable (R-2000iB/165CF)
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1 EE interface (RI/RO) (Option) Fig. 5.3 (m) and Fig. 5.3 (n) show pin layout for EE interface
(RI/RO).

EE interface (RI/RO) (Output)

W2524F(Fujikura.Ltd)
4 3 2 1
RO4 RO3 RO2 RO1
9 8 7 6 5
RI1 0V(A1) XHBK RO6 RO5 End
15 14 13 12 11 10 effector
RI5 XPPABN RI8 RI4 RI3 RI2
20 19 18 17 16
24VF(A1) 24VF(A1) 24VF(A1) 24VF(A1) RI6
24 23 22 21
RI7 0V(A2) RO8 RO7
Please prepare by user.
XHBK : Hand broken
Controller XPPABN : Pneumatic pressure abnormal

Fig. 5.3 (m) Pin layout for EE interface(RI/RO) (Option)

EE interface (RI/RO) (Output)

Han24DD(HARTING)
G End
21
22
RO7
RO8
17
18
24VF(A1)
24VF(A2)
13
14
RI8
XPPABN
9
10
RI1
RI2
5
6
RO5
RO6
1
2
RO1
RO2 effector
23 0V(A2) 19 24VF(A3) 15 RI5 11 RI3 7 XHBK 3 RO3
24 RI7 20 24VF(A4) 16 RI6 12 RI4 8 0V(A1) 4 RO4

XHBK : Hand broken

Please prepare by user.
XPPABN : Pneumatic pressure abnormal
Controller

Fig. 5.3 (n) Pin layout for EE interface (RI/RO)(Severe dust/liquid protection package)

2 I/O Unit-MODEL B interface (Option)

Fig. 5.3 (o) and Fig. 5.3 (p) show pin layout for I/O Unit-MODEL B interface.

End I/O unit MODEL B

Effector Basic　（＋extend unit）

I/O unit model B interface (output side)

JMWR2516F (Fujikura)
4 3 2 1
0VSIGNAL 0VLOGIC +24VSIGNAL +24VLOGIC
9 8 7 6 5

13 12 11 10
(XHBK) (XPPABN) 0
16 15 14
S- FG S+

Please prepare by user.

I/O unit MODEL B
interface unit

Fig. 5.3 (o) Pin layout for I/O Unit-MODEL B interface (option)

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End I/O unit MODEL B

effector Basic(+extend unit)

I/O unit MODEL B interface (output side)

Prepared by user.
I/O unit MODEL B
interface unit

Fig. 5.3 (p) Pin layout for I/O Unit-MODEL B interface (Severe dust/ liquid protection package) (option)

3 User cable (signal line) Interface (option)

User cable (signal line usable to force sensor) Interface (option)
Fig. 5.3 (q) shows pin layout for user cable (signal line) interface.
The connector has a code pin for preventing improper insertion. For cables prepared by the user, use
this code pin.

User cable (signal) interface(output side)

User cable (signal usable to force sensor) interface(output side)
F TYPE Han 24DD(HARTING)
G

21 17 13 9 5 1 End
S21 S17 S13 S9 S5 S1 Effector
22 18 14 10 6 2
S22 S18 S14 S10 S6 S2
23 19 15 11 7 3
S23 S19 S15 S11 S7 S3
24 20 16 12 8 4
S24 S20 S16 S12 S8 S4
}

Please prepare by customer.

User cable (signal) interface(input side)

User cable (signal usable to force sensor) interface(input side)
M TYPE Han 24DD(HARTING)
G

1 5 9 13 17 21
S1 S5 S9 S13 S17 S21
2 6 10 14 18 22
S2 S6 S10 S14 S18 S22
3 7 11 15 19 23

0.4mm×24pcs
2
S3 S7 S11 S15 S19 S23
4 8 12 16 20 24
}

S4 S8 S12 S16 S20 S24

Please prepare by customer. Code pin

No.1 pin No.1 pin

First pin
Code pin

User cable (signal) interface User cable (signal) interface

User cable (signal usable to force sensor) User cable (signal usable to force sensor)
Code pin position(input side) Code pin position(output side)

Fig. 5.3 (q) Pin layout for user cable (signal line) / user cable (signal line usable to the force sensor)
interface and code pin layout (option)
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4 User cable (power line) Interface (option)

Fig. 5.3 (r) shows pin layout for user cable (power line) interface.
The connector has a code pin for preventing improper insertion. For cables prepared by the user, use
this code pin.
User cable (power) interface(output side)
F TYPE Han 15D(HARTING)
C1 B1 A1
P11 P6 P1
C2 B2 A2 End
P12 P7 P2 Effector
C3 B3 A3
P13 P8 P3
C4 B4 A4
P14 P9 P4
C5 B5 A5
P15 P10 P5
G

}
FG

Please prepare by customer.

