FANUC Robot LR Mate 200ic Mechanical Unit Maintenance Manual B-82585EN-02 CNC Manual

FANUC > LR Mate 200*C
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.
• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
B-82585EN/02 SAFETY PRECAUTIONS
1 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 operator’s panel
Programmer or teaching operator:

• Operate for Robot
• Teaching inside safety fence
Maintenance engineer:
• Operate for Robot
• Teaching inside safety fence
• Maintenance (adjustment, replacement)
- An operator cannot work inside the safety fence.

- A programmer, Teaching operator and maintenance engineer can
work inside the safety fence. The workings inside safety fence
are lifting, setting, teaching, adjusting, maintenance, etc.
- To work inside the fence, the person must be trained for the
robot.
Table 1 lists the workings of outside the fence. In this table, the
symbol “{“ means the working allowed to be carried out by the
personnel.
s-1
SAFETY PRECAUTIONS B-82585EN/02
Table 1 List of workings outside the fence

Operator Programmer Maintenance
or Teaching engineer
operator
Power ON/OFF for Robot controller { { {
Select operating mode (AUTO, T1, T2) { {
Select Remote/Local mode { {
Select robot program with teach pendant { {
Select robot program with external device { {
Start robot program with operator’s panel { { {
Start robot program with teach pendant { {
Reset alarm with operator’s panel { {
Reset alarm with teach pendant { {
Set data on the teach pendant { {
Teaching with teach pendant { {
Emergency stop with operator’s panel { {
Emergency stop with teach pendant { {
Emergency stop with safety fence open { {
Maintain for operator’s panel {
Maintain for teach pendant {
In operating, programming and maintenance, the programmer,

teaching operator and maintenance engineer take care of their safety
using the following safety protectors, for example.
• Use adequate clothes, uniform, overall for operation

• Put on the safety shoes
• Use helmet
s-2
1.2 WORKING PERSON SAFETY
Working person safety is the primary safety consideration. Because

it is very dangerous to enter the operating space of the robot during
automatic operation, adequate safety precautions must be observed.
The following lists the general safety precautions. Careful
consideration must be made to ensure working person safety.
(1) Have the robot system working person attend the training courses
held by FANUC.
FANUC provides various training courses. Contact our sales office for details.
(2) Even when the robot is stationary, it is possible that the robot is
still in a ready to move state, and is waiting for a signal. In this
state, the robot is regarded as still in motion. To ensure
working person safety, provide the system with an alarm to
indicate visually or aurally that the robot is in motion.
(3) Install a safety fence with a gate so that no working person can
enter the work area without passing through the gate. Install an
interlock switch, a safety plug, and so forth in the safety gate so
that the robot is stopped as the safety gate is opened.
The controller is designed to receive this interlock signal of the door switch.
When the gate is opened and this signal received, the controller stops the robot in
an emergency. For connection, see Fig.1.1.
(4) Provide the peripheral devices with appropriate grounding (Class

A, Class B, Class C, and Class D).
(5) Try to install the peripheral devices outside the work area.
(6) Draw an outline on the floor, clearly indicating the range of the
robot motion, including the tools such as a hand.
(7) Install a mat switch or photoelectric switch on the floor with an

interlock to a visual or aural alarm that stops the robot when a
working person enters the work area.
(8) If necessary, install a safety lock so that no one except the

working person in charge can turn on the power of the robot.
The circuit breaker installed in the controller is designed to disable anyone from
turning it on when it is locked with a padlock.
s-3
(9) When adjusting each peripheral device independently, be sure to

turn off the power of the robot.
Fig.1.2 Safety fence and safety gate
E-stop board
FENCE1
FENCE11
NOTE
Terminal FENCE1 and terminal FENCE11 are on
the PC board in the E-stop unit.
NOTE
Please drop the power supply of the robot control
system at once when the worker is placed by the
robot by any chance or it is confined, push the robot
arm directly, change posture, and liberate the
worker.
s-4
1.2.1 General Person Safety

The general person is a person who operates the robot system. In this
sense, a worker who operates power on/off of the robot system or the
teach pendant is also a general person.
The general person can’t operate inside a safety fence.
(1) Operate the robot system at a location outside of the safety fence.
(2) If it is not necessary for the robot to operate, turn off the power
of the robot controller or press the EMERGENCY STOP button,
and then proceed with necessary work.
(3) Install an EMERGENCY STOP button within the general
person’s reach.
The robot controller is designed to be able to connect to an external

EMERGENCY STOP button. With this connection, the controller stops the robot
operation when the external EMERGENCY STOP button is pressed. See the
diagram below for connection.
E-stop board
EMGIN1
EMGIN11
Fig.1.2.1 Circuit diagram for external emergency stop button
s-5
1.2.2 Safety of the Teaching Operator

While teaching the robot, it is necessary for the operator to enter the
work area of the robot. It is particularly necessary to ensure the
safety of the teaching operator.
(1) Unless it is specifically necessary to enter the robot work area,

carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral
devices are all in the normal operating condition.
(3) When entering the robot work area and teaching the robot, be
sure to check the location and condition of the safety devices
(such as the EMERGENCY STOP button and the DEADMAN
switch on the teach pendant).
(4) The teaching operator should pay careful attention so that no
other workers enter the robot work area.
Our teach pendant is provided with a DEADMAN switch as well as an emergency

stop button.
These button and switch function as follows:
(1) Emergency stop button: Causes an emergency stop when pressed.
(2) DEADMAN switch: Functions differently depending on the mode switch
setting status.
(a) When the switch is set to the enable position:
An emergency stop is made by releasing the DEADMAN switch.
(b) When the switch is set to the disable position:
The DEADMAN switch is disabled.
The operator’s intention of starting teaching is determined by the control unit

through the dual operation of setting the teach pendant enable/disable switch to
the enable position and pressing the DEADMAN switch. The operator should
make sure that the robot can operate in such conditions and be responsible in
carrying out tasks safely.
The teach pendant and peripheral device interface each send a robot start signal.
However, the validity of each signal changes depending on the teach pendant
enable switch and the remote condition of the software.
Table 1.2.2(a) STANDARD

Teach pendant enable
Software remote condition Teach pendant Peripheral device
switch
On Ignored Allowed to start Not allowed

Local Not allowed Not allowed
Off
Remote Not allowed Allowed to start
s-6
Table 1.2.2(b) CE/RIA

Teach pendant Software remote
Mode Teach pendant Operator panel Peripheral device
enable switch condition
Local Not allowed Not allowed Not allowed
On
Remote Not allowed Not allowed Not allowed
AUTO mode
Local Not allowed Allowed to start Not allowed
Off
Remote Not allowed Not allowed Allowed to start
Local Allowed to start Not allowed Not allowed
On
Remote Allowed to start Not allowed Not allowed
T1, T2 mode
Local Not allowed Not allowed Not allowed
Off
Remote Not allowed Not allowed Not allowed
(5) (When CE or RIA specification is selected.) To start the system

using the operator’s panel, make certain that nobody is the robot
work area and that there are no abnormal conditions in the robot
work area.
(6) When a program is completed, be sure to carry out a test run
according to the procedure below.
(a) Run the program for at least one operation cycle in the
single step mode at low speed.
(b) Run the program for at least one operation cycle in the
continuous operation mode at low speed.
(c) Run the program for one operation cycle in the continuous
operation mode at the intermediate speed and check that no
abnormalities occur due to a delay in timing.
(d) Run the program for one operation cycle in the continuous
operation mode at the normal operating speed and check
that the system operates automatically without trouble.
(e) After checking the completeness of the program through the
test run above, execute it in the automatic operation mode.
(7) While operating the system in the automatic operation mode, the
teaching operator should leave the robot work area.
s-7
1.2.3 Safety During Maintenance

For the safety of maintenance personnel, pay utmost attention to the
following.
(1) During operation, never enter the robot work area.

(2) Except when specifically necessary, turn off the power of the
controller while carrying out maintenance. Lock the power
switch, if necessary, so that no other person can turn it on.
(3) If it becomes necessary to enter the robot operation range while
the power is on, press the emergency stop button on the operator
panel, or the teach pendant before entering the range. The
maintenance personnel must indicate that maintenance work is in
progress and be careful not to allow other people to operate the
robot carelessly.
(4) When disconnecting the pneumatic system, be sure to reduce the
supply pressure.
(5) Before the start of teaching, check that the robot and its
peripheral devices are all in the normal operating condition.
(6) Do not operate the robot in the automatic mode while anybody is
in the robot work area.
(7) When it is necessary to maintain the robot alongside a wall or
instrument, or when multiple workers are working nearby, make
certain that their escape path is not obstructed.
(8) When a tool is mounted on the robot, or when any moving device
other than the robot is installed, such as belt conveyor, pay
careful attention to its motion.
(9) If necessary, have trained worker who knows the robot system
well stand beside the operator panel, and observe the operation.
In case any danger arises, the worker should be ready to press the
EMERGENCY STOP button at any time.
(10) During replacing or reinstalling components, Take care not to let
foreign matter enter the system.
(11) When handling each unit or printed circuit board in the controller
during inspection, turn off the circuit breaker to protect against
electric shock.
(12) When replacing parts, be sure to use those specified by FANUC.
In particular, never use fuses or other parts of non-specified
ratings. They may cause a fire or result in damage to the
components in the controller.
(13) When restarting the robot system after completing maintenance
work, make sure in advance that there is no person in the work
area and that the robot and the peripheral devices are not
abnormal.
s-8
1.3 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES
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 Precautions for Mechanism

(1) Keep the component cells of the robot system clean, and operate
the robot in an environment free of grease, water, and dust.
(2) Employ a limit switch or mechanical stopper to limit the robot
motion so that the robot does not strike against its peripheral
devices or tools.
s-9
1.4 SAFETY OF THE ROBOT MECHANISM
1.4.1 Precautions in Operation

(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) 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 Precautions for Mechanisms

(1) Keep the work areas of the robot clean, and operate the robot in
an environment free of grease, water, and dust.
s-10
1.5 SAFETY OF THE END EFFECTOR

(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
1.6 WARNING LABEL
(1) Transportation attention label 1
500kg
100kg× 4
80kg×4
Fig. 1.6(a) Transportation attention label 1
Description
1) Use a crane having a load capacity of 500 kg or greater.
2) Use at least four slings each having a withstand load of 980 N
(100 kgf) or greater.
3) Use at least four eyebolts each having a withstand load of 784 N
(80 kgf) or greater.
s-12
(2) Transportation attention label 2
注意
CAUTION
アイボルトを横引きしないこと
DO NOT PULL EYBOLTS
SIDEWAYS.
アイボルトを外してから使用
すること
REMOVE EYEBOLTS,BEFORE USE
Fig.1.6 (b) Transportation attention label 2
Description
Keep the following in mind about eyebolt.
1) Don’t pull eyebolt side ways.

2) Remove eyebolt before use.
s-13
(3) Greasing attention label (When grease applying kit:

A05B-1139-K021 is specified.)
注意
CAUTION
① シリンダにグリスを入れる前に
チューブを揉んでグリスを柔らか
くして下さい。
② ブランジャーを2.5mm押すと
1ccのグリスが出ます。
① Please knead a tube and make
grease soft before supply grease
to cylinder.
② When you give a plunger 2.5mm
push, 1cc grease is injected.
軸/AXIS 給脂量/AMOUNT
J1 3cc(7mm)
J2 3cc(7mm)
J3 2cc(5mm)
J4 2cc(5mm)
J5 2cc(5mm)
J6 2cc(5mm)
グリス給脂時/AT GRESING
A370-3031-0130
Fig.1.6(c) Greasing attention label
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
(4) Range of motion and payload mark label
Below label is added when CE specification is specified.
0deg -180deg
+180deg
J5-AXIS MOTION RANGE

ROTATION CENTER OF J5-AXIS
ROTATION CENTER
A
B
C 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
B-82585EN/02 PREFACE
PREFACE
This manual explains the maintenance and connection procedures for
the mechanical units of the following robots:
Mechanical unit Maximum

Model name Remarks
specification No. load
3-axes brake type
FANUC Robot LR Mate 200iC A05B-1139-B201 Non-severe dust/liquid
protection specification
6-axes brake type
FANUC Robot LR Mate 200iC A05B-1139-B202 Non-severe dust/liquid
3-axes brake type
FANUC Robot LR Mate 200iC A05B-1139-B203 severe dust/liquid protection
specification
6-axes brake type
FANUC Robot LR Mate 200iC A05B-1139-B204 severe dust/liquid protection
specification
6-axes brake type Non-severe
A05B-1139-B211 dust/liquid protection
specification
FANUC Robot LR Mate 200iC/5L
6-axes brake type
A05B-1139-B212 severe dust/liquid protection
specification
5kg
6-axes brake type
FANUC Robot LR Mate 200iC/5LC A05B-1139-B213
Clean class 100 specification
6-axes brake type
FANUC Robot LR Mate 200iC/5C A05B-1139-B221
Clean class 100 specification
6-axes brake type
FANUC Robot LR Mate 200iC/5WP A05B-1139-B231
Washing specification
3-axes brake type
FANUC Robot LR Mate 200iC/5H A05B-1139-B101 Non-severe dust/liquid
5-axes brake type
FANUC Robot LR Mate 200iC/5H A05B-1139-B102 Non-severe dust/liquid
3-axes brake type
FANUC Robot LR Mate 200iC/5H A05B-1139-B103 severe dust/liquid protection
specification
5-axes brake type
FANUC Robot LR Mate 200iC/5H A05B-1139-B104 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
The label stating the mechanical unit specification number is affixed

in the position shown below. Before reading this manual, determine
the specification number of the mechanical unit.
(1)
TYPE (2)
NO. (3) WEIGHT
DATE (4) (5) ‚‹‚‡
OSHINO-MURA.
YAMANASHI PREF.JAPAN
TABLE 1）
(1) (2) (3) (4) (5)
WEIGHT
CONTENTS - TYPE No. DATE
(Without controller)
A05B-1139-B201
FANUC Robot A05B-1139-B202
27kg
LR Mate 200iC A05B-1139-B203
A05B-1139-B204
LR Mate 200iC/5L A05B-1139-B212
29kg
FANUC Robot
A05B-1139-B213 PRINT
LR Mate 200iC/5LC PRINT
LETTERS PRODUCTION
FANUC Robot SERIAL NO.
A05B-1139-B221 YEAR AND MONTH
LR Mate 200iC/5C
27kg
FANUC Robot
A05B-1139-B231
LR Mate 200iC/5WP
A05B-1139-B101
26kg
LR Mate 200iC/5H A05B-1139-B103
A05B-1139-B104
Positon of label indicating mechanical unit specification number
p-2
B-82585EN/02 PREFACE
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
Safety handbook B-80687EN Intended readers:

All persons who use the FANUC All persons who use FANUC Robot,
Robot and system designer must system designer
read and understand thoroughly this Topics:
handbook Safety items for robot system
design, operation, maintenance
R-30iA Mate Operations Intended readers:
controller manual Operator, programmer,
maintenance person, system
LR HANDLING designer
TOOL Topics:
B-82724EN-1 Robot functions, operations,
programming, setup, interfaces,
alarms
Use:
Robot operation, teaching, system
design
Maintenance Intended readers:
manual Maintenance person, system
B-82725EN designer
B-82725EN-1 Topics:
(For Europe) Installation, connection to peripheral
B-82725EN-2 equipment, maintenance
(For RIA) Use:
Installation, start-up, connection,
maintenance
Mechanical unit Operator’s Intended readers:
manual System designer, Maintenance
FANUC Robot person
LR Mate 200iC Topics:
B-82584EN Installation, connection to controller,
maintenance
Use:
Installation, start-up, connection,
maintenance
p-3
B-82585EN/02 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1 CHECKS AND MAINTENANCE ............................................................. 1
1.1 DAILY CHECKS ............................................................................................ 2
1.2 First 1-Month (320 hours operating) Check ................................................... 5
1.3 3-month (960 hours) checks .......................................................................... 5
1.4 1-year (3,840 hours) checks .......................................................................... 7
1.5 1.5-year (5,760 hours) checks ....................................................................... 7
1.6 2-year (7,680 hours) checks (LR Mate 200iC /5WP)
4-year (15,360 hours) checks (LR Mate 200iC, LR Mate
200iC/5L , /5C, /5LC, /5H) ............................................................................. 8
1.7 MAINTENANCE TOOLS ............................................................................... 9
2 PERIODIC MAINTENANCE .................................................................. 11
2.1 REPLACING THE BATTERIES
(1-YEAR CHECKS (battery built-in type))
(1.5-YEAR CHECKS (external battery type))............................................... 12
2.2 REPLENISH THE GREASE OF THE DRIVE MECHANISM
(4 years (11,520 hours) checks) .................................................................. 15
2.2.1 Grease replacement procedure of the J1-axis reducer ............................................17
2.2.5 Grease replacement procedure of the J5/J6-axis reducer .......................................22
3 TROUBLESHOOTING .......................................................................... 23
3.1 OVERVIEW ................................................................................................. 24
3.2 FAILURES, CAUSES AND MEASURES ..................................................... 25
3.3 BACKLASH MEASUREMENT..................................................................... 32
4 REPLACING PARTS ............................................................................ 36
4.1 FIGURE OF DRIVE MECHANISM .............................................................. 38
4.2 REPLACING J1-AXIS MOTOR.................................................................... 41
4.3 REPLACING J1-AXIS REDUCER ............................................................... 43
c-1
TABLE OF CONTENTS B-82585EN/02

4.13 REPLACING WRIST UNIT .......................................................................... 77
4.15 REPLACING J3 BELT ................................................................................. 82
4.16 REPLACING J5/J6 BELT ............................................................................ 84
4.17 REPLACING SOLENOID VALVE ................................................................ 86
4.18 SEALANT APPLICATION............................................................................ 88
5 REPLACING CABLES .......................................................................... 89
5.1 CABLE WIRING........................................................................................... 90
5.2 CABLE FORMING ....................................................................................... 92
5.3 CABLE AND AIR TUBE REPLACEMENT ................................................... 95
5.3.1 REPLAING CABLE K101 and Air tube (Connector plate to J2 base)..................95
5.3.2 REPLAING CABLE K106, K107, K108 and Air tube (J2 base to J3
casing) ..................................................................................................................102
5.3.3 REPLAING CABLE K102, K103, K104, K105, K109, K110, K111,
K112, K113 ..........................................................................................................108
5.3.4 REPLAING CABLE K104 ..................................................................................109
5.3.5 REPLAING AIR TUBE .......................................................................................110
6 ADJUSTMENTS.................................................................................. 117
6.1 ADJUSTING TENSION OF BELT.............................................................. 118
6.2 MASTERING ............................................................................................. 120
6.2.1 RESETTING ALARMS AND PREPARING FOR MASTERING .....................121
6.2.2 FIXTURE POSITION MASTER.........................................................................122
APPENDIX
A SPARE PARTS LIST .......................................................................... 131
B CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM................................ 141
C PERIODIC MAINTENANCE TABLE ................................................... 160
D MOUNTING BOLT TORQUE LIST ..................................................... 166
c-2
B-82585EN/02 1.CHECKS AND MAINTENANCE
1 CHECKS AND MAINTENANCE

Optimum performance of the robot can be maintained by performing
the periodic maintenance procedures presented in this chapter.
(See the APPENDIX A PERIODIC MAINTENANCE TABLE.)
NOTE
The periodic maintenance procedures described in
this chapter assume that the FANUC robot is used
for up to 3840 hours a year. 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.CHECKS AND MAINTENANCE B-82585EN/02
1.1 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 Check items Check points
1 When air Air pressure Check air pressure using the pressure gauge
control set on the air regulator as shown in Fig.1.1.If it
is provided. does not meet the specified pressure of
0.49MPa (5 kg/cm2), adjust it using the
regulator pressure setting handle.
2 Leakage from Check the joints, tubes, etc. for leaks.
hose Repair leaks, or replace parts, as required.
3 When air Supply Check the supply pressure using the air
purge kit is pressure purge kit shown in Fig.1.1 (b). If it does not
prorided. meet the specified pressure of 10 KPa (0.1
kgf/cm2), adjust it using the regulator
pressure setting handle.
4 Dryer Check whether the color of the dew point
checker is blue. When it is not blue, identify
the cause and replace the dryer. Maintenance
for air purge kit, refer to the operator’s
manual attached kit.
5 Vibration, abnormal noises Check whether each axis moves smoothly
and motor heating
6 Changing repeatability Check whether the stop positions of the robot
have not deviated from the previous stop
positions.
7 Peripheral devices for Check whether the peripheral devices operate
proper operation properly according to commands from robot.
8 Each axis brake Refer to 3.2.
9 Cleaning and checking each Clean each part (remove chips, etc.) and
part check component parts for cracks and flaws.
Pressure
Adjusting Knob 2-6.5×16.5
Length round hole
Rc1/4
AIR OUTLET
Pressure gauge
Rc1/4
AIR SUPPLY
Fig.1.1(a) Air control set
-2-
Pneumatic tube
Dry air
Filter and regulator
Dew point checker
2-7x11
Length round hole
Air outlet
(O6 Air tube)
Pressure gauge
Pneumatic
air outlet
Air inlet
(O10 air tube)
Pressure adjustment knob
O O
S S
Dryer unit
Fig.1.1(b) Air purge kit (option)
(2) After turning on power

Vibration, abnormal Check whether the robot moves along and
noises, and motor about the axes smoothly without unusual
1 heating vibration or sounds. Also, check whether the
temperatures of the motors are excessively
high.
Changing Check to see that the stop positions of the
2 repeatability robot have not deviated from the previous
stop positions.
Peripheral devices Check whether the peripheral devices
3 for proper operation operate properly according to commands
from the robot.
Brakes for each axis Check that the end effector drops within 2 mm
4
when the power is cut.
-3-
(Note 1) Cleaning
- Necessary cleaning points, dust on the flat part, sedimentation of

spatters
Clean sediments periodically.

