Msten 218 005 ST CF 01 (Ax20fd11)

1402, MSTEN-218-005,001
MANIPULATOR
INSTRUCTION MANUAL
ST-CF-01 series [AX20/FD11]

5th edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
This manual explains the robot specifications, structure of each part and the basic handling precautions for
inspection and maintenance to maintain function of the robot for a long period.
It is recommended that this manual is read by robot utilization planners and installation staff as well as
inspectors and maintenance staff for robot operation and the robot is handled only after understanding this
manual completely.
Chapter 1 Basic specifications ............................................................................................................ 1-1

1.1 List of basic specifications.................................................................................................. 1-1
1.2 Outline dimensions and working envelope robot ............................................................... 1-2
1.3 Details of load mounting face ............................................................................................. 1-4
1.4 Wiring and piping diagram for application .......................................................................... 1-6
1.5 Adjustment working envelope ............................................................................................ 1-8
Chapter 2 Precautions for handling..................................................................................................... 2-1

2.1 Names of robot components .............................................................................................. 2-1
2.2 Precautions at the time of unpacking ................................................................................. 2-2
2.3 Transport procedure ........................................................................................................... 2-2
2.4 Installation procedure ......................................................................................................... 2-5
2.5 Allowable wrist load .......................................................................................................... 2-11
2.6 Allowable forearm load ..................................................................................................... 2-14
2.7 Execution of encoder correction....................................................................................... 2-16
2.8 Emergency stop while transferring the work-piece .......................................................... 2-16
2.9 Test running for axis 2 ...................................................................................................... 2-16
Chapter 3 Inspection ........................................................................................................................... 3-1

3.1 Inspection items and periods.............................................................................................. 3-1
3.2 Inspection of major bolts..................................................................................................... 3-2
3.3 Inspection of wrist............................................................................................................... 3-2
3.4 Inspection of wirings ........................................................................................................... 3-3
3.5 Inspection of grease ........................................................................................................... 3-7
Chapter 4 Maintenance ....................................................................................................................... 4-1

4.1 Lubrication .......................................................................................................................... 4-1
4.2 Grease replacement ........................................................................................................... 4-3
4.3 Battery replacement ........................................................................................................... 4-8
Chapter 5 Troubleshooting.................................................................................................................. 5-1

5.1 Probing into causes of troubles .......................................................................................... 5-1
5.2 Motor replacement.............................................................................................................. 5-5
5.2.1 Motor replacement (Axis 1, 2, 3)................................................................................. 5-6
5.2.2 Motor replacement (Axis 4, 5 6)................................................................................ 5-12
5.2.3 Encoder reset............................................................................................................ 5-15
5.2.4 Encoder correction.................................................................................................... 5-17
5.3 Encoder replacement ....................................................................................................... 5-21
5.4 Wrist unit replacement...................................................................................................... 5-24
5.5 Improvement of robot’s motion......................................................................................... 5-26
Chapter 6 Recommended spare parts and special tools for maintenance ......................................... 6-1
Chapter 7 Wiring Diagrams ................................................................................................................. 7-1

For safe use of the robot
Read this manual carefully prior to installation, operation, maintenance, or inspection and use equipment
correctly. Use the robot only after fully understanding the equipment, all safety points, and
comments/suggestions.
Instruction manual “Precautions for handling industrial robots”
Instruction manual “INSTALLATION” (for AX controller) “Chapter 1 Point on safety”
Instruction manual “SETUP” (for FD controller) “Chapter 1 Point on safety”
The following table shows the importance of the following tags/marks in this Operation manual:
Case where a mistake made in handling is likely to cause the user to be exposed to the danger
of death or serious injury and where the degree of the urgency (imminence) of the warning given
DANGER for the danger to occur is at the high end of the scales (including high-level danger).
Cases where a mistake made in handling is likely to cause the user to be exposed to the danger
of death or serious injury.
WARNING
Cases where a mistake made in handling is likely to cause the user to be exposed to the danger
of minor injuries or of property damage only.
CAUTION
And, the other notes use a mark like the one shown as below.
This indicates the other special notes.

IMPORTANT
Labels and marks on manipulator
Following labels and marks are affixed on manipulator. Their location and their existence itself may vary
according to the robot type.
This mark indicates a power supply inlet for the robot. Motor power and detecting
device power is supplied to connectors and terminal blocks under various
connector covers on the robot baring this mark.
Do not touch connectors or terminal blocks directly or indirectly with conductive
items with mains power supplied, as electric shock may occur. If connectors or
terminal blocks are removed with mains power on, electric shock or malfunction of
the robot may result. Turn OFF main power on the controller when performing any
maintenance.
This mark indicates hot parts on the robot.

Carelessly touching labeled hot parts may result in serious burns.
This mark indicates area operators may get caught by the robot.
Places bearing this mark should never be touched. Brakes can be released not
only during teaching but also while the motors are OFF. Take adequate steps to
prevent your hands or other parts of your body from being pinched when these
areas are touched during maintenance work, etc.
Another caution and warning labels;

If these labels are ignored and, for example, some part is disassembled, this may cause fatal or serious
accidents.
Protection labels;
Chapter 1 Basic specifications
1.1 List of basic specifications
Item Specifications
Robot model ST133CF-01 ST166CF-01 ST210CF-01
Construction Articulated construction
Degrees of freedom 6
Drive system AC servo system
Axis 1 ±2.88 rad
Axis 2 ＋1.05 ～－1.40 rad
Max. working Axis 3 ＋2.62 ～－2.40 rad
envelope Axis 4 ±6.28 rad
Axis 5 ±2.36 rad ±2.27 rad
Axis 6 ±6.28 rad
Axis 1 2.27 rad/s 1.92 rad/s 1.75 rad/s
Max. speed
Max. pay Wrist 133 kg 166 kg 210 kg

load Upper part of
Forearm *1 Max 70 kg
Axis 4 745 N･m 951 N･m 1337 N･m
Allowable static
load torque of Axis 5 745 N･m 951 N･m 1337 N･m
wrist
Axis 6 411 N･m 490 N･m 720 N･m
Max. allowable Axis 4 60.9 kg･m２ 88.9 kg･m２ 141.1 kg･m２
moment of
inertia of wrist
Axis 5 60.9 kg･m２ 88.9 kg･m２ 141.1 kg･m２
*2 Axis 6 30.2 kg･m２ 45.0 kg･m２ 79.0 kg･m２
Position repeatability *3 ±0.2 mm ±0.3 mm
Cleanliness Based on ISO 14644-1 CLASS 6
Installation Floor mounting
Temperature: 0 to 45 ℃
Ambient conditions Humidity: 20 to 85 %RH (No dew condensation is allowed)
Vibration to the installation face: 0.5G （4.9 m/s2） or less
Robot mass 1120 kg 1160 kg
1[rad] = 180/π[° ], 1[N-m] = 1/9.8[kgf･m]
*1) Note that this load varies depending on its mounting position and the weight of wrist payload.
*2) Note that the allowable moment of inertia of wrist varies with the wrist load conditions.
*3) Note that this value is determined under the rule of JIS B 8422.
1-1
1.2 Outline dimensions and working envelope robot
[ST133CF-01] [ST166CF-01]
Outline Dimensions and Operating Area of Robot
1-2
[ST210CF-01]
Outline Dimensions and Operating Area of Robot
1-3
1.3 Details of load mounting face
■ Wrist
For the end effecter fixing bolts, use the mounting P.C.D. shown below.
Different P.C.D. (option) is available. For details, contact our Service Division.
Be sure to screw the M10 end effecter fixing bolts in the wrist not deeper than the screw
depth in the mounting face. Screwing the bolts deeper than the screw depth may damage
CAUTION the wrist.
[ST133CF-01] [ST166CF-0]
Be sure to use P.C.D.125 or P.C.D.160 when the weight of end effecter is 100kg or
higher. (But if the stiffness of attachment bolt was considered inside the end effecter,
CAUTION above size is unnecessary.)
[ST210CF-01]
Be sure to use P.C.D.160 when the weight of end effecter is 166kg or higher.
CAUTION
1-4
■ Upper part of forearm
Ancillary equipment can be mounted to the upper part of robot forearm.
[ST133CF-01] [ST166CF-01] [ST210CF-01]
1-5
1.4 Wiring and piping diagram for application
Use air pressure not more than 0.49MPa.

IMPORTANT
■ Upper part of forearm - Wiring and piping diagram for application
[ST133CF-01] [ST166CF-01] [ST210CF-01]
■ Base frame block - Wiring and piping diagram for application
[ST133CF-01][ST166CF-01][ST210CF-01]
1-6
■ Details of connectors for application
(1) BJ1-side (Connectors) (Option) Connectors for application cables

Wire-side shell : JFM-WSA-4-A (JST)
JFM-WSA-4-C (JST)
CONNECTOR
Guide plate A kit : JFM-GPAK-4 (JST)
Receptacle housing : JFM2FDN-22V-K (JST)
Receptacle contact
a SJ2F-01GF-P1.0 (JST) 0.20~0.50sq
CONNECTOR b: SJ2F-01GF-P1.0 (JST) 0.30~0.75sq
Manual crimp tool
a: YRS-8861
b: YRF-1120
CONNECTOR Cable diameter suitable
for wire-side shell
JFM-WSA-4-A : φ26.2~φ28.0
JFM-WSA-4-C : φ15.5~φ16.5
CONNECTOR Pin allocation shows the view of the connector
mounted on the robot seen from the connection side.
Specification of Application wires

Rated voltage maximum AC/DC 115 V
Rated ampere maximum 1 A
(2) BJ3-side (Relay connectors) (Option)
Connector *1 Connector *2
Key position = standard Key position = X
(This pin allocation shows the view seen from the connection side.)
Connector type
Receptacle *1 JL02-2A-24-B28SC-F0-R
*2 JL02-2A-24-B28SCX-F0-R
Connector *1 N/MS3106B24-28P
*2 N/MS3106B24-28PX
1-7
1.5 Adjustment working envelope
With stoppers dismounted, do not operate the robot. Doing so may result in damage to
the peripheral equipment and the like, or death or serious injury.
WARNING
When changing the mechanical stopper’s position, change the position of the over-travel
limit switch and the setting of the software limit also. If not changed, the mechanical
stopper may be damaged. And, the mechanical stopper should be installed outside of the
WARNING
motion range defined by the software limit function and the over-travel limit switch.
■ Axis 1 adjustable stopper (option)

Mounting the standard stopper and the
additional stopper (option) of the same shape
as that of the standard stopper makes it
possible to adjust the operating angle of axis
1 in steps of 10°. In this case, a maximum
operating range of axis 1 comes to ±135°.
(1) Dismount the stopper from the standard

mounting position, and then mount the
stoppers according to an angle to be
adjusted.(Fixing bolt: M12 × 105 (BB) × 4
bolts)
(2) Adjust the software limit according to the
angle adjusted. (Refer to Instruction manual
“INSTALLATION” (for AX) or “SETUP” (for
FD).)
Axis 1 Adjustable Stopper (Option)
The end of a mechanical stopper is provided in a position exceeding the software limit by
IMPORTANT 5°.
1-8
NEVER mount a stopper only on the front (lower) side or the rear (upper) side.
WARNING
It possible to adjust the operating angle of axis 2. For adjustable positions, refer to figure below.
(1) Unscrew the setscrews from the standard stopper B on the adjustable side, and then dismount
the stopper B from the standard stopper A.
(2) Mount the adjustable stopper (option) at an angle to be adjusted. (Fixing bolt: M8 × 50 (BB) × 2
bolts)
(3) Mount the standard stopper B to the adjustable stopper, and then fix them with the setscrews.
(4) Mount the adjustable dog (option) of the limit switch according to the adjusted angle.
(5) Change the software limit according to the adjusted angle.
(Refer to Instruction manual “INSTALLATION” (for AX) or “SETUP” (for FD).)
1-9
It possible to adjust the upward movement of axis 3. For adjustable positions, refer to figure below.
(1) Dismount the standard stopper B from the standard stopper A and mount the standard stopper B
to the adjustable stopper (option).
(2) Mount the adjustable stopper (option) at an angle to be adjusted.(Fixing bolt: M8 × 50 (BB) × 2
bolts)
(3) Mount the adjustable dog (option) of the limit switch according to the adjusted angle.
Change the software limit according to the adjusted angle.
(Refer to Instruction manual “INSTALLATION” (for AX) or “SETUP” (for FD).)
1-10
Chapter 2 Precautions for handling
2.1 Names of robot components
第5軸モータ
Axis 5 motor 第4軸モータ
Axis 4 motor
第6軸モータ
Axis 6 motor
第3軸モータ
Axis 3 motor
第2軸モータ
Axis 2 motor
第1軸モータ
Axis 1 motor
第2軸ｵｰﾊﾞｰﾗﾝLS
Axis 2 Over travel LS 第1軸ｵｰﾊﾞｰﾗﾝLS
Axis 1 Over travel LS
製造銘板
MFG. Name plate
Operating axis name
Axis 5 Axis 4
Axis 1
Axis 6 Axis 3
Manufacturing plate
Manufacturing number
Date of manufacture
Serial robot number Axis 2

Mass of robot
(Mass is typed only for CE specification.)
On controller display, axis 1 to 6 is displayed J1 to J6 for each.
2-1
2.2 Precautions at the time of unpacking
The dust-tight packaged robot shall be unpacked in a clean room.