User cable (power) interface(input side)

M TYPE Han 15D(HARTING)
A1 B1 C1
P1 P6 P11
A2 B2 C2
P2 P7 P12
A3 B3 C3
P3 P8 P13
A4 B4 C4
P4 P9 P14
A5
P5
B5
P10
C5 1.25mm×15pcs
2

P15
G
}

FG

Please prepare by customer.

Code pin

A1 pin
A1 pin

Code pin
User cable (power) interface User cable (power) interface
Code pin position(input side) Code pin position(output side)

Fig. 5.3 (r) Pin layout for user cable (power line) interface and code pin layout (option)

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5 DeviceNet cable (signal line) interface (option)
Fig. 5.3 (s) shows pin layout for DeviceNet cable (signal line) interface.
DeviceNet cable (signal) interface (J2-axis output side)
5PIN FEMALE RECEPTACLE （Fujikura.Ltd）

3 V-
2 V+ 4 CAN H
1 DRAIN WIRE 5 CAN L

DeviceNet cable (signal) interface (J3-axis output side)

5PIN FEMALE RECEPTACLE （Fujikura.Ltd）

3 V-
2 V+ 4 CAN H
1 DRAIN WIRE 5 CAN L

DeviceNet cable (signal) interface (J1-axis input side)

5PIN MALE RECEPTACLE （Fujikura.Ltd）

3 V-
2 V+ 4 CAN H
1 DRAIN WIRE 5 CAN L

Fig. 5.3 (s) Pin layout for DeviceNet cable (signal line) interface (option)

6 DeviceNet cable (power line) interface (option) Fig. 5.3 (t) shows pin layout for DeviceNet cable
(power line) interface.

DeviceNet cable (power) interface (J2 output)

(Fujikura)
COM OUTP
COM

DeviceNet cable (power) interface (J3output)

(Fujikura)
COM OUTP
COM

DeviceNet cable(power)interface(J1 input)

HARTING

COM
OUTP
COM

Fig. 5.3 (t) Pin layout for DeviceNet cable (power line) interface (option)

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7 Additional axis motor cable (Pulsecoder cable) interface (optional) Fig. 5.3 (u) shows the pin layout
of the additional axis motor cable (Pulsecoder cable) interface.
The connector has a code pin for preventing improper insertion.

Additional axis motor cable (Pulsecoder) interface (outlet)

FEMALE TYPE Han24DD (HARTING)
Additional
G
21 17 13
G
9 5V(J7A1) 5 0V(J7A1) 1 SPDJ7 axis motor
22 18 14 10 5V(J7A2) 6 0V(J7A2) 2 XSPDJ7
23 19 15 11 7 3 PRQJ7
24 20 16 12 6V(BT7) 8 0V(BT7) 4 XPRQJ7

Additional axis motor cable (Pulsecoder) interface (inlet)

MALE TYPE Han24DD (HARTING)
Controller G G
6V(BT7)
1
2
SPDJ7 5 0V(J7A1) 9 5V(J7A1) 13
XSPDJ7 6 0V(J7A2) 10 5V(J7A2) 14
17
18
21
22 Battery
3 PRQJ7 7 11 15 19 23 0V(BT7) box
4 XPRQJ7 8 12 16 20 24

Code pin
No.1 pin

No.1 pin

Code pin

Additional axis motor cable (Pulsecoder) Additional axis motor cable (Pulsecoder)
interface code pin posiiton (inlet) interface code pin posiiton (outlet)

Fig. 5.3 (u) Pin layout of the additional axis motor cable (Pulsecoder cable) interface
and layout position of the code pin (option)

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8 Additional axis motor cable (power and brake cables) interface (option)
Fig. 5.3 (v) shows the pin layout of the additional axis motor cable (power and brake cables)
interface.
The connector has a code pin for preventing improper insertion.
Additional axis motor cable (power,brake) interface (outlet)
FEMALE TYPE Han15D (HARTING)
C1 B1 BK(J7) A1 J7U1 Additional
C2
C3
B2 BKC(J7) A2
B3 A3
J7V1
J7W1
axismotor
C4 B4 A4 J7G1
C5 B5 A5
G G

Additional axis motor cable (power,brake) interface (inlet)

MALE TYPE Han15D (HARTING)
Controller A1 J7U1 B1 BK(J7) C1
A2 J7V1 B2 BKC(J7) C2
A3 J7W1 B3 C3
A4 J7G1 B4 C4
A5 B5 C5
G G

Code pin
A1 pin

A1 pin

Code pin

Additional axis motor cable (power,brake) Additional axis motor cable (power,brake)
interface code pin posiiton (inlet) interface code pin posiiton (outlet)

