FANUC fecot M-4101C/110/185/315/500 MECHANICAL UNIT OPERATOR'S MANUAL B-83584EN/06inal Instructions Thank you very much for purchasing FANUC Robot. Before using the Robot, be sure to read the "FANUC Robot SAFETY HANDBOOK (8-80687EN)" and understand the content. «No part of this manual may be reproduced in any form. « The appearance and specifications of this product are subject to change without notice. The products in this manual are controlled based on Japan's “Foreign Exchange and Foreign Trade Law’. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. In this manual, we endeavor to include all pertinent matters. There are, however, a very large number of operations that must not or cannot be performed, and if the manual contained them all, it would be enormous in volume. It is, therefore, requested to assume that any operations that are not explicitly described as_being possible are "not possible"s.an504EN06 FETY PRECAUTION: SAFETY PRECAUTIONS This chapter must be read before using the robot. For detailed functions of the robot operation, read the relevant operator's manual to understand fully its specification. For the safety of the operator and the system, follow all safety precautions when operating a robot and its peripheral equipment installed in a work cell For safe use of FANUC robots, you must read and follow the instructions in “FANUC Robot SAFETY HANDBOOK (B-80687EN)” 1 DEFINITION OF USER The personnel can be classified as follows. Operator: + Tums the robot controller power on/off + Starts the robot program from operator panel Programmer or Teaching operator: + Operates the robot + Teaches the robot inside the safery fence Maintenance engineer: + Operates the robot + Teaches the robot inside the safery fence + Maintenance (repair, adjustment, replacement) = Operator is not allowed to work in the safety fence. - Programmer/Teaching operator and maintenance engineer is allowed to work in the safety fence Works carried out in the safety fence include transportation, installation, teaching, adjustment, and ‘maintenance. = To.work inside the safety fence, the person must be trained on proper robot operation, slFETY PRECAUTION: .na5e4eN06 Table | lists the work outside the safety fence. In this table, the symbol “O” means the work allowed to be carried out by the worker. Table 1 List of work outside the fenca Programmer or | Maintenance Teaching operator | __ engineer Operator Tum power ON/OFF to Robot controller ° Select operating mode (AUTO, T1, T2) Select remote/ocal mode ‘Select robot program with teach pendant Select robot program with external device Slaft robot program with operator's pane! ° Start robot program with teach pendant Reset alarm with operator's pane! Reset alarm with teach pendant Set data on teach pendant Teaching with teach pendant Emergency stop with operator's panel ° Emergency stop with teach pendant ° Maintain for operator's panel Maintain for leach pendant ° oo 0/0 |0\0\o/o\o olo ololo|o 0lo\0\0/00\0\0|o\o In the robot operating, programming and maintenance, the operator, programmer/teaching operator and ‘maintenance engineer take care of their safety using at least the following safety protectors. se clothes, uniform, overall adequate for the work © Safety shoes © Helmet 2 DEFINITION OF SAFETY NOTATIONS To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution on safety with "WARNING" or "CAUTION? according to its severity. Supplementary information i indicated by "NOTE". Read the contents of each "WARNIN¢ "CAUTION" and "NOTE" before using the robot. ‘Symbor Definitions Used i hazard resulting n the death or serious injury ofthe user wil be expected To AXWARNING | secure or she fal too tne approved pocedu. Used i hazard resulting inthe minor of moderate injury ofthe user, or equipment AXCAUTION damage may be expected to occur if he or she fails to follow the approved procedure NOTE Used ia supplementary explanation not related fo any of WARNING and CAUTION Is to be Indicated, ‘© Check this manual thoroughly, and keep it handy for the furure referenceB.B2584E NOE FETY PRECAUTION: 3 PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER IN EMERGENCY OR ABNORMAL SITUATIONS (2) For emergency or abnormal situations (e.g. persons trapped in or sandwiched by the robot), brake release unit can be used to move the robot axes without drive power. Please order following unit and cable, Name Specification Brake release unit ‘A05B-2450-1850 (Input voltage AG100-116V single phase) ‘ADSB-2450-J351 Input voltage AC200.240V single phase) 'A0SB-2450-J360 (Sm) (N-410/6/185/315 no pedestal, M-410/C/710/500) AANSB.2450-J961(10m) (M-#10iG/185/316 no pedestal, M-# 10411 10/500) |A05B-2525-J045 ( Sm) (N-410/C/185/315 pedestal ype) ‘AO5B-2525-J046( 10m) (N410/G/1851315 pedestal type) ‘ADSB.2525-J010 ( 5m) (AC100-115V Power plug) (*) ‘A05B.2525J01 1(10m) (AG100-1 15V Power plug) () /AQSB.2450-J964 ( 5m) (AG100-1 1BV or AC200-240V No power plug) /AQSB-2450-J365(10m) (AC100-115V of AC200.240V No power plug) (These do not support CE marking. Robot connection cable Power cable (2) Please make sure that adequate numbers of brake release units are available and readily accessible for robot system before installation. (3) Regarding how to use brake release unit, please refer to Robot controller maintenance manual 7A\ CAUTION Robot