If it is opened outside clean room, abrasive or fine particles shall be removed before
carrying it in a room. It is recommended that the robot should be cleaned by swabbing
IMPORTANT with isopropyl alcohol (IPA). Use of other solvents or pure water could contribute rust or
peel of coating materials.
It is to be noted that cleanliness of the robot is worse if it has operated in poor
IMPORTANT conditions for a long time or if it has been left as it was.
2.3 Transport procedure
The robot must be transported by personnel who have licenses required for slinging
work, crane operation, forklift truck operation, and others. The weight of the robot and
controller is listed in the Operating Manual and the Maintenance Manual. Check for the
WARNING
weight, and then handle them according to procedures suitable for the weight.
To lift the robot or the controller, follow the procedures specified in the Maintenance
Manual. Following any procedures other than those specified will cause the robot to topple
WARNING over or drop during transport, thus resulting in accidents.
During transport or installation work of the robot, pay utmost care not to cause damage
to wirings. Furthermore, after installing the robot, take protective measures such as using
protective guards so that the wirings will not be damaged by workers or other persons, or
CAUTION
forklift trucks or else.
■ Transport procedure (standard)
To transport the robot,

make it a rule to use a
crane.
First, put the robot into
the configuration shown
in figure and mount the
four M20 hanger bolts to
the robot frame. Then,
be sure to lift the robot
using four hanging wires.
For this purpose, it is
recommended to use
hanging wires of 3 m in
length and protect areas
that contact the robot,
using rubber hoses to
cover the wire ropes.
For the areas to be
covered with the rubber
hoses, refer to figure.
Transport procedure
2-2
Eyebolt
installation holes
(4-M20)
Never use taps marked

※ to hang the robot.
(4-M20)
Eyebolts installation hole locations
If hanging wires push the encoder connectors, the connectors may be broken when
hanging the robot. When hanging a robot, please pay attention not to make the wires touch
CAUTION the encoder connectors.
Positions of the encoder connectors
2-3
■ Transport procedure (option)
To transport the robot, make it a rule to use a crane. First, put the robot into the configuration
shown in figure and attach the transport bracket to the swing base with eight M20*55 bolts, then
lift the robot using four hanging wires. It is recommended to use hanging wires of 3 m in length.
Protect areas that contact the robot using rubber hoses to cover the wire ropes. Portion to be
through the wire is also showed in figure.
After installing the robot, do not forget to remove the arm fixing bracket and transport
bracket.
CAUTION
When using the forklift truck to carry the robot, keep the robot into the configuration shown in
figure. Consider the balance of robot and drive the forklift truck slowly to avoid falling down.
Transport procedure
2-4
2.4 Installation procedure
The installation location and the installation procedure of the robot are critical factors to maintain
robot functions. The ambient conditions of installation location not only have influence on the life of
mechanical sections of the robot, but also get involved in safety issues. Consequently, strictly
observe the environmental conditions shown below. Furthermore, utmost care should be exerted for
the installation procedure and the foundation for the robot in order to maintain the robot performance.
Strictly observe the installation procedure for the robot provided below.
Installation
To install the robot, give it first priority to thoroughly consider safety of workers and take safety
measures. The following section describes precautions for this purpose.
Safety measures against entry in the robot operating area
While the robot is in operation, workers are in danger of coming in contact with the
robot. To avoid that, install a guard fence so as to keep the worker away from the robot.
Not doing so will cause the workers or other persons to accidentally enter the operating
WARNING
area, thus resulting in accidents.
Guard fence
Refer to information in ISO13857: Safety of machinery – Safety distances to prevent
hazard zones being reached by upper and lower limbs
This figure shows the image of the
guard fence. (Robot appearance
may be different from that of this
manual.)
DANGER
Stop time and angle of axis 1 for a maximum travel

(After emergency stop signal occurred under maximum speed and maximum moment of inertia)
Stop time 0.79 [sec]
Stop angle 0.87 [rad]
The guard fence must have construction by which no one can easily get over or move
the guard fence. Provide an access door for the guard fence that must be equipped with a
safety plug and designed not to open unless the safety plug is unplugged.
WARNING If above construction is not secured, someone can get in the guard fence, thus inducing
a hazardous situation.
Design the system so that motor power is turned OFF when safety plug is unplugged
or access door is opened. This can make it possible to detect the entry of a person and
atop the robot automatically. (The controller has an input signal of safety plug and to turn
WARNING
off the motor power.)
Design the system so that low-speed playback mode will become functional in order
to operate the robot with the safety plug unplugged. If the robot is operated at a high
speed under the said condition, no one can escape from the robot, thus resulting in
WARNING
accidents. (The controller has an input signal to select low-speed playback mode.)
2-5
Mount Emergency Stop buttons for the robot in locations where workers are able
to immediately press them. If the workers are unable to immediately press the switch,
WARNING accidents may result. (The controller has an input signal of emergency stop.)
If no guard fence is installed, mount photoelectronic switches and/or mat switches,
etc. at all entrances to the robot operating area to use them in place of the safety plug.
WARNING
These switches make it possible to automatically stop the robot when anyone enters the
guard fence.
Coat the floor of the hazardous area (the robot operating area) with color paint to
facilitate discrimination of the hazardous area.
WARNING
Safety measures against the robot and peripheral equipment
In order to connect the primary power supply to the controller and the peripheral
equipment, check to be sure that the power on the supply side is turned OFF. Otherwise
it will create a hazardous situation resulting in electric shocks since high voltages such as
WARNING
100VAC, 200VAC, or 400VAC are applied.
Do not install the operation part and the adjustment part in the robot operating area,
such as locations in which a person can get caught in the robot.
Install the robot control panel, interlock panel, and all other operation panels so that they
WARNING
can be operated outside the guard fence.
To install an operation stand, mount an Emergency Stop button on the operation
stand. If any abnormality occurs while the robot is being operated by the use of the
WARNING
operation stand, the robot will be able to make an emergency stop through pressing this
switch.
Do not route wirings, piping, and the like among the robot, control panel, interlock
panel, and others in such a manner that workers will stub their toes over them or forklift
trucks will directly tread them. Otherwise it may cause workers to topple over or the
WARNING
wirings to be broken, thus resulting in accidents.
Do not install the control panel, interlock panel, operation stand, or else in places from
which the movements of the robot are out of sight. When the robot movements go out of
sight, even if an abnormality occurs in any movement, you will delay in taking notice of
WARNING the abnormality, thus resulting in a disaster. Furthermore, you will not find someone near
the robot to cause an accident.
If the robot operating area required is smaller than the operable area possessed by the
robot, limit the robot operating area. The area can be limited by using the software
limit, limit switch, and mechanical stopper. Even if the robot exceeds the normal
WARNING operating area due to an abnormality, this function will enable the robot to stop before
initiating operation.
Install light shielding boards, enclosures, and others to the extent that the movements
of the robot can be monitored in directions in which workers may be exposed to spatters
during welding. Otherwise it may cause injury to workers with welding arcs, spatters, or
WARNING
else.
Provide a large and highly visible display of automatic and manual mode indicating
the operating status of the robot so that it can be recognized even from locations at some
distance. Furthermore, it is effective to provide audible alarm using a buzzer or
WARNING announcement to alert workers to the initiation of automatic operation, thus facilitating
awareness of automatic operation in progress from distant locations.
Eliminate protrusions from the peripheral equipment and the like of the robot to a
minimum. If necessary, be sure to cover them up. Otherwise it may induce a hazardous
situation when a worker touches them or is surprised with a sudden movement of the
WARNING
robot to topple over.
Do not attempt to install the robot so that a worker will need to put his/her hands in the
guard fence to carry in or out workpieces. There may be cases where the robot moves
WARNING when the worker put his/her hands in the guard fence.
2-6
Safety measures against installation work
To install the robot, it is important to position the robot so that no workers will get
pinched by the robot inside or around a device to use the robot. The robot must not come
into contact with any peripheral equipment when operating in the maximum operating
WARNING
range with a tool mounted on it.
Be sure to install the robot according to the specified procedure. Otherwise it will cause
the robot to move or topple over while in operation, thus inducing an imminent hazardous
WARNING situation.
To make wire connections between the robot and the controller or the peripheral equipment,
fully understand the connection procedure for proper wire connections. Making wire
WARNING connections according to improper procedure will cause the robot to malfunction.
Be sure to establish a proper ground for the robot. If equipment such as a welder that
causes substantial noises is needed to use, establish the specified ground for the
WARNING equipment.
During transport or installation of the robot, pay utmost care not to cause damage to
wirings. Furthermore, after installing the robot, take protective measures such as using
protective guards so that the wirings will not be damaged by workers or other persons, or
WARNING
forklift trucks or else.
■ Installation location and ambient conditions
Conditions (temperature, humidity, height and vibration) are written in “Chapter 1 Basic
Specifications”. Further ambient conditions listed below must be observed.
(1) Location with the drainage structure so that swivel base is not flooded, when the liquid such
as water or cutting fluid is splashed on the robot body
(2) Location with no flammable or corrosive fluid or gas.
(3) Type D grounding (the grounding resistance is 100Ω or less) is necessary.
■ Installation procedure
While robot moves, large reaction force is applied to the swiveling base from all directions.
Consequently, the robot should be installed in such a manner that the foundation endures
reaction force caused by accelerating or decelerating the speed to lock the robot, not to
mention that it endures static loads.
Repair uneven spots, cracks, and others on the floor, and then install the robot by following to
the table below. If thickness of floor concrete is less than needed level, an independent
foundation should be constructed. Inspect the foundation prior to the robot installation, and then
construct the foundation, if necessary.
Robot Model ST133CF-01, ST166CF-01 ST210CF-01

Thickness of floor concrete Not less than 160 mm
8 bolts of M20 (JIS: Strength class 12.9) not less than 65mm
Installation parts *1 8 plain washers of not less than 4.5 mm in thickness
and HRC35 in hardness
Tightening torque 560 ± 30 Nm
Appx. Appx.
Allowable repeated tensile *2
40,000 N 48,000 N
*1 : Installation parts are not accessory of robot.
*2 : This tensile is per installation bolt when robot is installed with all bolts written in table above.
2-7
■ Installation space
The mechanical stopper end is located in a position exceeding the specified operating
range (software limit) of axis 1 by 3°. To install the guard fence, refer to figure with
WARNING consideration given to the wrist configuration and the shape of end effecter.
On axis 1, 2 and 3, the robot operating range can be regulated for safety (optional
function). Since optional parts should be installed to enable this function, do not
WARNING independently move the standard parts (e.g. stopper block).
[ST133CF-01] [ST166CF-01]
Robot installation space
2-8
[ST210CF-01]
Robot Installation space
2-9
■ Accuracy of installation surface
In order to install the robot, strictly observe precautions listed below to cause no deformation in the
swiveling base.
(1) Make the deviation from the flatness of the four plates on the robot installation surface fall
within 1 mm.
(2) Make the deviation in height between the four places of each base plate installation surface
and the robot installation surface fall in the range of 1.0(±0.5) mm.
(3) If the two precautions above

cannot be observed, use jack bolts
to bring the four places into even
contact with the installation surface.
■ Maximum robot generative force
Max. vertical Max. horizontal Max. vertical Max. horizontal

Robot Model generative force generative force generative moment generative moment
FV FH MV MH
ST133CF-01
48,700 N 34,800 N 92,400 N･m 79,900 N･m
ST166CF-01
ST210CF-01 54,000 N 39,700 N 111,300 N･m 96,700 N･m
2-10
2.5 Allowable wrist load
The wrist load is regulated by the allowable pay load mass, allowable static load
torque, and allowable moment of inertia. If wrist load exceeds these allowable
CAUTION
values, this robot is out of guarantee.
Please refer to “1.1 List of basic specifications” and following figures for detail.
■ Torque map for the wrist load