Fig. 5.3 (v) Pin layout of the additional axis motor cable (power and brake cables)
interface and layout position of the code pin (option)

Connector specifications
Table 5.3 (a) Connector specifications (Mechanical unit side)
Maker
Cable Input side (J1 base) Output side (J3 casing)
/dealer
RI/RO ─── JMWR2524F Fujikura
I/O ─── JMWR2516F Ltd.
AS Housing 09 30 006 0301 Housing 09 30 006 0301
(Signal) Insert 09 16 024 3001 (Han 24DD M) Insert 09 16 024 3101 (Han 24DD F)
ASH(signal Contact 09 15 000 6103 Contact 09 15 000 6203
usable to the Code pin 09 30 000 9901 Code pin 09 30 000 9901
force sensor)
AP Housing 09 20 010 0301 Housing 09 20 010 0301
(Power) Insert 09 21 015 3001 (Han 15D M) Insert 09 21 015 3101 (Han 15D F)
HARTING
Contact 09 15 000 6103 Contact 09 15 000 6203
K.K.
Code pin 09 30 000 9901 Code pin 09 30 000 9901
RI/RO Housing 09 30 006 0301
When a severe Insert 09 16 024 3101 (Han 24DD F)
dust/liquid Contact 09 15 000 6204
───
protection Guide pin 09 33 000 9908
package is Bushing 09 33 000 9909
selected

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Table 5.3 (b) Connector specifications (User side) (1/2)

Maker
Cable Input side (J1 base) Output side (J3 casing)
/dealer
JMSP2524M Straight (Appendix)
RI/RO ─── (FANUC spec. : A63L-0001-0234#S2524M)
JMLP2524M Angle Fujikura
JMSP2516M Straight (Appendix) Ltd.
I/O ─── (FANUC spec.: A63L-0001-0234#S2516M)
JMLP2516M Angle plug
Hood 09 30 006 1540 Side entry
1541
Select 0542
one 0543
Hood ←The same
1440 Top entry
1441
0442
0443
Insert 09 16 024 3101 (Han 24DD F) Insert 09 16 024 3001 (Han 24DD M)
AS (Signal)
09 15 000 6204 AWG 26-22 09 15 000 6104 AWG 26-22
ASH(signal
Contact 6203 AWG 20 6103 AWG 20
usable to the
6205 AWG 18 6105 AWG 18
force sensor) Contact
Select 6202 AWG 18 6102 AWG 18
one 6201 AWG 16 6101 AWG 16
6206 AWG 14 6106 AWG 14
09 00 000 5083
Clamp 5086
5090 Clamp ←The same
Select one 5094 etc.
Many other types are available HARTIN
Code pin 09 30 000 9901 Code pin 09 30 000 9901 G
K.K
09 20 015 1541 Side entry
Hood 0540
0541
Hood ←The same
Select 1440 Top entry
one 0440
0441
Insert 09 21 015 3101 (Han 15D F) Insert 09 21 015 3001 (Han 15D M)
09 15 000 6204 AWG 26-22 09 15 000 6104 AWG 26-22
Contact 6203 AWG 20 6103 AWG 20
AP (Power)
6205 AWG 18 6105 AWG 18
Contact
Select 6202 AWG 18 6102 AWG 18
one 6201 AWG 16 6101 AWG 16
6206 AWG 14 6106 AWG 14
09 00 000 5083
Clamp
5086
5090 Clamp ←The same
Select
5094 etc.
one
Many other types are available
Code pin 09 30 000 9901 Code pin 09 30 000 9901

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Table 5.3 (c) Connector specifications (User side) (2/2)
Maker
Cable Input side (J1 base) Output side (J3 casing)
/dealer
09 30 006 1540 Side entry
1541
0542
0543
1440 (Appendix) Top
Hood entry
(FANUC specification :
A63L-0001-0453#06B1440)
1441
0442
0443
09 16 024 3001 (Han 24DD M)
(Appendix)
Insert (FANUC specification :
RI /RO A63L-0001-0453#24DDM)
(When a 09 15 000 6104
severe (Appendix)AWG 26-22 HARTIN
dust/liquid ── (FANUC specification : G
protection A63L-0001-0453#CA6140 K.K
package is Contact 6103 AWG 20
6105 AWG 18
selected)
6102 AWG 18
6101 AWG 16
6106 AWG 14
151D
152D(Appendix)
Clamp (FANUC specification :
A63L-0001-0453#A-152D)
153D
09 33 000 9908 (Appendix)
Guide pin (FANUC specification :
A63L-0001-0453#A-9908)
09 33 000 9909 (Appendix)
Bushing (FANUC specification :
A63L-0001-0453#A-9909)