systems installed without adequate number of brake release units or similar means are not in compliance with EN ISO 10218-1 and the Machinery Directive and therefore cannot bear the CE marking. /A\ WARNING Robot arm would fall down by releasing its brake because of gravity. In case of M-410iC/500, especially because spring balancer is used for J2-axis, it is hard to predict J2-arm movement by the condition of Robot posture and end effecter. Therefore it is strongly recommended to take adequate measures such as hanging Robot arm by a crane before releasing a brake.FETY PRECAUTION: .na5e4eN06 lin case of releasing the J2-axis motor brake ) In case of releasing the J3-axis motor brake Fig. 3 (a) Releasing J2/03-axis motor brake and measures (M-410/¢/110/185/315)AE NS FETY PRECAUTION: In case of releasing the J2-axs motor brake Unpredictable ‘Method of supporting the robot arm (2.0%) Sling MI eyebot Wind a sing as shown. In case of releasing the J3-ax's motor brake Method of supporting the robot arm (3.2K) Mr2 eyebot sing M12 eyebolt Fig. 3 (b) Releasing J2/J3-axis motor brake and measures (M-410iC/500)SAFETY PRECAUTIONS. B.83584E WG 4 WARNING & CAUTION LABEL (1) Greasing and degreasing label EE CAUTION Fig. 4 (a) Greasing and degreasing label Description When greasing and degreasing, observe the instructions indicated on this label 1a) When greasing, be sure to keep the outlet open. (b) Use a manual pump to grease (©) Besure to use specified grease ZX CAUTION See Chapter 7 CHECKS AND MAINTENANCE for explanations about specified grease, the grease amount, and the locations of grease inlets and grease outlets for individual models. (2) Step-on prohibitive label ( ») NX / Fig. 4 (b) Step-on prohibitive label Description Do not step on or climb the robot as it may adversely affect the robot and you may get hurt if you lose your footing as wells.n35846N06 FETY PRECAUTION (3) High-temperature warning label Fig. 4 (c) High-temperature warning label Description Be cauitious about a section where this label is affixed, as the section generates heat. If you have to inevitably touch such a section when it is hot, use a protective tool such as heat-resistant gloves. (4) Transportation label M-4107¢/185/315 M-a10ic/500 m-s0ici10 Fig. 4 (d) Transportation label (1/2) —— >1000%« — >s00ke x4 Q reanee xt Pedestal for M.410i6/500 Fig. 4 (e) Transportation label (2/2)FETY PRECAUTION: 835845 N06 Descri ‘When transporting the robot, observe the instructions indicated on this label. In case of M-410iC/110/18: 1) Using a forklift © Use a forklift having a load capacity of 2500 kg or greater + Keep the total weight of the robot to be transported to within 2200 kg, because the allowable load of the forklift bracket (option) is 5390 N (550 kgf), 2) Using a crane © Use a crane with a load capacity of 2500 kg or greater ‘© Use four slings with each load capacity of 1000 kg or greater. ‘+ Use four eyebolts with each allowable load of 6174 N (630 kgf) or greater. In case of M-410iC/500 1) Using a forklift + Use a forklifi having a load capacity of 3000 kg or greater: + Keep the total weight of the robot to be transported to within 2600kg, because the allowable load of the forklift bracket (option) is 6370 N (650 kgf) 2) Using a crane (Robot) © Use a crane with a load capacity of 3000 kg or greater ‘+ Use four slings with each load capacity of 1000 kg or greater. ‘+ Use four eyebolts with each allowable load of 6174 N (630 kgf) or greater. 3) Using a crane (Pedestal) * Use a ctane with a load capacity of 1000 kg or greater. ‘© Use four slings with each load capacity of $00 kg or greater. ‘+ Use four eyebolts with each allowable load of 6174 N (630 kgf) or greater. ‘AX CAUTION See Section 1.1 TRANSPORTATION for explanations about the posture a specific model should take when it is transported. 8FETY PRECAUTION: .g2594eN06 (5) Balancer replacement label (M-410/C/500) Fig. 4(f) Balancer replacement label Description When replacing the balancer, observe the instructions indicated on this label, The above balancer replacement label indicates the following © While replacing the balancer keep the J2-axis at 26°. ‘© The mass of the balancer is 105 ‘AX CAUTION For information about balancer replacement, contact your local FANUC representatives. (6) Transportation caution label Fig. 4 (g) Transportation caution label (for eyebolt option) Description When replacing the balancer, observe the instructions indicated on this label Do aot pull eyebolts sideways when transporting the robot 59FETY PRECAUTION: B.83584E WG (7) Operating space and payload label In the case of CE specification, the following label is added: .at0ici110 M.410/¢/185/315 Ms10/c/500 Fig. 4 (h) Operating space and payload label (8) Mastering caution label (M-410/C/110/500) Fig. 4 (i) Mastering caution label Description Keep the following in mind when performing the mastering. The motion limits are temporarily invalid during mastering, Cables may be damaged if the J1-axis exceeds +/-185' s-10B.B9584EN/06 PREFACE PREFACE This manual explains the operation for the mechanical units of the following robots: Mechanical unit Model name Maximum load Remarks specification No. FANUC Robot M-410:0/110, ‘A05B-1046-6201 110Kg) ino pedestal FANUC Robot M-410:C/185 ‘A5B-1044-6201 185kg Pedestal type FANUC Robot M-410:C/185 ‘AQ5B-1044-B202 