Use the robot under condition that COG of wrist load falls in the range shown in the torque map.
[ST133CF-01]
Distance form axis 6

rotation center
[ST166CF-01]
rotation center
2-11
[ST210CF-01]

rotation center
■ Moment of inertia map for the wrist load

Use the robot under condition that static load torque and moment of inertia fall in the range shown
in the figures below.
[ST133CF-01]
Axis 6 Axis 4, 5
2-12
[ST166CF-01]
Axis 6 Axis 4, 5
[ST210CF-01] Axis 6 Axis 4, 5
2-13
2.6 Allowable forearm load
Ancillary equipment can be mounted to the upper part of robot forearm. If the wrist load mass is
maximum, use the ancillary equipment on the load condition that the load gravity center falls in the
shaded range, referring to figure. Furthermore, if the wrist load mass is small, the ancillary
equipment of 70 kg at maximum can be mounted according to the mass and gravity center
position. For details, request the technical information to our Technical Department.
[ST133CF-01]
When wrist load
is 133kg
[ST133CF-01]
When wrist load
is 115kg
[ST166CF-01]
When wrist load
is 66kg
2-14
[ST166CF-01]
When wrist load
is 150kg
[ST210CF-01]
When wrist load
is 210kg
[ST210CF-01]
When wrist load
is 180kg
2-15
2.7 Execution of encoder correction
At NACHI factory, encoder correction is performed under the load condition and robot
posture specified by NACHI. This load condition and robot posture may have influence on
the reference position. So please perform encoder correction for all axes
after all of the load are mounted on wrist and upper arm,
before staring the teaching procedure,
CAUTION by referring to information in “4.1.4 Encoder Correction”. (At this time, encoder resetting
procedure is not required.) If encoder correction is carelessly performed after teaching is
done, all of the taught points are needed to be modified because tool top position may
change largely.
Also encoder correction is necessary when motor / encoder is replaced.
At this time, encoder correction must be performed under the same load condition and
same robot posture as the first time encoder correction that is performed
CAUTION
immediately after the loads are mounted, because load condition and robot posture
may have influence on the reference position. Therefore, the “reference posture” (where
all axes are in “reference position” by using zeroing pin or like that) is recommended as
the posture of encoder correction. ( “5.2.4 Encoder Correction”)
2.8 Emergency stop while transferring the work-piece
There is a possibility of breaking the work-piece being handled in a case where the
operator attempts to make an emergency stop operation for the robot or the robot detects
CAUTION error and makes an emergency stop process by itself.
In a case like that, please remove the broken work-piece from the robot and the
peripheral devices paying special attention not to be injured because of the broken work-
CAUTION piece.
2.9 Test running for axis 2
After the long time stopping, abnormal sound may occur sometimes from axis 2.
Cause is the condensation of additive material in grease.
If abnormal sound occurs, please try the test running of axis 2 by referring to the procedure
written in “4.2 Grease replacement”, “If abnormal sound occurs after replacing grease”.
Condensation of additive material will be broken and abnormal sound disappears. Reliability of
reduction gear is never affected by this test running.
2-16
Chapter 3 Inspection
To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF
the power supply. Furthermore, in order to prevent other workers from improperly turning
WARNING ON the power supply, post the warning signs such as “DON’T POWER ON” at the primary
power supply switch and others.
3.1 Inspection items and periods

The inspection should be performed in order to maintain the high performance of the robot for an
extended period of time. Personnel who are engaged in the inspection must create and implement
the inspection program.
Furthermore, perform overhauls every 40,000 operating hours or every eight years, whichever
comes earlier. For high frequency of works such as that reduction gear lifecycle is shorter than
40,000 hours, it is recommended to perform inspections at approximately 1/2 of the periods
specified. Should you have any questions about the inspection and adjustment methods, contact
your NACHI representative.
Inspection items and periods

Period
No Inspection Item Inspection Method Criterion Remark
Quarterly
Yearly
Daily
Common to Whole Robot and Each Axis

1 Cleaning of robot Wiping of dirt or the like Use IPA
2 Related to Visual check of cables for damage
internal wirings Visual check of the cable clamp fixing bolts for the coating of paint
Visual check for cable covers for damage
Refasten the fixing bolts, and then apply a coating of
paint lock to them.
3 Major bolts Visual check of the coating of paint
paint lock to them.
4 Limit switch Activate and deactivate the limit switch to check E0065 occurs
dogs them for functions.
paint lock to them.
5 Motors Check for abnormal heat generation.
Check for any abnormal sounds.
6 Brakes Set the brake release switch to ON and OFF to With the brake Motors
check it for operation. release switch with a
Note: When setting the brake release switch to ON, set to “OFF”, the brake for
the robot arm or the operating axis will drop. arm or the end all axes
Consequently, to check the switch for the operation, effecter does
set it back to “OFF” within one second. not drop.
Related to axis 1, 2, and 3
7 Reduction gears Check by hearing for any abnormal sounds
Visual check for any vibration or shaking
Grease in Checking the density of steel dust in the grease Less than 0.1 % Axis 1,2

reduction gears and 3
Related to axis 4, 5, and 6
8 Reduction gears Check by hearing for any abnormal sounds
Visual check for any vibration or shaking
9 End effecter Visual check of the fixing bolts for paint coating conditions
fixing bolts Refasten the fixing bolts, and then apply a coating of Tightening
paint lock to them. torque: 67 Nm
10 Backlash and Apply loads to each axis in the forward and reverse rotating No backlash or play
play directions to check it for any backlash and play. to be felt by hand.
3-1
3.2 Inspection of major bolts
Recommended torque is shown in the figure below. Be sure to use a torque wrench to
fasten the bolts to proper torque, and then apply a coating of paint lock to them.
CAUTION Furthermore, be careful not to needlessly refasten bolts that are not unfastened.
No. Inspection point No. Inspection point No. Inspection point

1 Used to fix robot 7 Used to fix axis 5 motor. 13 Used to fix end effecter.
2 Used to fix axis 1 motor. 8 Used to fix axis 4 motor. 14 Used to fix wiring bracket.
3 Used to fix axis 2 motor. 9 Used to fix axis 4 reduction gear. 15 Used to fix wiring bracket.
4 Used to fix axis 3 motor. 10 Used to fix wrist. 16 Used to fix wiring bracket.
5 Used to fix forearm. 11 Used to fix axis 5 reduction gear. 17 Used to fix BJ2 box
6 Used to fix axis 6 motor. 12 Used to fix axis 6 reduction gear.
Inspection points on major bolts
3.3 Inspection of wrist

End effecter
Apply loads to the end effecter (e.g. a spot gun or
hand unit) mounted to the wrist tip in the
forward/backward, right/left, and upward/downward,
and then check it for any backlash and play felt by
hand.
3-2
3.4 Inspection of wirings
If any part is damaged, immediately repair or replace the part.

CAUTION
To purchase any manipulator wiring, contact to your local service center. NEVER
attempt to use any cables other than specified by NACHI.
CAUTION For the replacement, order to your local service center.
Do not apply external force or connect other cables to the external cables of the robot.
CAUTION
■ Inspection of Resin conduit and clamp portion
Check for the following items.

Whether or not resin conduit has any holes and fractures.
Whether or not the clamp bolt gets unfastened or comes off.
If damage to resin conduit is observed, replace the BJ1 unit assembly. If any unfastened bolt is
observed, refasten the bolt to the specified torque, and then put marking on it. The M8 (SUS) bolts
are used.
Inspection point
(oblique line area)
4-M8x20 (SUS)
Fastening torque
28.4 Nm
Clamp portion
Inspection point
(oblique line area)
3-M8x15 (SUS)
Fastening torque
28.4 Nm
3-M8x20 (SUS)
Fastening torque
28.4 Nm
Cable inspection points (floor mounting type)
3-3
■ Inspection of Clamp portion in BJ2 box
Remove the BJ2 box cover mounted on the left seen from the back of robot..
Whether or not any cable sharply bends over or gets crushed.
Whether or not any cable shield has scratches or fractures.
Whether or not the clamp bolt or bracket fixing bolt gets unfastened or comes off.
After inspection, refasten the bolt of BJ2 box cover to the specified torque.
clamp bolt and

bracket fixing bolt BJ2BOX
（in BJ2BOX）
If any unfastened bolt is obser

ved, refasten them.
2-M6x10＋2-washer M6
Fastening torque 8.8 Nm
2-M6x15
BJ2BOX cover
BJ2BOX cover fixing bolt

14-M6x15（SUS）
BJ2 box and its cover
■ Inspection of Clamp portion in BJ3 box
Turn off the controller power.

Remove the BJ3 box cover mounted on the right seen from the front of robot..

Whether or not the clamp bolt or bracket fixing bolt gets unfastened or comes off.
After inspection, refasten the bolt of BJ3 box cover to the specified torque.
clamp bolt and bracket fixing bolt

（in BJ3BOX）
If any unfastened bolt is observed, refasten them.

2-M6x10＋Washer M6 Fastening torque 8.8 Nm
2-M6x15 Fastening torque 8.8 Nm
BJ3BOX cover
6-M6x15 (SUS)
Fastening torque 11.8 Nm BJ3BOX cover
BJ3BOX
Cable inspection location
3-4
■ Inspection of Wiring around axis 3 motor

Whether or not any cable tie is broken.
Axis 4
motor cable
Axis 4
Axis 6 encoder cable
motor cable
Axis 6
encoder cable
Axis 3
encoder cable
Axis 3
motor cable
Axis 5
encoder cable
Axis 5
motor cable
Cable inspection points around axis 3 motor
3-5
Open the wiring cover at the center and left side of the frame seen from back and visually inspect
the wiring inside the cover. Check for the items below;
Whether or not any cable cover has scratches or fractures.
Whether or not any hose surface has rubbed or fractures.
Whether or not the clamp bolt of the spring gets unfastened or comes off.
After inspection, re-fasten the cable cover to the specified torque.
Cable cover
Fastening torqu
Fastening torqu
Fastening torque
Fastening torqu
Inspection location
Open the side cover on the

swivel base and visually
inspect the internal
cables/hoses. Check for the
items below;
Whether or not any cable
cover has scratches or
fractures.
Whether or not any hose
surface has rubbed or Tightening torque
fractures.
Inspection point (hatched area)
After the inspection, re-attach
the cover and tighten the fixing side cover
bolts at specified torque.
3-6
3.5 Inspection of grease
Please check the density of steel dust in the grease every 5,000 hours or every 1 year (For high
frequency of works such as that reduction gear lifecycle is shorter than 40,000 hours, every 2,500
hours or every half year).
If the measurement result exceeds this value, please contact our service center for grease
replacement or reduction gear replacement.
Required tools
・ Grease steel dust meter
Recommended grease steel dust meter OM-810 (Idemitsu Kosan Ltd.)
・ Grease gun (Lubrication amount counter function, A nozzle of less than 17 mm in diameter.)
・ Seal tape
Grease inspection points

Inspection Tightening Criterion of
No. Inspection points Grease type Purpose Type Size
amount torque steel dust
Axis 1 VIGO Air release Plug Rc-1/8 6.9 N･m

1 30 cc
Reduction gear RE No.0
Discharge Plug Rc-1/4 11.8 N･m
Air release Plug Rc-1/8 6.9 N･m Less than

Axis 2 VIGO
2 10 cc
Reduction gear RE No.0 0.1 %
Discharge Plug Rc-1/4 11.8 N･m
Axis 3 VIGO Air release Plug Rc-1/4 11.8 N･m

3 10 cc
Reduction gear RE No.0 Discharge Plug Rc-1/4 11.8 N･m
Density of grease : VIGO RE No.0 0.90 [g/cc]
<notes>
・ In order to prevent the grease from splashing out (this is caused by e.g. rising of internal
pressure or internal temperature), unplug the air release plug shown in Fig. 3.2.4 in
advance. When releasing the plug, loosen the plug slowly to release the remaining
pressure slowly. After the completion of inspection, wipe grease running out from the
lubrication port. Then, wind sealing tape around the threaded part of the socket head plug
to prevent the leakage of grease, and plug it again.
・ If grease dos not flow out after unplug, purge the air from the air release port. (refer to 4.2
Grease replacement)
If the grease leaks out too much when inspecting the steel dust density, lubricate
grease using a grease gun. For lubrication, use a grease gun with a nozzle of less than
17 mm in diameter. Note that lubricating grease more than the recommended amount
may result in leakage of grease or faulty robot locus.
CAUTION
After the completion of lubrication, in order to prevent the leakage of grease, be sure to
wind sealing tape around the grease nipples and socket head plug.
A grease gun that has a capacity to measure the lubrication amount is recommended. If
a grease gun like this can not be prepared, please measure the weight of the grease can
CAUTION before/after the lubrication work to confirm the amount.
Immediately after removing the drain plug, grease may splash, because internal
pressure is still high, for example soon after robot stops,
CAUTION
3-7
Axis 3 air release
Axis 2 air release

Axis 3 inspection
Axis 1 air release
Axis 1
inspection hole
Axis 2
inspection hole
Grease inspection points
3-8
Chapter 4 Maintenance
To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF
the power supply. Furthermore, in order to prevent other workers from improperly turning
ON the power supply, post the warning signs such as “DON’T POWER ON” at the primary
WARNING
power supply switch and others.
4.1 Lubrication
Lubricate the mechanical sections of the robot with grease not only when insufficient grease is
observed by checking but also at regular intervals of time.
For lubrication, use a grease gun with a nozzle of not more than 17 mm in diameter.
Furthermore, for lubrication points with an air vent hole specified, unplug the plug
CAUTION according to the figures, and then lubricate them.
Note that lubricating grease more than the recommended amount may result in leakage
of grease or faulty robot locus.
CAUTION Furthermore, no lubrication is required for any points other than those specified.
Grease lubrication points