In particular, clean the following points carefully.
Vicinity of the wrist axis and oil seal

→ If chippings or spatters are attached to the oil seal, an oil
leak may be caused.
- Check if the vicinity of the necessary inspection points, wrist part,
and J3 arm significantly wears due to rubbing against the
welding cable or hand cable.
- Check if there is a trace of a collision around the hand.
- Check the reducer or grease bath for an oil leak.
→ If oil can be found a day after wiping oil, an oil leak may be
caused.
Fig 1.1(c) Cleaning part
-4-
1.2 First 1-Month (320 hours operating) Check
Check the following items after the first one-month operation (or 320
hours operating)
First 1-month check

1 Control unit cable and Check whether the cable connected to
robot connecting cable the teach pendant and robot is unevenly
twisted.
1.3 3-month (960 hours) checks
Check the following items once every three months (960 hours).
Additional inspection areas and times should be added to the table
according to the robot’s working conditions, environment, etc.
(1) 3-month checks

1 Control unit cable (See Section 1.2)
and robot
connecting cable
2 Ventilation portion If the ventilation portion of the control unit is
of control unit dusty, turn off the power and clean the unit.
3 Cleaning and (See Section 1.1)
checking each part
Check the following items at the first quarterly inspection, then every
year thereafter. (See the Section 1.4.)
(2) First quarterly inspection

1 Connector used in Check that the connectors of the connector
mechanical unit panels are securely engaged. (NOTE2)
2 Further tightening Tighten the end-effecter mounting bolts and
external main bolts external main bolts. (NOTE3)
-5-
(NOTE 2) Inspection points of the connectors

- Robot connection cables, earth terminal and user cables
Check items
- Circular connector: Check the connector for looseness by turning
it manually.
- Square connector: Check the connector for disengagement of its
lever.
- Earth terminal: Check the terminal for looseness by turning.
Fig 1.3 Check items of connector
(NOTE 3) Points to be retightened

- The end effecter mounting bolts, robot installation bolts, and
bolts to be removed for inspection need to be retightened.
- The bolts exposed to the outside of the robot need to be
retightened.
For the tightening torque, see the recommended bolt tightening
torque shown in the Appendix.
A loose prevention agent (adhesive) is applied to some bolts. If
the bolts are tightened with greater than the recommended torque,
the loose prevention agent may be removed. So, follow the
recommended tightening torque when retightening them.
-6-
1.4 1-year (3,840 hours) checks
Check the following items about once every year (3,840 hours).

1 Tightness of major (See Section 1.3)
external bolts
2 Tightness of major (See Section 1.3)
external bolts
3 Battery (battery Replace battery in the mechanical unit. (See
built-in type) Section 2.1)
1.5 1.5-year (5,760 hours) checks
Check the following items about once every year (5,760 hours).

1 Battery Replace battery in the mechanical unit. (See
(external battery Section 2.1)
type)
-7-
1.6 2-year (7,680 hours) checks (LR Mate 200iC /5WP)

4-year (15,360 hours) checks (LR Mate 200iC, LR Mate
200iC/5L , /5C, /5LC, /5H)
Check the following items in the cycle that is shorter among every
four years and 15,360 hours.
Item Check itmes Check points

1 Greasing of Specified grease
reducers of Harmonic grease 4BNo.2
each axis 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-
1.7 MAINTENANCE TOOLS
The following tools and instruments are required for the maintenance
procedures contained in this manual.
(a) Measuring instruments
Instrument Specifications Vendor Manufacturer model No. Application

DOCTOR TENSION
Tension meter A97L-0218-0700 Mitsuboshi Belting Ltd. Adjustment of belt tension
TYPE-Ⅱ
Instruments Accuracy/Tolerance Applications

Measurement of
Dialgauge accuracy 1/100 mm
positioning and backlash
Slide calipers 150 mm
(b) Tools
・・Torque wrench
Setting 5.6Nm(57kgfcm) M5
Setting 2.0Nm(20kgfcm) M3, M4
・Cross tip (+) screwdrivers Large, medium,
and small sizes
・Flat tip (–) screwdrivers Large, medium,
and small sizes
・Box driver M2.5 to M6
・Hex-head wrench set M2.5 to M6
・Monkey wrench Middle, little
・Pincers
・Radio pincers
・Nippers
・Glasses wrench
・Pliers for C–retaining ring
・Loctite 242、262、518、638
・Grease applying kit A05B-1139-K021
(It is options that grease (80g) for the grease
greasing with the injection syringe and the
tube makes a set.)
・grease in tube (80g) A05B-1139-K022
-9-
O5
Fig 1.7 example of cylinder
- 10 -
B-82585EN/02 2.PERIODIC MAINTENANCE
2 PERIODIC MAINTENANCE
- 11 -
2.PERIODIC MAINTENANCE B-82585EN/02
2.1 REPLACING THE BATTERIES

(1-YEAR CHECKS (battery built-in type))
(1.5-YEAR CHECKS (external battery type))
The position data of each axis is preserved by the backup batteries.

The batteries need to be replaced every 1 year in case of battery
built-in J1 base type 1.5 years in case of external battery type. Also,
use the following procedure to replace when the backup battery
voltage drop alarm occurs.
Procedure of replacing the battery (battery built-in type)

1 Keep the power on. Press the EMERGENCY STOP button to
prohibit the robot motion.
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 When severe dust/liquid protection or 5LC,5WP,5C is selected,

remove the battery case cap. (Fig. 2.1(a))
3 Loosen the plate screw, take out the lid of the battery box, and
replace battery. Battery can be taken out by pulling the stick,
which is center of the battery box.
4 Assemble them by the opposite procedure. Pay attention to the
direction of batteries. Please exchange packing absolutely when
severe dust/liquid protection specification or 5LC,5WP,5C is
selected.
C battery(4pcs)
FANUC spec：A98L-0031-0027
The battery can be taken out
by pulling this stick
Lid of battery bolx
Plate screw　M4X12(2pcs)
Packing
A290-7139-X253
(*)
Bolt with plate processing
hex-head hole
M4X20(4pcs)
(*)
Battery box cover

(*)
(*)Severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H

　or LR Mate 200iC/5LC,5C,5WP are specified.
Fig.2.1 (a) Replacing the battery (battery built-in type)
- 12 -
Procedure of replacing the battery (external battery type)

1 Keep the power on. Press the EMERGENCY STOP button to
prohibit the robot motion.
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 Remove the battery case cap. (Fig. 2.1(b))

3 Take out the old batteries from the battery case.
4 Insert new batteries into the battery case. Pay attention to the
direction of batteries.
5 Close the battery case cap.
External battery bolx
Battery cable
Diameter　About O5mm
(Max O5.5mm)
Case cap
Battery case Battery spec;A98L-0031-0005
(D battery　4pcs)
Fig.2.1 (b) Replacing the battery (external battery type)
- 13 -
Fig 2.1(c) shows the external size of external battery box.

When the battery box needs to be built into the control unit or other
internal units, refer to the outer dimensions shown in Fig.2.1(c)
The battery box can be fixed by using M4 flat–head screws. (The bolts
do not come with the system.)
A maximum of six terminals can be attached to the backplane of the
battery box.
Fig.2.1(c) Outer dimensions of the battery box
- 14 -
2.2 REPLENISH THE GREASE OF THE DRIVE MECHANISM

(4 years (11,520 hours) checks)
Replacing the grease of the reducers every four years or 15,360 hours
by using the following procedures.
For the grease name and quantity, see the table 2.2 (a).
Table 2.2 (a) Grease for 4-year periodical Replacement

Greasing points Greasing amount Specified grease
J1-axis reducer 2.7g(3ml)
J3-axis reducer 1.8g(2ml) Harmonic grease 4BNo.2
J4-axis reducer 1.8g(2ml) Spec: A98L-0040-0230
For grease replacement, use the attitudes indicated below.
Table 2.2 (b) Attitudes for greasing

Attitude
Supply position
J1 J2 J3 J4 J5 J6
J1-axis reducer -90° 90°
J2-axis reducer
J3-axis reducer
Arbitrary Arbitrary Arbitrary Arbitrary
J4-axis reducer Arbitrary Arbitrary
J5-axis reducer
J6-axis reducer
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 -
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.
1 In case of J1-axis and J3-axis, before starting to
grease, open the grease outlet (remove the seal bolt
from the grease outlet).
2 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
3 To prevent accidents caused by slipping, completely
remove any excess grease from the floor or robot.
4 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 -
2.2.1 Grease replacement procedure of the J1-axis reducer

1 Move the robot to the attitude of J1=-90° and J2=90°.
2 Turn off the power.
3 Remove the bolt/seal bolt (1) and cover U (2). In case of packing
is attached, remove packing (3), too.
4 Remove seal bolt of two places refer to fig.2.2.1.
5 Supply regulated amount grease through the grease inlet by using
injection syringe. Pay attention that grease inlet differs in case of
floor mount and top mount. At this time, note that grease might
come out from the side not used.
6 Assemble parts in the opposite procedure. In case of packing is
attached,be sure to replace packing.
1
2
4
J1-axis reducer grease inlet

seal bolt
(In case of top mount)

seal bolt
(In case of floor mount)
Fig. 2.2.1 Replacing grease of the J1-axis reducer
Name Specification Amount Loctite Torque N-m (kgf-cm)

BOLT A6-BA-4X8 4
1 SEAL BOLT A97L-0218-0496#M4X10BC(*1) 4 4.5 N-m (46kgf-cm)
SEAL BOLT 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 Remove the seal bolt (1), (2) and remove cover S (3) and packing
(4). Supply grease through the grease inlet by using injection
syringe. Be sure to spread it to round in the gear because a
regulated amount is a standard.
3 Attach cover S (3) and packing (4). In this time, note the
installation phase. Be sure to replace packing. When reusing the
seal bolt, be sure to seal it with seal tape.
Spread the round grease

on the tooth side like this.
Pay attention
1 to direction
3
A
2 DETAIL A
4

SEAL BOLT A97L-0218-0738#040808BC(*1) 2 2.0 N-m (46kgf-cm)
1
SEAL BOLT A97L-0218-0738#040808EN(*2) 2 2.0 N-m (46kgf-cm)
SEAL BOLT A97L-0218-0595#040808BC(*1) 2 2.0 N-m (46kgf-cm)
2
SEAL BOLT A97L-0218-0595#040808EN(*2) 2 2.0 N-m (46kgf-cm)
3 COVER S A290-7139-X309 1
4 PACKING A290-7139-X351 1
(*2) When LR Mate 200iC/5LC,5WP,5C is specified.
- 18 -

2 Remove the bolt/seal bolt (1) and J2 arm cover (2). In case of
packing is attached, remove packing (3), too.
3 Supply regulated amount grease through the grease inlet by
using
injection syringe. Please use arbitrary one as a greasing inlet.
4 Attach J2 arm cover. In case of packing is attached,be sure to
replace packing of. When reusing the seal bolt, be sure to seal
it with seal tape.
3 2
1
J3-axis reducer
grease inlet
seal bolt

BOLT A97L-0218-0504#M4X10 3 2.0 N-m (20kgf-cm)
1 SEAL BOLT A97L-0218-0496#M4X12BC(*1) 8 4.5 N-m (46kgf-cm)
SEAL BOLT 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
(*3) When LR Mate 200iC/5LC,5C is specified.
(*4) When LR Mate 200iC/5WP is specified.
200iC/5LC,5WP,5C is specified.
- 19 -
NOTE
Fig. 2.2.4 is an example of standard type.
In case of 5H type, read J5/J6 as J4/J5.

2 Remove the bolt/seal bolt (1) and J3 cover (2). In case of
packing is attached, remove packing (3), too.
3 Supply regulated amount grease through the grease inlet by
using injection syringe. Please note that grease might come out
immediately after in the greasing or the greasing. Please note
greasing excessively even in that case.
4 Attach J3 cover. In this time, be sure to replace packing . When
reusing the seal bolt, be sure to seal it with seal tape.

seal bolt
1 2 3
Fig. 2.2.4 Replacing grease of the J4-axis reducer (LR Mate 200iC)
- 20 -

BOLT A97L-0218-0504#M4X10 3 2.0 N-m (20kgf-cm)
1 PLATED BOLT A97L-0218-0496#M4X12BC(*1) 6 2.0 N-m (20kgf-cm)
PLATED BOLT 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
- 21 -
2.2.5 Grease replacement procedure of the J5/J6-axis reducer
NOTE
Fig. 2.2.5 is an example of standard type.

2 Supply regulated amount grease through the grease inlet by using
injection syringe. Please note that grease might come out
immediately after in the greasing or the greasing. Please note
greasing excessively even in that case.

seal bolt
seal bolt
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 -
B-82585EN/02 3.TROUBLESHOOTING
3 TROUBLESHOOTING
- 23 -
3.TROUBLESHOOTING B-82585EN/02
3.1 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 -
3.2 FAILURES, CAUSES AND MEASURES
Table 3.2 lists the major failures that may occur in the mechanical unit
and their probable causes. If you cannot pinpoint a failure cause or
which measures to apply, contact FANUC.
Table 3.2 (a) Failures, causes and measures

Symptom Description Cause Measure
Vibration -The J1 base lifts off the floor [J1 base fastening] -If a bolt is loose, apply Loctite
Noise plate as the robot operates. -It is likely that the robot J1 base is not and tighten it to the appropriate
-There is a gap between the securely fastened to the floor plate. torque.
J1 base and floor plate. -Probable causes are a loose bolt, an -Adjust the floor plate surface
-A J1 base retaining bolt is insufficient degree of surface flatness, flatness to within the specified
loose. or foreign material caught between the tolerance.
floor plate and floor plate. -If there is any foreign matter
-If the robot is not securely fastened to between the J1 base and floor
the floor plate, the J1 base lifts the plate, remove it.
floor plate as the robot operates,
allowing the base and floor plates to
strike each other, which, in turn, leads
to vibration.
-Apply epoxy to the floor [Rack or floor] -Reinforce the rack or floor to
surface and re-install the -It is likely that the rack or floor is not make it more rigid.
plate. sufficiently rigid. -If it is impossible to reinforce
-If the rack or floor is not sufficiently the rack or floor, modify the
rigid, reaction from the robot deforms robot control program; doing
the rack or floor, leading to vibration. so might reduce the amount of
vibration.
-Vibration becomes more [Overload] -Check the maximum load that
serious when the robot adopts -It is likely that the load on the robot is the robot can handle once
a specific posture. greater than the maximum rating. more. If the robot is found to
-If the operating speed of the -It is likely that the robot control be overloaded, reduce the
robot is reduced, vibration program is too demanding for the load, or modify the robot
stops. robot hardware. control program.
-Vibration is most noticeable -It is likely that the ACCELERATION -Vibration in a specific portion
when the robot is value is excessive. can be reduced by modifying
accelerating. the robot control program while
-Vibration occurs when two or slowing the robot and reducing
more axes operate at the its acceleration (to minimize
same time. the influence on the entire
cycle time).
- 25 -

Vibration -Vibration was first noticed [Broken gear, bearing, or reducer] -Operate one axis at a time to
Noise after the robot collided with an - It is likely that collision or overload determine which axis is
(Continued) object or the robot was applied an excessive force on the vibrating.
overloaded for a long period. drive mechanism, thus damaging the -Remove the motor, and
-The grease of the vibrating gear tooth surface or rolling surface of replace the gear, the bearing,
axis has not been exchanged a bearing, or reducer. and the reducer. For the spec.
for a long period. - It is likely that prolonged use of the of parts and the method of
robot while overloaded caused fretting replacement, contact FANUC.
of the gear tooth surface or rolling -Using the robot within its
surface of a bearing, or reducer due to maximum rating prevents
resulting metal fatigue. problems with the drive
- It is likely that foreign matter caught mechanism.
in a gear, bearing, or within a reducer -Regularly changing the grease
caused damage on the gear tooth with a specified type can help
surface or rolling surface of the prevent problems.
bearing, or reducer.
- It is likely that, because the grease
has not been changed for a long
period, fretting occurred on the gear
tooth surface or rolling surface of a
bearing, or reducer due to metal
fatigue.
These factors all generate cyclic

vibration and noise.
- 26 -

Vibration -The cause of problem cannot [Controller, cable, and motor] -Refer to the Controller
Noise be identified from examination -If a failure occurs in a controller Maintenance Manual for
(Continued) of the floor, rack, or circuit, preventing control commands troubleshooting related to the
mechanical section. from being supplied to the motor controller and amplifier.
normally, or preventing motor -Replace the pulse coder for
information from being sent to the the motor of the axis that is
controller normally, vibration might vibrating, and check whether
occur. the vibration still occurs.
-If the pulse coder develops a fault, -Also, replace the motor of the
vibration might occur because axis that is vibrating, and
information about the motor position check whether vibration still
cannot be transferred to the controller occurs. For the method of
accurately. replacement, contact FANUC.
-If the motor becomes defective, -Check that the robot is
vibration might occur because the supplied with the rated voltage.
motor cannot deliver its rated -Check whether the sheath of
performance. the power cord is damaged. If
-If a power line in a movable cable of so, replace the power cord,
the mechanical section has an and check whether vibration
intermittent break, vibration might still occurs.
occur because the motor cannot -Check whether the sheath of
accurately respond to commands. the cable connecting the
-If a pulse coder wire in a movable mechanical section and
part of the mechanical section has an controller is damaged. If so,
intermittent break, vibration might replace the connection cable,
occur because commands cannot be and check whether vibration
sent to the motor accurately. still occurs.
-If a connection cable between them -If vibration occurs only when
has an intermittent break, vibration the robot assumes a specific
might occur. posture, it is likely that a cable
-If the power cable between them has in the mechanical unit is
an intermittent break, vibration might broken.
occur. -Shake the movable part cable
-If the power source voltage drops while the robot is at rest, and
below the rating, vibration might check whether an alarm
occur. occurs. If an alarm or any other
-If a robot control parameter is set to abnormal condition occurs,
an invalid value, vibration might occur. replace the mechanical unit
-There is a possibility that the belt has cable.
been damaged about the allophone of -Check that the robot control
the axis of the belt drive. parameter is set to a valid
value. If it is set to an invalid
value, correct it. Contact
FANUC for further information
if necessary.
-Please exchange it if watching
the cover is opened, an
internal belt is confirmed, and
damage is shown.
- 27 -

Vibration -There is some relationship [Noise from a nearby machine] -Connect the grounding wire
between the vibration of the -If the robot is not grounded properly, firmly to ensure a reliable
robot and the operation of a electrical noise is induced on the ground potential and prevent
machine near the robot. grounding wire, preventing commands extraneous electrical noise.
from being transferred accurately,
thus leading to vibration.
-If the robot is grounded at an
unsuitable point, its grounding
potential becomes unstable, and
noise is likely to be induced on the
grounding line, thus leading to
vibration.
Rattling -While the robot is not [Mechanical section coupling bolt] -Check that the following bolts
supplied with power, pushing -It is likely that overloading or a for each axis are tight. If any of
it with the hand causes part of collision has loosened a mounting bolt these bolts is loose, apply
the mechanical unit to wobble. in the robot mechanical section. Loctite and tighten it to the
-There is a gap on the appropriate torque.
mounting face of the -Motor retaining bolt
mechanical unit. -Reducer retaining bolt
-Base retaining bolt
-Arm retaining bolt
-Casting retaining bolt
-End effecter retaining bolt
-Backlash is greater than the [Increase in backlash] -Operate one axis at a time to
tolerance stated in the -It is likely that excessive force applied determine which axis has the
applicable maintenance to the drive mechanism, due to a increased backlash.
manual. (See Section 3.3.) collision or overloading, has broken a -Remove the motor, and check
gear or the inside of the reducer, whether any of its gears are
resulting in an increase in the amount broken. If any gear is broken,
of backlash. replace it.
-It is likely that prolonged use has -Check whether any other gear
caused the tooth surfaces of a gear of the drive mechanism is
and the inside of the reducer to wear damage. If there is no damage
out, resulting in an increase in the gear, replace the reducer.
amount of backlash. -If the reducer is broken, or if a
-It is likely that prolonged use without gear tooth is missing, replace
changing the grease has caused the the relevant component. Also,
tooth surfaces of a gear and the inside remove all the grease from the
of the reducer to wear out, resulting in gear box and wash the inside
an increase in the amount of of the gear box.
backlash. -After replacing the gear or
reducer, add an appropriate
amount of grease.
-Using the robot within its
maximum rating prevents
problems with the drive
mechanism.
-Regularly applying the grease
with a specified type can help
prevent problems.
- 28 -

Motor -The ambient temperature of [Ambient temperature] -The teach pendant can be
overheating the installation location -It is likely that a rise in the ambient used to monitor the average
increases, causing the motor temperature prevented the motor from current. Check the average
to overheat. releasing heat efficiently, thus leading current when the robot control
-After the robot control to overheating. program is running. The
program or the load was [Operating condition] allowable average current is
changed, the motor -It is likely that the robot was operated specified for the robot
overheated. with the maximum average current according to its ambient
exceeded. temperature. Contact FANUC
for further information.
-Relaxing the robot control
program and conditions can
reduce the average current,
thus preventing overheating.
-Reducing the ambient
temperature is the most
effective means of preventing
overheating.
-Having the surroundings of
the robot well ventilated
enables the robot to release
heat efficiently, thus preventing
overheating. Using a fan to
direct air at the motor is also
effective.
-If there is a source of heat
near the motor, it is advisable
to install shielding to protect
the motor from heat radiation.
-After a control parameter was [Parameter] -Input an appropriate
changed, the motor -If data input for a workpiece is invalid, parameter as described in
overheated. the robot cannot be accelerated or CONTROLLER OPERATOR’S
decelerated normally, so the average MANUAL.
current increases, leading to
overheating.
-Symptom other than stated [Mechanical section problems] -Repair the mechanical unit
above -It is likely that problems occurred in while referring to the above
the mechanical unit drive mechanism, descriptions of vibration, noise,
thus placing an excessive load on the and rattling.
motor. -Check that, when the servo
[Motor problems] system is energized, the brake
-It is likely that a failure of the motor is released.
brake resulted in the motor running If the brake remains applied to
with the brake applied, thus placing an the motor all the time, replace
excessive load on the motor. the motor.
-It is likely that a failure of the motor -If the average current falls
prevented it from delivering its rated after the motor is replaced, it
performance, thus causing an indicates that the first motor
excessive current to flow through the was faulty.
motor.
- 29 -

Grease -Grease is leaking from the [Poor sealing] -If a crack develops in the
mechanical unit. -Probable causes are a crack in the casting, sealant can be used
casting, a broken O-ring, a damaged as a quick-fix to prevent further
oil seal, or a loose seal bolt. grease leakage. However, the
-A crack in a casting can occur due to component should be replaced
excessive force that might be caused as soon as possible, because
in collision. the crack might extend.
-An O-ring can be damaged if it is -O-rings are used in the
trapped or cut during disassembling or locations listed below.
re-assembling. -Motor coupling section
-An oil seal might be damaged if -Reducer coupling section
extraneous dust scratches the lip of -Wrist coupling section
the oil seal. -J3 arm coupling section
-A loose seal bolt might allow grease -Inside the wrist
to leak along the threads. -Oil seals are used in the
locations stated below.
-Inside the reducer
-Inside the wrist
-Seal bolts are used in the
locations stated below.
-Grease drain inlet and outlet
Dropping axis -An axis drops because the [Brake drive relay and motor] -Check whether the brake drive
brake does not function. -It is likely that brake drive relay relay contacts are stuck to
-An axis drops gradually when contacts are stuck to each other to each other. If they are found to
it should be at rest. keep the brake current flowing, thus be stuck, replace the relay.
preventing the brake from operating -If the brake shoe is worn out,
when the motor is deenergized. if the brake main body is
-It is likely that the brake shoe has damaged, or if oil or grease
worn out or the brake main body is has entered the motor, replace
damaged, preventing the brake from the motor.
operating efficiently.
-It is likely that oil or grease has
entered the motor, causing the brake
to slip.
- 30 -