185kg No pedestal FANUC Robot M-410:C/315 ‘A5B-1044-B203 315kg Pedestal type FANUC Robot M-410:C/315, ‘A05B-1044-B204 316K9 No pedestal FANUC Robot M-410:C/500 ‘AQ5B-1045.B201 500Kg No pedestal () ©) Pedestal is an option. The label stating the mechanical unit specification number is affixed in the followi reading this manual, verify the specification number of the mechanical unit. M-41016/185/318 Pedestal ype Position of the label which the mechanical unit specification num ig position. Before ber is stated (1/2) M-21010(315 PRINTED. TABLE 1) a @ a a @) @. WEIGHT kg | WEIGHT kg CONTENTS | MODEL NAME TYPE No. DATE | (Including | (Not including controller) | controller) FANUG Robot PRODUGTION| Lerrers |_Met0:ci1e5_| MOP T04-8201 | serial No. | YEAR AND 009 "460 FANUC Robot | 055, 19448903 | SPRINTED | MONTH ARE [15.5 480PREFACE M-a1010/185/515 No pedestal 8.895846N08 M41010/110/500 Position of the label which the mechanical unit specification number is stated (2/2) M-410:6/500 ‘ADSB-1045-6201 TABLE 2 a a (3) @ @ ‘CONTENTS | MODEL NAME TYPE No. DATE | WEIGHT kg FANUC Robot ta toGr | A088-1046-8201 1030 FANUC Robot PRODUCTION errers |_Mstoicies | AOSBTOHE202 | serial no.is | YEAR AND 1980 4 FANUC Roba PRINTED | MONTH ARE matoicisis | A0S8-1044-8204 PRINTED 1980 FANUC Robot to10B.B9584EN/06 RELATED MANUALS PREFACE For the FANUC Robot seties, the following manuals are available: SAFETY HANDBOOK B-B0687EN All persons who use the FANUC Robot and system designer must read and understand thoroughly this, Intended readers: Operator, system designer Topics: hanabook ‘Safety Items for robot system design, operation, maintenance R208) ‘OPERATOR'S MANUAL Intended readers: R018 Plus | Basic Operation Operator, programmer, maintenance person, system controller B-83284EN designer Alarm Code List Topics: B-83284EN-1 Robot functions, operations, programming, setup, Optional Function Intertaces, alarms. B-83284EN-2 Use: Robot operation. teaching, system design MAINTENANCE MANUAL B-83195EN This manual uses following terms, Intended readers: Maintenance person, system designer Topics: Installation, star-up, connection, maintenance Use: Name ‘Connection cable between robot and controler “Terms in this manual abot connection cable Robot mechanical unit Mechanical unitB.83584EN/05 TABLE OF CONTENTS TABLE OF CONTENTS SAFETY PRECAUTIONS... PREFACE.... 1. TRANSPORTATION AND INSTALLATION .. 1 1.1. TRANSPORTATION sectcetnteetneetneneeseeeee LLL Transportation with an End Effector Attached... 6 1.2 INSTALLATION 1.3. MAINTENANCE AREA 1.4 INSTALLATION CONDITIONS. 2 CONNECTION WITH THE CONTROLLER ... 2.1 CONNECTION WITH THE CONTROLLER 19 3. BASIC SPECIFICATIONS. . 3.1 ROBOT CONFIGURATION 2 3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND OPERATING SPACE oestntntennieeesnntntntnnntnte ne 3.3 ZERO POINT POSITION AND MOTION LIMIT. 31 3.4 WRIST LOAD CONDITIONS... oseteteseeees 38 35 LOAD CONDITIONS ON J2 BASE, J3 ARM. 42 4 EQUIPMENT INSTALLATION TO THE ROBOT... 43 4.1 END EFFECTOR INSTALLATION TO WRIST ne) 4.2. EQUIPMENT MOUNTING FACE ......ccccessoese 46 43 LOAD SETTING 49 5 PIPING AND WIRING TO THE END EFFECTOR.. 51 5.1 AIR SUPPLY (OPTION) vsstntstetstnreseses ese 52 5.2 AIR PIPING (OPTION) 53 5.3 INTERFACE FOR OPTION CABLE (OPTION) 54 6 AXIS LIMIT SETUP... 62 6.1 CHANGE AXIS LIMIT BY DCS (OPTION). 62 6.2. J1-AXIS STROKE MODIFICATION (OPTION), 66 6.3 ADJUSTING LIMIT SWITCHES OF J1-AXIS (OPTION)... 74 7 CHECKS AND MAINTENANCE .... 74 CHECKS AND MAINTENANCE 75 TALL Daily Checks 75 TAL Periodic Checks and Maintenance. 76 7.2 CHECK POINTS 79 72.1 Confirmation of Oil Seepage 79 2.2 Confirmation of the Air Control Set (option) 80 elTABLE OF CONTENTS B.83584E N06 7.2.3 Check the Mechanical Unit Cables and Connectors 81 7.24 _ Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper 83 7.3. MAINTENANCE... cco sovetnerenereresen 8A 73.1 Greasing of Bearing and Balance Bushin; (1-year Checks (3840 Hours) or 3-years (11 10 Hours) Checks). 84 2 Replacing the Batteries (1.5-year Checks) 88 7.3.3 Replacing the Grease of the Drive Mechanism (3-year (11520 Hours) Checks) ..89 73.4 Procedure for Releasing Remaining Pressure from the Grease Bath 94 TA STORAGE visecsccscessscnteseeneee seneesntnnensesnesaneeneennesene OA 8 MASTERING. 95 8.1 OVERVIEW 95 8.2. RESETTING ALARMS AND PREPARING FOR MASTERING 96 8.3 ZERO POSITION MASTERING 97 84 QUICK MASTERING 102 85 QUICK MASTERING FOR SINGLE AXIS 105 86 SINGLE AXIS MASTERING .........sesesessessssnneseesseessennen 108 8.7 MASTERING DATA ENTRY 1 8.8 VERFYING MASTERING .......ccccssssensessesnseeneeneee 113 9 TROUBLESHOOTING a 9.1 TROUBLESHOOTING. 114 APPENDIX A PERIODIC MAINTENANCE TABLE B STRENGTH OF BOLT AND BOLT TORQUE LIST..1. TRANSPORTATION AND. B.S3584EN/05 INSTALLATION 1 TRANSPORTATION AND INSTALLATION 1.1 TRANSPORTATION Use a crane or a forklift to transport the robot. Fig. 1.1 (a) to (i) show the transport posture. ZX WARNING 1 Please follow notes when it is necessary to transport robot with the end effector and the base plate installed The entire position of center of gravity is changed by installing the tool and the base plate. Please note the balance enough The tool swings by the vibration etc. when transported, and there is a possibility that an excessive load acts on the robot. Secure the end effector firmly according to Subsection 1.1.1 2. Use the forklift pockets only to transport the robot with a forklift. Do not use the forklift pockets to secure the robot. 