Lubrication Applicable Lubrication
No. Lubrication point Lubrication port Remark
frequency Grease amount
Roller bearing of balancer +1
1 balancer fulcrum (front) Every 12 months LONGTIME PD2 3 0 cc
spindle (front)
Roller bearing of balancer
2 balancer fulcrum (back) 〃〃〃
spindle (back)
Lower part of forearm on the
3 Axis 4 reduction gear 〃〃〃
front side
4 Axis 5 reduction gear 〃
Lower part of the wrist unit 〃〃
5 Axis 6 reduction gear 〃
Lower part of the wrist unit 〃〃
<notes>
・ In order to prevent the internal pressure from rising due to pressure caused by the lubrication, unplug
the air vent plug shown in figure. If the pressure caused by the lubrication is applied to the oil seal part,
leakage of grease will result.
・ After the completion of lubrication, wipe grease running out from the lubrication port. Then, wind sealing
tape around the threaded part of the socket head plug to prevent the leakage of grease, and plug it again.
(Tightening torque of socket head plug: Rc1/8 6.9 Nm)
Lubrication plug
Axis 5 Axis 5
Air release plug Axis 6 Air release plug
Axis 4 Air release Axis 4
Axis 6 Air release plug Air release
Air release
Air release plug
(TOP VIEW) (TOP VIEW)

Balancer front side support bearing
(Common to ST133CF/166CF/210CF common)
Air release plug
Axis 6 Axis 4 Axis 4

Lubrication plug Axis 6
Lubrication plug Lubrication plug
Lubrication plug
Lubrication
plug
Balancer back side (left support bearing Balancer back side (right) support bearing
(Common to ST133CF/166CF/210CF common) (Common to ST133CF/166CF/210CF common)
Axis 5
Lubrication plug (BOTTOM VIEW) Axis 5
Lubrication plug
(BOTTOM VIEW)
Lubrication and air release points
4-1
[ST133CF-01] [ST166CF-01]
Lubrication points
[ST210CF-01]
Lubrication points
4-2
4.2 Grease replacement
Replace grease every 20,000 operating hours or every 4 years (For high frequency of works such
as that reduction gear lifecycle is shorter than 40,000 hours, every 10,000 hours or every 2 years.).
Grease replacement points

Replacement Applicable Lubrication Lubrication Tightening
No. Application Size Remark
point grease amount port torque
Axis 1 VIGO More than Lubrication Plug Rc-1/8 6.9 Nm
1
reduction gear RE No. 0 3400 cc Drain Plug Rc-1/4 11.8 Nm
2
3
Density of grease : VIGO RE No. 0 (Nabtesco) 0.90 [g/cc]
If grease is lubricated in too high speed, internal grease pressure will increase and seal may be
broken. Lubrication speed must be kept slower than 40cc/10sec.
Tools required (prepared by customer)

Name Specification Q’ty
Grease gun with a nozzle of not more than 17 mm in diameter, with lubrication amount counter 1
Drain connector Rc-1/4,φ12 1
Drain hose φ12X9 0.2m 1
Maximum 0.2Mpa and adjustable every approx. 0.01Mpa
Air precision regulator 1
SMC “PRECISION REGULATOR IR2000-02BG-X1” is recommended
Air supply source (in market) 1
Weight meter which can measure the weight of ejected grease + container 1
Seal tape (in market) 1
Use a grease gun with lubrication amount counter, with a nozzle of not more than 17 mm in
diameter.
If such grease gun can not be prepared, measure the weight of the grease can before/after the
lubrication work to confirm the amount.
IMPORTANT Note that lubricating grease more than the recommended amount may result in leakage of grease
or faulty robot locus. When making up the grease, supply the same amount of grease as the leaked
one. When replacing the grease or lubrication, supply the specified amount of grease.
Immediately after removing the drain plug, grease may splash, because internal pressure is still
high, for example soon after robot stops.
CAUTION
In case that robot operation with slow speed playback or teaching operation is necessary, never
get into the robot moving envelope while playback.
And perform above procedure with two persons one pair. One person keeps to be ready to push
CAUTION the emergency button anytime, other person operates the robot paying much attention. Please
ensure the escape route in advance.
4-3
Pose of each axis for grease replacement
Replacement point Axis 1 Axis 2 Axis 3 Axis 4,5,6
Axis 1 reduction gear -90° any
any
Axis 2 reduction gear 76°
any
Axis 3 reduction gear any 90° 0°
Other place 90° 0°
Axis 3
Axis 3
Axis 2
Axis 1
Axis 2
Axis 1
Grease replacement portions
4-4
Grease replacement procedure of axis 1 reduction gear
(1) Place a container to receive grease ejected under the ejection outlet. In advance,
confirm the weight of the container.
(2) Unplug the socket head plug [Rc-1/4] from the ejection outlet. If dirty fed grease is
worried, connect the drain connector [Rc-1/4,φ12] and drain hose [φ12x9, max length
0.2m].
(3) Unplug the socket head plug [Rc-1/8] from the inlet, and attach grease nipple [Rc-1/8].
(4) By using a grease gun, feed the specified amount of grease with the speed of slower
than 40cc per 10 seconds. At this time, also check the exhausted grease color changed.
(5) When the lubricated(fed) amount reaches the specified amount, confirm the lubricated
amount and the ejected amount. Lubricated amount can be read by grease gun counter
or can be calculated by comparing the grease can’s weight before and after the
lubrication work. ejected amount can be calculated by measuring the weight of the
container.
(6) If lubricated amount is larger than ejected amount, too much(surplus) grease remains
inside the gear box. use air to push the grease out. Supply air from the lubrication inlet
and eject the surplus grease from the ejection outlet. Be sure that the air pressure should
be kept under 0.025Mpa by using precise regulator.
If only air come out from the ejection outlet and grease does not come out, move axis 1
to stir the grease in the gear box by referring to figure.
(7) If lubricated amount is fewer than ejected amount, grease is lacked inside the gear box.
Swap the inlet and outlet, and supply the lacked amount of grease from the ejection
outlet.
(8) Wrap seal tapes on socket head plug [Rc-1/8] and attach to the inlet (LUB.PORT).
Wrap seal tapes on socket head plug [Rc-1/4] and attach to the outlet (DRAIN).
In case that robot operation with slow speed playback or teaching operation is
necessary, never get into the robot moving envelope while playback.
And perform above procedure with two persons one pair. One person keeps to be ready
WARNING to push the emergency button anytime, other person operates the robot paying much
attention. Please ensure the escape route in advance.
5 times for 60° range

In slow speed
Drain connector
Drain hose
Drain hose and drain connector Axis 1 operating range
4-5
Air supply
source
Precision regulator for air supply

MAX 0.025 [MPa]
SMC PRECISION REGULATOR IR2000-02BG-X1 (SMC)

Max. supply pressure 1.0Mpa
Output pressure 0.005 ～ 0.2MPa (or equivalent)
Pushing out the surplus grease using air pressure

(1)Place a container to receive grease ejected under the ejection outlet.
0.2m].
(3) Unplug the socket head plug [Rc-1/8] from the inlet, and grease nipple [Rc-1/8].
container.
Swap the inlet and outlet, and supply the lacked amount of grease from the ejection outlet.
Drain connector
Drain hose
Drain hose and connector Axis 2 operating range
4-6
(1) Place a container to receive grease ejected under the ejection outlet.
0.2m].
(3) Unplug the socket head plug [Rc-1/4] from the inlet, and attach grease nipple [Rc-1/4].
container.
Swap the inlet and outlet, and supply the lacked amount of grease from the ejection
outlet.
Drain connector
Drain hose
Drain hose and connector Axis 3 operating range
If abnormal sound occurs after replacing grease

After grease replacement, abnormal sound may occur sometimes. If abnormal sound occurs,
please perform running for grease by following to the procedure written below. This example
shows the case of axis 2.
Axis 2 running program example
Only axis 2 moves between 2 steps Speed Interpolation ACC Angle of Angle of
Travel distance ; Appx. 100 degree axis 2 other than axis 2
Speed ; 40 to 60% Step 1 40% JOINT 1 30° (any)
Step 2 40% JOINT 1 130° (any)
Operating time ; Appx. １ hour
Step 3 DELAY [0.5] FN50 Timer
Step 4 END FN92 Program End
If sufficient travel distance is difficult to
keep, make operating time longer. Only axis 2 moves
(Ex; if distance is half, operating time between 2 steps
should be 2 times longer than above
value.)
4-7
4.3 Battery replacement
The robot uses lithium batteries for the backup of encoder data. If the battery voltage drops below
the given limit, the data will not be kept normal.
Replace batteries every 8 years, irrelevant to the operating time of robot.

IMPORTANT
The replacement period varies with use environments (mainly temperatures).
Furthermore, if the battery voltage drops below the given limit, an error indicating the
IMPORTANT voltage drop will be displayed on the controller. In this case, be sure to replace the
battery corresponding to the error displayed.
Replace the batteries with controller power ON. Replacing the battery with controller
IMPORTANT power OFF can result in encoder data error, thus requiring the resetting of the encoder.
Do not store the batteries in places with high temperature and high humidity. Store them
in well-ventilated places to avoid dew condensation. It is recommended to store the
IMPORTANT batteries in places with less temperature changes at ambient temperatures (20±15°C)
and relative humidity of not more than 70%.
Discarding lithium batteries according to your local trash separation rule
When discarding used lithium batteries, insulate the electrical terminals.
IMPORTANT And then follow the respective trash separation rules in your local district
and discard them separately as “Used lithium batteries”.
Tools required
Torque wrench for M4 (Tightening torque : 2.0 Nm)
Torque wrench for M6 (Tightening torque : 11.8 Nm)
Nipper, Cable tie
Double coated adhesive tape
Battery replacement procedure

STEP Work performed
1 Turn ON the primary power of the robot controller.
2 Lock the robot by pressing the emergency stop button.
Remove the bolts (4-M6(SUS)) of the battery unit fitting board on the BJ1 BOX left side.
4 - M6(SUS) (11.8N•m)
3
Pull out the battery unit from the BJ1 BOX.
4-8
Disconnect the connecters CNBAT1 - CNBAT7.
CNBAT1 - CNBAT7
5
Although a warning message about
encoder battery voltage is displayed,
there is no problem. Please proceed
with the next procedures.
Remove the cable tie C to remove the battery unit from the case.
vinyl bag
B
C
A
6 Do not cut the orange
cable tie. This can be
used again.
Double coated adhesive tape case
Install a new battery unit to the case with the cable tie C.
When replacing the batteries one by one;
(1) Fix each battery with double coated adhesive tape.
7
(2) Put the battery in the plastic bag and fasten the cable tie A.
(3) Fasten the plastic bag with the cable tie B.
(4) Install the battery to the case with the cable tie C.
8 Connect CNBAT1 - CNBAT7.
Place the battery unit fitting plate to the original position and fix it with the fixing bolts (4-M6). (Tightening
9 torque : 11.8N•m)
If the battery unit fitting plate is damaged, please replace it.
10 Press [R/Reset] key 2 times to reset the error.
11 Turn OFF the primary power of the robot controller and turn it ON again.
4-9
NOTE
4-10
Chapter 5 Troubleshooting
5.1 Probing into causes of troubles
To perform daily inspection, repair, or part replacement of the robot, turn OFF the power
supply. Furthermore, in order to prevent other workers from improperly turning ON the
WARNING power supply, post the warning signs such as “DON’T POWER ON”.
If any abnormality occurs in the robot, do not attempt to directly operate the robot. Inform
the abnormality to the maintenance personnel who received the given education and
training immediately, and then probe the cause of the abnormality to deal with it.
WARNING Furthermore, incorporate the said course in the Operation Rules and establish a
framework to surely implement the Rules.
When any abnormality occurs in the robot movement or operation, if no external causative factors
can be discerned, the abnormality will result from damage to mechanical parts. To promptly solve
troubles, it is necessary to have a good grasp of symptoms and then probe what part is defective to
cause the trouble.
Step 1 What axis has caused the abnormality?

Judge what axis has caused the abnormal symptom, first. For abnormalities hard to be judged since
they do not appear in the robot movement, check for the following points.
・Any places producing abnormal sounds?
・Any places generating abnormal heat?
・Any places having backlash/play?
Step 2 What part has damage?