Displacement -The robot operates at a point [Mechanical section problems] -If the repeatability is unstable,
other than the taught position. -If the repeatability is unstable, repair the mechanical section
-The repeatability is not within probable causes are a failure in the by referring to the above
the tolerance. drive mechanism or a loose bolt. descriptions of vibration, noise,
-If the repeatability becomes stable, it and rattling.
is likely that a collision imposed an -If the repeatability is stable,
excessive load, leading to slipping on correct the taught program.
the base surface or the mating Variation will not occur unless
surface of an arm or reducer. another collision occurs.
-It is likely that the pulse coder is -If the pulse coder is abnormal,
abnormal. replace the motor or the pulse
coder.
-Displacement occurs only in [Peripheral unit displacement] -Correct the setting of the
a specific peripheral unit. -It is likely that an external force was peripheral unit position.
applied to the peripheral unit, thus -Correct the taught program.
shifting its position relative to the
robot.
-Displacement occurred after [Parameter] -Re-enter the previous
a parameter was changed. -It is likely that the mastering data was mastering data, which is known
rewritten in such a way that the robot to be correct.
origin was shifted. -If correct mastering data is
unavailable, perform mastering
again.
BZAL alarm -BZAL is displayed on the - It is likely that the voltage of the -Replace the battery.
occurred controller screen memory backup battery is low. -Replace the cable.
- It is likely that the pulse coder cable
is defected.
Table 3.2 (b) Allowable drops

At power off 2 mm
At emergency stop 2 mm
NOTE
Each value indicates the amount by which an end
effector mounting surface may fall.
- 31 -
3.3 BACKLASH MEASUREMENT
Measurement method
1 Maintain the robot in a specified posture. (See Table 3.3.)
2 Apply positive and negative loads to each axis as shown in Fig.3.3
(a).
3 Remove the loads and measure the displacement.
Measure backlash by applying positive and negative loads to each axis

three times. Average the values measured in the last two
measurements for each axis, and use the averages as a measured
backlash for the respective axes.
Stop position
0
+3kg
Firtst step
-3kg (Do not measure)
+3kg
0kg Second step
L1
-3kg (B2 =L 1+ L2)
0kg
L2
+3kg
0kg Third step
L3 (B3=L 3+ L4)
-3kg
0kg
L4
Fig. 3.3 (a) Backlash measurement method
Backlash B is calculated using the following expression:

B2 + B3
B=
2
- 32 -
Table 3.3(a) Backlash measurement posture, position and permissible value

Measurement Measurement
J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis
axis position
Rotation center of
J1-axis Arbitrary 90° 0° 0° 0° 90°
J5-axis
Rotation center of
J2-axis Arbitrary 0° 90° 0° 0° 0°
J3-axis of J2 arm
Rotation center of
J3-axis Arbitrary 90° -90° 0° 0° 180°
J5-axis
100mm from rotation
J4-axis Arbitrary 0° 90° 0° -90° 90°
center of J4-axis
0° or 206mm from rotation
J5-axis Arbitrary 90° 0° 0° -90°
180° center of J5-axis
90° or 100mm from rotation
J6-axis Arbitrary 90° 0° 0° -90°
-90° 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
Permissible value (mm)
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
100
Loading position
Measurement position
(Rotation center of J5-axis)
Fig.3.3 (b) Backlash measurement position of J1-axis
- 33 -
Loading
position
Measurement
position
Fig.3.3(c) Backlash measurement position of J2-axis
Measurement
position
100
100 Loading
position
Fig.3.3 (d) Backlash measurement position of J3-axis
- 34 -
Rotation center of
J4-axis (J6-axis)
Loading position
100
Fig.3.3 (e) Backlash measurement position of J4-axis
100
Measurement
position
100
Loading
position
Fig.3.3 (f) Backlash measurement position of J5-axis
100
Loading position
Fig.3.3 (g) Backlash measurement position of J6-axis
- 35 -
4.REPLACING PARTS B-82585EN/02
4 REPLACING PARTS
– When replacing a part, subsequent adjustment is required.
– When removing or mounting a motor, apply force in the direction
of the shaft only. If excessive force is applied in any other
direction, the motor and/or reducer may be damaged.
– If a motor and associated parts to be assembled incur a phase
mismatch, assembly might prove impossible. Carefully check the
state of the parts before removing them.
– Assemble a new O–ring and packing for seal securing after you
exchange parts for spec of seal.
CAUTION
The packing must not be reused. 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.
– When tightening a bolt, always observe the tightening torque, if

specified those bolts for which no tightening torque is specified
must be tightened according to the table of APPENDIX.
– Assemble the reducer to the vertical direction as much as possible
when you assemble it.
– When installing bolt to reducer, make the applying order a corner
and tighten uniformly.
– When applying Loctite 518 to reducer, pay attention Loctite
doesn’t enter inside the reducer.
– Spread it after softening grease mixing it when you do not softly
spread grease easily.
- 36 -
B-82585EN/02 4.REPLACING PARTS
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 -
4.1 FIGURE OF DRIVE MECHANISM
The drive mechanisms of each axis are shown in the following.
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
MOTOR (M1) FOR J1 AXIS
Fig. 4.1 (a) Drive mechanism of J1-axis
- 38 -
J2 AXIS ARM
J2 AXIS REDUCER
J2 AXIS BASE
Fig. 4.1 (b) Drive mechanism of J2-axis
J3 AXIS HOUSING
J3 AXIS REDUCER
J3 AXIS OUTPUT PULLY
J2 AXIS ARM
BELT
J3 AXIS INPUT PULLY
Fig. 4.1 (c) Drive mechanism of J3-axis
- 39 -
J4 AXIS OUTPUT GEAR J4 AIXS REDUCER
PIPE J3 AIXS ARM

J4 AXIS INPUT GEAR
J3 AXIS HOUSING
Fig. 4.1 (d) Drive mechanism of J4-axis
J5 AXIS OUTPUT PULLY
J5 AXIS INPUT PULLY J5 AXIS REDUCER

BELT
J6 AXIS OUTPUT GEAR
J3 AIXS ARM
J6 AXIS REDUCER
J6 AXIS INPUT GEAR

BELT
MOTOR (M5) FOR J5 AXIS J6 AXIS OUTPUT PULLY
J6 AXIS INPUT PULLY J6 AXIS HOUSING
Fig. 4.1 (e) Drive mechanism of J5/J6-axis
- 40 -
4.2 REPLACING J1-AXIS MOTOR
Replacing procedure
1 Move the robot posture to J1=90° and J2=-90°.
2 Remove robot from floor plate, and turn off the power of the
controller.
3 Make it to posture in which the motor (2) can be removed.
4 When severe dust/liquid protection specification of LR Mate
200iC, LR Mate 200iC/5L, 5H or LR Mate 200iC/5LC, 5WP, 5C
is specified, remove plated bolt (12), cover B (11) and packing
(13). (When not severe dust/liquid protection specification of LR
Mate 200iC,LR Mate 200iC/5L,5H is specified, there are not.)
5 Remove bolt (1) and motor (2). In this time, note that there is a
possibility that grease goes out.
6 Remove cable K101 from motor (1).
7 Wipe the grease of the gear off. In this time, pay attention not to
damage the tooth side.
8 Remove O-ring (3) and seal bolt (4), and remove washer plate (5),
gear (6), holder (7), O-ring (8) and key (9) sequentially.
9 Assemble it in the opposite procedure after exchanging Motor,
packing and O-ring for the new article. In this time, pay attention
to the following.
- When motor is attached, confirm the thing that the oil seal is at
the position, and note that the lip cannot be turned over.
- Spread grease on surroundings about the gear.
10 Perform mastering (See subsection 6.2 and refer to section 8 of
OPERATOR’S MANUAL.).
- 41 -
13
12
11
9
8 2
10
7 1
6
5
3 4 A
VIEW A
Fig. 4.2 Replacing J1-axis motor
Parts Name Specifications Number Loctite Torque N-m (kgf-cm)

1 BOLT A6-BA-5X20 4
2 MOTOR A06B-0116-B855#0048 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
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.
(*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 -
4.3 REPLACING J1-AXIS REDUCER
Replacing procedure
1 Turn off the power of the controller.
2 Remove cover B (When severe dust/liquid protection specification
of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.) and J1 motor referring to 4.2.
(The gear need not be removed.)
3 Remove bolt/plated bolt (5), J2 base cover (6) and sponge (7).
When packing is attached, remove packing (19), too.
4 Remove the connector that relays cable K101 and cable K102,
K103, K104, K105, K106, K107 and K108 referring to Fig.5.3.1
(b) in Section 5.
5 Remove bolt/seal bolt (1) and cover U (2). When packing is
attached, remove packing (18), too.
6 Pull out cable K101 to the J1 base 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 it. Do not pull it out forcibly with
the relayed connector caught.
7 Remove bolt (3), (4) and remove J1 base (17) by using tap for
pulled out. In this time, pay attention that there is a possibility that
grease goes out. (Refer to Fig.4.3(d))
8 Wipe the grease of the gear (13) off. In this time, do not damage
the tooth side.
9 Remove bolt/seal bolt (14) and reducer (10).
10 Remove seal bolt (12) and gear (13).
11 Assemble the gear (13) to wave generator (11) of the new reducer
(10).
12 Keep the horizontal and install a new main body of the reducer in
J2 base. In this time, put O-ring (8) without forgetting after it
exchanges it for the new article.
13 Fill grease to the reducer. It is total 19ml greasing in inside of
reducer, gear and bearing of wave generator.
200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is
specified, spread the sealant on the reducer referring to Fig.4.3
(b).
15 Attach new wave generator (11) to the reducer. In this time, put
wave washer (9) without forgetting.
16 Phase to reducer and assemble J1 base (17) referring to Fig.4.2(c).
In this time, put O-ring (15) without forgetting. Assemble bolt (4)
after previously assembling all bolt (3).
17 Put J1 motor, cable and cover in the reverse order of 2-6.
CAUTION
Do not apply grease to the O-ring (15).
Otherwise, hardening of sealant is prevented,
causing a grease leak.
- 43 -
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.
specified, attach cover B.
22 Attach robot to floor plate.
23 Perform mastering (See sub section 6.2 and refer to section 8 of
- 44 -
1
18
2
5
7 6
8 19
9
10
11
12
13 15
16 14
17
4
3
Fig. 4.3 (a) Replacing J1-axis reducer
- 45 -

BOLT A6-BA-4X8(*1) 4
1 SEAL BOLT A97L-0218-0546#040808BC(*2) 4 4.5Nm (46kgfcm)
SEAL BOLT A97L-0218-0546#040808EN(*3) 4 4.5Nm (46kgfcm)
2 COVER U A290-7139-X332 1
3 BOLT A6-BA-4X12 7 4.5Nm (46kgfcm)
BOLT A97L-0218-0504#M4X10(*1) 3 2.0Nm (20kgfcm)
5 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 8 4.5Nm (46kgfcm)
A290-7139-X305(*1) 1
A290-7139-X307 (*2) 1
6 J2 BASE COVER
A290-7139-Y307 (*5) 1
A290-7139-Z307 (*6) 1
7 SPONGE A290-7139-X346 1
8 O-RING (Attached to J1 REDUCER) 1
9 WAVE-WASHER (Attached to J1 REDUCER) 1
A97L-0218-0812#80(*4) 1
10 J1 REDUCER
A97L-0218-0812#80C(*3) 1
WAVE
11 (Attached to J1 REDUCER) 1
GENERATOR
12 SEAL BOLT A97L-0218-0423#030505 6
13 GEAR J1-2 A290-7139-X212 1
BOLT A6-BA-4X30(*1) 12 5.4Nm (55kgfcm)
16 J1 RING 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.
(*4) 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
- 46 -
APPLY LOCTITE 518 TO THE PART

OF THE J1 BASE SIDE.
DON'T PUT LOCTITE INSIDE THE REDUCER.
Fig. 4.3 (b) Range to J1-axis reducer of sealant spreading
(When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP,5C is specified.)
- 47 -
M4X20
M4X12
Fig. 4.3 (c) Assembled phase of J1-axis reducer
M4 tap for pulled out

(2 places)
Fig. 4.3 (d) Position of taps for pulled out to remove J1 base.
- 48 -
Replacing procedure
2 Remove bolt/plated bolt (1) and J2 base cover (2). When packing
3 Remove sponge (3).
4 Cut the nylon band, which connect cable and clamp (5).
(b) in Section 5.
6 Remove bolt (4) and clamp (5).
7 Remove bolt (6) and support (7). When packing is attached,
remove packing (20), too.
8 Remove seal bolt (8) and (9), cover S (10), packing (21). In this
time, pay attention that there is a possibility that grease goes out.
9 Remove seal bolt (11), washer (12), wave generator (18), O-ring
(17), key (16) and Motor (14) to which shaft (15) attaches.
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).
- 49 -
9 8
10
11
21 12
18
17
16
15
20 14
13
7
5
6 4
3 19
2
1
Fig. 4.4(a) Replacing J2-axis motor
- 50 -

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
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
9
A290-7139-X309(*6) 1
10 COVER S A290-7139-Y309(*4) 1
A290-7139-Z309(*5) 1
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
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
(*7)When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H or LR Mate
- 51 -
Spread grease on the inside diameter..

A
A
VIEW A
Fig. 4.4(b) Apply Loctite 638 to shaft
A97L-0218-0738#040808BC(LR Mate 200iC,LR Mate 200iC/5L,5H)

A97L-0218-0738#040808EN(LR Mate 200iC/5C,5LC,5WP)
注）取付位相に注意のこと
NOTE) PAY ATTENTION TO
THE ASSEMBLED PHASE
A97L-0218-0595#040808BC(LR Mate 200iC,LR Mate 200iC/5L,5H)

A97L-0218-0595#040808EN(LR Mate 200i/5C,5LC,5WP)
Fig. 4.4(c) Assembled phase of cover S and bolt
- 52 -
Replacing procedure
2 Remove the robot from floor plate and knock down it sidewise.
3 Remove bolt/plated bolt (1), J2 base cover (2) and sponge (3).
When packing is attached, remove packing (25), too.
(b) in Section 5.
6 Cut the nylon band, which connect cable and clamp.
7 Remove bolt (6) and support (7). When severe dust/liquid
protection specification is specified, remove packing (26), too.
8 Remove seal bolt (8) and (9), cover S (10) and packing (11). In
this time, pay attention that there is a possibility that grease goes
out.
9 Remove seal bolt (12), washer (13) and wave generator (14).
10 Remove seal bolt (19), motor (18) and O-ring (20), (21).
11 Remove bolt/seal bolt (15) and J2 arm (17) to which reducer (24)
is attached.
12 Remove bolt (22) and remove reducer (24) from J2 arm (17).
13 Exchange reducer, O-ring, packing (when severe dust/liquid
protection is specified) for new parts in the following order.
14 Attach new reducer to the J2 arm (17) by using bolt/seal bolt (22).
When severe dust/liquid protection specification of LR Mate
specified, spread the sealant on the reducer referring to Fig.4.5
(b).
CAUTION
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.
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 -
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.
9 8
10
11
12
13
14
15
16
22
23
24
17
21
20
26
19
18
7
4
6 5 25
3
2
Fig. 4.5(a) Replacing J2-axis reducer
- 54 -

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 CLAMP J2-1 A290-7139-X333 1
5 BOLT A6-BA-4X8 2
A290-7139-X303(*6) 1
7 SUPPORT A290-7139-Y303(*4) 1
A290-7139-Z303(*5) 1
8
9
A290-7139-X309(*6) 1
10 COVER S A290-7139-Y309(*4) 1
A290-7139-Z309(*5) 1
11 PACKING A290-7139-X351 1
13 WASHER A290-7210-X532 1
15 BOLT A6-BA-4X20 16
A290-7139-X301(*6) 1
16 J2 BASE A290-7139-Y301(*4) 1
A290-7139-Z301(*5) 1
A290-7139-X302 (*7) 1
A290-7139-X310（*8） 1
17 J2 ARM A290-7139-Y302（*9） 1
A290-7139-Y310（*10） 1
A290-7139-Z302（*5） 1
18 MOTOR A06B-0116-B855#0048 1
19 SEAL BOLT A97L-0218-0423#051212 4
20 O RING JB-OR1A-G45 1
21 O RING (Attached to J2 REDUCER) 1
BOLT A6-BA-4X35 12 5.4Nm (55kgfcm)
23 O RING (Attached to J2 REDUCER) 1
A97L-0218-0813#120(*11) 1
24 J2 REDUCER
A97L-0218-0813#120C(*3) 1
25 PACKING A290-7139-X354 (*11) 1
26 PACKING A290-7139-X352 (*11) 1
- 55 -
(*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

OF THE COVER S SIDE.
200iC/5LC,5WP,5C is specified.)
- 56 -
Replacing procedure
2 Remove bolt/plated bolt (3) and J2 arm cover (4). When packing
3 Loosen a bolt (6) a little and lower the tension of the belt (5) and
remove belt (5).
CAUTION
When removing the belt, put the part beyond the
J3 housing on a workbench to prevent the arm
from dropping
4 According to Section 5.3.1, remove J2 base cover and relay of

cable K101 and air tube. (Referring to Fig.5.3.1 (a), (b))
5 According to Section 5.3.1, remove clamp J2-1 and cut the nylon
band, which connect cable and air tube to clamp. (Referring to
Fig.5.3.1 (a), (b))
6 Remove seal bolt (1) and guide arm (2). Do not add power
forcibly when you remove guide arm. When packing is attached,
remove packing (13), too. Pay attention that the load doesn’t rest
upon cable and air tube so that an upper cable and the air tube
may work from guide arm without removing.
7 Remove clamp J2-2 referring to Fig.5.3.2 (e) of Section 5.3.2. (It
is not necessary to cut nylon band.)
8 Pull lower cable from guide arm from J2 base to guide arm.
In this time, pull out the cable after it pushes into the robot on the
tip of the part of the relayed connector and it passes it.
9 Remove bolt (12) and motor (11).
10 Remove seal bolt (7), washer plate (8) and pulley (9).
12 Assemble it in the opposite procedure after exchanging Motor and
packing for the new article. In this time, pay attention to the
following.
・ Adjust the tension of the belt referring to Section 6.1 after the
installation of the belt.
・ When installing guide arm, assemble it horizontally so as not
to damage oil seal.
- 57 -
VIEW
3 4 5
6 7 9
11 12 13
8 10
14 1

A97L-0218-0423#051616(*1) 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)
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
9 PULLEY A290-7139-X311 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.
(*4) When LR Mate 200iC,LR Mate 200iC/5H,5Lis specified
(*7)When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate
- 58 -
Replacing procedure
2 Remove guide arm referring to Section 4.6.
3 Remove J2 arm cover and belt referring to section 4.6.
CAUTION
from dropping
4 Remove seal bolt (1), washer (2) and pulley (3).

5 Remove bolt (4) andJ2 arm to which reducer (8) attach. Note that
there is a possibility that grease goes out.
6 Remove bolt/seal bolt (6) and reducer (8).
7 Replace reducer to new one and install to J3 arm unit horizontally.
In this time, put wave washer (10) and O-ring (9) without
forgetting.
reducer, gear and bearing of wave generator
9 Attach wave generator (7) to reducer.
specified, spread sealant to the reducer referring to Fig.4.7 (b)
11 Attach J3 arm unit to which reducer attach to the J2 arm. In this
time, put O-ring (11) without forgetting.
CAUTION
12 Install pulley (3) and belt.

13 Adjust the tension of the belt referring to Section 6.1 after the
14 Install J2 arm cover referring to Section 4.6.
- 59 -
1
2
3
4
11
5
7
6
8
9
12
10
- 60 -

2 WASHER A290-7210-X532 1
3 PULLEY A290-7139-X312 1
5 KEY (Attached to J3 REDUCER) 1
A97L-0218-0814#100 (*4) 1
8 J3 REDUCER
A97L-0218-0814#100C (*3) 1
10 WAVE WASHER (Attached to J3 REDUCER) 1
A290-7139-X401 (*4) 1
12 J3 HOUSING A290-7139-Y401 (*5) 1
A290-7139-Z401 (*6) 1
(*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified

OF THE PULLEY SIDE.
(When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate
200iC/5C,5LC,5WP is specified)
- 61 -
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

2 Remove bolt/plated bolt (1) and J3 cover (2). When packing is
attached, remove packing (13), too.
3 Remove bolt (12), motor (11) and O-ring (3). Note that there is a
possibility that grease goes out.
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 Wipe the grease of the gear (6) off. In this time, pay attention not
to damage the tooth side.
6 Remove seal bolt (4), washer plate (5), gear (6), key (7), holder
(8) and O-ring (9).
7 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.
1
9 2
3 5 7 10 12
4 6 8 11 13
- 62 -

BOLT A97L-0218-0504#M4X10 (*1) 4 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
6 GEAR J4-1 A290-7139-X411 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.
(*4) When LR Mate 200iC, LR Mate 200iC/5Lis 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 -
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.

2 Remove J3 arm cover, relay connector and air tube referring to
Section 4.10.
3 Remove J3 cover and cut the nylon band, which connect cable to
clamp (2) referring to section 4.8.
4 Pull out the cable of the J3 arm to the J3 casing side through the
pipe. 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.
6 Remove bolt (3), (4) and J3 arm (13). Pay attention not to damage
oil seal. Note that there is a possibility that grease goes out.
7 Wipe the grease of the gear (12) off. In this time, pay attention not
to damage the tooth side.
8 Remove bolt/plated bolt (6) and reducer (10).
9 Remove seal bolt (5) and pipe (9).
10 Remove seal bolt (7) and gear (12).
11 Assemble it in the opposite procedure after exchanging reducer
for the new article.
- When installing reducer, spread grease on teeth of Wave
generator, and install O-ring (11) without forgetting. (In case of
J4-axis reducer, wave generator is assembled in reducer when it
is shipped.) Also, pay attention to the phase of bolts referring to
Fig.4.9(c).
- Spread grease on surroundings of the gear.
- When installing reducer to J3 casing apply bolt (3) after
applying all bolt (4).
- When installing J3 arm, confirm the thing that the oil seal (8) is
at the position, and note that the lip cannot be turned over.
- 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 each part referring to Fig.4.9 (b).
CAUTION

- 64 -
5 6 7 8 3
4 1
9 2
10 11 12
13

1 BOLT A6-BA-4X8 1
2 CLAMP J4-1 A290-7139-X432 2
8 OIL SEAL A98L-0040-0049#02603707 1
9 PIPE A290-7139-X421 1
A97L-0218-0815#80(*4) 1 LT518
10 J4 REDUCER
A97L-0218-0815#80C(*3) 1 LT518
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
(*4) When LR Mate 200iC, LR Mate 200iC/5Lis specified
- 65 -
Pipe
・J3 casing side of reducer(*1)

・PIPE
・J3 casing side of J3 arm
Apply Loctite 518 to the or part (*1)
(*1)Severe dust/liquid protection specification of

A LR Mate 200iC,LR Mate 200iC/5L,5H or
SECTION A-A LR Mate 200iC/5C,5LC,5WP
Applying area of
LT518
Severe dust/liquid protection specification of Severe dust/liquid protection specification of

LR Mate 200iC,LR Mate 200iC/5H or LR Mate 200iC/5L or LR Mate 200iC/5LC
LR Mate 200iC/5C,5WP
Fig. 4.9(b) Spread range of sealant
- 66 -
M3X35(10)
M3X30(4)
(M3X35)
Fig. 4.9(c) Spread range of sealant
- 67 -
Replacing procedure
CAUTION
This mechanism becomes J4 axis in 5H. When you
replace part of 5H, read J5/J6 as J4/J5.