3 Before moving the robot by using forklift pockets, check and tighten any loose bolts on the forklift pockets 4 Do not pull eyebolts sideways. 5. Prevent the forks of the forklift from having impact on transport equipment. 6_Donot thread a chain or the like through transport equipment. 1738, crane 239 capacty min: 3.0%6n or move Rott posture intransperiation cee s tea 20 Sow 90 capacty 10 forstng oF more 2 st “ese a9aeny 10 oer bot ‘nadie oad: s2oxgueach oF more Cente of avy Eyebot 20 JB-BEY-20 (4) 1 Rebot mass 10309 2 Eyebot complied wth JIS 81168 5 auanityeeb0r 4 pes ‘ing 4 pes Fig. 4.1 (a) Transportation using a crane (M-410iC/110)1. TRANSPORTATION AND. INSTALLATION B-83584E NOG . 200 Transporation sing oad capacty +0 toning om ‘Auable 030 60kgteacn oF more 4 Robot mars 600k 2. Byetor complied win JIS 81168. 5: Quanity eyebok 8 ge ing 4 es Fig, 1.1 (b) Transportation using a crane (pedestal type) (M-410/C/185/315) capacty mn: 25 ton ore capacty: 1.0 ons Eyebot ‘Alowable oad 6s0xgveacn or more Nove) { Rebot mass: 188049 2 Eyebo compte wn JIS 81168. 8. Quanaty eyebot 4 pes st 4 Bes Fig. 7.1 (@) Transportation using a crane (no pedestal) (M-410iC/185/315)1. TRANSPORTATION AND. 89594600 INSTALLATION - 7 + RonoT posTURE IN TRASPORTATION {Cae capt mn 3 ten ormore Ces ag 209 capacty 1 tng ormere we OSS ; Stabe ed: xyes orate Load capac min. 10 on or mere sma BBR caoaty 0 ons or roe ‘Sonabe load o0hgteacn or more 1 eves mas: 0049 2 Eyeot compas wi aS B 1168 2. Guay eyeoon pos ‘ing 4s Fig. 1.1 (e) Transportation using a crane (pedestal for M-410/C/500) ZX CAUTION In case of M-410iC/500 pedestal type, be sure to transport the robot and the pedestal separatel1. TRANSPORTATION AND. INSTALLATION B-83584E NOG Center gray ete) Fig. 1.1 (f) Transportation using a forklift (M-410i6/110) 11 Rebot mass 16009 Fig. 4.1 (g) Transportation using a forklift (pedestal type) (M-410:6/185/315)1. TRANSPORTATION AND. B.S3584EN/05 INSTALLATION Transportation Fig. 1.1 (h) Transportation using a forklift (no pedestal) (M-410iC/185/315) ROBOT FOSTURE 1 Robot mass: 1910kg Fig. 1.1 ()) Transportation using a forklift (M-410i6/500) CAUTION Be careful not to strike the transport equipment with the forklift forks.1. TRANSPORTATION AND. INSTALLATION B-83584E NOG 1.1.1 Transportation with an End Effector Attached When transporting a robot with an end effector such as a welding gun or hand attached, secure the arm with Wood. Ifthe arm is not secured, the end effector may oscillate for a cause such as vibration during transportation, as a result, a large impact load, imposes on the reducer of the robot, cause premature failure of the reducer. Fixation Fig. 1.1.1 Example of securing the arm during transportation when an end el1. TRANSPORTATION AND. B.S3584EN/05 INSTALLATION 1.2 INSTALLATION Fig. 1.2 (a) to (d) show the robot base dimensions. Avoid placing any object in front of the robot on the locating surface to facilitate the installation of the mastering fixture. ‘ZX CAUTION 1. Ifthe robot base is secured directly to the floor with chemical anchors, the anchors may fail due to fluctuating load during robot operation. 2 Do not provide leveling (with a wedge, for example) between the robot base and floor plate. Otherwise, any robot vibration may be accentuated due to the robot not being in close contact with the floor plate. ea 588 6 28 580 no /—8-Ngo THRU s-c24 THRU 460 Oa"? CBORE DPS 2-920 47 (1) THRU a \ 7 Zz : © zg Ni sa le le * aL : AP 8 8 | 8) d a by L #o¢s gs 2 7 8 JV AxIS ROTATION CENTER —~ ni Fig. 1.2 (a) Installation hole dimensions of the robot base (M-410/G/110)1. TRANSPORTATION AND. INSTALLATION, B.83684ENN6 es 40 i ce meng ne cot 2 fee 2etwougn Lecaing ste Lecaing sce oe oan pCurecmns } 3955 og P74 FT | Jars + lation conar > tig [ qf : | Fy — ‘Ee 300 Section AA - 720, 4 400 260 Fig. 1.2 (b) Installation hole dimensions of the robot base (pedestal type) (M-410/C/185/315/500)1. TRANSPORTATION AND. B.S3584EN/05 INSTALLATION 458 248, Lecaing sutace Locating sutoce 286 2738, ——si0 8.M20 through fer fog te ott 270 / tor eyecots) Beat / 26"? coor cots 460 / |_| | Locating surtace \ - g galSi |5) |* go 3 8 8 & LA ( ! Locating surtace gt Section AA, Fig. 1.2 (¢) Installation hole dimensions of the robot base (no pedestal) (M-410iC/185/315)1. TRANSPORTATION AND. INSTALLATION B-83584E NOG a eozemmun CEBU) ee ™8] sco mum team tee cps [teem forces nave 0x01 1 j Oy £ i ey 3 a l teas retavon x 188 zg seve font Z a la = es 3 qe b¢ i “a 230 720 +3 (=) through ay we me os ml Section AA Fig. 1.2(d) Installation hole dimensions of the robot base (no pedestal) (M-410iC/500) Fig. 1.2 (e) to (i) show actual examples of the robot installation. Secure the floor plate (iron plate) to the floor using M20 chemical anchors (tensile strength greater or equal to 400N/mm?). Then, secure the robot to the floor plate with 8 M20 x 65 bolts (tensile strength greater or equal to 1200N/mm?). Refer to the BOLT TORQUE LIST of Appendix B if the bolts tightening torque is not specified The strength of the chemical anchor depends on the concrete strength. See the design guideline of the manufacturer for the execution of the chemical anchor and consider the safety ratio