If the axis causing the abnormality is probed, check what part is the cause of the abnormality. A
number of parts can be the cause of a single symptom. (Refer to following table)
Step 3 Measures against defective parts

If the defective parts are probed, take measures. Some measures can be taken by customers. For
measures hard to be taken, contact our Service Department.
Symptoms and causes of troubles

Defective part Reduction Balancer
Brake Motor Encoder
Symptom gear bearing
Overload [Note 1]
Displacement
Abnormal sound
Shaking while in operation [Note 2]
Sway when stopped [Note 3]
Irregular twitching [Note 4]
Abnormal deviation
Gravity drop of axis
Abnormal heat generation
Malfunction and runaway
[Note 1] A symptom, which will occur when a load exceeding the rated specification conditions of the
motor is applied. To be more precise, a thermal relay or a circuit protector will be tripped.
[Note 2] A symptom, which the robot causes vibration while in operation.
[Note 3] A symptom, which the robot will repeat oscillations several times near the stop position when it
makes a stop.
[Note 4] A symptom, which the robot twitches at irregular intervals of time in the holding configuration.
5-1
Check and remedy by each part is explained after here.
To drive a robot without supplying power to the motor, the brake release switch must be
operated.
Since the arm may move forward, backward or drop when the brake is released, support
the arm by a crane or chain block prior to beginning the operation. Especially in case of
CAUTION axis 2, forearm will fall down or will jump up due to the payload and robot posture. So
after supporting arm, release brake by inching operation to see the moving direction of
forearm and to secure that supporting method is adequate.
■ Balancer bearing
If balancer bearing is damaged, vibration or abnormal sounds will be produced, thus resulting in
overload.
(1) Checking method
(Front portion of balancer) Check whether or not the plate shown in figure is transformed.
Furthermore check whether or not (1) bearing attachment portion has some incline (2)
grease leaks from seal.
(Rear left and rear right portion of balancer) At first remove the cover. Next check
whether or not (1) grease leaks from the bearing seal (2) seal is transformed such as
rolling up of lip portion or rubbing (3) too much rubbing particle is made from the internal
shaft (4) bearing and shaft has some incline.
Check whether or not the robot hits against the peripheral equipment or else before an
abnormality occurs.
Checking location
Checking location Checking location Checking location

Front portion of balancer Rear left portion of balancer Rear right portion of balancer
(2) Remedy
Replace the bearing in trouble. For this purpose, balancer unit is needed to be removed
from the robot. Springs in the balancer unit is compressed even in normal condition, so
this procedure is very dangerous. Please contact our Technical Department.
5-2
■ Reduction gear
If a reduction gear is damaged, vibration or abnormal sounds will be produced. In this case,
normal operation will be impaired to cause overload or abnormal deviation, thus resulting in
abnormal heat generation. Furthermore, the robot will completely stop or cause displacement.
Axis 1, 2, and 3
(1) Checking method

While in operation, check for any vibration or abnormal sounds, or abnormal heat
generation from the reduction gear part.
Check the reduction gear for backlash/play or scratch, and whether or not any
abnormality is felt by hand through holding the forearm to swivel the robot with the brake
release switch (option) of axis 1 set to “ON”. To check axis 2 and 3, upper arm must be
held using crane or chain block before releasing. Move the arm by operating crane or
chain block and check whether or not any abnormality is felt by hand.
Never forget that upper arm must be held using crane or chain block before releasing.
abnormality occurs.
(The reduction gear may be damaged by shocks given when the robot hits against it.)
(2) Remedy
Replace the reduction gear. For this purpose, in order to lift the robot arm, equipment
such as a chain block should be provided. If it is hard to replace the bearing, contact our
Technical Department.
Axis 4, 5, and 6
(1) Checking method

While in operation, check for any vibration or abnormal sounds, or abnormal heat
generation from the reduction gear part.
Check the reduction gear for backlash/play through applying loads to the end effecter
(e.g. hand unit).
Turn OFF the motors, and then check whether or not the axis moves by hand with the
brake release switch (option) set to “ON”. If the axis does not move, the reduction gear
has an abnormality.
abnormality occurs.
(The reduction gear may be damaged by shocks given when the robot hits against it.)
(2) Remedy
If axis 4 reduction is abnormal. just replace J4 axis reduction gear.
If axis 5 or 6 reduction gear is abnormal, please replace the whole wrist part.
(The replacement of the reduction gear needs time and equipment is needed to do it.
Replacing the whole wrist part enables prompt and reliable remedy.)
5-3
■ Brakes
If any brake causes an abnormality, an axis may drop with the motors “OFF”. Furthermore, with
the motors “ON”, the brake may remain applied, thus resulting in overload or noises.
(1) Checking method

With the Motors OFF state, check whether or not the brake produces operating sounds
through setting the brake release switch to “ON” and “OFF”. If the brake produces no
operating sounds, it is assumed that the brake has a broken wiring.
In order to set the brake release switch to “ON” or “OFF”, pay utmost care for the drop of
the robot arm. The brake release switch is option. Mount the brake release switch prior to
the investigation.
Be sure to hold the arm or wrist / end effecter with the crane or chain block at first, and
operate the brake release switch.
(2) Remedy
Check for brake wirings. Since the motor with an integrated brake for all axes is used, if no
wirings are broken, replace the motor referring to information in “5.2 Motor replacement”.
■ Motor
If the motor causes an abnormality, malfunctions (e.g. shaking while in operation, sway when
stopped, or irregular twitching) will result. Furthermore, abnormal heat generation or abnormal
sounds may result. Since the same symptoms as those caused when the reduction gear is
damaged appear, it is hard to judge whether the abnormality results from the motor or the
reduction gear. In this connection, investigate the reduction gear and the bearing at the same time.
(1) Checking method

Check for any abnormal sounds or abnormal heat generation.
(2) Remedy
Replace the motor referring to information in ” 5.2 Motor replacement”..
■ Encoder
If the encoder causes an abnormality, the robot will cause displacement, malfunction, or runaway,
thus leading to sway when stopped or irregular twitching. Furthermore, this abnormality will almost
never result in symptoms such as mechanical noises, heat generation, or vibration.
(1) Checking method

Check the encoder data for any errors.
Align the zeroing pin with the reference position, and then check the position data for any
errors.
Move each axis of the robot to check whether or not there are any points in which data
(bits) show irregular changes.
Check the controller for the model of drive unit. (The model of the drive unit varies with
the number of robot axes in use and the motor capacity of followed axis.
If any drive unit of the corresponding model for the same model of controller is available,
replace the drive unit to check whether or not the symptom is transferred to this drive unit,
referring to information in the “Part Replacement Procedure” section in the Maintenance
Manual for the Controller.
(2) Remedy
Check for brake wirings. If no wirings are broken, replace the encoder.
When the drive unit is replaced, if the symptom is transferred to this drive unit, replace
this drive unit.
Caution on the encoders

If the battery has discharged completely or if the battery is not connected properly so that
the encoder has been left standing without any power supplied to it from the controller,
the data stored inside the encoder may be lost and the encoder itself may not operate
CAUTION properly. This state is detected as an abnormality in the encoder system when the
encoder operation is checked at power-on. When abnormal encoder circuit condition has
been detected, encoders must be reset.
5-4
5.2 Motor replacement
Never forget to hold robot arm or wrist/tool in advance. If motor is dismounted without
supporting them, forearm will fall down or will jump up (due to the payload and robot
posture) in case of axis 2, forearm will fall down in case of axis 3, wrist and tool will fall
down or will rotate quickly in case of wrist axes, possibly resulting in serious injury.
To hold robot arm, use a crane or
chain block etc. In case of axis 2
and 3, wooden blocks or fixing jig
set (option) can be used.
WARNING Note that zeroing pin and block
are not for supporting arm.
Furthermore, Never attempt to
hold robot arm with hands.
Dismounting motor
from robot without
holding arm...
When touching the motor immediately after robot stops, check that motor is not hot and
then touch it with care.
CAUTION
The motor mass is listed below. Consequently, handle the motor with care.
Robot type Axis 1,3 Axis 2 Axis 4,5,6
ST133CF-01, ST166CF-01 24.3 kg 24.3 kg 11.0 kg
CAUTION ST210CF-01 24.3 kg 27.0 kg 11.0 kg
This work includes some jobs that should be conducted with motors ON. Consequently,
be sure to conduct the work at least by a pair of two persons. One person must stay on
guard to press an Emergency Stop button at any time, while the other person must
CAUTION promptly finish the work with thorough attention paid to the robot operating area.
Furthermore, prior to starting the work, check for safe corridors.

Part name Axis Part No. (Model)
Axis 1 M3 torque wrench
Torque wrench
M5 torque wrench (Long type L>=200 mm)
Axis 1, 2 and 3
Or M5 L type torque wrench
Axis 4, 5 and 6 M4 torque wrench
Axis 4, 5 and 6 M5 torque wrench
Torque wrench L type Torque wrench Axis 1, 2 and 3 M12 torque wrench (Long type L>=280 mm)
Axis 4, 5 and 6 M8 torque wrench (Long type L>=280 mm)
Locking agent Axis 4, 5 and 6 ThreeBond 1374
Axis 4, 5 and 6 LONGTIME PD2 (Compatible; ALVANIA RA-J)
Grease
Axis 1, 2 and 3 VIGO grease RE No.00
Lubrication Axis 1, 2 and 3 ThreeBond 1801B
DV24V power supply Axis 2 and 3 (in market)
Dial gauge Axis 2 and 3 (in market)
Be absolutely sure to use the torque wrench to tighten

the bolts with the specified torque.
In case of the bolts on circumference, tighten them
equally and gradually.
Order to tighten bolts
“Coupling gear set”, prepared as a spare part, is to enable the quick replacement of motor.
“Coupling gear set” includes motor fixing bolts, O-rings and sheet packing. When replacing a
motor, replace the old bolts, O-rings and sheet packing to the new ones that are included in the
set in spite of their damage level.
5-5
5.2.1 Motor replacement (Axis 1, 2, 3)
STEP Work performed Checkpoints

Turn on the primary power of the controller, select the If Motors ON cannot be selected due to an
1 TEACH mode, and select Motors ON. abnormality or axis operations cannot be
performed, start from step 3.
Operate axis manually to the position where the zeroing
2 pin can be inserted and to insert the zeroing pin.
Refer to “5.2.4 Encoder correction”
Secure the arm using a crane, chain block or other As for axis 2 and 3, if Motors ON cannot be
means. selected due to an abnormality or axis
3 operations cannot be performed, it is
possible to secure the arm using the arm
securing fixture (option).
Be absolutely sure to follow the above instructions to secure the arm ahead of time.
Removing the motor without first securing the arm may cause the arm to move forward
WARNING or backward or drop, resulting in a serious accident.
Set to Motors OFF first, and then turn off the primary
4
power of the controller.
Disconnect the connectors (encoder and power) from the Bear in mind that the encoder data will be
motor. lost when the encoder connector is
disconnected.
Encoder
5 Power
Place a vinyl bag for catching the grease under the • In the case of axis 2 or 3, grease will
motor. (In the case of axis 1, it is not necessary to attach ooze out when the motor is removed.
the vinyl bag.) • Fix the vinyl bag securely in place using
adhesive tape or some other means.
Take steps to catch the

6 grease as it oozes out
using a vinyl bag.
5-6
Remove the motor attachment bolt shown below, and • Exercise caution since axis 1, 2 and 3
remove the motor from the robot. For the position of the motors are heavy.
bolt. • Do not to apply excessive impact to the
motor shaft.
Axis 1,2,3 • Take care not to damage the oil seal lip by
7
4-M12 X 30 (SUS) the gear attached to the motor shaft.
• Bear in mind that when axis 2 motor is
removed, axis 2 may move forward or
backward depending on the state of the
frame balancer.
Axis 3 motor fixing bolts
Main axes motor fixing bolts (Floor mounting type)
5-7
Remove the encoder plug cover (only axis 1)
Axis 1
2-M3 X 25 (SUS)
2-M3 washer (SUS)
Encoder plug cover drawing
Remove the gear-assy from the motor. • Do not apply excessive impact to the
motor shaft.
Axis 1,2,3
(a) Remove the following bolts, and remove the gear.
9
Axis 1/2 : 6-M5 X 25
Axis 3 : 6-M5 X 20
(b) Remove the collar, ring X2 and holding plate.
シール Seal シール Seal
Cross-sectional view of Cross-sectional view of

motor gear-ASSY (axis 1) motor gear-ASSY (axis 2 and 3)
5-8
Attach the gear-assy, which was removed, to the new • Apply a thin coating of ThreeBond
motor. 1801B to the shaft of the new motor and
two rings before attaching the gear-assy
Axis 1 to the new motor.
(a) Attach the holding plate, ring X2 and collar. • When attaching the rings, make sure
(b) Using the following bolts, attach the shaft-assy. they are pointing in the proper direction.
6-M5 X 25 (tightening torque: 9.8 N·m)
(c) Attach bearing .
Axis 2, 3
(a) Attach the holding plate, ring X2 and collar.
(b) Using the following bolts, attach the shaft-assy.
Axis 2 ; 6-M5 X 25 (tightening torque: 9.8 N·m)
Axis 3 ; 6-M5 X 20 (tightening torque: 9.8 N·m) • Do not to apply excessive impact to the
(c) Check the run-out tolerance of the gear. motor shaft.
(The run-out tolerance should be under 0.1mm) • Be absolutely sure to use the torque
If the run-out tolerance exceeds 0.1mm, loosen the gear wrench to attach the bolts. Then tighten
fixing bolts and repeat the steps from (b) bolts gradually & uniformly using a
torque wrench.
(Supplement)
To check the run-out tolerance, it is necessary to release
10 the brake inside the motor and rotate the gear by hand. To
release the brake, add DC24V voltage between pin A and
pin B in the CNMB* connector.
(A:+24V, B:0V)
•The run-out tolerance should be

measured on the oil-seal touching surface
using a dial gauge like shown as below.
Axis 2 :173mm
Axis 3 :158mm
5-9
Remove two encoder cover fixing bolts at the encoder
connector side (only axis 1).
11
Encoder cover drawing
Attach the removed encoder plug cover (only axis 1) to