4 Loosen a bolt (5) a little and lower the tension of the belt (6) and
remove belt (6). Remove the bolt (14) when you do not remove
the belt easily.
5 Pull cable from upper side of J5-axis motor and remove all relay
connector.
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
6 Remove bolt (5) and motor (11).

7 Remove cable K110, K111 from motor (11).
8 Remove seal bolt (7), washer (8), motor pulley (9) and key (10).
9 Assemble it in the opposite procedure after exchanging motor and
packing for the new article.
・Adjust the tension of the belt referring to Section 6.1 after the
OPERATOR’S MANUAL.). In this time, perform not only
J5-axis but also J6-axis.
- 68 -
4
11 2
5
9 7
8 A
10
13
6 1
3
12
TENSION ADJUSTING
BOLT
14
VIEW A
Fig. 4.10(b) Replacing J5-axis motor
- 69 -

A290-7139-X405(*1) 1
A290-7139-X407 (*2) 1
2 J3 ARM COVER
A290-7139-Y407 (*4) 1
A290-7139-Z407 (*5) 1
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
8 WASHER A290-7210-X532 1
9 MOTOR PULLEY A290-7139-X413 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)
(*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 -
Replacing procedure
CAUTION
This mechanism becomes J4 axis in 5H.When you
replace part of 5H, read J5/J6 as J4/J5.

2 Remove both side of J3-arm cover referring to Section 4.10.
3 Remove belt (1) referring to Section 4.10.
4 Pull out cable from upper side of J5-axis motor and remove all
relay of cable.
CAUTION
When the belt is removed, the wrist moves to bellow
5 Remove seal bolt (2), washer plate (3) and pulley (4)
6 Remove key (6) and bolt (7).
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
- 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
11 Perform mastering (See subsection 6.2 and refer to section 8 of

- 71 -
9 16
1
8
5
12 7
2
13 6 3
14 11 4
15 10

1 BELT A98L-0040-0227#006-152 1
4 PULLEY A290-7139-X414 1
5 OIL SEAL A98L-0040-0223#01001805 1
A290-7139-X403(*1) 1
9 J3 ARM 2 A290-7139-Y403(*2) 1
A290-7139-Z403(*3) 1
A97L-0218-0816#50(*1) 1
13 J5 REDUCER
A97L-0218-0816#50C(*6) 1
16 PACKING A290-7139-X453 (*7) 1
- 72 -
(*2 )When LR Mate 200iC/5LC,5C is specified.

(*4) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H
(*5) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H
APPLY LOCTITE 518 TO OF O-RING(11) SIDE.

Fig. 4.11(b) Spread range of sealant to J5-reducer

200iC/5LC,5WP 5C is specified.)
- 73 -
Replacing procedure
CAUTION
replace part of 5H,read J6 as J5.

2 Remove both side of J3 arm cover of J3 arm.
3 Loosen tension adjusting bolt and lower tension and remove belt
(1) referring to Fig. 6.1.1(b). Loose the bolt (9) and remove pulley
if it is difficult to remove the belt.
CAUTION
When the belt (1) is removed, the wrist moves to bellow
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 Remove bolt (2) motor (8).

6 Remove cable K112, K113 from motor (8).
7 Remove seal bolt (4), washer (5), motor pulley (6) and key (7).
8 Assemble it in the opposite procedure after exchanging motor and
packing for the new article.
・Adjust the tension of the belt referring to Section 6.1 after the
installation of the belt
- 74 -
1
A 4
2 5 8
6
7
B
TENSION ADJUSTING
BOLT TENSION ADJUSTING
9 BOLT
VIEW A VIEW B
Fig. 4.12(b) Replacing J6-axis motor
- 75 -

1 BELT A98L-0040-0227#006-152 1
FLANGE
2 A97L-0218-0504#M5X12 3
SOCKET BOLT
3 BELT A98L-0040-0227#006-100 1
5 WASHER A290-7210-X532 1
No brake A06B-0117-B205#0049
8 MOTOR 1
With brake A06B-0117-B855#0049
9 BOLT A97L-0218-0423#030606 3 1.3Nm (13kgfcm)
- 76 -
4.13 REPLACING WRIST UNIT
Replacing procedure
CAUTION
If you replace unit of 5H, read J5/J6 as J4/J5.

2 Replacing both side of J3 arm cover of J3 arm referring to Section
4.10.
3 Remove belt (1), (8) referring to Section 4.12.
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 Remove seal bolt (9), washer (10), pulley (11) and key (12).
5 Remove seal bolt (13) and J3 arm (14). When packing is attached,
6 Remove relay of cable K112, K113 of J6-axis motor and cable
K107 and K108.
7 Remove seal bolt (2), washer plate (3) and pulley (4)
8 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.
9 Remove bolt/plated bolt (19) and J5-axis reducer (16).
10 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).
11 Assemble it in the reverse order of 3-8.
12 Adjust belt referring to Section 6.1.
13 Install J3 arm cover.
- 77 -
14 21
13 1
8
16
1012 15 6
17 5
2
9 3
11 18 19 4
20 7
Fig. 4.13 Replacing wrist unit
- 78 -

1 BELT A98L-0040-0227#006-152 1
3 WASHER PLATE A290-7139-X23 1 1
4 PULLEY A290-7139-X414 1
6 OIL SEAL A98L-0040-0223#01001805 1
8 BELT A98L-0040-0227#006-100 1
10 WASHER A290-7210-X532 1
A290-7139-X403(*1) 1
14 J3 ARM 2 A290-7139-Y403(*2) 1
A290-7139-Z403(*3) 1
A97L-0218-0816#50(*1) 1
16 J5 REDUCER
A97L-0218-0816#50C(*4) 1
A290-7139-V501(*5) 1
A290-7139-V502 (*6 1
20 WRIST ASS’Y
A290-7139-V521 (*2) 1
A290-7139-V531 (*3) 1
21 PACKING A290-7139-X453 (*7) 1
(*2 )When LR Mate 200iC/5LC,5C is specified.
(*3)When LR Mate 200iC/5WP is specified.
(*4 )When LR Mate 200iC/5LC,5WP,5C is specified.
(*5) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H
(*6) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H
- 79 -
Replacing procedure
CAUTION
replace part of 5H,read J6 as J5.
1 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).
2 Remove bolt (1) and reducer.
3 Remove seal bolt (3), washer (4) and wave generator (5).
4 Remove O-ring (6).
5 Apply greasing to bearing of wave generator (5) to which attach
new reducer and install to the robot.
6 Greasing total 6ml inside and gear of reducer (2) and wave
generator by using the injection syringe.
7 Install new reducer (2) to the robot. In this time, replace O-ring (6)
to new one, too.
6
5
4
3
1
- 80 -
M3X25
Fig. 4.14(b) Assembling phase of J6-axis reducer

BOLT A6-BA-3X25 (*1) 8 2.0Nm (20kgfcm)
A97L-0218-0817#50(*4) 1
2 REDUCER
A97L-0218-0817#50C(*3) 1
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)
(*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified.
- 81 -
4.15 REPLACING J3 BELT
Replacing procedure
2 Remove blot/plated bolt (1) and J2 arm cover (2). When packing
3 Loosen tension adjusting bolt and lower tension and remove belt
(4) referring to Fig.4.15.
CAUTION
from dropping.
4 Replace belt and packing to new one and do the opposite

procedure. In this time, pay attention below.
1 2 3 4
TENSION ADJUSTING
BOLT
Fig. 4.15 Replacing J3 belt
- 82 -

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
- 83 -
4.16 REPLACING J5/J6 BELT
Replacing procedure
CAUTION
When replacing 5H,please read J5/J6 as J4/J5.

4 In case of replacing J5 belt, loosen tension adjusting bolt and
lower tension and remove belt referring to Fig.6.1.1 (b).
In case of replacing J6 belt, loosen tension adjusting bolt and
lower tension and remove belt referring to Fig.6.1.1(c).
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 Replace belt and packing to new one and do the opposite

procedure. In this time, pay attention below.
OPERATOR’S MANUAL.). When J5 belt is replaced, perform
mastering not only J5-axis but also J6-axis.
- 84 -
6 3
5 2
1
4
8 7
Fig. 4.16 Replacing J5/J6 belt

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
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
- 85 -
4.17 REPLACING SOLENOID VALVE
Replacing procedure
1 Make J3-axis to posture in which SV PLATE is removed easily.
3 Remove bolt (1), (3) and SV PLATE (2). When severe dust/liquid
protection specification is specified, remove packing (5), too.
4 Remove relay of air tube and take solenoid valve out.
5 Replace solenoid valve and packing to new one, and do the
opposite procedure.
5
1
3
4
Fig. 4.17 Replacing Solenoid valve
- 86 -

PLATED BOLT A97L-0218-0546#040808BC(*2) 4
1
PLATED BOLT A97L-0218-0546#040808EN(*3) 4
PLATED BOLT A97L-0218-0546#041010EN(*4) 4
A290-7139-X433 1
2 SV PLATE A290-7139-Y433(*3) 1
A290-7139-Z433(*4) 1
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
A97L-0218-0113#D3R or 1
SOL VALVE A97L-0218-0113#D3 or
4
A97L-0218-0113#D2 or
A97L-0218-0113#D1
5 PACKING A290-7139-X452 (*5) 1
- 87 -
4.18 SEALANT APPLICATION
Washing and degreasing the surfaces to be sealed

1 After dismounting the reducer from the arm, apply releasant
(Loctite Gasket Remover) to the arm’s surface from which the
reducer was dismounted, then wait until the sealant (Loctite 518)
becomes softened (for about 10 minutes). Remove the softened
sealant from the surface using a spatula.
2 Blow air onto the surface to be sealed to remove dust from the
tapped holes.
3 Sufficiently degrease the reducer’s surface to be sealed and the
arm’s surface to be sealed, using a cloth dampened with alcohol.
4 Polish the arm’s surface to be sealed with an oil stone, and
degrease it with alcohol again.
CAUTION
Oil may drip from the inside of the reducer. After
degreasing, make sure that no oil is dripping.
Applying sealant
5 Make sure that the reducer and the arm is dry (with no alcohol
remaining). If they are still wet with alcohol, wipe them dry.
6 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 To prevent dust from sticking to the portions to which sealant was
applied, mount the reducer as quickly as possible after sealant
application. Be careful not to touch the applied sealant. If sealant
was wiped off, apply again.
8 After mounting the reducer, fasten it with bolts and washers
quickly so that the mated surfaces get closer.
- 88 -
B-82585EN/02 5.REPLACING CABLES
5 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.
Precautions to be observed when handling the pulse coder cable

The pulse coder cable is provided with a marking tie, as shown below,
to warn against disconnecting the cable during transportation,
installation, or maintenance.
If the cable with the marking tie is disconnected, mastering must be
performed again. Therefore, do not disconnect the cable except
when replacement of the motor, the pulse coder, the reducer, and the
cable are necessary.
BATTERY BACKUP
DON'T
DISCONNECT
コネクタ取外不可
Fig. 5 marking label
- 89 -
5.REPLACING CABLES B-82585EN/02
5.1 CABLE WIRING
Followings are the routing of the robot cables.
K114
(End effector)
K112
(J6 power)
K113
(J6 pulse coder)
K110
(J5 power)
K108 K111
(RO) (J5 pulse coder)
K106 K109
(J4 to J6 power) (J4 power)
K107
(J4 to J6 pulse coder)
K102
(J2 power) K104
K103 (J3 power)
(J2 pulse coder) K105
(J3 pulse coder)
K101
(Ｊ１ toJ6 power,pulse coder)
Fig.5.1 (a) Routing of the robot cables (LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP,)
- 90 -
K114
(End effector)
K112
(J5 power)
K113
(J5 pulse coder)
K110
(J4 power)
K108 K111
(RO) (J4 pulse coder)
K106
(J4 to J5 power)
K107
(J4 to J5 pulse coder)
K102
(J2 power) K104
K103 (J3 power)
(J2 pulse coder) K105
(J3 pulse coder)
K101
(Ｊ１ to J5 power pulse coder)
Fig. 5.1 (b) Routing of the robot cables (LR Mate 200iC/5H)
- 91 -
5.2 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 -
relay in J2 base Clamp

J2-2
Clamp
J2-1 M2M
M2M
M2M1
M2M1 K102
K102 M2BK
M2BK
M3M
M3M
Connector plate
M3M1
M3M1 K104
Clamp relay in J3 arm
M1M K104 J2-2 M3BK
M3BK
M1M
M4M
M4M1
M4M
M4M1 K109
Clamp
M1BK J4-1 K109
M456M1
M456M1 K106
M1BK
M5M
M5M1
Clamp
M5M
M 5M1 K110
K106
Clamp J3-1 Clamp K110
J1-1 J4-2
M6M
K101
M6M1
M6M
M 6M1 K112
BATTERY BACKUP
DON'T
M2P1
BATTERY BACKUP
DON'T
M2P K112
M2P
DISCONNECT
M2P1 K103
DISCONNECT
コネクタ取外不可コネクタ取外不可
K103 Clamp
J2-2
BATTERY BACKUP BATTERY BACKUP
M3P
M3P1
DON'T DON'T
M3P
DISCONNECT
M3P1 K105
DISCONNECT
BATTERY BACKUP M1P K105

M1P
DON'T
DISCONNECT
BATTERY BACKUP
DON'T
M4P
Clamp
M4P
DISCONNECT
J2-2 Clamp relay in J3 arm

J4-1
BATTERY BACKUP
BATTERY BACKUP
M5P
M5P1
DON'T
DISCONNECT DON'T
M5P
M5P1 K111
コネクタ取外不可 DISCONNECT
Clamp K111
K101
BATTERY BACKUP
DON'T
J4-2
DISCONNECT
M456PEE1
M456PEE1 K107
-
K107 M6P
+
M6P1
DON'T DON'T
M6P
M6P1 K113
DISCONNECT DISCONNECT
Clamp K113
J3-1
EE
EE
EE1
EE1 K114
K114
YV1
YV2
YV1 K108
K108
Connected to
solenoid valve
Fig.5.2 (a) Cable externals chart of Mechanical unit (LR Mate 200iC 3-axes brake type)

J2-2
Clamp
J2-1
M2M
M2M
M2M1
M2M1 K102
K102 M2BK
M2BK
M3M
M3M
M3M1
M3M1 K104
relay in J3 arm
K104 M3BK M4M
M3BK
Clamp
M4M
Connector plate
J2-2
M4M1
M4M1 K109
K109 M4BK
M4BK
Clamp
M1M J4-1
M5M
M1M
M456M1
M5M
M456M1 K106
M5M1
M5M1 K110
M1BK K106
K110 M5BK
M1BK
Clamp
M5BK
J3-1 Clamp
Clamp J4-2
J1-1 M6M
M6M
K 101
M6M1
M6M1 K112
K112 M6BK
M2P
M6BK
BATTERY BACKUP
M2P1
DON'T BATTERY BACKUP

DISCONNECT DON'T
M2P
M2P1 K103

K103 Clamp
J2-2
M3P
M3P1
DON'T DON'T
M3P
DISCONNECT
M3P1 K105
DISCONNECT
BATTERY BACKUP
M1P K105
M1P
DON'T
DISCONNECT
BATTERY BACKUP
DON'T
M4P relay in J3 arm
M4P
DISCONNECT
Clamp Clamp
J2-2 J4-1
M5P
M5P1
DON'T DON'T
M5P
M5P1 K111
DISCONNECT DISCONNECT
K111
Clamp
K101
BATTERY BACKUP
DON'T
J4-2
DISCONNECT
M456PEE1
M456PEE1 K107
-
K107 M6P
+
BATTERY BACKUP
BATTERY BACKUP
M6P1
DON'T
DISCONNECT DON'T
M6P
M6P1 K113

Clamp K113
J3-1
EE
EE
EE1
EE1 K114
K114
YV1
YV2
YV1 K108
K108
Connected to
solenoid valve
Fig.5.2 (b) Cable externals chart of Mechanical unit

(LR Mate 200iC, LR Mate 200iC/5L,5LC,5C,5WP 6-axes brake type)
- 93 -

J2-2
Clamp
J2-1 M2M
M2M
M2M1
M2M1 K102
K102 M2BK
M2BK
M3M
M3M
Conncetor plate
M3M1
M3M1 K104
Clamp
M1M J2-2 M3BK relay in J3 arm
K104
M3BK
M1M
M4M
M4M
M4M1 K109
M4M1H
M1BK K110
M456M1
M456M1 K106
M1BK
M5M
Clamp
M5M
M 5M1 K 110
M5M1H
K106
Clamp J3-1 Clamp K112
J1-1 J4-2
Clamp
K101
J4-1
BATTERY BACKUP
BATTERY BACKUP M2P
M2P1
DON'T
DON'T
M2P
DISCONNECT
M2P1 K103
DISCONNECT
K103 Clamp
J2-2
M3P
M3P1
DON'T DON'T
M3P
DISCONNECT
M3P1 K105
DISCONNECT

M1P
DON'T
DISCONNECT
Clamp
Clamp J4-1
J2-2 Clamp
J4-2 relay in J3 arm
BAT TE RY BAC KUP
M4P
M4P1H
DON' T
DIS CONNE CT BATTERY BACKUP
コネクタ取外不可 DON'T
M4P
M4P1 K111
DISCONNECT
K111
K101
BATTERY BACKUP
M456PEE1 K107
DON'T
DISCONNECT
M456PEE1
-
K107 M5P
+
BAT TE RY BAC KUP
M5P1H
DON' T BATTERY BACKUP
DIS CONNE CT DON'T
M5P
M5P1 K113
K113
Clamp
J3-1
EE
EE1
EE
EE1 K114
K114
YV1
YV2
YV1 K108
K108
Connected to
solenoid valve
Fig.5.2(c) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 3-axes brake type)

J2-2
Clamp
J2-1 M2M
M2M
M2M1
M2M1 K102
K102 M2BK
M2BK
M3M
M3M
Connector plate
M3M1
M3M1 K104
Clamp
M1M J2-2 relay in J3 arm M4M
K104 M3BK
M4M
M3BK
M1M
M4M1 K110
M4M1H
M1BK K110 M4BK

M4BK
M456M1
M456M1 K106
M1BK
Clamp M5M
Clamp J4-2
M5M
K106
Clamp J3-1
M5M1H
M5M1 K112
J1-1
Clamp K112 M5BK
K101
M5BK
J4-1
BATTERY BACKUP
BATTERY BACKUP
M2P
M2P1
DON'T
DON'T
M2P
DISCONNECT
M2P1 K103

K103 Clamp
J2-2
M3P
M3P1
DON'T DON'T
M3P
DISCONNECT
M3P1 K105
DISCONNECT

M1P
DON'T
DISCONNECT
Clamp
Clamp J4-1
J2-2 Clamp
J4-2 relay in J3 arm
BAT TE RY BAC KU P
M4P
M4P1H
DON' T BATTERY BACKUP

DISC ONNE CT DON'T
M4P
M4P1 K111

K111
K101
BATTERY BACKUP
M456PEE1 K107
DON'T
DISCONNECT
M456PEE1
-
K107 M5P
+
BAT TE RY BAC KU P BATTERY BACKUP

M5P1H
DON' T DON'T
M5P
M5P1 K113
DISC ONNE CT DISCONNECT

K113
Clamp
J3-1
EE
EE
EE1
EE1 K114
K114
YV1
YV2
YV1 K108
K108
Connected to
solenoid valve
Fig.5.2 (d) Cable externals chart of Mechanical unit (LR Mate 200iC/5H 5-axes brake type)
- 94 -
5.3 CABLE AND AIR TUBE REPLACEMENT
This section describes a procedure for periodically replacing all the

(full-option) mechanical unit cables.
See section 5.1 for the configuration of the mechanical unit cables.
It is necessary to perform after cable replacement. Refer to chapter 6
MASTERING or chapter 8 OPERATOR’S MANUAL in advance. (If
pulse coder cable is not replaced, mastering is not necessary.)
5.3.1 REPLAING CABLE K101 and Air tube (Connector plate to J2

base)
Replacing procedure
1 Turn off the power of the controller and remove cable of
controller side from connector plate of back of J1-axis.
2 Remove robot from floor plate, knock down the robot sidewise.
3 Remove J2 base cover referring to Fig.5.3.1 (a).
4 Remove all relay of cable K102, K103, K104, K105, K106, K107,
K108 and K101.Remove relay of air tube similarly.
(In case of LR Mate 200iC/5C,5LC there are two white air tube
and one black air tube, In case of other models there is one white
air tube and one black air tube.)
5 Remove bolt (5) and cover U (6). When packing is attached,
6 If necessary, remove cover B. (See Fig.5.3.1(c))
7 Cut the nylon band which connect cable and air tube to clamp
J1-2.
8 Cut the nylon band of battery box terminal and remove cable.
9 Remove connector plate.
10 Pull cable and air tube in J2 base to J1 base 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
11 Replace cable and air tube for the new article and assemble them
by opposite procedure. When packing is attached, be sure to
replace packing to new one.
12 Perform mastering (See section 6.2 and referring to chapter 8 of
- 95 -
4 2 1
5
6 3
7
Fig.5.3.1 (a) Remove the J2 base cover
Parts name Specifications Number Loctite Torque N-m (kgf-cm)