sufficiently before use. -10-1. TRANSPORTATION AND. e.son6seN00 INSTALLATION 7 oD inrough r 555, / ee $ r T 8 | F {141g tt & L 8 8 1 t Robot front t L g Welding | J pat t / ot mount zoo ped Foor late —/ Bese pate ers erm 1200NIma amare PrarMan(e i) emt acto See MOE en? “geenna ore 525 24m armare “ A vwsang seer O29) Sgtenng true 166.28 posting (em 10~15 Le —--—t= 1 eo ff ee el eG fo ° 0 © 0 o ° . z ° o \e 4 af oe Fioorpia’ 0 © RE (NOTE) Bur the floor plate in the concrete. Fig. 1.2 (e) Sample installation (pedestal type) (M-410iC/110) NOTE 4. The customer should prepare the following parts + Eight robot securing bolts + Eight plain washers ‘+ Twelve chemical anchors + One floor plate M20 x 65 (tensile strength greater or equal to 1200N/mm”) : M20 M20 (tensile strength greater or equal to 400N/mm”) 32tin thickness 2 The customer is responsible for preparation prior to installation (mounting of anchors, for example) 3. Flatness of robot installation surface must be less than or equal to 0.5mm, Inclination of robot installation surface must be less than or equal to 0.5°. If robot base is placed on uneven ground, it may result in the base breakage or low performance of the robot, sue1. TRANSPORTATION AND. INSTALLATION B-83584E NOG 390 390 nen sao 1-3) 3 | \ Td A) > Ui Front eae Weta ee ‘or more * f0~15 ote ene yo Note) Bury the floor plate in concrete. Fig. 1.2 (f) Sample installation (pedestal type) (M-410r6/185/315) NOTE 1. The customer should prepare the following parts: © Eight robot securing bolts: M20 x 65 (tensile strength greater or equal to 1200N/mm*) + Twelve chemical anchors : M20 (tensile strength greater or equal to 400Nimm?) + One floor plate 32tin thickness, 2. The customer is responsible for preparation prior to installation (mounting of anchors, for example) 3. Flatness of robot installation surface must be less than or equal to 0.5mm, Inclination of robot installation surface must be less than or equal to 0.5°. If robot base is placed on uneven ground, it may result in the base breakage or low performance of the robot. -2-1. TRANSPORTATION AND. B-83584EN/06, INSTALLATION ws a yee 7 a ore a J aa al on ag at di Nat \ Es] > Front -—#=—l Sesion See ees a 2 Welding after positionir Soper Sls 2 os 1: ° , > bt | Note) Bury the floor plate in concrete Fig 42 (@) Samp instalation (no podsta (WAHOICTO59%5) NOTE 1 The customer should prepare the following parts: + Eight robot securing bolts + Twelve chemical anchors + One floor plate 2. The customer is responsible for preparation prior to installation (mounting of anchors, for example) 3. Flatness of robot installation surface must be less than or equal to 0.5mm. Inclination of robot installation surface must be less than or equal to 0.5° Ifrobot base is placed on uneven ground, it may result in the base breakage or low performance of the robot. M20 x 65 (tensile strength greater or equal to 1200N/mm*) M20 (tensile strength greater or equal to 400Nimm*) 32tiin thickness “131. TRANSPORTATION AND. INSTALLATION B-83584E NOG 1500 124 430 Fr v0 seo o-sn0 20 00 100) 1500 => Front 250) 300 0 Welding part Base plate Rebetmourtng bats 120x55 (8 3) : senste srengh 1200Nmn “inning torque $29.24 «stegimy Welding after positioning 20115 3) tensile srengm 400Nin? “Tnienng torque 186 2Nm (seam ot 2 50 © LFloorpiate®, 5 = Note) Bury the floor plate in concrete 88 Fig. 1.2 (h) Sample installation (pedestal type) (M-410:C/500) NOTE 1. The customer should prepare the following parts: + Eight robot securing bolts = M20 x 65 (tensile strength greater or equal to 1200N/mm?) * Fifteen chemical anchors —_: M20 (tensile strength greater or equal to 400N/mm?) + One floor plate 32t in thickness 2 The customer is responsible for preparation prior to installation (mounting of anchors, for example) 3. Flatness of robot installation surface must be less than or equal to 0.5mm, Inclination of robot installation surface must be less than or equal to 0.5°. If robot base is placed on uneven ground, it may result in the base breakage or low performance of the robot “ue1. TRANSPORTATION AND. B.S3584EN/05 INSTALLATION 16-62 tne +e - q g 2 riait 42 o> AG | saat Chemical anchor a —— Robot mounting bolts “arin soe A00N/enfer ore / ee / Teter torve 52020 es (Note) Bury the floor plate in concrete, Fig. 4.2 (1) Sample installation (no pedestal) (M-410iC/500) NOTE 1. The customer should prepare the following parts: ‘+ Eight robot securing bolts: M20 x 65 (tensile strength greater or equal to 1200N/mm?) * Sixteen chemical anchors: M20 (tensile strength greater or equal to 400N/mm’) * One fioor plate 32t in thickness 2. The customer is responsible for preparation prior to installation (mounting of anchors, for example) 3. Flatness of robot installation surface must be less than or equal to 0.5mm. Inclination of robot installation surface must be less than or equal to 0.5°. If robot base is placed on uneven ground, it may result in the base breakage or low performance of the robot. <1s-1. TRANSPORTATION AND. INSTALLATION B-83584E NOG Fig. 1.2 G) and Table 1.2 (a) 0 (d) indicate the force and moment applied to the base plate at the time of Power-off stop of the robot. Table 1.2 (e) and (f) indicate the stopping distance and time of the Il to J3-axis until the robot stops by Power-Off stop or by Controlled stop after input of the stop signal. Refer