the new motor.
Axis 1
Attach encoder plug cover with following bolts.
2-M3 X 25 (SUS) (tightening torque: 1.0 N·m)
2-flat washers for M3 (SUS)
Attach motor with following bolts. • Bear in mind to use torque wrench to
fasten the bolts. Fastening should be done
Axis 1,2, 3 equally and gradually.
4-M12 X 30 (SUS) (tightening torque: 98 N·m) • Bear in mind not to damage the gear
surface when attaching the motor.
• If sheet packing of motor is damage
d, please replace it to the new one. Its
direction is as followed.
Cut portion of seat
packing must be
correspond to the
12 through tap of motor
Sheet packing attaching direction
5-10
13 Connect the connectors (encoder and power) to the motor.
During the replacement of axis 2 and 3 motors grease can
be lost. Estimate amount of grease lost during
14
replacement procedure and replenishment.
(grease : VIGO No.0)
Proceed with encoder reset of the axis whose motor has
15 been replaced.
Refer to “5.2.3 Encoder reset”
Proceed with encoder correction for the axis whose motor • If a motor has been replaced in a
has been replaced. posture that prevents the zeroing pin from
Refer to “5.2.4 Encoder correction” being inserted, proceed with encoder
reset and encoder correction to enable
16 axis operation, and then once more move
the axis to the position where the zeroing
pin can be inserted, and proceed with
encoder reset and encoder correction
again.
Remove the zeroing pin. • Bear in mind that performing an axis
operation by mistake without first having
removed the zeroing pin may deform the
pin and/or pin hole and make it
impossible to remove the pin and
17
implement encoder correction properly in
the future.
• If the zeroing pin cannot be removed,
move the axis a little at a time at manual
speed 2, and then remove the pin.
18 Ensure that the robot operation presents no problem.
This now completes axis 1, 2 or 3 motor replacement.
5-11
5.2.2 Motor replacement (Axis 4, 5 6)
Axis interference of wrist axis (Axis 4,5 and 6)

“Axis interference” exists due to the structure of the wrist on this robot.
For this reason, when performing encoder correction of axis 5, 4 axis must be in
reference position (zeroing pin position). Similarly, when performing encoder correction
of axis 6, 4 and 5 must be in reference position (zeroing pin position).
CAUTION
This means that encoder correction must be performed in the sequence of axis 4, 5 and
6 without fail. If encoder correction has not been performed in this sequence, the zero
points of the wrist axes will not be set correctly and the robot will not move properly.

Turn on the primary power of the controller, select the If Motors ON cannot be selected due to an
1 TEACH mode, and select Motors ON. abnormality or axis operations cannot be
performed, start from step 3.
Operate axis manually to the position where the zeroing The work to be performed after motor
2 pin can be inserted and to insert the zeroing pin. replacement is made easier if the zeroing
Refer to “5.2.4 Encoder correction” pins are left inserted ahead of time.
Secure the wrist and tool using a crane, chain block or
3
other similar means.
Be absolutely sure to follow the above instructions to secure the wrist and tool ahead of
time. Removing the motor without first securing the wrist and tool may cause the wrist to
WARNING rotate suddenly or drop, resulting in a serious accident.
After making Motors OFF status, turn OFF the primary

4
power of the controller.
Disconnect the connectors (encoder and power) from the Bear in mind that the encoder data will be
motor. lost when the encoder connector is
disconnected.
Power
Encoder
5
5-12
Remove the following motor attachment bolts, and • Do not to apply excessive impact to the
remove the motors from the robot. motor shaft.
3-M8 X 35 (SUS) • At this point, the motor case fixing bolts
need not be removed.

Follow the steps below to remove the gear-assy attached to • Do not to apply excessive impact to
the motor shaft. the motor shaft.
(a) Remove the following bolts(inner side), and remove the • The outer side bolts are not needed
gear. to be removed.
7
Axis 4 : 5-M5 X 30
Axis 5 and 6 : 5-M5 X 15
(b) Remove the following bolts, and remove the motor case.
1-M8 X 25 (BB) (motor case fixing bolts)
O ring O ring
ROA-043 ROA-043
O ring O ring
Co0554A Co0554A
Cross-sectional view of axis 4 Cross-sectional view of axis 5 and 6

axis motor gear-assy axis motor gear-assy
Connecting shaft of axis 4 gear and motor is different from that of axis 5 and 6. Pay much
attention when attaching those.
CAUTION
5-13
Attach the gear-assy, which was removed, to the new • Clean the shaft of the new motor.
motor. (Remove dusts, redundant oil, etc.)
• If the O-ring is damaged, please replace
(a) Attach the motor case to the motor using the foll it.
owing bolts. • Take care not to damage the O-ring
1-M8 X 25 (BB) (tightening torque: 33.3 N·m) when attaching the motor case.
(b) Attach the gear to the motor shaft using the follo • Be absolutely sure to use the torque
wing bolts. At this point, apply one or two drops wrench to attach the bolts. Then tighten
8 of locking agent (ThreeBond 1374) to the threads bolts gradually & uniformly using a torque
at the ends of the bolts, and then tighten the bo wrench.
lts.
Axis 4 : 5-M5 X 30 (tightening torque: 8.1 N·m)
Axis 5, 6 : 5-M5 X 15 (tightening torque: 8.1 N·
m)
Apply the appropriate amount of grease (LONGTIME • Be absolutely sure to use the torque
PD2) to the gear teeth (enough to cover the teeth), and wrench to attach the bolts. Then tighten
attach the motor to the robot using the following bolts. bolts gradually & uniformly using a torque
wrench.
3-M8 X 35 (SUS) (tightening torque: 33.3 N·m) • Take care not to damage the gear teeth.
• If the O-ring is damaged, please replace
9 it.
• Although ALVANIA RA-J grease is filled
in the gear box, LONGTIME PD2 can be
lubricated there (if the amount is small)
because it has the same lithium soap
base and the same consistency with
ALVANIA RA-J.
Connect the connectors (encoder and power) to the
10
motor.
Proceed with encoder reset.
11
Proceed with encoder correction. • If a motor has been replaced in a
Refer to “5.2.4 Encoder correction” posture that prevents the zeroing pin from
being inserted, proceed with encoder
reset and encoder correction to enable
12 axis operation, and then once more move
the axis to the position where the zeroing
pin can be inserted, and proceed with
again.
Remove the zeroing pin. Remove the zeroing block, and • Bear in mind that performing an axis
attach the cover using the bolts (2-M8). operation by mistake without first having
removed the zeroing pin may deform the
pin and/or pin hole and make it impossible
13 to remove the pin and implement encoder
correction properly in the future.
• If the zeroing pin cannot be removed,
move the axis a little at a time at manual
speed 2, and then remove the pin.
This now completes axis 4, 5, or 6 motor replacement.
5-14
5.2.3 Encoder reset
When encoder data has been corrupted due to some problem or motor replacement it is necessary
to reset an encoder and compensate for any offset between actual encoder position and pin
(reference) position. In cases like this, encoder reset must be performed first so follow the steps
below to initiate encoder reset.
The encoder data will be initialized when encoder reset is performed so the robot will no
longer move properly. Upon completion of encoder reset, therefore, be absolutely sure to
use the zeroing pin to perform encoder correction. If the work program is played back
without encoder correction having been performed correctly, the robot may act
WARNING
incorrectly so that the operator may be caught or sandwiched by the robot parts, possibly
resulting in death or serious injury.
After performing the motor connections, the following errors may arise due to the
discharge of the super capacitor inside the encoder. (Example: In cases where, for
instance, a new motor whose super capacitor is charged has been connected)
E0050: Encoder counter overflow/underflow
CAUTION E0052: Encoder battery charge low
In a case like this, supply power to the controller for at least 10 minutes, and then reset
the encoder. After this, turn the controller power off and then back on to restore the
normal state.
Encoder reset procedure

Needed tools
No special tools are necessary for encoder rest procedure.
1 Supply the primary power to the controller for at least 10 minutes. Then set to the
Motors OFF state.
2 Select the [TEACH] mode.
3 Before proceeding, switch the operator qualification to Expert.
4 Select [Constant Setting] [3 Machine Constants] [4 Encoder Correction].
>> A screen such as the one shown below will appear.
ST#####
(Proper robot name is displayed on “ST#####” location.)
5 Press f9 [Encoder Reset].

ST#####
5-15
AX 6 Align the cursor with the axis for which encoder reset is to be performed, and press
ON [ENABLE] + [ON/1].
ENABLE ＋ 1 >> The check mark for the axis concerned is now set to ON.
ST#####
FD
＋ (Proper robot name is displayed on “ST#####” location.)

Point
• To clear the check mark, press [ENABLE] + [OFF].
• To set the check mark for all the axes at the same time, press f8 [All Select].
7 After the axes have been selected, press f12 [Execute].

>>The following message will be displayed by axis for which the checkmark is
placed. Then, press the [OK].
ST##
Encoder resetting will be executed.
8 If the encoder reset is normally complete, the following message will be displayed.
This now completes the encoder reset procedure. Refer to the next section, and proceed with
encoder correction.
5-16
5.2.4 Encoder correction
After performing encoder reset procedure, encoder correction must be implemented. This is to
registering the “encoder correction value” so that encoder data becomes the pre-determined value
at the pre-determined position (this is called reference position, zeroing pin can be inserted here).
Reference position (zeroing pin position) and its encoder data are explained in
following pictures. These encoder data are very important to check the successful
IMPORTANT procedure of encoder correction.
[ST133CF-01][ST166CF-01][ST210CF-01]
Insert axis 1 zeroing pin here
Encoder data
of reference position
Axis 1 80,000[Hex]
Axis 2 80,000[Hex]
Axis 3 80,000[Hex]
Axis 1 zeroing pin
Axis 3 zeroing pin
Axis 2 zeroing pin
Reference position (Locations to insert zeroing pin) of main axes
5-17
[ST133CF-01][ST166CF-01]
Axis 4 zeroing block
(moving side)
(fixed side)
(moving side)
Axis 4 zeroing pin

(fixed side)

Axis 5 zeroing pin (moving side)

(fixed side)
Axis 6 zeroing pin
(moving side)
Encoder data
Axis 4 80,000[Hex]
Axis 5 80,000[Hex]
Axis 6 80,000[Hex]
Reference position (Locations to insert zeroing pin) of wrist axes

[ST210CF-01]

(moving side)
Axis 4 zeroing block Axis 4 zeroing block
(moving side) (fixed side)
Axis 4 zeroing pin

(fixed side)

Axis 5 zeroing pin (moving side)

(fixed side)
Axis 6 zeroing pin
(moving side)
Encoder data
Axis 4 80,000[Hex]
Axis 5 80,000[Hex]
Axis 6 80,000[Hex]
Reference position (Locations to insert zeroing pin) of wrist axes
5-18
In cases where a motor has been damaged while the robot was moving, for instance, it
may be necessary to replace the motor and implement encoder reset at a position
where the zeroing pin cannot be inserted. In such a case, an error may occur during
axis operation, making it impossible to move the robot any further. At times like this,
CAUTION robot movement can be resumed by provisionally implementing encoder correction at the
position concerned so move the axis to the position where the zeroing pin can be
inserted, and proceed with encoder reset and encoder correction again.
Some of this work is done while power is supplied to the motor. Therefore, perform
pinning in pairs. One person must stand guard and ready to press an emergency stop
button. The other person must work quickly and carefully within the robot operating area.
An escape route should be determined before starting pinning work. If these actions are
WARNING
neglected, the robot may act incorrectly so that the operator may be caught or
sandwiched by the robot parts, possibly resulting in death or serious injury.
Before performing axis operations, be absolutely sure to remove the zeroing pins.
Performing axis operation with the zeroing pins still in place may bend the pins, damage
the pin holes or cause other problems. Bear in mind that if any of these problems has
CAUTION arisen, it will no longer be possible to perform encoder correction accurately and
corrections will have to be made to the work program.
Encoder correction procedure

Needed tools
For this procedure, zeroing pin and block (OP-T2-*** ; option) is necessary.
Please prepare these tools by referring to “Chapter 5 Recommended spare parts and special
tools for maintenance”.
1 Select the [TEACH] mode, and set to the Motors ON state.