BOLT A97L-0218-0504#M4X10(*1) 3 2.0Nm(20kgfcm)
1 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 8 4.5Nm(46kgfcm)
PLATED BOLT 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
- 96 -
B
B ケーブル K102
Cable K102
ケーブル K103
Cable K103
AIR 1
(BLACK) C
継手
Panel union
AIR 2
(WHITE) A
パルスコーダ線
Pulsecoder line SECTION A-A
(BLUEXWHITE)
クランプ J2-1
AIR 1 Clamp J2-1
(BLACK) A290-7139-X333
ケーブル K104
Cable K104 パワー線
ケーブル K105 Power line
Cable K105 (REDXWHITE)
YV1 AIR 2
(WHITE)
M456PEE1
M2M1
M3P1 M3M1
SECTION B-B M2P1 M456M1
DETAIL C
Fig.5.3.1 (b) Replace the cable in J2 base
- 97 -
E
E ケーブル K102
Cable K102
ケーブル K103
Cable K103
AIR 1 F
(O4 BLACK)
EXT
(O4 WHITE)
継手
Panel union
AIR 2
(O6 WHITE) D
SECTION D-D
Pulsecoder line
ケーブル K104 (BLUEXWHITE)
AIR 1 クランプJ2-1
Cable K104
(O4 BLACK) Clamp J2-1
EXT A290-7139-X333
ケーブル K105 (O4 WHITE)
Cable K105 パワー線
Power line
YV1 (REDXWHITE)
AIR 2
(O6 WHITE)
M456PEE1
SECTION E-E M2M1
M3P1 M3M1
M2P1 M456M1
DETAIL F
Fig.5.3.1 (c) Replace the cable in J2 base (LR Mate 200iC/5L,5LC)
- 98 -
3
2 1
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
PLATED BOLT A97L-0218-0496#M4X8BC(*1) 9 4.5Nm(46kgfcm)
1
PLATED BOLT 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
- 99 -
ナイロンバンドで固定のこと。
TIE UP WITH NYLON BAND.
- +
+
-
バッテリボックス端子面
BATTERY BOX TERMINAL SIDE
パワー線 Pulsecoder line AIR 2 AIR 1
Power line (BLUEXWHITE) (WHITE) (BLACK)
(REDXWHITE) クランプ J1-2
AIR 2 Clamp J1-2
(WHITE) A290-7139-X331 C
AIR 1 ナイロンバンド
(BLACK) Nylon band
マーキングを合わせること。
ADJUST THE MARKING.
DETAIL C
(LR Mate 200iC/5LC,5C以外)
Except LR Mate 200iC/5LC,5C
パワー線パルスコーダ線
(REDXWHITE) Pulsecoder line
(BLUEXWHITE)
AIR 2
(O6 WHITE) クランプ J1-2
Clamp J1-2
AIR 1 A290-7139-X331
(O4 BLACK)
ナイロンバンド
EXT Nylon band
(O4 WHITE)
ADJUST THE MARKING. DETAIL C
(LR Mate 200iC/5LC,5C)
Fig.5.3.1 (e) Replace the cable in J1 base
3 1
4
NO.1 PIN
Fig.5.3.1 (f) Replace the parts of connector plate
- 100 -

BOLT A6-BA-4X10(*1) 4 2.0Nm(20kgfcm)
2 BOLT 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
Clamp J1-1
A290-7139-X234
Pulse coder line Power line

(BLUEXWHITE) (REDXWHITE)
Fig.5.3.1 (g) Clamp of J1 base
- 101 -
5.3.2 REPLAING CABLE K106, K107, K108 and Air tube (J2 base to
J3 casing)
1 Turn off the power of the controller and remove cable of controller
side from connector plate of back of J1-axis.
2 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).
3 When packing is attached, remove packing, too.
4 Drag cable to remove the relay easily.
5 Remove relay of K106 and K110, K112.
Remove relay of K107 and K111, K113.
6 Cut the nylon band, which connect cable to clamp J4-2 referring to
Fig.5.3.2 (b).
7 Remove J3 cover referring to Fig.5.3.2(c).
8 Remove air tube of six in diameter which color is black and white
that has come from J2 base to J3 casing.
Fig.5.3.2 (d).
11 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.
12 Remove relay of cable K106 and K109
(In case of LR Mate 200iC/5H,there is no K109.)
Fig.5.3.2 (d).
14 Remove J2 base cover referring to Section 4.4.
Fig.5.3.2 (e).
17 Remove relay to K101 and air tube.
18 Remove clamp J2-1 from J2 base referring to Fig.5.3.1 (b).
19 Remove guide arm.
20 When packing is attached, remove packing.
21 Remove clamp J3-1 from guide arm.
22 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.
23 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).
24 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.
25 Perform mastering (See section 6.2 and referring to chapter 8 of
- 102 -
3
2
Fig.5.3.2 (a) Remove the J2 arm cover

BOLT A97L-0218-0504#M4x10(*1) 3 2.0Nm(20kgfcm)
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
- 103 -
黒赤
BLACK RED
青
黄 BLUE
YELLOW
緑
GREEN
CABLE
透明
CLEAR
橙
ORANGE
D
NYLON BAND
SECTION C-C
DETAIL D
NYLON BAND
MARKING
クランプ J4-2
A290-7139-X334
NYLON BAND
ケーブルエアチューブ
Cable Air tube
C
Fig.5.3.2 (b) Clamp of J3 arm part
3
2
Fig.5.3.2(c) Remove the J3 cover
- 104 -
Torque N-m
Parts name Specifications Number Loctite
(kgf-cm)
BOLT A97L-0218-0504#M4X10(*1) 4 2.0Nm(20kgfcm)
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
AIR2
(WHITE) NYLON BAND
AIR1
(BLACK) Cable and air tube
Pulse coder line Clamp J4-1
(BLUEXWHITE) A290-7139-X432
Power line Air tube

(REDXWHITE) Cable (O3.18 7pcs)
Clamp J3-2
A290-7139-X431
DETAIL E
AIR TUBE
(O6 2pcs) NYLON BAND
Cable and air tube D NYLON BAND
E Cable
1A(RED)
※H002,H003,H004
AIR1(BLACK) 1B(BLUE)
※H002,H003,H004
F 2A(YELLOW) 3B(ORANGE)
※H003,H004 ※H004
2B(GREEN) 3A(CLEAR)
※H003,H004 ※H004
Air tube
(O3.18 7pcs) Power line Pulse coder line
AIR TUBE
(O6 2;pcs) D (REDXWHITE) (BLUEXWHITE)
SECTION D-D DETAIL F
Fig.5.3.2 (d) Cable clamp in parts of J3 casing
- 105 -
Clamp J2-2 CABLE K103

H A290-7139-X334 CABLE K105
CABLE K102
CABLE K104
DETAIL H
SECTION G-G
G
Fig.5.3.2 (e) Cable clamp in J3 casing part
1
3 4
Fig.5.3.2 (f) Remove the guide arm

SEAL BOLT A97L-0218-0423#051616(*1) 4 5.6Nm(57kgfcm)
1 SEAL BOLT A97L-0218-0546#051616BC(*2) 4 5.6Nm(57kgfcm)
SEAL BOLT A97L-0218-0546#051616EN(*3) 4 5.6Nm(57kgfcm)
A290-7139-X304(*4) 1
2 GUIDE ARM A290-7139-Y304(*5) 1
A290-7139-Z304(*6) 1
3 BOLT A6-BA-4X8 2
4 PACKING A290-7139-X353 (*7) 1
- 106 -
Table 5.3.2 Air tube

(*1) H002,H003,H004,H005,H012,H013,H014,H017,H018,H022,H023,H032,H033 is specified
(*2) H004,H005,H014,H015 is specified
(*3) H003,H004,H005,H013,H014,H015,H018,H023,H024,H033 is specified
NYLON BAND 2番目マーキング
ナイロンバンド SECOND MARKING
NYLON BAND
NYLON BAND
AIR 1
(BLACK)
CABLE K107 AIR 2

CABLE K108 (WHITE)
ADJUST THE MARKING.
3番目マーキングナイロンバンド
THIRD MARKING
NYLON BAND
CABLE　K106 クランプJ2-2
CLAMP J2-2
ナイロンバンド A290-7139-X334 (1)
シート NYLON BAND
SHEET
クランプ 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)
ナイロンバンド NYLON BAND 2番目マーキングナイロンバンド
NYLON BAND
SECOND MARKING
NYLON BAND
AIR 1
(O4 BLACK)
EXT
(O4 WHITE)
AIR 2
(6O WHITE)
CABLE K107
マーキングを合わせること。 CABLE K108
ADJUST THE MARKING.
3番目マーキングナイロンバンド
THIRD MARKING
NYLON BAND
クランプ J2-2
CLAMP
CABLE K106 A290-7139-X334
シート NYLON BAND
SHEET
クランプ J3-1
CLAMP J3-1
A290-7139-X335 (1)
Fig.5.3.2 (h) Cable clamp inside the guide arm (LR Mate 200iC/5C,5LC)
- 107 -
5.3.3 REPLAING CABLE K102, K103, K104, K105, K109, K110, K111,
K112, K113
2 (In case of except LR Mate 200iC/5H)
In case of cable K102 and K103, remove J2-axis motor,
In case of cable K104 and K105, remove J3-axis motor.
In case of cable K109, remove J4-axis motor.
In case of cable K110 or K111, remove J5-axis motor.
See section 4 about replacing procedure of motor.
(In case of LR Mate 200iC/5H)
In case of cable K102 and K103 remove J2-axis motor,
In case of cable K104 and K105, remove J3-axis motor.
See section 4 about replacing procedure of motor.
3 Replace cable to new one and assemble it by opposite procedure.
4 Install motor referring to Section 4.
5 In case of replacing K103 or K104 or K105 or K109 or K111 or
K112 or K113, perform mastering referring to section 6.2 or
chapter 8 of Operator’s manual.
- 108 -
5.3.4 REPLAING CABLE K104

2 Remove J3 arm cover. (See Fig.5.3.2 (a))
3 Remove nut on J3 arm.
4 Remove relay of K107 and cable K114.
5 Replace cable to new one, and assemble it by opposite procedure.
Spread Loctite referring to Fig.5.3.4 and tighten nut with the
specified torque. When packing is attached, be sure to replace
packing.
relay to cable K107
Nut (Attached to K114)

Tightening torque　3.0Nm (31kgfcm)
LT262
Cable K114
Fig.5.3.4 Replace the cable K114
- 109 -
5.3.5 REPLAING AIR TUBE
Replacing procedure of air tube between connector plate to J2 base

1 See section 5.3.1.
Replacing procedure of air tube between J2 base to J3 casing

1 See section 5.3.2.
Replacing procedure of air tube between J3 casing to J3 arm

2 Remove J3 arm cover. (See Fig.5.3.2 (a))
3 Remove air tube from panel union on J3 motor.
4 Cut the nylon band, which connects air tube to clamp J4-2.
5 Remove J3 cover. (See Fig.5.3.2(c))
6 Cut the nylon band, which connects air tube to clamp J4-1.
7 Remove the cover of solenoid valve (See Fig.5.3.5(h))
8 Drag air tube from the part removed by 7.
9 Replace air tube to new one, and install them by opposite
procedure. When packing is attached , be sure to replace packing.
- 110 -
580
300
AIR 1
(黒 BLACK)
570
290
AIR 2
(白 WHITE)
分線盤 ← → J2ベース
Connector panel J2 base
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
(φ4 黒 BLACK)
570
290
AIR 2
(φ6 白 WHITE)
570
290
EXT
(φ4 白　WHITE)
分線盤 ← → J2ベース
Connector panel 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
(黒 BLACK)
910
570 290
AIR 2
(白 WHITE)
J3ケーシング ← → J2ベース
J3 casing 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 -
800
340 390
AIR 1
(黒 BLACK)
1010
570 390
AIR 2
(白 WHITE)
J3 casing J2 base
Fig.5.3.5 (d) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5L)
700
340 290
AIR 1
(φ4 黒 BLACK)
910
570 290
AIR 2
(φ6 白WHITE)
700
340 290
EXT
(φ4 白 WHITE)
J3 casing J2 base
Fig.5.3.5 (e) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5C)
800
340 390
AIR 1
(φ4 黒 BLACK)
1010
570 390
AIR 2
(φ6 白WHITE)
800
340 390
EXT
(φ4 白 WHITE)
J3 casing J2 base
Fig.5.3.5 (f) Marking of air tube (J2 base to J3 casing) ( LR Mate 200iC/5LC)
- 112 -
黒赤
BLACK RED
青
黄 BLUE
YELLOW
緑
GREEN
コネクタキー向き
KEY DIRECTION
CABLE
プラグ
透明
CLEAR Plug
橙
NYLON BAND
ORANGE
C
継手
Panel union
DETAIL C SECTION B-B
B A
NYLON BAND
MARKING
クランプ J4-2
A290-7139-X334
NYLON BAND
B
A05B-1139-
黒透明橙黄緑赤青 DETAIL A
BLACK CLEAR ORANGE YELLOW GREEN RED BLUE
(*1) (*2) (*2) (*3) (*3) (*1) (*1)
(*)Refer to table 5.3.

Fig.5.3.5(g) Remove the air tube in J3 arm
1
3
4
Fig.5.3.2 (h) Remove the cover of solenoid valve part
- 113 -

A290-7139-X433(*4) 1
3 SV PLATE A290-7139-Y433(*5)
A290-7139-Z433(*6)
4 PACKING A290-7139-X452 (*7) 1
- 114 -
継手エアチューブ(白)
Panel union Air tube (White)
エアチューブ(白)
Air tube (White)
エアチューブ(黒)
Air tube (Black)
Air tube (Black)
H001,H006指定時
is specified
継手
Panel union エアチューブ(白)
Air tube (White)
エアチューブ(黒) エアチューブ(黒)
Air tube (Black) Air tube (Black)
エアチューブ
電磁弁 Air tube
Solenoid valve エアチューブ(赤) エアチューブ(青)
A97L-0218-0113#D1 Air tube (Red) Air tube (Blue)
H002,H032指定時
is specified
継手
Panel union
エアチューブ(白)
Air tube (White)
Air tube (Black) エアチューブ(黒)
Air tube (Black)
電磁弁エアチューブ
Solenoid valve Air tube エアチューブ(黄) エアチューブ(緑)
A97L-0218-0113#D2 (1) Air tube (Yellow) Air tube (Green)
エアチューブ(赤) エアチューブ(青)
Air tube (Red) Air tube (Blue)
H003,H013,H033指定時
is specified
電磁弁エアチューブ Air tube (Black) Air tube (Black)
Solenoid valve Air tube
A97L-0218-0113#D3R (1)
(H005,H015指定時)
is specified エアチューブ(透明) エアチューブ(オレンジ
A97L-0218-0113#D3(1) Air tube (Clear) Air tube (Orange)
(H004,H014指定時)
is specified
エアチューブ(緑)
エアチューブ(黄色)
Air tube (Green)
Air tube (Yellow)
エアチューブ(赤) エアチューブ(青)
H004,H005,H014,H015指定時
is specified
Fig.5.3.5 (i) Remove the air tube of solenoid valve part (LR Mate200iC, LR Mate200iC/5C,5WP,5H)
- 115 -
Air tube (Black) Air tube (Black)
電磁弁
Solenoid valve
継手 A97L-0218-0113#D1 (1)
Panel union エアチューブ(青)
エアチューブ(赤)
Air tube (Red) Air tube(Blue)
エアチューブ
Air tube
エアチューブ
Air tube H017,H022指定時
is specified
電磁弁エアチューブ(黒) エアチューブ(黒)

Solenoid valve Air tube (Black) Air tube (Black)
A97L-0218-0113#D2 (1)
エアチューブ(黄) エアチューブ(緑)
継手 Air tube (Green)
Panel union Air tube(Yellow)
エアチューブ
Air tube エアチューブ(青)
エアチューブ(赤)
Air tube(Red) Air tube (Blue)
エアチューブ
Air tube H018,H023指定時
is specified
エアチューブ(黒) Air tube (Black)
Air tube (Black)
電磁弁
Solenoid valve
A97L-0218-0113#D3(1) エアチューブ(オレンジ)
エアチューブ(透明) Air tube (Orange)
Air tube (Clear)
継手エアチューブ(黄) エアチューブ(緑)
Panel union Air tube (Yellow) Air tube (Green)
エアチューブ
Air tube エアチューブ(赤) エアチューブ(青)
エアチューブ
Air tube
H024指定時
is specified
Fig.5.3.5 (j) Remove the air tube of solenoid valve part (LR Mate 200iC/5L,5LC)
- 116 -
B-82585EN/02 6.ADJUSTMENTS
6 ADJUSTMENTS
Each part of the mechanical units of a robot is set to the best condition
before the robot is shipped to the customer. The customer does not
need to make adjustments on the robot when it is delivered.
- 117 -
6.ADJUSTMENTS B-82585EN/02
6.1 ADJUSTING TENSION OF BELT
Please use the following tension meters for the tension adjustment of
the belt.
Instrument Specifications Vendor Manufacturer model No. Application

Tension meter A97L-0218-0700 Mitsuboshi Belting Ltd. DOCTOR TENSION TYPE-Ⅱ Adjustment of belt tension
1 Move the robot posture to J2=0° and J3=0°.

2 Remove the bolt and arm cover (refer to Chapter 5).
3 When severe dust/liquid protection specification is selected,
remove packing, too.
4 Adjust it so that it may loosen tension-adjusting bolts and the
tension may reach a regulated value.
5 Attach arm cover. In case of severe dust/liquid protection
specification, be sure to replace packing to new one. In this time,
tighten the bolt with the specified torque.
TENSION
ADJUSTING BOLT
Fig. 6.1(a) Adjusting tension of J3 belt
Table. 6.1(a) Measurement condition of J3 belt

BELT TENSION 85±5N
MASS 0.0367kg
WIDTH 7mm
SPAN 175mm
NOTE
This is example of LR Mate 200iC. In case of LR
Mate 200iC/5H, please read J5/J6 as J4/J5.
- 118 -
TENSION
ADJUSTING BOLT
Fig. 6.1(b) Adjusting tension of J5 belt
TENSION
ADJUSTING BOLT
Fig. 6.1(c) Adjusting tension of J6 belt
Table 6.1(b) Measurement condition of J5 belt

BELT TENSION 27.5±2.5N
MASS 0.0171kg
WIDTH 6mm
SPAN 180mm
Table 6.1(c) Measurement condition of J6 belt

BELT TENSION 27.5±2.5N
MASS 0.0171kg
WIDTH 6mm
SPAN 110mm
- 119 -
6.2 MASTERING
Mastering is an operation performed to associate the angle of each

robot axis with the pulse count value supplied from the absolute pulse
coder connected to the corresponding axis motor. 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 This is performed using a mastering fixture before

mastering the machine is shipped from the factory.
Zero-position mastering This is performed with all axes set at the 0-degree
(eye mark mastering) position. A zero-position mark (eye mark) is
attached to each robot axis. This mastering is
performed with all axes aligned to their respective
eye marks.
Simplified mastering This is performed at a user-specified position. The
corresponding count value is obtained from the
rotation speed of the pulse coder connected to the
relevant motor and the rotation angel within one
rotation. Simplified mastering uses the fact that the
absolute value of a rotation angel within one rotation
will not be lost.
One-axis mastering This is performed for one axis at a time. The
mastering position for each axis can be specified by
the user. This is useful in performing mastering on a
specific axis.
Mastering data entry Mastering data is entered directly.
- 120 -
This MAINTENANCE MANUAL describes fixture position

mastering that is mainly required during replacement of parts. For
other mastering methods, refer to OPERATOR’S MANUAL.
Once mastering is performed, it is necessary to carry out positioning,

or calibration. Positioning is an operation is which the control unit
reads the current pulse count value to sense the current position of the
robot.
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 RESETTING ALARMS AND PREPARING FOR MASTERING

Before performing mastering because a motor is replaced, it is
necessary to release the relevant alarm and display the positioning
menu.
Alarm displayed
“Servo 062 BZAL” or “Servo 075 Pulse mismatch”
Procedure
1 Display the positioning menu by following steps 1 to 6.
1 Press the screen selection key.
2 Press [0 NEXT] and Select [6 SYSTEM].
3 Press F1 [TYPE], and select [SYSTEM Variable] from the
menu.
4 Place the cursor on $MASTER_ENB, then key in “1” and
press [ENTER].
5 Press F1 [TYPE], and select [Mater/Cal] from the menu.
6 Select the desired mastering type from the [Master/Cal]
menu.
2 To reset the “Servo 062 BZAL” alarm, follow steps 1 to 5.

1 Press the screen selection key.
2 Press [0 NEXT] and Select [6 SYSTEM].
3 Press F1 [TYPE], and select [SYSTEM Variable] from the
menu.
4 Press the F3 RES_PCA, then press F4 [TRUE].
5 Switch the controller power off and on again.
3 To reset the “Servo 075 Pulse mismatch” alarm, follow steps 1 to 3.
- 121 -
1 When the controller power is switched on again, the

message “Servo 075 Pulse mismatch” appears again.
2 Rotate the axis for which the message mentioned above has
appeared through 10 degrees in either direction.
3 Press [FAULT RESET]. The alarm is reset.
6.2.2 FIXTURE POSITION MASTER

Fixture position mastering is performed using a mastering fixture.
This mastering is carried out in the predetermined fixture position.
Fixture position mastering is accurate because a dedicated mastering
fixture is used.
When mastering the robot, arrange the robot to meet the following
conditions.
- Make the robot mounting base horizontal within 1 mm.
(Set the robot mounting face so that the levelness of the entire
surface is 1 mm or less.)
- Remove the hand and other parts form the wrist.
- Set the robot in the condition protected from an external force.
Assembling the fixture base

1 Assemble the fixture base as shown in Fig. 6.2.2 (a).
PIN
A290-7139-X913
PIN
A290-7139-X914
M8X20(4pcs)
FIXTURE BASE A
A290-7139-X911
FIXTURE BASE B
A290-7139-X912
PLATE
A290-7137-X913
PLATE
A290-7137-X912 M5X16 (2pcs)
M5X16(2pcs)
Fig. 6.2.2(a) Assembling the fixture base
- 122 -
2 Mount the fixture on the J1–axis base with bolts as shown in

Fig.6.2.2 (b)
M8X25(4pcs)
PIN
A290-7139-X914
PIN
A290-7139-X913
Fig. 6.2.2 (b) Mounting dial indicator
3 Mount the fixture to the wrist flange as shown Fig.6.2.2 (c). By

using the calibration block, adjust the dial gage needle to 3.00
mm and fasten it with M-5 bolt. (In case of LR Mate 200iC/5H,
the dial gage No.3 is not necessary to adjust.)
NOTE
The dial gage could be damaged if the bolt is
fastened too tight.
- 123 -
FIXTURE D
A290-7135-X966
NO.3 NO.5
How to assemble diag gauge
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
Fig. 6.2.2 (c) Mounting the wrist fixture
4 Assemble the fixture to the wrist flange as shown in Fig. 6.2.2

(d).
PIN
A290-7130-X966
M5X16(4pcs)
Fig. 6.2.2 (d) Assembling the fixture to the wrist flange
- 124 -
Mastering
1 Press MENUS.
2 Press NEXT and select SYSTEM.
3 Press F1, [TYPE].
4 Select Mater/Cal.
SYSTEM Master/Cal JOINT 10%
1 FIXTURE POSITION MASTER

2 ZERO POSTIION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALLIBRATE
Press ‘ ENTER ‘ or number key to select.
[ TYPE ] LOAD RES_PCA DONE
5 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 J1–axis and the J4–axis 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 -
(In case of LR Mate 200iC/5H)

1) Move the robot gradually so that dial gages No.1, No.2, No.4,
No.5 and No.6 shown in Fig.6.2.2 (c) touch the points indicated
by arrows No.1, No.2, No.4, No.5 and No.6 shown in Fig.6.2.2
(e). (Dial gauge No.3 is not used.)
same value.
same value.
4) Move the J2, J3, and J4 axes so that dial gages No. 1,No.5, No.6
indicate 3.00 mm.
5) After the operations above, check that all dial gages indicate 3.00
mm.
6 Select “ 1 FIXTURE POSITION MASTER” and Press F4, YES.