to the data when considering the strength of the installation face. Table 4.2 (a) Force and moment that act on base (M-410iC/110) Dynamic Static Acceleration Power-off stop IDeceleration Vertical moment M, | 8 100Nm (680kgfm) | _20600Nm (1750kgfm) | _S0800Nm (2620kgim) Force in vertical direction :Fy | 14000N (1190kgf) 47000N (1440kaf) 2170ON (1850Kg4) Horizontal moment Mis ‘ONm (0 kgf) 5000Nm (430kgfm| ‘5800Nm (490kgim Force in horizontal direction :Fy, ON @Okgh ‘SB00N (720Kgf) 8700N (740kgf) Table 1.2 (b) Force and moment that act on base (M-410iC/185) Static Power-off stop IDeceleration Vertical moment M, [| 13700Nm (1400Kgim) | 44800Nm (4570kgim) | 65000Nm (6630Kgim) Force in vertical direction :Fy | 17500N (1785kgf) 31600N (3230kaf) ‘38100N (3890kg1) Horizontal moment Ms ‘ONm (0 kgf) 410400Nm (1060kafm) |” 41600Nm (1 190kgim) Force in horizontal direction Fs, ON kg, 14200N (1450kaf) 157O0N (1600kaf) Table 1.2 (¢) Force and moment that act on base (M-410iC/315) Static Power-off stop [Deceleration Vertical moment M, | 18000Nm (1840Kgim) | 56600Nm (5780kqfm) | _67100Nm (6850kgim) Force in vertical drection Fy 418000N (1900kaf) S4800N (3550kaf) 447 00N (4260ka") Horizontal moment Mi ‘ONm (0 kgtm) 14700Nm (1440kgIm)_[_14400Nm (1470kgtm) Force in horizontal direction Fs, ON @kgh '2400N (B60Kgf) 10800N (1100kgf) Table 1.2 (d) Force and moment that act on base (M-410iC/500) Dynamic Static Acceleration Power-oft stop eceleration Varical moment Wi, [27 TOON (7 TORGTn) | 58500Nm (S95DKgfn) | 105000NM [TOSODKGR Force in vercal dredtion —:F, | 28500N (29"0Kg!) | 33300N (3400) 56000N (5710kg) Horizontal moment My | ONm (0 kgf). TOTOONm (1090kafm) | 44000Nm (4400Kafn). Force in horizontal direction _:Fy, ON (O kgf) 11000N (1120kgf) 21000N (2140kgf) ‘Table 1.2(0) Stopping time and eistance until the robot stopping by Power-off stop after input of stop signal Model Jtaxis aaxis JBaaxis M-A410:C/110 PEM ry ve ices HOA ‘Stopping time [ms] 926 340, 236 xn MATO0/185 [Stopping cistance [deg] (ad) | 52,7 (082) 247 0.45) 753 025) Stopping time [ms] 28 262 228 0181 MATOCI915 Stopping distance [deg] (rad) 27.3(0.48) 12.9(0.23) 12.9(0.23) Stopping time [ms] 708 252 204 Xone M410:61500 Stopping distance [deg] (rad) 24.8 (0.43) 41.6 (0.20) 9.0 (0.16) *_ Max payload and max speed -16-1. TRANSPORTATION AND. e.son6seN00 INSTALLATION Table 1.2 (N Stopping time and distance until the robot stopping by controlled stop after input of stop signal Model axis Peaxis axis Tatoicnes Stepping tine rs] 1156 1140 1084 Stopping distance [deg] (fad) | 820 (1.43) 68.1 (1.19) 595 (1.04) Maroons [Stepping time fms} 812 304) 796 Stopping distance [deg] (ad) | 9955 (0.69) 48:1 075) 360 (0.80) wearoreisoo | Stopping ime fms} 972 o72. 908 Stopping distance [deg] faa) | 43.6 (0.76 4355 (0,76) 4334 (076) + Max payload and max speed Fig. 1.2 () Force and moment that acts on base <17e1. TRANSPORTATION AND. INSTALLATION B-83584E NOG 1.3 MAINTENANCE AREA Fig, 1.3 shows the maintenance area of the mechanical unit, Be sure to leave enough room for te robot to be mastered. See Chapter 8 for mastering information. 2000 4 3, g 2 4 Mastering area Maintenance area for controller (Orly for pedestal type controller) Fig. 1.3 Maintenance area 1.4 INSTALLATION CONDITIONS Refer to specification of Section 3.1 for installation conditions. -18-B.83584EN/05 2. CONNECTION WITH THE CONTROLLER 2 CONNECTION WITH THE CONTROLLER 2.1 CONNECTION WITH THE CONTROLLER In case of the M-410iC/185/315 pedestal type, cable of controller is connected to motor of robot directly In case of M-410iC/185/315 no pedestal and M-410iC/110/500, the robot is connected with the controller via the power cable, signal cable, and the earth cable. Connect these cables to the connectors on the back of the J] base In case of M-410iC/S00 pedestal type. pass the robot connection cable and the earth line through the ‘metal plate as shown in Fig. 2.1 (c) and fix it with a cable tie For details on air and option cables, see Chapter 5. ‘A\ WARNING Before turning on controller power, be sure to connect robot and controller with the earth line. Otherwise, there is the risk of electrical shook. ZX CAUTION 1 Before connecting the cables, be sure to turn off the power. 2 Don't use 10m or longer coiled cable without untying. The long coiled cable will heat and damage itself. Incase of pedestal type, tha connection of earth ine is not necessary because contcler rounds dec Incase of pedestal type, ‘cabs ofthe contalla 18 connected to the moter f the robot witout connector. Fig. 2.1 (a) Cable connection (M-410/C/185/315 pedestal typa) <19-2. CONNECTI ION WITH THE CONTROLLER B.83584E N06 Controller Robot mechanical unit Robot connection cable (power, signal cables Sonnecars tor \__Gonectrs for fore ‘ator eaie Fig. 2.1 (b) Cable connection (M-410/6/185/315 no pedestal and M-410i¢/110/500) Metal plate cable te Robot connection cable (power, signal cables and earth line) Fig. 2.4 (e) Cable connection (M-410/C/500 pedestal type)B.83584EN/05 3. BASIC SPECIFICATIONS 3 BASIC SPECIFICATIONS 3.1 ROBOT CONFIGURATION link base JB.arm drive ink AG servo motor jor Ja-axs AG servo motor \ for dae sit casing > End effector 2 base ‘mounting face AG servo motor for 3.0K Jt base AG serve motor for J2-axs Fig. 3.1 (a) Mechanical unit configuration (M-#10/¢/110), /Link