Table 5.3 (d) Connector specifications (DeviceNet cable, Mechanical unit side)
Output Output
Maker Maker Maker
Cable Input side (J1 base) side side (J3
/dealer /dealer /dealer
(J2 base) casing)
DS CM03A-R5P-S-2 Fujikura CM03A-PR5 Fujikura CM03A-PR5 Fujikura
Ltd. S- S-2 Ltd. S-S-2 Ltd.
DP Housing 09 30 006 0301 (Han 6E) HARTING CM03A-PR4 Fujikura CM03A-PR4 Fujikura
Insert 09 32 010 3001 (Han 10EE M) Electronic S-S-2 Ltd. S-S-2 Ltd.
Contact 09 33 000 6104 CO., LTD.

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Table 5.3 (e) Connector specifications (DeviceNet cable, User side)

Maker Output side Maker Output side Maker
Cable Input side (J1 base)
/dealer (J2 base) /dealer (J3 casing) /dealer
DS MINI connector for use on the device net Fuji MINI Fuji MINI Fuji
5-pin, FEMALE kura connector for kura connector for kura
CM03-P5S Ltd. use on the Ltd. use on the Ltd.
device net device net
5-pin, MALE 5-pin, MALE
CM03-J5P CM03-J5P
DP Hood 09 30 006 1540 (Han 6E) Side HAR MINI connector Fuji MINI connector Fuji
entry TING for use on the kura for use on the kura Ltd.
Select 1541 Electro device net Ltd. device
just 0542 nic 4-pin, MALE net4-pin,
one 0543 CO., CM03-J4P MALE
1440 Top entry LTD. CM03-J4P
1441
0442
0443
Insert 09 32 010 3101 (Han 10EE F)
Con 09 33 000 6220 AWG20
tact 6214 AWG18
6205 AWG18
6204 AWG16
6202 AWG14
6207 AWG12
Clamp 09 00 000 5083
Select 5086
just 5090
one 5094
Many other types are available.

Table 5.3 (f) Connector specifications (Additional axis motor cable, Mechanical unit side)
Maker
Cable Input side (J1 base) Output side (J3 casing)
/dealer
ARP Housing 09 30 006 0301 Housing 09 30 006 0301
Insert 09 16 024 3001 (Han 24DD M) Insert 09 16 024 3101 (Han 24DD F)
Contact 09 15 000 6103 Contact 09 15 000 6203
Code pin 09 30 000 9901 Code pin 09 30 000 9901 HARTING
ARM Housing 09 20 010 0301 Housing 09 20 010 0301 K.K
Insert 09 21 015 3001 (Han 15D M) Insert 09 21 015 3101 (Han 15D F)
Contact 09 15 000 6101 Contact 09 15 000 6201
Code pin 09 30 000 9901 Code pin 09 30 000 9901

Table 5.3 (g) Connector specifications (3DL sensor)

Cable Input side (J1 base) Output side (J3 casing) Maker/dealer
LMP1 JMWR1303M ─── Fujikura Ltd.

Table 5.3 (h) Connector specifications (3DL sensor)

Cable Input side (J1 base) Output side (J3 casing) Maker/dealer
JMSP1303F Straight plug
(FANUC specification
LMP1 ─── Fujikura Ltd.
A63L-0001-0234#S1303F)
JMLP1303F Angle plug

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NOTE
For details, such as the dimensions, of the parts listed above, refer to the related
catalogs offered by the respective manufactures, or contact FANUC.

5.4 INSTALLING THE AIR PURGE KIT

In case of R-2000iB/210WE,be sure to use air purge kit.
Air purge kit is preparatory as the option, and use it, please. Use the prepared air purge kit.
Set the air purge pressure to 20 to 30 kPa (0.02 to 0.03 MPa , 0.2 to 0.3kgf/cm2).

NOTE
1 It is recommended that a dedicated air pressure source be used for an air purge. Do not
use the same air pressure source for both the air purge kit and others. Otherwise, the
dryer capacity is exceeded and water or oil remains in air, causing serious damage to
the robot.
2 After installing the robot, perform an air purge at all times.
Even when the robot is not operated, an air purge is required if it is placed in a bad
condition such as water splash on the robot or it s humid in washing booth.

220
60 100

2-Φ11
70
140

(335)
272
(33) 59 158
It is connected to dry air
(J1 connector panel)

4-Φ7 (101)
95

Air outlet 41
22

(O6 Air tube)

180
14

35

Pneumatic
187

air outlet
11

7
170

Pressure gauge
Air inlet
(O10 Air tube)
S
O
7 S
O

Pressure adjustment knob

Fig 5.4 Air purge kit outside dimensions

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