“MASTER POSITION” shown in Figs. 6.2.2(e) is set in this
position.
7 Select “ 6 CALIBRATE “ and press F4, YES. Mastering will be
performed. Alternatively, switch the power off and on again.
Switching the power on always causes positioning to be
performed.
8 After positioning is completed, press F5 [DONE].
WARNING
Since the axis stroke is not checked during the
mastering, be careful to stay clear of the robot
motion.
- 126 -
MASTERING POSITION
LR Mate 200iC,
LR Mate 200iC/5WP,5C
AXIS POSITION
J1 90 deg
J2 61.112 deg
J3 -85.965 deg
J4 0 deg
J5 -94.035 deg
J6 0 deg
MASTERING POSITION
NO.1 NO.6 LR Mate 200iC/5H
NO.2 AXIS POSITION
J1 90 deg
NO.3(*) NO.5 J2 61.112 deg
J3 -85.965 deg
J4 -94.035 deg
J5 0 deg
(*)In case of LR Mate 200iC

/5H,NO.3 is not used.
NO.4
Fig. 6.2.2 (e) Mastering posture (LR Mate 200iC, LR Mate 200iC/5WP,5C)
- 127 -
MASTERING POSITION
LR Mate 200iC/5L,5LC
AXIS POSITION
J1 90 deg
J2 52.147 deg
NO.6 J3 -94.284 deg
NO.1
NO.2 J4 0 deg
J5 -85.716 deg
NO.3
J6 0 deg
NO.5
NO.4
Fig. 6.2.2 (f) Mastering posture (LR Mate 200iC/5L,5LC)
- 128 -
APPENDIX
B-82585EN/02 APPENDIX A.SPARE PARTS LIST
A SPARE PARTS LIST

Table A (a1) List of Basic cable (Specifications of Standard,5WP,5C)
Name Specifications Remarks
A660-8016-T285 RMP(Standard,5C)
K101
A660-8016-T495 RMP(5WP)
K102 A660-4004-T706 J2 power
K103 A660-2006-T657 J2 pulse coder
K104 A660-4004-T707 J3 power
K106 A660-4004-T708 Relay of J4, J5, J6 power
J4 pulse coder
K107 A660-4004-T709 Relay of J5, J6 pulse coder
Relay of end effector
K108 A660-2006-T659 Relay of YV
A660-2006-T660 (3-axis brake type) J4 power
K109
A660-4004-T710 (6-axis brake type)
K110
K112
K114 A660-2006-T665 End effector
External battery cable
K131 A660-8016-T498#L5R003
(When external battery option is selected)
- 131 -
A.SPARE PARTS LIST APPENDIX B-82585EN/02
Table A (a2) List of Basic cable (Specifications of 5L,5LC)

K101 A660-8016-T285 RMP

K102 A660-4004-T822 J2 power
K103 A660-2006-T789 J2 pulsecoder
K104 A660-4004-T823 J3 power
K106 A660-4004-T824 Relay of J4, J5, J6 power
J4 pulsecoder
K107 A660-4004-T825 Relay of J5, J6 pulsecoder
K108 A660-2006-T791 Relay of YV
K109 A660-2006-T710 J4 power
K110 A660-2006-T711 J5 power
K112 A660-4004-T712 J6 power
K131 A660-8016-T498#L5R003
Table A (a3) List of Basic cable (5H)

K101 A660-8016-T285 RMP

K102 A660-4004-T706 J2 power
K104 A660-4004-T707 J3 power
K106 A660-4004-T810 Relay of J4, J5 power
Relay of J4, J5 pulse coder
K107 A660-4004-T811
K108 A660-2006-T659 Relay of YV
K110
K112
K131 A660-8016-T498#L5R003
- 132 -
Table A (b1) Motor (Standard, 5L,5LC,5WP,5C)

βiSR1/6000 A06B-0116-B855#0048 J1, J2-axis
βiSR0.5/6000 A06B-0115-B855#0048 J3-axis
βiSR0.4/4000 A06B-0114-B205#0048 J4-axis (3-axis brake type)
βiSR0.4/4000 A06B-0114-B855#0048 J4-axis(6-axis brake type)
βiSR0.2/4000 A06B-0117-B205#0049 J5,J6-axis(3-axis brake type)
(*) When J2-axis motor is replaced , please order shaft “A290-7139-X322” at the same time.
Table A (b2) Motor (5H)

βiSR1/6000 A06B-0116-B855#0048 J1,J2-axis
βiSR0.5/6000 A06B-0115-B855#0048 J3-axis
(*) When J2-axis motor is replaced , please order shaft “A290-7139-X322” at the same time.
- 133 -
Table A (c) Reducer

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-0218-0815#80 J4-axis(Standard,5L)
Harmonic drive A97L-0218-0816#50 J5-axis(Standard.5L), J4-axis(5H)
Harmonic drive A97L-0218-0817#50 J6-axis(Standard.5L), 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

GEAR J1-1 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)
Table A (e) Pulley, shaft, key

Pulley A290-7139-X311 J3-axis

Pulley A290-7139-X312 J3-axis
J5-axis(Standard,5L,5LC,5WP,5C)
Pulley A290-7139-X414
J4-axis(5H)
J6-axis(Standard,5L,5LC,5WP,5C)
Pulley A290-7139-X415
J5-axis(5H)
J5,J6-axis(Standard,5L,5LC,5WP,5C)
Motor pulley A290-7139-X413
J4,J5-axis(5H)
Shaft A290-7139-X322 J2-axis
Key JB-HKY-3X3X12B Motor, pulley, gear
Key JB-HKY-3X3X6B Motor, pulley, gear
- 134 -
Table A (f) Bearing, belt

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
J5-axis motor (Standard.5L,5LC,5WP,5C)
Belt A98L-0040-0227#006-100
J4-axis motor (5H)
J6-axis motor (Standard.5L,5LC,5WP,5C)
Belt A98L-0040-0227#006-152
J5-axis motor (5H)
Table A (g) Packing(When severe dust/liquid protection specification of standard,5L,5H or 5WP,5C,5LC is

specified)
Packing 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 J3 arm cover (2pcs/1 machines)
(*) This packing is attached when non-severe dust/liquid protection specification of Standard,5L,5H
Table A (h) Oil seal, O-RING

J1, J4-axis motor (Standard,5L,5LC5WP,5C)

Oil seal A98L-0040-0223#01001805
J1-axis motor (5H)
Oil seal A98L-0040-0049#02603707 J4-axis reducer (Standard,5L,5LC5WP,5C)
J5-axis reducer (Standard,5L,5LC5WP,5C)
Oil seal A98L-0040-0223#01001805
J4-axis reducer (5H)
J1, J4-axis motor (Standard,5L,5LC5WP,5C)
O-RING A98L-0001-0347#S46
J1-axis motor (5H)
O-RING A98L-0001-0347#S35 J1-axis reducer
O-RING JB-OR1A-G45 J2-axis motor
- 135 -
Table A (i) Seal bolt

J 1, J3, J4, J5, J6-axis motor

Standard,5L,
J2, J3, J5-axis reducer
5LC,5WP,5C
Wrist unit, J4 pipe
Seal bolt A97L-0218-0423#030606
J 1, J3, J4, J5-axis motor
J2, J3, J4-axis reducer
5H
Wrist unit
Seal bolt A97L-0218-0423#031616 J2-axis motor
Seal bolt A97L-0218-0423#051212 J2-axis motor
Seal bolt J1-axis reducer(Standard,5L,5H Severe
A97L-0218-0546#043016BC
dust/liquid protection specification)
A97L-0218-0546#043016EN J1-axis reducer (5C,5LC,5WP)
A97L-0218-0546#043516BC
A97L-0218-0546#032504BC
GEAR J1-2, GEAR J4-2
Seal bolt A97L-0218-0423#030505 (Standard,,5L,5LC,5WP,5C)
GEAR J1-2 (Specifications of 5H)
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)
Seal bolt 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 Guide arm(Standard,5L,5H Severe
A97L-0218-0546#051616EN Guide arm(5C,5LC,5WP)
Seal bolt A97L-0218-0423#041616 J3 arm cover
Seal bolt A97L-0218-0546#040808BC Cover U Standard,5L,5H Severe dust/liquid
protection specification)
A97L-0218-0546#040808EN Cover U (5C,5LC,5WP)
Seal bolt A97L-0218-0417#060606 J1 grease outlet
J3, J4, J5, J6 grease inlet
(Standard,5L,5LC,5WP,5C)
Seal bolt A97L-0218-0417#040505
J3, J4, J5 grease inlet (5H)
J3 grease outlet
- 136 -
Table A (j) Spring pin, Stopper, Wrist unit, Sheet

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
(5H not severe dust/liquid protection
specification )
(Standard,5L severe dust/liquid protection
Wrist unit
specification)
A290-7139-V502
(5H severe dust/liquid protection
specification )
A290-7139-V521
(5C,5LC)
A290-7139-V531
(5WP)
Sheet A290-7139-X345 J2-axis motor(Standard,5WP,5C,5H)
A290-7139-X349 J2-axis motor(5L,5LC)
- 137 -
Table A (k) Air tube (Standard,5WP,5C,5H)

6mm BLACK AIR1

Air tube A97L-0218-0114#ABL640R0
Connector plate to J2base
4mm BLACK AIR1 (5C)
Air tube A97L-0218-0010#AAL580R0
6mm WHITE AIR2
Air tube A97L-0218-0114#BBL570R0
4mm WHITE EXT(5C)
Air tube A97L-0218-0010#BAL570R0
6mm BLACK AIR1
J2 base to J3 casing
4mm BLACK AIR1 (5C)
6mm WHITE AIR2
4mm WHITE EXT(5C)
Air tube 4mm WHITE EXHAUST
(H002,H003,H004,H005,H022, A97L-0218-0010#BAL150R0 J3 casing
H023,H024,H032, H033）
Air tube 3.18mm BLACK AIR1
(H002,H003,H004,H005,H022, A97L-0218-0010#AFL855R0 J3 casing to J3 arm
H023,H024,H032, H033）
Air tube 3.18mm RED A1
(H002,H003,H004,H005,H022, A97L-0218-0010#CFL745R0 J3 casing to J3 arm
H023,H024,H032,H033）
Air tube 3.18mm BLUE B1
(H002,H003,H004,H005,H022, A97L-0218-0010#DFL745R0 J3 casing to J3 arm
H023,H024,H032,H033）
Air tube 3.18mm YELLOW A2
(H003,H004,H005,H023,H024, A97L-0218-0010#EFL745R0 J3 casing to J3 arm
H033）
Air tube 3.18mm GREEN B2
(H003,H004,H005,H023,H024, A97L-0218-0010#FFL745R0 J3 casing to J3 arm
H033）
Air tube 3.18mm CLEAR A3
A97L-0218-0010#GFL745R0
(H004,H005,H024） J3 casing to J3 arm
Air tube 3.18mm ORANGE B3
A97L-0218-0010#HFL745R0
(H004,H005,H024） J3 casing to J3 arm
- 138 -
Table A (k2) Air tube(5L,5LC)

6mm BLACK AIR1(5L)

Connector plate∼J2 base
4mm BLACK AIR1 (5C)
6mm WHITE AIR2
4mm WHITE EXT(5C)
6mm BLACK AIR1(5L)
J2 base∼J3 casing
4mm BLACK AIR1(5C)
J2 base∼J3 casing
6mm WHITE AIR2
J2 base∼J3 casing
4mm WHITE EXT(5C)
J2 base∼J3 casing
Air tube 4mm WHITE EXHAUST
A97L-0218-0010#BAL150R0
J3 casing
Air tube 3.18mm BLACK AIR1
（H012,H013,H014,H015, A97L-0218-0010#AFL945R0 J3 casing to J3 arm
H017,H018）
Air tube 3.18mm RED A1
（H012,H013,H014,H015, A97L-0218-0010#CFL835R0 J3 casing to J3 arm
H017,H018）
Air tube 3.18mm BLUE B1
（H012,H013,H014,H015, A97L-0218-0010#DFL835R0 J3 casing to J3 arm
H017,H018）
Air tube 3.18mm YELLOW A2
A97L-0218-0010#EFL835R0
（H013,H014,H015,H018） J3 casing to J3 arm
Air tube 3.18mm GREEN B2
A97L-0218-0010#FFL835R0
（H013,H014,H015,H018） J3 casing to J3 arm
Air tube 3.18mm CLEAR A3
A97L-0218-0010#GFL835R0
（H014,H015） J3 casing to J3 arm
Air tube 3.18mm ORANGE B3
A97L-0218-0010#HFL835R0
（H014,H015） J3 casing to J3 arm
- 139 -
Table A (l) Solenoid valve (Either the following is installed by the option specification) (except H001,H006,H011
and H016)
Solenoid valve A97L-0218-0113#D1 Double solenoidX1(2 positionX1)

Double solenoidX3
Solenoid valve A97L-0218-0113#D3R
(2 positonX2, 3 positionX1)
Table A (m) Battery

Battery A98L-0031-0027 C battery/1.5V

(When battery built-in option is selected)
Battery A98L-0031-0005 D battery/1.5V
Table A (n) Grease

Grease A98L-0040-0230#2KG Harmonic grease 4BNo.2
- 140 -
B-82585EN02 APPENDIX B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM
B CIRCUIT
DIAGRM
DIAGRAM, AIR PRESSURE
- 141 -
B.CIRCUIT DIAGRAM, AIR PRESSURE DIAGRM APPENDIX B-82585EN/02
A63L-0001-0865#1
J1 MOTOR (βiSR1/6000)
A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
2 BK(J1) 1 BKCOM1(J1)
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
K102
A2 BK(J2) B2 J2V1 3 J2W1 4 J2G1
A660-4004-T706
A3 J2W1 B3 BKCOM1(J2)
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
M2P1 CTM M2P 4 +6V(BT2)
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
A2 PRQJ2 B2 XPRQJ2 9 +5V(B1) 2
A660-2006-T657 6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
7 0V(BT2)
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
J3 MOTOR (βiSR0.5/6000)
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
K104
A2 BK(J3) B2 J3V1 3 J3W1 4 J3G1
A660-4004-T707
Y-KEY A63L-0001-0865#2
J1 CONNECTOR PANEL ( WHITE ) A63L-0001-0864#CS
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1 BKCOM1(J3)
4
1 BK(J1) 13 BK(J2) 25 BK(J3) 37 (BK(J4)) 49 (BK(J5)) 61 (BK(J6))
2 BKCOM1(J1) 14 BKCOM1(J2) 26 BKCOM1(J3) 38 50
(BKCOM1(J4)) 62 (BKCOM1(J6))
(BKCOM1(J5)) A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
3 J1U1 15 J2U1 27 J3U1 39 J4U 51 J5U 63 J6U A63L-0002-0066#CRM A63L-0001-0850
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40
41
J4V
J4W
52
53
J5V
J5W
64 J6V
65 J6W K101
A1 +6V(BT3) B1 0V(BT3) 8 1
6 J1G1 18 J2G1 30 J3G1 42 J4G 54 J5G 66 J6G A660-8016-T285 K105 5 XPRQJ3
7 XROT 19 +24V(OT,A1,A2) 31 XHBK 43 +24V(B1) 55 0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6) A660-2006-T658 6 PRQJ3
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
8 RI1 20 RI2 32 RI3 44 RI4 56 RI5 68 RI6 7 0V(BT3)
9 RO1 21 RO2 33 RO3 45 RO4 57 RO5 69 RO6 ( X-KEY
WHITE )
10 +5V(A1) 22 +5V(B1,B2) 34 +5V(C1,C2,C3) 46 0V(A1) 58 0V(B1,B2) 70 0V(C1,C2,C3)
11 PRQJ1 23 PRQJ2 35 PRQJ3 47 PRQJ4 59 PRQJ5 71 PRQJ6
12 XPRQJ1 24 XPRQJ2 36 XPRQJ3 48 XPRQJ4 60 XPRQJ5 72 XPRQJ6
G SG
F20DX
M456M1 CTM
A63L-0002-0066#R20DX A1 J4U B1 J4G A63L-0002-0066#R06DX
A63L-0002-0066#CRM A2 (BK(J4)) B2 J4V A63L-0002-0066#CRM
F06DX
A3
A4
J4W B3 (BKCOM1(J4))
B4
M4M1 CTM
A1 J4U B1 J4G
A5 J5G B5 J5U K106 K109
A2 B2 J4V
A6 J5V B6 (BK(J5)) A660-4004-T708 A660-2006-T660
A3 J5W B3
X-KEY A7 (BKCOM1(J5)) B7 J5W X-KEY
( BLACK ) A8 J6U B8 J6G ( BLACK )
A9 (BK(J6)) B9 J6V
A10 J6W B10 (BKCOM1(J6))
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
+ M456PEE1 F20DY
CTM
A63L-0002-0066#R20DY A1 PRQJ4 B1 XPRQJ4
( 単二電池
SIZE C )
A63L-0002-0066#CRM A2
A3 PRQJ5
B2 0V(BT4,BT5,BT6)
+6V(BT4,BT5,BT6)
B3 XPRQJ5
A4 +5V(C1,C2,C3) B4 0V(C1,C2,C3)
0V
- A5 PRQJ6 B5 XPRQJ6 K107
A660-4004-T709
A6 +24V(A1,A2) B6 XHBK
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
BT4,BT5,BT6) ( Y-KEY
BLACK ) A8 RI1 B8 RI2
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
注）
NOTE)
1. (***)：使用されていない信号。
SIGNALS ARE NOT USED.
2. オプション指定時は、A05C-1139-B202を参照。
REFER TO A05C-1139-B202 IF SPECIFIED OPTIONS.
Fig. B (a) CIRCUIT DIAGRM (LR Mate 200iC 3-axes brake type)
- 142 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M5M1 CTM M5M
A1 J5U B1 J5G 2 J5V 1 J5U
K110
A2 B2 J5V 3 J5W 4 J5G
A660-2006-T661
A3 J5W B3
( X-KEY
BLACK )
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT5) B1 0V(BT5) 8 1
K111 5 XPRQJ5
A2 PRQJ5 B2 XPRQJ5 9 +5V(C2) 2
A660-2006-T662 6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
Y-KEY 7 0V(BT5)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M6M1 CTM M6M
K112
A2 B2 J6V A660-2006-T663 3 J6W 4 J6G
A3 J6W B3
Y-KEY
( WHITE )
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT6) B1 0V(BT6) 8 1
K113 5 XPRQJ6
A2 PRQJ6 B2 XPRQJ6 A660-2006-T664 9 +5V(C3) 2
6 PRQJ6
A3 +5V(C3) B3 0V(C3) 10 0V(C3) 3
X-KEY 7 0V(BT6)
( WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM
A1 RI1 B1 XHBK EE A63L-0002-0072#12SN
A2 RI2 B2 +24V(A1) 1 RI1 9 +24V(A2) 8 +24V(A1)
A3 RI3 B3 +24V(A2) K114 2 RI2 10 +24V(B1) 12 0V(D2) 7 XHBK
A4 RI4 B4 +24V(B1) A660-2006-T665 3 RI3 11 0V(D1) 6 RI6
A5 RI5 B5 0V(D1) 4 RI4 5 RI5
( X-KEY
BLACK ) A6 RI6 B6 0V(D2)
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2 J4V 1 J4U
3 J4W 4 J4G
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P 4 +6V(BT4)
8 1
5 XPRQJ4
9 +5V(C1) 2
6 PRQJ4
10 0V(C1) 3
7 0V(BT4)
A05B-1139-H002 A05B-1139-H004
R12DX F12DX F12DX
YV2 CRM YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A3 RO3 B3 0V(E3) A3 B3 SOLENOID VALVE A3 RO3 B3 0V(E3) SOLENOID VALVE
A4 RO4 B4 0V(E4) A4 B4 A97L-0218-0113#D1 A4 RO4 B4 0V(E4) A97L-0218-0113#D3
A5 RO5 B5 0V(E5) A5 B5 A5 RO5 B5 0V(E5)
A6 RO6 B6 0V(E6) A6 B6 A6 RO6 B6 0V(E6)
( X-KEY
BLACK )
A05B-1139-H003 A05B-1139-H005
F12DX F12DX
YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2)
A3 RO3 B3 0V(E3) SOLENOID VALVE A3 RO3 B3 0V(E3) SOLENOID VALVE
A4 RO4 B4 0V(E4) A97L-0218-0113#D2 A4 RO4 B4 0V(E4) A97L-0218-0113#D3R
A5 B5 A5 RO5 B5 0V(E5)
A6 B6 A6 RO6 B6 0V(E6)
LR Mate 200iC (3BK)
:可動部用
MOVABLE
- 143 -
A05B-1139-H301指定時 A63L-0001-0865#1
SPECIFIED A05B-1139-H302 A63L-0001-0864#CS
M1M
A05B-1139-H321(5C)指定時 A63L-0001-0865#2
2
3
J1V1
J1W1
1
4
J1U1
J1G1
SPECIFIED A05B-1139-H321(5C) A63L-0001-0864#CS

M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
A2 BK(J2) B2 J2V1 K102 3 J2W1 4 J2G1
A660-4004-T706
( X-KEY
BLACK )
A63L-0001-0865#2
A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
A2 PRQJ2 B2 XPRQJ2 A660-2006-T657 9 +5V(B1) 2
6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
Y-KEY 7 0V(BT2)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
A2 BK(J3) B2 J3V1 K104 3 J3W1 4 J3G1
A660-4004-T707
Y-KEY A63L-0001-0865#2
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1
4
BKCOM1(J3)
1 BK(J1) 13 BK(J2) 25 BK(J3) 37 BK(J4) 49 BK(J5) 61 BK(J6)