2 Switch the operator qualification to Expert.
3 3) Select [Constant Setting] [3 Machine Constants] [4 Encoder Correction].
ST#####

4 Press the f8 [Record Posi.] key.
>> The screen shown below will now appear.
ST#####

5 In case of axis 4,5 and 6
Prior to inserting zeroing pin, zeroing block
must be attached.
Remove the covers of zeroing block place,
and attach the zeroing blocks using 2 Hex.
socket head cap screws (M8).
Refer to figure “Reference position (Locations

Image of zeroing block
to insert zeroing pin) of wrist axes”
5-19
Axis interference of wrist axis (Axis 4,5 and 6)
“Axis interference” exists due to the structure of the wrist on this robot.
For this reason, when performing encoder correction of axis 5, 4 axis must be in
reference position (zeroing pin position). Similarly, when performing encoder correction
of axis 6, 4 and 5 must be in reference position (zeroing pin position).
CAUTION
This means that encoder correction must be performed in the sequence of axis 4, 5 and
6 without fail. If encoder correction has not been performed in this sequence, the zero
points of the wrist axes will not be set correctly and the robot will not move properly.
X- X+
6 Move the axis at manual speed 2 or 3 to the reference position, and insert the
Y- Y+ zeroing pin in the pin hole. At this point, the encoder correction value is still incorrect
Z- Z+
so exercise sufficient caution in operating the robot.
RX- RX+
Refer to figure “Reference position (Locations to insert zeroing pin) of main axes”
RY- RY+
Refer to figure “Reference position (Locations to insert zeroing pin) of wrist axes”
RZ- RZ+
At this point, the encoder correction value is still incorrect so exercise sufficient
caution in operating the robot.
AX 7 Align the cursor with the axis whose reference position is adjusted (zeroing pin is
inserted), press the [ENTER] key followed by the [O.WRITE/REC] key.
ENTER >> The [Encoder correction value] is now adjusted so that the current machine
O.WRITE position will be set as the encoder data of reference position.
REC
FD
Encoder correction
values
ST#####

If encoder correction is required for other axes as well, repeat steps 5) and 6) for the
axes concerned.
8 Upon completion, remove the zeroing pin and zeroing block.

In case of axis 4, 5 and 6, attach the cover which covers the zeroing block
attachment points to its original position.
9 Press the Emergency Stop button on the teach pendant to turn OFF the motor
power.
10 Press f12 [Complete].
>> The adjusted encoder correction value is saved in the internal memory.
11 Using [Service Utilities] [2 Monitor 1] [1 Axis Data

Monitor], check that the current value of the axes for
which encoder correction was performed is encoder
data of reference position.
This now completes the encoder correction procedure. After checking that the zeroing pin and
zeroing block have been removed, move the axes by operating them manually to check that their
movements are problem-free
5-20
5.3 Encoder replacement
Since this robot is of encoder separation type on all axes, the encoder is replaceable. With the
encoder assembled in the robot, however, the assembly jig may not be inserted depending on the
robot configuration. In this case, referring to information in “5.2 Motor replacement”, replace the
whole motor unit. The following section describes the replacement procedure when the robot is
configured so that the encoder can be replaced.
Tools required (Prepared by customer)

Part name Axis Part No. (Model) Remark
Axis 1 M3 torque wrench
Torque
M3 torque screwdriver which meets the tightening torque of 0.59 to 0.88 Nm
screwdriver
All axes M3 setscrew torque screwdriver which meets the tightening torque of 0.59 to 0.88 Nm
Locking agent Threebond 1374
Encoder replacement procedure

Turn ON the primary power of the controller, select the If Motors ON cannot be selected due to
1 TEACH mode, and select Motors ON. an abnormality or axis operations cannot
be performed, start from step 3.
Operate axis manually to the position where the zeroing The work to be performed after motor
2 pin can be inserted and to insert the zeroing pin. replacement is made easier if the zeroing
Refer to “5.2.4 Encoder correction” pins are left inserted ahead of time.
After making Motors OFF status, turn OFF the primary
3
power supply of the controller.
4 Disconnect the encoder connectors.
Remove two encoder plug cover (only axis 1)
5
Axis 1 2-M3X25 (SUS)
Dismount the encoder from the motor.
(a) Dismount the encoder cover removing the following

bolts. At this time, dismount the encoder cover
Axis 1 only 2-M3X20 (SUS) in order not to cause tension to the
Axis 2 to 6 4-M3X20 (SUS) encoder lead wire.
6 (b) Remove the two bolts that fix the encoder fixing spring.
2-M3X10
(c) Remove the two set screws that fix the encoder boss
part, and then pull out the encoder assembly from the
motor shaft.
2-M3X4
5-21
Encoder Encoder lead wire
protective cover
Lead wire sheath
Forming
direction
4-M3×20(SUS)
Tightening torque after coating
of screw lock: 0.59 to 0.88 Nm
Lead wire riser part
Encoder plug cover (only axis 1) Outline figure of encoder
Positioning plate
Encoder cover packing
2-M3×10
Tightening torque after coating of Encoder cover
screw lock: 0.59 to 0.88 Nm
2-M3×4(Coming with encoder)
Tightening torque: 0.59 to 0.88 Nm
U-slot of boss part Encoder Location pin
Dismounting of encoder unit Cross-section of encoder cover

Fix the encoder to the motor.
(a) Insert the encoder so that the U-slot of the encoder
boss part is aligned with the zeroing pin on the motor
side.
For this purpose, be sure to use the new
(b) Insert the encoder until the encoder boss part hits the setscrews with screw lock that come with
positioning plate of the motor shaft, and then torque the the encoder.
7
set screws of the boss part
2-M3X4 (tightening torque: from 0.59 to 0.88 N·m)
• At this time, apply one or two drips of
(c) Fix the encoder fixing spring by the following 2 bolts. locking agent (THREEBOND 1374) to the
2-M3X10 (tightening torque: from 0.59 to 0.88 N·m) bolts.
• At this time, put the encoder packing in
place.
5-22
(d) Form the lead wire riser part so that the encoder lead
wire will follow the outer circumference of the protective
cover. Then, with the sheath of the lead wire pulled to the
riser part, put the encoder cover in place. After that, torque
the following bolts.
Axis 1 only
2-M3X20 (SUS) (tightening torque: 0.59 to 0.88 N·m)
2-washers for M3 (SUS)
Axis 2 to 6 axes
4-M3X20 (SUS) (tightening torque: 0.59 to 0.88 N·m)
7
continue
d
Encoder cover drawing (Axis 1 only)
Attach the removed encoder plug cover (only axis 1).
Axis 1
Attach encoder plug cover with following bolts.
2-M3 X 25 (SUS) (tightening torque: 1.0 N·m)
8 Connect the connector to the encoder.

Proceed with encoder reset of the axis whose motor has
9 been replaced.
Proceed with encoder correction for the axis whose motor
10 has been replaced.
Refer to “5.2.4 Encoder correction”
Check to be sure that the robot has no problem with the
11
movement.
Now completes the encoder replacement.
5-23
5.4 Wrist unit replacement
The wrist unit mass is listed below. Consequently, handle the wrist unit with care.
Robot type Wrist unit mass
ST133CF-01, ST166CF-01 50 kg
CAUTION ST210CF-01 77 kg

Part name Part No. (Model)
M12 torque wrench (L type torque wrench)
M10 torque wrench (L type torque wrench)
Torque wrench
M10 torque wrench
M8 torque wrench
Locking agent ThreeBond 1374
Grease LONGTIME PD2 (Compatible; ALVANIA RA-J)
Wrist unit replacement procedure

Set the wrist axes (axis 4, 5 and 6) to zero degree position If Motors ON cannot be operated or
referring to “5.2.4 Encoder correction” and then set axis 3 to axis operations cannot be performed
1 due to an abnormality, start the
horizontal angle. (See the following figure) procedure from step 2.
Recommended robot posture for wrist unit replacement
Turn OFF the Motors, and then turn OFF the controller primary
2
power.
Dismount the loads (welding gun, hand, or work-piece etc.) Concerning the wrist flange, see “1.5
3
from the wrist unit. Details of wrist mounting section”.
Remove the wrist unit installation bolts and locating pin. And Wrist unit is heavy. Be careful.
then dismount the wrist unit from the robot.
Wrist unit installation bolts
5-24
Apply grease (LONGTIME PD2) on all the splines of the •Although ALVANIA RA-J grease is
forearm side and the new wrist unit side until the gaps of them applied on the gears, LONGTIME PD2
are filled with the grease. can be applied there because it has the
(4 portions) same lithium soap base and the same
consistency with ALVANIA RA-J.
Splines of axis 5 and 6 are located a

round here.
Spline portion
Mount a new wrist unit onto the forearm. If the gap between • If O-ring is damaged, replace it.
the forearm and the wrist unit is 5mm or less, the splines ST133CF/166CF-01
match each other. C00552A
ST210CF-01
(a) Temporally attach the wrist unit using the following bolts. C00548A
ST133CF-01 ST166CF-01 16×M10X30(BB) • At this time, apply locking agent
ST210CF-01 16×M12X35(BB) (ThreeBond 1374) of 1 or 2 drops onto
(b) Locate the position of the wrist unit using locating pin. the bolts in advance..
(All models) • Be absolutely sure to use the torque
MDP-10×25 wrench to attach the bolts. Then
(ｃ) Tighten the bolts completely with the following rated torque tighten bolts gradually & uniformly
to mount the wrist unit. using a torque wrench.
ST133CF-01 ST166CF-01
6 16×M10X30(BB) (Tightening torque 67.0Nm)
ST210CF-01
16×M12X35(BB) (Tightening torque 116Nm)
(5mm or less)
R Proceed with encoder correction. • If a wrist unit has been replaced in a

Refer to “5.2.4 Encoder correction”. posture that prevents the zeroing pin
from being inserted, proceed with
7 to enable axis operation, and then once
more move the axis to the position
where the zeroing pin can be inserted,
and proceed with encoder reset and
encoder correction again.
Do not tighten the bolts forcibly unless the splines match each other. If the bolts are
tightened forcibly when the splines do not match each other, those splines will be broken.
CAUTION
This now completes the wrist unit replacement.
5-25
5.5 Improvement of robot’s motion
■ High-precision trace improvement
This series can offer high-precision trace function (option).

This function can contribute improvement of oscillation and high-precision trace. It is
recommended that this function should be applied in cases where glasses are inserted into
cassettes, although it is noted that use of this function could lengthen the cycle time. For its details
of setting method, see
AX Controller Manual “Fine Motion Function”
FD Controller Manual “Fine Motion Function”
■ Reduction of oscillation and shock
This series can offer the smooth function (S 1 ~ S 3). Change [ S ] if oscillation restrain is
requested. Change of S 1 to S 3 enables increase in oscillation restrain. This increase could be
liable to lengthen slightly the cycle time. For its details of setting method, see
AX Controller “Basic operation”, “Chapter 4 Teaching”
FD Controller “Basic operation”, “Chapter 4 Teaching”
■ Tool tip acceleration specification
This series can specify acceleration of tool tip ( D 1 ~ D 3).

The tool tip acceleration is set at 25%( 0.25G) when the high-precision trace function can work at
the time of shipment from our factory or if [ D 3 ] is set. Change the parameter if acceleration when
carrying glasses should be considered. For its details of setting method, see
AX Controller “Basic operation”, “Chapter 4 Teaching”
FD Controller “Basic operation”, “Chapter 4 Teaching”
5-26
Chapter 6 Recommended spare parts and
special tools for maintenance
Recommended spare parts are listed below. To purchase any parts, check the manufacturing No.
and date of the robot, and then contact our Service Department.
Classification A: Periodical maintenance parts B: Spare parts
Recommended spare parts

Robot model
Recommended/unit
ST133CF-01
ST166CF-01
ST210CF-01
Classification
Part No.
Name Remark
(Model)
In use/unit
A GREASE VIGOG-RE0-16KG － 1 ○ ○ ○ VIGO RE No. 0
A GREASE LONGTIME-PD2-18KG － 1 ○ ○ ○ LONGTIME PD2
A BATTERY ER17/50H 7 7 ○ ○ ○ Refer to 4.3 Battery replacem
ent For the replacement
A BATTERY UNIT KP-ZA-003 1 1 ○ ○ ○ Period. (*1)
B AC SERVO MOTOR MFMA452D5V3 2 1 ○ ○ ○ Axis 1,(2,) 3

Axis 1,2,3 Axis 1,2,3 Axis 1,3
B AC SERVO MOTOR MFMA552D4V3 1 1 ○ Axis 2
B AC SERVO MOTOR MSMA302D7V3 3 1 ○ ○ ○ Axis 4,5,6
B ENCODER DVOP3560 6 1 ○ ○ ○ All axes (*2)
B COUPLING GEAR SET KP-ZH-128 1 1 ○ ○
Axis 1
B COUPLING GEAR SET KP-ZH-129 1 1 ○
B COUPLING GEAR SET KP-ZH-134 1 1 ○ Axis 2
B COUPLING GEAR SET KP-ZH-131 1 1 ○ Axis 3
B COUPLING GEAR SET KP-ZH-136 1 1 ○ ○ ○ Axis 4
B COUPLING GEAR SET KP-ZH-137 2 1 ○ ○ ○ Axis 5,6
B WRIST UNIT SP-W1-051 1 1 ○
B BJ1 UNIT ASSY SP-BJ1-127 1 1 ○ ○ ○ All wiring integrated type
Sheet packing for battery unit
B SEAL 037-0594-001 1 1 ○ ○ ○
fitting plate
(*1) When replacing the all batteries, please choose battery unit (KP-ZA-003)
(*2) When encoder cover is damaged, encoder itself may be damaged already. Please replace not only encoder cover but also
encoder itself.
If MSDS (Material Safety Data Sheet) for chemical material such as grease is necessary, customer needs to require it to the
chemical material supplier.
<Reference> Seals listed below are already included in COUPLING GEAR SET and or so. Please refer them to order
individually.
COUPLING GEAR SET of axis 1,2,3 → SEAL 037-0595-001 (motor flange)
COUPLING GEAR SET of axis 4,5 6 → O RING ROA-043 and CO0554A (motor flange)
WRIST UNIT → O RING CO0552A and CO0548A（axis 4 reduction gear）
6-1
The fixtures listed below are required tools for maintenance work or for efficient work. To purchase
any parts, check the manufacturing No. and date of the robot, and then contact our Service
Department.
Special tools for maintenance (option)