base 42 arm driv tink sam wrist posture X ‘AC sen mator / nol nk for ddas, J4 casing End effector mounting face dS: Pedestal“ S \__AC servo motor for J2-ais (1 Base) Fig. 3:1 (b) Mechanical unit configuration (M-410;/185/315)3. BASIC SPECIFICATIONS. B.83584E N06 /tinkbase 3 arm drive lnk 3 am F wist posture / Wi noid in [AG servo motor for Jans easing —/ end ettector Yam mounting face Jt base AG servo motor for J-is 2 aso [AG servo motor for J2-ax, pedestal [AC servo motor for Jt-2xs Fig. 3.1 (¢) Mechanical unit configuration (M-#1076/500) Fig. 3.1 (d) Each axis coordinates and mechanical interface coordinates NOTE The end effector mounting face center is 0, 0, 0 of the mechanical interface coordinates.B.83584EN/05 3. BASIC SPECIFICATIONS ‘Specifications (1/3) Tem M-4107C/110 Controlled axes: Sraxes (7,2, J3, J) Reach 2403mm, Installation Floor mount Jteaxis ‘570° (145%Is) _6.46rad (2.55radi3) Motion range | J2vaxis 125° (130°/5)_2.16rad (2.27radis) (Max. speed) (NOTE 1) |_23axis 140" (140°/5) 2.44rad (2.44radis) axis 720° (420°/5) 12.57rad (7 33radis) ‘At waist Max (NOTE 2) ‘0Kg ayoss [OF I2 base ‘550Kg ‘On J arm s0k9 (NOTE 2) ‘Allowable load inertia at wrist S3kgun* (540kghom-s) Drive method Elecric servo drive by AC servo motor Repeaiabilty +0.05mm (NOTE 3) Mass 41030Kg, ‘Acoustic noise level 75.348 (NOTE 4) “Ambient temperature: 0 10 45°C (NOTE 5) ‘Ambient humidity: Normally 76%RH or less Installation environment (No dew o frost allowed) Short time 962%Rh or less (Within 1 month) Permissible alttude: Above the sea 1000m or less Vibration acceleration: 4.9mis* (0.56) or less. Free of corrosive gases (NOTE 6) 1 2 bo NOTE, In case of short distance motion, the axis speed may not reach the maximum value stated. Prevent the total of the load at wrist and on J3 arm from exceeding Max. payload at wrist. Please refer to Section 3.5 for details. In case of M-410/C, avoid keeping J3 arm horizontally with max payload for a long time to prevent occurrence of the overheat alarm. Compliant with ISO 9283, This value is equivalent continuous A-weighted sound pressure level that applied with 1$011201 (EN31201). This value is measured with the following conditions. - Maximum load and speed - Operating mode is AUTO When the robot is used in a low temperature environment that is near to 0°C, or not operated for a long time in the environment that is less than 0°C (during a holiday or during the night), a collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for several minutes. Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances3. BASIC SPECIFICATIONS 8.09584EN06 Specifications (2/3) Tem a.s10:c/165 Mar OIGTaTS Controlec anes “anes 1, J2, 18,1) Reach 31mm instalation Foor mount Molon range | =a | 860707) GBaaiaAads) | sB0%( 0%) ORBadltS7ads) Wenonenes | izes [14 (iors) 2 Stredzaaraus) | 144006) —2.trad(75ad) NOTE | Seas 2,3Trad2.Aéracls) | 136%(110%s) _2.37rad(1.S2rads) eaxis | 720°(305%/8) 12.57rad\6.32radls) | _720°(195%s)_12.57rad(@ 40rad) a 18g ot6ha payesa On base Sok On J8.arm kg (NOTE2 Allowable load inertia at wrist ‘88kg-m? (898kgf-cm-s") 155kg-m? (1580kgf-cm-s") Drive method Electrle servo dive by AC servo motor Repeatablily (NOTE 3 20.05mm ass Pedestal ype + 1600kg (including the contoler) No pedestal _:1390kg (not including the contol ‘Acousto noise level 75.308 (NOTE 4 ‘Ambient temperature: 0 to 45°C (NOTE 5) ‘Amblenthumidly: Normal 75%RH or less (No dew o frost allowed) hort time 9584Rh or Installation environment Shor time 6728 oF less (Within 1 month) Permissible alttude: Above the sea 100m or less Vibration acceleration: 4.9m/s* (0.5G) or less Free of corrosive gases (NOTE 6) NOTE 1 During short distance motions, the axis speed may not reach the maximum value stated. 2. Prevent the total of the load at wrist and on J3 arm from exceeding Max. payload at wrist. Please refer to Section 3.5 for details. In case of M-410/C, avoid keeping J3 arm horizontally with max payload for a long time to prevent occurrence of the overheat alarm. Compliant with ISO 9283, This value is equivalent continuous A-weighted sound pressure level that applied with 1$011201 (EN31201). This value is measured with the following conditions. - Maximum load and speed - Operating mode is AUTO 5 When robot is used in low temperature environment that is near to 0°C, or not operated for a long time in the environment that is less than 0°C in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be high immediately after starting the operation. 6 Contact the service representative, if the robot is to be used in an environment ora place subjected to hot/cold temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances. ROB.83584EN/05 3. BASIC SPECIFICATIONS “Specifications (3/3) 2 Item M41 0767500 Controle axes “anes (01, 2, JS, 04 Reach 143mm Installation Floor mount Janis 370"( 8598) _6.46rad( 48radis) Motion range | Jo-axis 144°(_ 855) _2.5trad(1 48radls) (Max. speed) (ore 1) | Seas 136°( 85%S)_2.37rad(1.48radis) Hanis 720°(200"'5) 12.57rad(3.40rad/s) ‘At wrist Max (NOTE 2) S00kg payona [ORs2 base 550Kg (On JS arm 30K9 (NOTE 2 ‘Alowable ioad inertia at wrist 250kq-? (2560kgh-cm-s*) Drive method Elecite servo dtive by AC servo motor Repeatabilty (NOTE 3) 0.5mm ase Pedestal ype + 2470kg (Including the controle No pedestal: 1970kg (not including the controler ‘Acoustic nose