2 14
BKCOM1(J1) BKCOM1(J2) 26 BKCOM1(J3) 38 BKCOM1(J4) 50 BKCOM1(J5) 62 BKCOM1(J6) A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40 J4V
41 J4W
52
53
J5V
J5W
64 J6V
65 J6W K101
A660-8016-T285 A1 +6V(BT3) B1 0V(BT3) 8 1
6 J1G1 18 J2G1 30 J3G1 42 J4G 54 J5G 66 J6G K105 5 XPRQJ3
0V(D1,D2) 67 0V(E1,E2,E3,
7 XROT 19 +24V(OT,A1,A2) 31 XHBK 43 +24V(B1) 55 E4,E5,E6) 6 PRQJ3
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
WHITE )
G SG
F20DX
M456M1 CTM
A63L-0002-0066#CRM A2 BK(J4) B2 J4V A63L-0002-0066#CRM
F06DX
A3
A4
J4W B3 BKCOM1(J4)
B4
M4M1 CTM
A1 J4U B1 J4G
A5 J5G B5 J5U K106 K109
A660-4004-T708 A2 BK(J4) B2 J4V A660-4004-T710
A6 J5V B6 BK(J5)
A3 J5W B3 BKCOM1(J4)
X-KEY A7 BKCOM1(J5) B7 J5W X-KEY
A9 BK(J6) B9 J6V
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
+ M456PEE1 F20DY
CTM
( 単二電池
SIZE C )
A63L-0002-0066#CRM A2
A3 PRQJ5
B2 0V(BT4,BT5,BT6)
+6V(BT4,BT5,BT6)
B3 XPRQJ5
A4 +5V(C1,C2,C3) B4 0V(C1,C2,C3)
0V
A660-4004-T709
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
Fig.B(b) Circuit diagram (LR Mate 200iC 6-axes brake type When H301 is specified)
(LR Mate 200iC/5C When H321 is specified)
- 144 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M5M1 CTM M5M
K110
A2 BK(J5) B2 J5V A660-4004-T711 3 J5W 4 J5G
( X-KEY
BLACK )
A63L-0001-0865#2
A63L-0001-0864#CS
M5BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT5) B1 0V(BT5) 8 1
K111 5 XPRQJ5
A660-2006-T662 6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
7 0V(BT5)
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M6M1 CTM M6M
A2 BK(J6) B2 J6V K112 3 J6W 4 J6G
A660-4004-T712
Y-KEY A63L-0001-0865#2
( WHITE ) A63L-0001-0864#CS
M6BK
3 4
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT6) B1 0V(BT6) 8 1
K113 5 XPRQJ6
6 PRQJ6
A3 +5V(C3) B3 0V(C3) 10 0V(C3) 3
X-KEY 7 0V(BT6)
( WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM
A1 RI1 B1 XHBK EE A63L-0002-0072#12SN
A2 RI2 B2 +24V(A1) 1 RI1 9 +24V(A2) 8 +24V(A1)
A4 RI4 B4 +24V(B1) A660-2006-T665 3 RI3 11 0V(D1) 6 RI6
X-KEY A5 RI5 B5 0V(D1) 4 RI4 5 RI5
( BLACK ) A6 RI6 B6 0V(D2)
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2 J4V 1 J4U
K109
A660-4004-T710 3 J4W 4 J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P 4 +6V(BT4)
8 1
5 XPRQJ4
9 +5V(C1) 2
6 PRQJ4
10 0V(C1) 3
7 0V(BT4)
A05B-1139-H002,-H022 A05B-1139-H004,-H024
R12DX F12DX F12DX
A5 RO5 B5 0V(E5) A5 B5 A5 RO5 B5 0V(E5)
A6 RO6 B6 0V(E6) A6 B6 A6 RO6 B6 0V(E6)
( X-KEY
BLACK )
A05B-1139-H003,-H023 A05B-1139-H005
F12DX F12DX
YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2)
A4
A5
RO4 B4
B5
0V(E4) A97L-0218-0113#D2 A4
A5
RO4
RO5
B4
B5
0V(E4)
0V(E5)
A97L-0218-0113#D3R
LR Mate 200iC (6BK)
A6 B6 A6 RO6 B6 0V(E6)
LR Mate 200iC/5C
- 145 -
A05B-1139-H302指定時 A63L-0001-0865#1
SPECIFIED A05B-1139-H302 A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
A2 BK(J2) B2 J2V1 K102 3 J2W1 4 J2G1
A660-4004-T706
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
Y-KEY 7 0V(BT2)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
A2 BK(J3) B2 J3V1 K104 3 J3W1 4 J3G1
A660-4004-T707
Y-KEY A63L-0001-0865#2
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1
4
BKCOM1(J3)

2 14
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40 J4V
41 J4W
52
53
J5V
J5W
64 J6V
65 J6W K101
A660-8016-T495 A1 +6V(BT3) B1 0V(BT3) 8 1
0V(D1,D2) 67 0V(E1,E2,E3,
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
8 RI1 20 RI2 32 RI3 44 RI4 56 RI5 68 RI6 X-KEY 7 0V(BT3)
9 RO1 21 RO2 33 RO3 45 RO4 57 RO5 69 RO6 ( WHITE )
G SG
F20DX
M456M1 CTM
F06DX
A3
A4
J4W B3 BKCOM1(J4)
B4
M4M1 CTM
A1 J4U B1 J4G
A5 J5G B5 J5U K106 K109
A660-4004-T708 A2 BK(J4) B2 J4V A660-4004-T710
A6 J5V B6 BK(J5)
X-KEY A7 BKCOM1(J5) B7 J5W X-KEY
A9 BK(J6) B9 J6V
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
+ M456PEE1 F20DY
CTM
GB2 GB2 A63L-0002-0066#R20DY A1 PRQJ4 B1 XPRQJ4
( 単一電池
SIZE D ) K131
A
B
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A
B
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A63L-0002-0066#CRM A2
A3 PRQJ5
B2 0V(BT4,BT5,BT6)
+6V(BT4,BT5,BT6)
B3 XPRQJ5
A660-8016-T498
C C A4 +5V(C1,C2,C3) B4 0V(C1,C2,C3)
0V
A660-4004-T709
A63L-0001-0648#610SL3SJ A63L-0001-0648#210SL3PJ A6 +24V(A1,A2) B6 XHBK
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
Fig.B(c) Circuit diagram (LR Mate 200iC 6-axes brake type When H302 is specified)
- 146 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M5M1 CTM M5M
A2 BK(J5) B2 J5V K110 3 J5W 4 J5G
A660-4004-T711
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M5BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT5) B1 0V(BT5) 8 1
K111 5 XPRQJ5
6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
7 0V(BT5)
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M6M1 CTM M6M
A2 BK(J6) B2 J6V K112 3 J6W 4 J6G
A660-4004-T712
Y-KEY A63L-0001-0865#2
( WHITE ) A63L-0001-0864#CS
M6BK
3 4
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT6) B1 0V(BT6) 8 1
K113 5 XPRQJ6
6 PRQJ6
A3 +5V(C3) B3 0V(C3) 10 0V(C3) 3
X-KEY 7 0V(BT6)
( WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM
A1 RI1 B1 XHBK EE A63L-0002-0072#12SN
A2 RI2 B2 +24V(A1) 1 RI1 9 +24V(A2) 8 +24V(A1)
A4 RI4 B4 +24V(B1) A660-2006-T665 3 RI3 11 0V(D1) 6 RI6
A5 RI5 B5 0V(D1) 4 RI4 5 RI5
( X-KEY
BLACK ) A6 RI6 B6 0V(D2)
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2 J4V 1 J4U
K109
A660-4004-T710 3 J4W 4 J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P 4 +6V(BT4)
8 1
5 XPRQJ4
9 +5V(C1) 2
6 PRQJ4
10 0V(C1) 3
7 0V(BT4)
A05B-1139-H002 A05B-1139-H004
R12DX F12DX F12DX
A5 RO5 B5 0V(E5) A5 B5 A5 RO5 B5 0V(E5)
A6 RO6 B6 0V(E6) X-KEY A6 B6 A6 RO6 B6 0V(E6)
( BLACK )
A05B-1139-H003 A05B-1139-H005
F12DX F12DX
YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2
A3 RO3
B2 0V(E2)
B3 0V(E3) SOLENOID VALVE
A2
A3
RO2
RO3
B2
B3
0V(E2)
0V(E3) SOLENOID VALVE
:可動部用
A4 RO4
A5
B4 0V(E4)
B5
A97L-0218-0113#D2 A4
A5
RO4
RO5
B4
B5
0V(E4)
0V(E5)
A97L-0218-0113#D3R
MOVABLE
A6 B6 A6 RO6 B6 0V(E6)
- 147 -
A05B-1139-H006指定時
SPECIFIED A05B-1139-H006 A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
K102
A2 BK(J2) B2 J2V1 A660-4004-T706 3 J2W1 4 J2G1
( X-KEY
BLACK )
A63L-0001-0865#2
A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
Y-KEY 7 0V(BT2)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
A2 BK(J3) B2 J3V1 K104 3 J3W1 4 J3G1
A660-4004-T707
Y-KEY A63L-0001-0865#2
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1 BKCOM1(J3)
4
2 BKCOM1(J1) 14 BKCOM1(J2) 26 BKCOM1(J3) 38 BKCOM1(J4) 50 BKCOM1(J5) 62 BKCOM1(J6) A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40 J4V
41 J4W
52
53
J5V
J5W
64 J6V
65 J6W K101
A1 +6V(BT3) B1 0V(BT3) 8 1
0V(D1,D2) 67 0V(E1,E2,E3,
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
G SG
F20DX
M456M1 CTM
F06DX
A3
A4
J4W B3 BKCOM1(J4)
B4
M4M1 CTM
A1 J4U B1 J4G
A5 J5G B5 J5U K106 K109
A2 BK(J4) B2 J4V
A6 J5V B6 BK(J5) A660-4004-T708 A660-4004-T710
A7 BKCOM1(J5) B7 J5W
( X-KEY
BLACK ) A8 J6U B8 J6G ( X-KEY
BLACK )
A9 BK(J6) B9 J6V
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
+ M456PEE1 F20DY
CTM
( 単二電池
SIZE C )
A63L-0002-0066#CRM A2
A3 PRQJ5
B2 0V(BT4,BT5,BT6)
+6V(BT4,BT5,BT6)
B3 XPRQJ5
A4 +5V(C1,C2,C3) B4 0V(C1,C2,C3)
0V
A660-4004-T709
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
Fig.B(d) Circuit diagram (LR Mate 200iC 6-axes brake type When H006 is specified)
(LR Mate 200iC/5C H006 is specified)
- 148 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M5M1 CTM M5M
K110
A2 BK(J5) B2 J5V 3 J5W 4 J5G
A660-4004-T711
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M5BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT5) B1 0V(BT5) 8 1
K111 5 XPRQJ5
6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
Y-KEY 7 0V(BT5)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M6M1 CTM M6M
K112
A2 BK(J6) B2 J6V 3 J6W 4 J6G
A660-4004-T712
Y-KEY A63L-0001-0865#2
( WHITE ) A63L-0001-0864#CS
M6BK
3 4
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT6) B1 0V(BT6) 8 1
K113 5 XPRQJ6
A660-2006-T664 6 PRQJ6
A3 +5V(C3) B3 0V(C3) 10 0V(C3) 3
X-KEY 7 0V(BT6)
( WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM EE A63L-0002-0072#20SN
A1 RI1 B1 XHBK 5 RO1 11 RI1
A2 RI2 B2 +24V(A1) 1 0V(E1) 6 RO2 12 RI2 17 XHBK
A3 RI3 B3 +24V(A2) K114 2 0V(E2) 7 RO3 13 RI3 18 +24V(A1)
A4 RI4 B4 +24V(B1) A660-4004-T864 3 0V(D1) 8 RO4 14 RI4 19 +24V(A2)
A5 RI5 B5 0V(D1) 4 0V(D2) 9 RO5 15 RI5 20 +24V(B1)
( X-KEY
BLACK ) A6 RI6 B6 0V(D2) 10 RO6 16 RI6
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2 J4V 1 J4U
K109
3 J4W 4 J4G
A660-4004-T710
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P 4 +6V(BT4)
8 1
5 XPRQJ4
9 +5V(C1) 2
6 PRQJ4
10 0V(C1) 3
7 0V(BT4)
A05B-1139-H006
R12DX F12DX A63L-0002-0066#R08DX
YV2 CRM YV2 CTM A63L-0002-0066#CRM F08DX
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1) RO CTM
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2) A1 0V(E1) B1 0V(E2)
A3 RO3 B3 (0V(E3)) A3 RO3 B3 (0V(E3)) A2 RO1 B2 RO2
A4 RO4 B4 (0V(E4)) A4 RO4 B4 (0V(E4)) K116 A3 RO3 B3 RO4
A5 RO5 B5 (0V(E5)) A5 RO5 B5 (0V(E5)) A660-2006-T834 A4 RO5 B4 RO6
A6 RO6 B6 (0V(E6)) ( X-KEY
BLACK ) A6 RO6 B6 (0V(E6)) ( X-KEY
BLACK )
:可動部用
MOVABLE
- 149 -
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
K102
A2 BK(J2) B2 J2V1 3 J2W1 4 J2G1
A660-4004-T822
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
A660-2006-T789 6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
Y-KEY 7 0V(BT2)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
K104
A2 BK(J3) B2 J3V1 3 J3W1 4 J3G1
A660-4004-T823
Y-KEY A63L-0001-0865#2
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1 BKCOM1(J3)
4
2 BKCOM1(J1) 14 BKCOM1(J2) 26 BKCOM1(J3) 38 BKCOM1(J4) 50 BKCOM1(J5) 62 BKCOM1(J6) A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40 J4V
41 J4W
52
53
J5V
J5W
64 J6V
65 J6W K101
A1 +6V(BT3) B1 0V(BT3) 8 1
0V(D1,D2) 67 0V(E1,E2,E3,
7 XROT 19 +24V(OT,A1,A2) 31 XHBK 43 +24V(B1) 55 E4,E5,E6) A660-2006-T790 6 PRQJ3
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
G SG
F20DX
M456M1 CTM
F06DX
A3
A4
J4W B3 BKCOM1(J4)
B4
M4M1 CTM
A1 J4U B1 J4G
A5 J5G B5 J5U K106 K109
A2 BK(J4) B2 J4V
A6 J5V B6 BK(J5) A660-4004-T824 A660-4004-T710
( X-KEY
BLACK )
A9 BK(J6) B9 J6V
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
+ M456PEE1 F20DY
CTM
( 単二電池
SIZE C )
A63L-0002-0066#CRM A2
A3 PRQJ5
B2 0V(BT4,BT5,BT6)
+6V(BT4,BT5,BT6)
B3 XPRQJ5
A4 +5V(C1,C2,C3) B4 0V(C1,C2,C3)
0V
A6 +24V(A1,A2) B6 XHBK A660-4004-T825
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T791
A4 RO5 B4 RO6
( X-KEY
BLACK )
注）
NOTE)
Fig.B(e) Circuit diagram (LR Mate 200iC/5L)
- 150 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M5M1 CTM M5M
K110
A2 BK(J5) B2 J5V A660-4004-T711 3 J5W 4 J5G
( X-KEY
BLACK )
A63L-0001-0865#2
A63L-0001-0864#CS
M5BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT5) B1 0V(BT5) 8 1
K111 5 XPRQJ5
A660-2006-T662 6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
Y-KEY 7 0V(BT5)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M6M1 CTM M6M
A2 BK(J6) B2 J6V K112 3 J6W 4 J6G
A660-4004-T712
( Y-KEY
WHITE )
A63L-0001-0865#2
A63L-0001-0864#CS
M6BK
3 4
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT6) B1 0V(BT6) 8 1
K113 5 XPRQJ6
A660-2006-T664 6 PRQJ6
A3 +5V(C3) B3 0V(C3) 10 0V(C3) 3
X-KEY 7 0V(BT6)
( WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM
A1 RI1 B1 XHBK EE A63L-0002-0072#12SN
A2 RI2 B2 +24V(A1) 1 RI1 9 +24V(A2) 8 +24V(A1)
A4 RI4 B4 +24V(B1) A660-2006-T665 3 RI3 11 0V(D1) 6 RI6
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2 J4V 1 J4U
3 J4W 4 J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P 4 +6V(BT4)
8 1
5 XPRQJ4
9 +5V(C1) 2
6 PRQJ4
10 0V(C1) 3
7 0V(BT4)
A05B-1139-H012 A05B-1139-H014
R12DX F12DX F12DX
A5 RO5 B5 0V(E5) A5 B5 A5 RO5 B5 0V(E5)
A6 RO6 B6 0V(E6) A6 B6 A6 RO6 B6 0V(E6)
( X-KEY
BLACK )
A05B-1139-H013 A05B-1139-H015
F12DX F12DX
YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2)
A4 RO4 B4 0V(E4) A97L-0218-0113#D2 A4 RO4 B4 0V(E4) A97L-0218-0113#D3R
A5 B5 A5 RO5 B5 0V(E5)
A6 B6 A6 RO6 B6 0V(E6)
LR Mate 200iC/5L
:可動部用
MOVABLE
- 151 -
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
A2 BK(J2) B2 J2V1 K102 3 J2W1 4 J2G1
A660-4004-T706
( X-KEY
BLACK )
A63L-0001-0865#2
A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
Y-KEY 7 0V(BT2)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
A2 BK(J3) B2 J3V1 K104 3 J3W1 4 J3G1
A660-4004-T707
J1 CONNECTOR PANEL ( Y-KEY
WHITE )
A63L-0001-0865#2
A63L-0001-0864#CS
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1 BKCOM1(J3)
4
2 14
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40 J4V
41 J4W
52
53
J5V
J5W
64 J6V
65 J6W K101
A660-8016-T495 A1 +6V(BT3) B1 0V(BT3) 8 1
(0V(D1,D2)) 67 0V(E1,E2,E3,
7 XROT 19 +24V(OT,A1,A2) 31 (XHBK) 43 (+24V(B1)) 55 E4,E5,E6) A660-2006-T658 6 PRQJ3
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
8 (RI1) 20 (RI2) 32 (RI3) 44 (RI4) 56 (RI5) 68 (RI6) X-KEY 7 0V(BT3)
G SG
F20DX
M456M1 CTM
F06DX
A3
A4
J4W B3 BKCOM1(J4)
B4
M4M1 CTM
A1 J4U B1 J4G
A5 J5G B5 J5U K106 K109
A660-4004-T708 A2 BK(J4) B2 J4V A660-4004-T710
A6 J5V B6 BK(J5)
( X-KEY
BLACK )
A9 BK(J6) B9 J6V
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5,BT6)
+ M456PEE1 F20DY
CTM
GB2 GB2 A63L-0002-0066#R20DY A1 PRQJ4 B1 XPRQJ4
( 単一電池
SIZE D ) K131
A
B
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A
B
+6V(BT1,BT2,BT3,
BT4,BT5,BT6)
0V(BT1,BT2,BT3,
BT4,BT5,BT6)
A63L-0002-0066#CRM A2
A3 PRQJ5
B2 0V(BT4,BT5,BT6)
+6V(BT4,BT5,BT6)
B3 XPRQJ5
A660-8016-T498
C C A4 +5V(C1,C2,C3) B4 0V(C1,C2,C3)
0V
A660-4004-T709
A63L-0001-0648#610SL3SJ A63L-0001-0648#210SL3PJ A6 (+24V(A1,A2)) B6 (XHBK)
(BT1,BT2,BT3, A7 (+24V(B1)) B7 (0V(D1,D2))
BLACK ) A8 (RI1) B8 (RI2)
A9 (RI3) B9 (RI4)
A10 (RI5) B10 (RI6)
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
Fig.B(f) Circuit diagram (LR Mate 200iC/5WP)
- 152 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M5M1 CTM M5M
K110
A2 BK(J5) B2 J5V 3 J5W 4 J5G
A660-4004-T711
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M5BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT5) B1 0V(BT5) 8 1
K111 5 XPRQJ5
6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
Y-KEY 7 0V(BT5)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M6M1 CTM M6M
K112
A2 BK(J6) B2 J6V 3 J6W 4 J6G
A660-4004-T712
( Y-KEY
WHITE )
A63L-0001-0865#2
A63L-0001-0864#CS
M6BK
3 4
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT6) B1 0V(BT6) 8 1
K113 5 XPRQJ6
6 PRQJ6
A3 +5V(C3) B3 0V(C3) 10 0V(C3) 3
X-KEY 7 0V(BT6)
( WHITE )
A63L-0002-0066#R12DX
A63L-0002-0066#CRM
( X-KEY
BLACK )
A63L-0001-0865#1
A63L-0001-0864#CS
M4M
2 J4V 1 J4U
K109
A660-4004-T710 3 J4W 4 J4G
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M4P 4 +6V(BT4)
8 1
5 XPRQJ4
9 +5V(C1) 2
6 PRQJ4
10 0V(C1) 3
7 0V(BT4)
A05B-1139-H032
R12DX F12DX
YV2 CRM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2)
A3 RO3 B3 0V(E3) A3 B3 SOLENOID VALVE
A4 RO4 B4 0V(E4) A4 B4 A97L-0218-0113#D1
A5 RO5 B5 0V(E5) A5 B5
A6 RO6 B6 0V(E6) A6 B6
( X-KEY
BLACK )
A05B-1139-H033
F12DX
YV2 CTM
A1 RO1
A2 RO2
A3 RO3
B1 0V(E1)
B2 0V(E2)
B3 0V(E3) SOLENOID VALVE
LR Mate 200iC/5WP
A4 RO4 B4 0V(E4) A97L-0218-0113#D2
A5 B5
A6 B6
:可動部用
MOVABLE
- 153 -
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
K102
A2 BK(J2) B2 J2V1 3 J2W1 4 J2G1
A660-4004-T706
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
A660-2006-T657 6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
Y-KEY 7 0V(BT2)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
K104
A2 BK(J3) B2 J3V1 A660-4004-T707 3 J3W1 4 J3G1
Y-KEY A63L-0001-0865#2
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1
4
BKCOM1(J3)
1 BK(J1) 13 BK(J2) 25 BK(J3) 37 (BK(X)) 49 (BK(J4)) 61 (BK(J5))