Robot model
ST133CF-01
ST166CF-01
ST210CF-01
Part No.
Name Remark
(Model)
ACCESSORY OP-T2-056 ○ ○ Zeroing pin & zeroing block

ACCESSORY OP-T2-057 ○ Zeroing pin & zeroing block
H-AXIS FIX JIG SET KP-ZD-004 ○ ○ ○ Axis 2 Fixing jig set
MAINTENANCE TOOL KP-ZJ-006 ○ ○ ○ Axis 3 Fixing jig set
Contents of OP-T2-*** (Zeroing pin & zeroing block) (option)

Applied
Name Marking Appearance, etc
Robot model
All model Axis 1,4,5,6 Zeroing pin
All model Axis 2,3 Zeroing pin
All model Axis 4 fixed side Zeroing block ST J4

ST133CF,ST166CF Axis 4 fixed side Zeroing block (none)
ST210CF Axis 4 fixed side Zeroing block (none)
Axis 4 moving side Zeroing block ST J4
Axis 4 moving side Zeroing block (none)
All model
Axis 5 moving side Zeroing block ST/SB J5
Axis 6 fixed side Zeroing block SF133 J6
ST133CF,ST166CF Axis 6 moving side Zeroing block SF133 J6
ST210CF Axis 6 moving side Zeroing block SF200F J6
All model Axis 4 fixed side fixing bolt Hex. socket head cap screw 2-M8X60
ST133CF,ST166CF Axis 4 fixed side fixing bolt Hex. socket head cap screw 2-M6X20
ST210CF Axis 4 fixed side fixing bolt Hex. socket head cap screw 2-M6X30
Axis 4 moving side fixing bolt Hex. socket head cap screw 2-M8X100
All model
Axis 4 moving side fixing bolt Hex. socket head cap screw 2-M6X20
All model Hex. socket head cap screw 2-M8X40
Axis 5 moving side fixing bolt
ST133CF,ST166CF washer for 2-M8
All model Axis 6 fixed side fixing bolt Hex. socket head cap screw 2-M8X45
ST133CF,ST166CF Axis 6 moving side fixing bolt Hex. socket head cap screw 2-M8X55
ST210CF Axis 6 moving side fixing bolt Hex. socket head cap screw 2-M8X35
Tightening torque for M8 bolt is 33.3 Nm
Tightening torque for M6 bolt is 13.8 Nm
6-2
Chapter 7 Wiring Diagrams
[ST33CF-01][ST166CF-01][ST210CF-01]
Robot Parts Layout
7-1
[ST33CF-01][ST166CF-01][ST210CF-01]
Wiring/piping expansion and connection diagram
7-2
Wire Connection Diagram for Motor and Brake 1
7-3
Wire Connection Diagram for Motor and Brake 2
7-4
Wire Connection Diagram for Encoder 1
7-5
Wire Connection Diagram for Encoder 2
7-6
AWG25×10P
AWG25×10P
Wire Connection Diagram for Application
7-7
For the detail of pin
AX controller Wire harness connection (1) assignment of robot side
connector, please refer to
FD11 controller wire
harness drawings.
7-8
For the detail of pin
AX controller Wire harness connection (2) assignment of robot side
connector, please refer to
FD11 controller wire
harness drawings.
7-9
制御装置側ロボット側
CONTROLLER SIDE ROBOT SIDE
CNP1A
(1) (2) (3)
U11 V11 W11
U12 V12 W12
CNP1B
(1) (2) (3)
U13 V13 W13
CNP2A
(1)
U21
(2)
V21
(3)
W21
CNR01
U22 V22 W22
CNP2B
(1) (2) (3)
U23 V23 W23 CONNECTOR 11
(B1) U12 V12 W12 BA1 W13 (B6)
CNP3A (A1) U11 V11 W11 PB1 U13 V13 (A6)
(1) (2) (3)
U32 V32 W32 (B1) U22 V22 W22 BA2 W23 (B6)
(A1) U21 V21 W21 PB2 U23 V23 (A6)
CNP3B
(1) (2) (3)
(B1) U32 V32 W32 BA3 W33 G (B6)
(A1) U31 V31 W31 PB3 U33 V33 (A6)
CNBK1
(1) (2) (3) CONNECTOR 14
B PB1 PB2 PB3
A BA1 BA2 BA3 未使用 / NOT USED
ECE
FD controller Wire harness connection (1)
7-10
CNP4A
(1) (2) (3)
U41 V41 W41
CNP4B
(1) (2) (3)
U42 V42 W42
CNP5A
(1)
U51
(2)
V51
(3)
W51
CNR02
CNP5B
(1) (2) (3)
(B1) U42 V42 W42 BA4 (B6)
CNP6A (A1) U41 V41 W41 PB4 (A6)
(1) (2) (3)
(B1) U52 V52 W52 BA5 (B6)
(A1) U51 V51 W51 PB5 (A6)
CNP6B
(1) (2) (3)
(B1) U62 V62 W62 BA6 (B6)
(A1) U61 V61 W61 PB6 (A6)
CNP7A
(1) (2) (3)
(B1) U72 V72 W72 BA7 TS2 G (B6)
(A1) U71 V71 W71 PB7 TS+ (A6)
CNP7B
(1) (2) (3)
U72 V72 W72
CNBK2
(1) (2) (3) (4) (5)
B PB4 PB5 PB6 PB7 TS2
A BA4 BA5 BA6 BA7 TS+
ECE
7-11
CNEC1
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)
B P5E1 M5E1 P5E2 M5E2 P5E3 M5E3 LS1- LS2-
A S1+ S1- S2+ S2- S3+ S3- LS1+ LS2+
CNEC2
CNR04
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)
B P5E4 M5E4 P5E5 M5E5 P5E6 M5E6 P5E7 M5E7
A S4+ S4- S5+ S5- S6+ S6- S7+ S7-
CONNECTOR 41
LS LS
(B1) S1- S2- S3- S4- S5- S6- S7- 1- 2- (B11)
CNALM (A1) S1+ S2+ S3+ S4+ S5+ S6+ S7+ LS
1+
LS
2+
(A11)
(1) (2) (3)
E24 M24 ALM CONNECTOR 42
(B1) M5E1 M5E2 M5E3 M5E4M5E5 M5E6M5E7 M24 (B11)
(A1) P5E1 P5E2 P5E3 P5E4 P5E5 P5E6 P5E7 ALM E24 (A11)
CONNECTOR 43
(B1) (B11)
未使用 / NOT USED
(A1) (A11)
Connector “CNALM” is not used for this robot.
7-12
http://www.nachi-fujikoshi.co.jp/
Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
Japan Main Office 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
Minato-ku, TOKYO, 105-0021 JAPAN
Nachi Robotic Systems Inc. (NRS) http://www.nachirobotics.com/
North America Headquarters Phone: 248-305-6545 Fax: 248-305-6542 22285 Roethel Drive, Novi, Michigan 48375-4700 U.S.A.
Training Office Phone: 248-334-8250 Fax: 248-334-8270 22213 Roethel Drive, Novi, Michigan 48375 U.S.A.
Greenville Service Office Use 248-305-6545 Use 248-305-6542 South Carolina, U.S.A.
San Antonio Service Office Use 248-305-6545 Use 248-305-6542 Texas, U.S.A.
Kentucky Branch Office Phone: 502-695-4816 Fax: 502-695-4818 116 Collision Center Drive, Suite A, Frankfort, KY 40601 U.S.A
89 Courtland Avenue, Unit 2, Vaughan,
Toronto Branch Office Phone: 905-760-9542 Fax: 905-760-9477
Ontario L4K3T4 CANADA
Urbina # 54, Parque Industrial Naucalpan,
Mexico Branch Office Phone :+52-555312-6556 Fax:+52-55-5312-7248
Naucalpan de Juarez, 53370, Estado de México, MEXICO
Canada 544 Privada Luxemburgo
Saltillo Service Office Phone :+52-844416-8053 Fax: +52-844416-8053
C. P. 25230, Saltillo, Coahuila, MEXICO
NACHI EUROPE GmbH
Phone: Fax: Bischofstrasse 99, 47809, Krefeld, GERMANY
Central Office Germany
+49-2151-65046-0 +49-2151-65046-90 http://www.nachirobotics.eu/
Phone: Fax: Unit 3, 92, Kettles Wood Drive, Woodgate Business Park,
U.K. branch
+44-0121-423-5000 +44-0121-421-7520 Birmingham B32 3DB, U.K.
Phone: Fax: Obchodni 132, 251 01 Cestlice, PRAGUE-EAST

Czech branch
+ 420-255-734-000 +420-255-734-001 CZECH REPUBLIC
NACHI AUSTRALIA PTY. LTD. http://www.nachi.com.au/

Robotic Division & Phone: Fax:
38, Melverton Drive, Hallam, Victoria 3803, , AUSTRALIA
Victoria office +61-(0)3-9796-4144 +61-(0)3-9796-3899
Phone: Fax:
Sydney office Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA
+61-(0)2-9898-1511 +61-(0)2-9898-1678
Phone: Fax:
Brisbane office 7/96 Gardens Dr,Willawong,QLD 4110, , AUSTRALIA
+61-(0)7-3272-4714 +61-(0)7-3272-5324
NACHI SHANGHAI CO., LTD.
Phone: Fax: 11F Royal Wealth Centre, No.7
Shanghai office
+86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China
NACHI KOREA http://www.nachi-korea.co.kr/
2F Dongsan Bldg.
Phone: Fax:
Seoul office 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
+82-(0)2-469-2254 +82-(0)2-469-2264
Seoul 133-123, KOREA
Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable
for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.

Msten 218 005 ST CF 01 (Ax20fd11)

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1402, MSTEN-218-005,001

ST-CF-01 series [AX20/FD11]

Chapter 1 Basic specifications ............................................................................................................ 1-1

Chapter 2 Precautions for handling..................................................................................................... 2-1

Chapter 3 Inspection ........................................................................................................................... 3-1

Chapter 4 Maintenance ....................................................................................................................... 4-1

Chapter 5 Troubleshooting.................................................................................................................. 5-1

Chapter 7 Wiring Diagrams ................................................................................................................. 7-1

This indicates the other special notes.

This mark indicates hot parts on the robot.

Another caution and warning labels;

Max. pay Wrist 133 kg 166 kg 210 kg

Outline Dimensions and Operating Area of Robot

Outline Dimensions and Operating Area of Robot

Ancillary equipment can be mounted to the upper part of robot forearm.

[ST133CF-01] [ST166CF-01] [ST210CF-01]

Use air pressure not more than 0.49MPa.

■ Upper part of forearm - Wiring and piping diagram for application

[ST133CF-01] [ST166CF-01] [ST210CF-01]

■ Base frame block - Wiring and piping diagram for application

(1) BJ1-side (Connectors) (Option) Connectors for application cables

Specification of Application wires

(2) BJ3-side (Relay connectors) (Option)

■ Axis 1 adjustable stopper (option)

(1) Dismount the stopper from the standard

Axis 1 Adjustable Stopper (Option)

Axis 2 Adjustable Stopper (Option)

Axis 3 Adjustable Stopper (Option)

Operating axis name

Serial robot number Axis 2

(Mass is typed only for CE specification.)

On controller display, axis 1 to 6 is displayed J1 to J6 for each.

The dust-tight packaged robot shall be unpacked in a clean room.

2.3 Transport procedure

■ Transport procedure (standard)

To transport the robot,

Never use taps marked

Eyebolts installation hole locations

Positions of the encoder connectors

Safety measures against entry in the robot operating area

Stop time and angle of axis 1 for a maximum travel

Safety measures against the robot and peripheral equipment

■ Installation location and ambient conditions

Robot Model ST133CF-01, ST166CF-01 ST210CF-01

Robot installation space

Robot Installation space

(3) If the two precautions above

■ Maximum robot generative force

Max. vertical Max. horizontal Max. vertical Max. horizontal

ST210CF-01 54,000 N 39,700 N 111,300 N･m 96,700 N･m

■ Torque map for the wrist load

Distance form axis 6

Distance form axis 6

■ Moment of inertia map for the wrist load

[ST210CF-01] Axis 6 Axis 4, 5

2.8 Emergency stop while transferring the work-piece

2.9 Test running for axis 2

3.1 Inspection items and periods

Inspection items and periods

Common to Whole Robot and Each Axis

No. Inspection point No. Inspection point No. Inspection point

Inspection points on major bolts

3.3 Inspection of wrist