2 14
BKCOM1(J1) BKCOM1(J2) 26 BKCOM1(J3) 38 (BKCOM1(X)) 50 62 (BKCOM1(J5))
(BKCOM1(J4)) A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
3 J1U1 15 J2U1 27 J3U1 39 (XU) 51 J4U 63 J5U A63L-0002-0066#CRM A63L-0001-0850
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40 (XV)
41 (XW)
52
53
J4V
J4W
64 J5V
65 J5W K101
A1 +6V(BT3) B1 0V(BT3) 8 1
6 J1G1 18 J2G1 30 J3G1 42 (XG) 54 J4G 66 J5G A660-8016-T285 K105 5 XPRQJ3
0V(D1,D2) 67 0V(E1,E2,E3,
7 XROT 19 +24V(OT,A1,A2) 31 XHBK 43 +24V(B1) 55 E4,E5,E6) A660-2006-T658 6 PRQJ3
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
10 +5V(A1) 22 +5V(B1,B2) 34 +5V(C1,C2) 46 0V(A1) 58 0V(B1,B2) 70 0V(C1,C2)
11 PRQJ1 23 PRQJ2 35 PRQJ3 47 (PRQX) 59 PRQJ4 71 PRQJ5
12 XPRQJ1 24 XPRQJ2 36 XPRQJ3 48 (XPRQX) 60 XPRQJ4 72 XPRQJ5
G SG
F20DX
M456M1 CTM
A63L-0002-0066#R20DX A1 (XU) B1 (XG)
A63L-0002-0066#CRM A2 (BK(X)) B2 (XV)
A3 (XW) B3 (BKCOM1(X))
A4 B4
A5 J4G B5 J4U K106
A6 J4V B6 (BK(J4)) A660-4004-T810
A7 (BKCOM1(J4)) B7 J4W
( X-KEY
BLACK ) A8 J5U B8 J5G
A9 (BK(J5)) B9 J5V
A10 J5W B10 (BKCOM1(J5))
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5)
+ M456PEE1 F20DY
CTM
A63L-0002-0066#R20DY A1 (PRQX) B1 (XPRQX)
( 単二電池
SIZE C )
A63L-0002-0066#CRM A2
A3 PRQJ4
B2 0V(BT4,BT5)
+6V(BT4,BT5)
B3 XPRQJ4
A4 +5V(C1,C2)B4 0V(C1,C2)
0V
A6 +24V(A1,A2) B6 XHBK A660-4004-T811
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
BT4,BT5) ( Y-KEY
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
注）
NOTE)
Fig. B(g) CIRCUIT DIAGRAM (LR Mate 200iC/5H 3-axes brake type)
- 154 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M4M1H CTM M4M
K110
A2 B2 J4V A660-2006-T771 3 J4W 4 J4G
A3 J4W B3
X-KEY
( BLACK )
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
M4P1H CTM M4P 4 +6V(BT4)
A1 +6V(BT4) B1 0V(BT4) 8 1
K111 5 XPRQJ4
A660-2006-T772 6 PRQJ4
A3 +5V(C1) B3 0V(C1) 10 0V(C1) 3
Y-KEY 7 0V(BT4)
( BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M5M1H CTM M5M
K112
A2 B2 J5V 3 J5W 4 J5G
A660-2006-T773
A3 J5W B3
( Y-KEY
WHITE )
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
M5P1H CTM M5P 4 +6V(BT5)
A1 +6V(BT5) B1 0V(BT5) 8 1
K113 5 XPRQJ5
A660-2006-T774 6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
X-KEY 7 0V(BT5)
( WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM
A1 RI1 B1 XHBK EE A63L-0002-0072#12SN
A2 RI2 B2 +24V(A1) 1 RI1 9 +24V(A2) 8 +24V(A1)
A4 RI4 B4 +24V(B1) A660-2006-T665 3 RI3 11 0V(D1) 6 RI6
A05B-1139-H002 A05B-1139-H004
R12DX F12DX F12DX
A5 RO5 B5 0V(E5) A5 B5 A5 RO5 B5 0V(E5)
A6 RO6 B6 0V(E6) A6 B6 A6 RO6 B6 0V(E6)
( X-KEY
BLACK )
A05B-1139-H003 A05B-1139-H005
F12DX F12DX
YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2)
A3 RO3
A4 RO4
B3 0V(E3)
B4 0V(E4)
SOLENOID VALVE
A97L-0218-0113#D2
A3
A4
RO3
RO4
B3
B4
0V(E3)
0V(E4)
SOLENOID VALVE
A97L-0218-0113#D3R
LR Mate 200iC/5H (3BK)
A5 B5 A5 RO5 B5 0V(E5)
A6 B6 A6 RO6 B6 0V(E6)
:可動部用
MOVABLE
- 155 -
A63L-0001-0865#1
A63L-0001-0864#CS
M1M
2 J1V1 1 J1U1
3 J1W1 4 J1G1
A63L-0001-0865#2
A63L-0001-0864#CS
M1BK
3 4
A63L-0001-0848#E10SL1
A63L-0001-0850
M1P 4 +6V(BT1)
8 1
5 XPRQJ1
9 +5V(A1) 2
6 PRQJ1
10 0V(A1) 3
7 0V(BT1)
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M2M1 CTM M2M
A1 J2U1 B1 J2G1 2 J2V1 1 J2U1
A2 BK(J2) B2 J2V1 K102 3 J2W1 4 J2G1
A660-4004-T706
X-KEY A63L-0001-0865#2
( BLACK ) A63L-0001-0864#CS
M2BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT2) B1 0V(BT3) 8 1
K103 5 XPRQJ2
A660-2006-T657 6 PRQJ2
A3 +5V(B1) B3 0V(B1) 10 0V(B1) 3
7 0V(BT2)
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
J3 MOTOR (βiSR0.5/600
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M3M1 CTM M3M
A1 J3U1 B1 J3G1 2 J3V1 1 J3U1
K104
A2 BK(J3) B2 J3V1 A660-4004-T707 3 J3W1 4 J3G1
Y-KEY A63L-0001-0865#2
Han 72DD
M3BK
RMP (2.5SQ 10A)
2
3
BK(J3) 1 BKCOM1(J3)
4
1 BK(J1) 13 BK(J2) 25 BK(J3) 37 (BK(X)) 49 BK(J4) 61 BK(J5)
2 BKCOM1(J1) 14 BKCOM1(J2) 26 BKCOM1(J3) 38 50
(BKCOM1(X)) BKCOM1(J4) 62 BKCOM1(J5) A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
3 J1U1 15 J2U1 27 J3U1 39 (XU) 51 J4U 63 J5U A63L-0002-0066#CRM A63L-0001-0850
F06DXW
4
5
J1V1
J1W1
16
17
J2V1
J2W1
28
29
J3V1
J3W1
40
41
(XV)
(XW)
52
53
J4V
J4W
64 J5V
65 J5W K101
A1 +6V(BT3) B1 0V(BT3) 8 1
6 J1G1 18 J2G1 30 J3G1 42 (XG) 54 J4G 66 J5G A660-8016-T285 K105 5 XPRQJ3
7 XROT 19 +24V(OT,A1,A2) 31 XHBK 43 +24V(B1) 55 0V(D1,D2) 67 0V(E1,E2,E3,
E4,E5,E6) A660-2006-T658 6 PRQJ3
A3 +5V(B2) B3 0V(B2) 10 0V(B2) 3
WHITE )
10 +5V(A1) 22 +5V(B1,B2) 34 +5V(C1,C2) 46 0V(A1) 58 0V(B1,B2) 70 0V(C1,C2)
11 PRQJ1 23 PRQJ2 35 PRQJ3 47 (PRQX) 59 PRQJ4 71 PRQJ5
12 XPRQJ1 24 XPRQJ2 36 XPRQJ3 48 (XPRQX) 60 XPRQJ4 72 XPRQJ5
G SG
F20DX
M456M1 CTM
A63L-0002-0066#R20DX A1 (XU) B1 (XG)
A63L-0002-0066#CRM A2 (BK(X)) B2 (XV)
A3 (XW) B3 (BKCOM1(X))
A4 B4
A5 J4G B5 J4U K106
A6 J4V B6 BK(J4) A660-4004-T810
( X-KEY
BLACK ) A8 J5U B8 J5G
A9 BK(J5) B9 J5V
BATTERY
+6V
(BT1,BT2,BT3,
BT4,BT5)
+ M456PEE1 F20DY
CTM
A63L-0002-0066#R20DY A1 (PRQX) B1 (XPRQX)
( 単二電池
SIZE C )
A63L-0002-0066#CRM A2
A3 PRQJ4
B2 0V(BT4,BT5)
+6V(BT4,BT5)
B3 XPRQJ4
A4 +5V(C1,C2)B4 0V(C1,C2)
0V
A6 +24V(A1,A2) B6 XHBK A660-4004-T811
(BT1,BT2,BT3, A7 +24V(B1) B7 0V(D1,D2)
BT4,BT5) ( Y-KEY
A9 RI3 B9 RI4
A10 RI5 B10 RI6
A63L-0002-0066#R08DX
A63L-0002-0066#CRM F08DX
YV1 CTM
A1 0V(E1,E3,E5) B1 0V(E2,E4,E6)
A2 RO1 B2 RO2 K108
A3 RO3 B3 RO4 A660-2006-T659
A4 RO5 B4 RO6
( X-KEY
BLACK )
注）
NOTE)
Fig. B(h) CIRCUIT DIAGRAM (LR Mate 200iC/5H 6-axes brake type)
- 156 -
A63L-0002-0066#R06DX A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DX
M4M1 CTM M4M
K110
A2 BK(J4) B2 J4V A660-4004-T812 3 J4W 4 J4G
( X-KEY
BLACK )
A63L-0001-0865#2
A63L-0001-0864#CS
M4BK
3 4
A63L-0002-0066#R06DY A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DY
A1 +6V(BT4) B1 0V(BT4) 8 1
K111 5 XPRQJ4
6 PRQJ4
A3 +5V(C1) B3 0V(C1) 10 0V(C1) 3
7 0V(BT4)
( Y-KEY
BLACK )
A63L-0002-0066#R06DYW A63L-0001-0865#1
A63L-0002-0066#CRM A63L-0001-0864#CS
F06DYW
M5M1 CTM M5M
K112
A2 BK(J5) B2 J5V 3 J5W 4 J5G
A660-4004-T813
Y-KEY A63L-0001-0865#2
( WHITE ) A63L-0001-0864#CS
M5BK
3 4
A63L-0002-0066#R06DXW A63L-0001-0848#E10SL1
A63L-0002-0066#CRM A63L-0001-0850
F06DXW
A1 +6V(BT5) B1 0V(BT5) 8 1
K113 5 XPRQJ5
A660-2006-T774 6 PRQJ5
A3 +5V(C2) B3 0V(C2) 10 0V(C2) 3
7 0V(BT5)
( X-KEY
WHITE )
A63L-0002-0066#R12DX F12DX
A63L-0002-0066#CRM EE1 CTM
A1 RI1 B1 XHBK EE A63L-0002-0072#12SN
A2 RI2 B2 +24V(A1) 1 RI1 9 +24V(A2) 8 +24V(A1)
A4 RI4 B4 +24V(B1) A660-2006-T665 3 RI3 11 0V(D1) 6 RI6
A05B-1139-H002 A05B-1139-H004
R12DX F12DX F12DX
A5 RO5 B5 0V(E5) A5 B5 A5 RO5 B5 0V(E5)
A6 RO6 B6 0V(E6) A6 B6 A6 RO6 B6 0V(E6)
( X-KEY
BLACK )
A05B-1139-H003 A05B-1139-H005
F12DX F12DX
YV2 CTM YV2 CTM
A1 RO1 B1 0V(E1) A1 RO1 B1 0V(E1)
A2 RO2 B2 0V(E2) A2 RO2 B2 0V(E2)
A3 RO3
A4 RO4
B3 0V(E3)
B4 0V(E4)
SOLENOID VALVE
A97L-0218-0113#D2
A3
A4
RO3
RO4
B3
B4
0V(E3)
0V(E4)
SOLENOID VALVE
A97L-0218-0113#D3R LR Mate 200iC/5H (5BK)
A5 B5 A5 RO5 B5 0V(E5)
A6 B6 A6 RO6 B6 0V(E6)
:可動部用
MOVABLE
- 157 -
J1 connector plate J3 arm

AIR 1
J1 connector plate
AIR 2
J3 casing
Exhaust port
RO1
RO2
RO2 RO1
Fig. B(i) Air pressure diagram

(Double solenoid valve×1 A05B-1139-H002,H012,H017,H022,H032 is specified)

AIR 1
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 valve×2 A05B-1139-H003,H013,H018,H023,H033 is specified)
- 158 -

AIR 1
J1 connector plate
AIR 2
J3 casing
Exhaust port
RO5 RO3
RO1
RO2
RO6 RO4
RO6 RO5 RO4 RO3 RO2 RO1
Fig. B(k) Air pressure diagram

(Double solenoid valve×3 A05B-1139-H004,H014,H024 is specified)
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
Fig. B(l) Air pressure diagram

(Double solenoid valve×3R A05B-1139-H005,H015 is specified)
- 159 -
C.PERIODIC MAINTENANCE TABLE APPENDIX B-82585EN/02
C PERIODIC MAINTENANCE TABLE
FANUC Robot LR Mate 200iC, LR Mate 200iC/5C, /5L, /5LC Periodic Maintenance Table
Check Oil First 3 6 9 1 2

Working time (H) time Grease check
months months months years years
amount 320
Items 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check the exposed
1 connector.(loosening)
0.2H ― ○ ○ ○
2 Tighten the end effector bolt. 0.2H ― ○ ○ ○

Tighten the cover and main
3 bolt. 2.0H ― ○ ○ ○
Mechanical unit
4 Remove spatter and dust etc. 1.0H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Replacing battery.
(if built-in batteries are 0.1H ― ● ●
specified)
5
Replacing battery.
(if external batteries are 0.1H ●
specified)
6 Greasing the reducers. 0.5H 14ml
Replacing cable of mechanical

7 unit *1 4.0H ―
Check the robot cable and
8 teach pendant cable 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
9 Cleaning the ventilator 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Control unit
10 Check the source voltage *1 0.2H ― ○ ○ ○ ○ ○
11 Replacing battery *1 0.1H ―
*1 Refer to manual of controller.

*2 ●: requires exchange of parts
○: does not require exchange of parts
- 160 -
B-82585EN/02 APPENDIX C.PERIODIC MAINTENANCE TABLE
3 4 5 6 7 8
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
○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 4
● ● ● ● ●
5
Overhaul
● ● ● ●
● 6
● 7
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 9
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 10
● 11
- 161 -
FANUC Robot LR Mate 200iC/5WP Periodic Maintenance Table

amount 320
Items 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check the exposed

1 connector.(loosening) 0.2H ― ○ ○ ○

Mechanical unit
3 Tighten the cover and main bolt. 2.0H ― ○ ○ ○

Replacing battery.(external
5 battery) 0.1H ●
6 Greasing the reducers. 0.5H 14ml ●

7 unit * 4.0H ―
Check the robot cable and teach
8 pendant cable 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Control unit

- 162 -
3 4
years years
11520 12480 13440 14400 15360 Item
○ 1
○ 2
○ 3
○ ○ ○ ○ 4
● 5
Overhaul
○ ○ ○ ○ 8
○ ○ ○ ○ 9
○ ○ 10
11
- 163 -
FANUC Robot LR Mate 200iC/5H Periodic Maintenance Table

amount 320
Items 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check the exposed
1 connector.(loosening)
0.2H ― ○ ○ ○

Tighten the cover and main
3 bolt. 2.0H ― ○ ○ ○
Mechanical unit

Replacing battery.
(if built-in batteries are 0.1H ― ● ●
specified)
5
Replacing battery.
(if external batteries are 0.1H ●
specified)
6 Greasing the reducers. 0.5H 12ml

7 unit * 4.0H ―
Check the robot cable and
8 teach pendant cable 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Control unit

- 164 -
3 4 5 6 7 8
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
○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 4
● ● ● ● ●
5
Overhaul
● ● ● ●
● 6
● 7
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 8
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 9
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 10
● 11
- 165 -
D.MOUNTING BOLT TORQUE LIST APPENDIX B-82585EN/02
D MOUNTING BOLT TORQUE LIST

NOTE
When applying Loctite to the important bolt tightening
points, make sure that 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.
- 166 -
B-82585EN/02 APPENDIX D.MOUNTING BOLT TORQUE LIST
If no tightening torque is specified for a bolt, tighten it according to this

table.
Recommended bolt tightening torques Unit: Nm (kgf-cm)

Hexagon socket head boss
bolt
Hexagon socket head bolt Hexagon socket head bolt
Hexagon socket head flush
Nominal (Steel in strength category 12.9) (stainless)
bolt (steel in strength
diameter
category 12.9)
Tightening torque Tightening torque Tightening torque
Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit
M3 1.8(18) 1.3(13) 0.76(7.7) 0.53(5.4) - -
M4 4.0(41) 2.8(29) 1.8(18) 1.3(13) 1.8(18) 1.3(13)
M5 7.9(81) 5.6(57) 3.4(35) 2.5(25) 4.0(41) 2.8(29)
M6 14(140) 9.6(98) 5.8(60) 4.1(42) 7.9(81) 5.6(57)
M8 32(330) 23(230) 14(145) 9.8(100) 14(140) 9.6(98)
M10 66(670) 46(470) 27(280) 19(195) 32(330) 23(230)
M12 110(1150) 78(800) 48(490) 33(340) - -
(M14) 180(1850) 130(1300) 76(780) 53(545) - -
M16 270(2800) 190(1900) 120 (1200) 82(840) - -
(M18) 380(3900) 260(2700) 160(1650) 110(1150) - -
M20 530(5400) 370(3800) 230(2300) 160(1600) - -
(M22) 730(7450) 510(5200) - - - -
M24 930(9500) 650(6600) - - - -
(M27) 1400(14000) 960(9800) - - - -
M30 1800(18500) 1300(13000) - - - -
M36 3200(33000) 2300(23000) - - - -
- 167 -
B-82585EN/02 INDEX
INDEX
<Number> <M>
1.5-year (5,760 hours) checks ...........................................7 MAINTENANCE TOOLS ............................................... 9
1-year (3,840 hours) checks ..............................................7 MASTERING ............................................................... 120
2-year (7,680 hours) checks (LR Mate 200iC MOUNTING BOLT TORQUE LIST ........................... 166
/5WP) 4-year (15,360 hours) checks (LR Mate
<O>
200iC, LR Mate 200iC/5L , /5C, /5LC, /5H) ...................8
OVERVIEW ................................................................... 24
3-month (960 hours) checks ..............................................5
<P>
<A>
PERIODIC MAINTENANCE ........................................ 11
ADJUSTING TENSION OF BELT .............................. 118
PERIODIC MAINTENANCE TABLE ........................ 160
ADJUSTMENTS .......................................................... 117
PREFACE...................................................................... p-1
<B>
<R>
BACKLASH MEASUREMENT .................................... 32
REPLACING CABLES.................................................. 89
<C> REPLACING J1-AXIS MOTOR.................................... 41
CABLE AND AIR TUBE REPLACEMENT ................. 95 REPLACING J1-AXIS REDUCER................................ 43
CABLE FORMING ........................................................ 92 REPLACING J2-AXIS MOTOR.................................... 49
CABLE WIRING............................................................ 90 REPLACING J2-AXIS REDUCER................................ 53
CHECKS AND MAINTENANCE ...................................1 REPLACING J3 BELT................................................... 82
CIRCUIT DIAGRAM, AIR PRESSURE REPLACING J3-AXIS MOTOR.................................... 57
DIAGRM ...................................................................... 141 REPLACING J3-AXIS REDUCER................................ 59
REPLACING J4-AXIS MOTOR.................................... 62
<D>
REPLACING J4-AXIS REDUCER................................ 64
DAILY CHECKS..............................................................2
REPLACING J5/J6 BELT .............................................. 84
<F> REPLACING J5-AXIS MOTOR.................................... 68
FAILURES, CAUSES AND MEASURES..................... 25 REPLACING J5-AXIS REDUCER................................ 71
FIGURE OF DRIVE MECHANISM .............................. 38 REPLACING J6-AXIS MOTOR.................................... 74
First 1-Month (320 hours operating) Check ......................5 REPLACING J6-AXIS REDUCER................................ 80
FIXTURE POSITION MASTER.................................. 122 REPLACING PARTS..................................................... 36
REPLACING SOLENOID VALVE............................... 86
<G>
REPLACING THE BATTERIES (1-YEAR
Grease replacement procedure of the J1-axis
CHECKS (battery built-in type)) (1.5-YEAR
reducer............................................................................. 17
CHECKS (external battery type))................................... 12
REPLACING WRIST UNIT .......................................... 77
reducer............................................................................. 18
REPLAING AIR TUBE ............................................... 110
REPLAING CABLE K101 and Air tube
reducer............................................................................. 19
(Connector plate to J2 base)............................................ 95
REPLAING CABLE K102, K103, K104, K105,
reducer............................................................................. 20
K109, K110, K111, K112, K113 .................................. 108
Grease replacement procedure of the J5/J6-axis
REPLAING CABLE K104........................................... 109
reducer............................................................................. 22
REPLAING CABLE K106, K107, K108 and
Air tube (J2 base to J3 casing) ...................................... 102
i-1
INDEX B-82585EN/02
REPLENISH THE GREASE OF THE DRIVE

MECHANISM (4 years (11,520 hours) checks) ............. 15
RESETTING ALARMS AND PREPARING
FOR MASTERING....................................................... 121
<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)
・ Addition of LR Mate 200iC/5L,5LC,5WP,5C

02 Feb.,2008 ・ Addition of Air pressure diagram
・ Revice
01 Nov., 2007
Edition Date Contents Edition Date Contents

FANUC Robot LR Mate 200ic Mechanical Unit Maintenance Manual B-82585EN-02 CNC Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

FANUC Robot LR Mate 200ic Mechanical Unit Maintenance Manual B-82585EN-02 CNC Manual

Uploaded by

Copyright:

Available Formats

FANUC > LR Mate 200*C

• No part of this manual may be reproduced in any form.

1.1 WORKING PERSON

The personnel can be classified as follows.

Programmer or teaching operator:

- An operator cannot work inside the safety fence.

Table 1 List of workings outside the fence

In operating, programming and maintenance, the programmer,

• Use adequate clothes, uniform, overall for operation

1.2 WORKING PERSON SAFETY

Working person safety is the primary safety consideration. Because

(4) Provide the peripheral devices with appropriate grounding (Class

(7) Install a mat switch or photoelectric switch on the floor with an

(8) If necessary, install a safety lock so that no one except the

(9) When adjusting each peripheral device independently, be sure to

Fig.1.2 Safety fence and safety gate

1.2.1 General Person Safety

The robot controller is designed to be able to connect to an external

Fig.1.2.1 Circuit diagram for external emergency stop button

1.2.2 Safety of the Teaching Operator

(1) Unless it is specifically necessary to enter the robot work area,

Our teach pendant is provided with a DEADMAN switch as well as an emergency

The operator’s intention of starting teaching is determined by the control unit

Table 1.2.2(a) STANDARD

On Ignored Allowed to start Not allowed

Table 1.2.2(b) CE/RIA

(5) (When CE or RIA specification is selected.) To start the system

1.2.3 Safety During Maintenance

(1) During operation, never enter the robot work area.

1.3 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES

1.3.1 Precautions in Programming

1.3.2 Precautions for Mechanism

1.4 SAFETY OF THE ROBOT MECHANISM

1.4.1 Precautions in Operation

1.4.2 Precautions in Programming

1.4.3 Precautions for Mechanisms

1.5 SAFETY OF THE END EFFECTOR

1.5.1 Precautions in Programming

1.6 WARNING LABEL

(1) Transportation attention label 1

Fig. 1.6(a) Transportation attention label 1

(2) Transportation attention label 2

Fig.1.6 (b) Transportation attention label 2

1) Don’t pull eyebolt side ways.

(3) Greasing attention label (When grease applying kit:

Fig.1.6(c) Greasing attention label

1) Please knead a tube and make grease soft before supply

(4) Range of motion and payload mark label

Below label is added when CE specification is specified.

J5-AXIS MOTION RANGE

Fig.1.6 (d) Range of motion and payload mark label

Mechanical unit Maximum

The label stating the mechanical unit specification number is affixed

Positon of label indicating mechanical unit specification number

Safety handbook B-80687EN Intended readers:

4.6 REPLACING J3-AXIS MOTOR.................................................................... 57

1 CHECKS AND MAINTENANCE

1.1 DAILY CHECKS

(1) Before turning on power

Fig.1.1(a) Air control set

Filter and regulator

Dew point checker

Fig.1.1(b) Air purge kit (option)