level 75.248 (NOTE 4 “Ambient temperature: 010 45°C (NOTE 5) “Ambient humidity Normally 7524RH or less (No dew or frost alowed) Short time 8694Rh or less Installation environment (Within + month) Permissible alitude: Above the sea 1000m or less, Vibration acceleration; — 4.9mVs (0.56) or less Free of conosive gases (NOTE 6) NOTE 1 Incase of short distance motion, the axis speed may not reach the maximum value stated. Prevent the total of the load at wrist and on J3 arm from exceeding Max. payload at wrist. Please refer to Section 3.5 for details. In case of M-410iC, avoid keeping J3 arm horizontally with max payload for a long time to prevent occurrence of the overheat alarm. Compliant with ISO 9283, This value is equivalent continuous A-weighted sound pressure level that applied with 1S011201 (EN31201). This value is measured with the following conditions. - Maximum load and speed - Operating mode is AUTO When the robot is used in a low temperature environment that is near to 0°C, or not operated for a long time in the environment that is less than 0°C (during a holiday or during the night), a collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for several minutes. Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances.3. BASIC SPECIFICATIONS. B.83584E N06 3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND OPERATING SPACE Fig. 3.2 (a) to (e) show the robot operating space. When installing peripheral equipment, be careful not to interfere with the robot and its operating space - os » NoScaee 2 eo. te & GP qf 3] peat space of stp 5 Fig. 3.2 (a) Operating space (M-410:C/110)B.83584EN/05 3. BASIC SPECIFICATIONS Rear side Interterence area peratng space of ‘nis Fig. 3.2 (b) Operating space (pedestal typa) (M-410/0)185/315)ico BASIC SPECIFICATIONS. 8.895846N08 Rear sae ‘operating space ot vonst Fig, 3.2 (c) Operating space (no pedestal) (M-410/C/185/315)B.83584EN/05 3. BASIC SPECIFICATIONS Imtererence area ‘operating space of wrettp Fig. 3.2 (d) Operating space (pedestal type) (M-410i6/500)3. BASIC SPECIFICATIONS. B.83584E N06 Rear se Rotation canter \ 5 operating space ot west Fig. 3.2 (e) Operating space (no pedestal) (M-410iC/500)B.83584EN/05 3. BASIC SPECIFICATIONS 3.3 ZERO POINT POSITION AND MOTION LIMIT Zero point and software motion limit are provided for each controlled axis, The robot cannot exceed the software motion limit unless there is a failure of the system causing loss of zero point position or there is a system error. Exceeding the software motion Limit of a controlled axis is called overtravel (OT). Overuavel is detected at both ends of the motion limit for each axis, In addition, the motion range limit by a mechanical stopper is also prepared to improve safety Fig. 3.3 (a) shows the position of mechanical stopper. Only in case of J1-axis, robot stops by transforming mechanical stopper. There is no mechanical stopper for H4-axis. Only in case of 11 axis, robot stops by transforming mechanical stopper. Be sure to exchange transformed stopper to new one. Tight the bolts according to Appendix B. Replace mechanical stoppet of JL-axis referring to Fig. 3.3 (a). Don’t reconstruct the mechanical stopper. There is a possibility that the robot doesn't stop normally. sae3. BASIC SPECIFICATIONS. B.83584E N06 ‘ope se) pace arene ange eons 58) aoe Fig. 3.3 (a) Position of mechanical stopper3. BASIC SPECIFICATIONS B.B9584EN/06 Fig. 3.3 (b) to (1) show the zero point, motion limit (stroke end), limit switch detection position, and maximum stopping distance (stopping distance in condition of max.speed and max.load) of each axis. * The motion range can be changed. For information on how to change the motion range, see Chapter 6, “AXIS LIMIT SETUP”. Fig. 3. _/#204.9° The maximum stopping distance (position) +181" Limit swtich detection position +180" Stroke end “181 Limit ewtich detection positon °S-204.9° The maximum stopping distance (position) 3 (b) J1-axis motion limit (M-410/C/185/315 or M-410iC/110/500 When mechanical stopper is specified) {pH Stoke end Upper tiny 40° stoke ena (Louertinn) ‘The maximum stopping ‘asiance (poston) +85 Soke ena (Upper tit) \\_ +29 he maanum sopping dance (gcsten) Fig. 3.3 (d) J2-axis motion limit (M-410i¢/110) 33.3. BASIC SPECIFICATIONS. B.83584E N06 493° The maximum stopping distance (position) \ etoici8s318) SN. 49 The raxinum stoping ‘asiance (poston) aeareiciso0) ("100° Soke end (Upper it) +104 Te maximum stopping castance (poston) Fig. 3.3 (e) J2-axis motion limit (M-410iC/185/315/500) “2 The maamun sepnng stance (poston) Jo, // Sos £00 (pp tins) 129 Siok ena Lower it) 124° he maximum stoeing «stance (poston) Fig. 3.3 (f) J3-axis motion limit (M-410/C/110)B.83584EN/05 3. BASIC SPECIFICATIONS +1435 Tne maxmum stopong. — «stance (poston) laear0;cr68 +195° Tne maximum stoping distance (poston) (aear0%0'500 /-710° Stroke end (Upper it rraxerum stoping dsiance (po 129 5° The maxerum stoping ‘astance (poston) Fig. 3.3 (g) J3-axis motion limit (M-410iC/185/315/500) Serio _/, Stk end (Upper i) 69 Fig. 2.3 (h) J2/03-axie interference angle (plus side) (M410iC/110)3. BASIC SPECIFICATIONS. B.83584E N06 ye maximum stopping stance (poston) (wecv0re/16525) wenger Je maximum stoping stance (postion) {Upper ti) \_saseesse \ ype mma sping ance (poston) Fig. 3.3 () J2/d3-axis interference angle (minus side) (M-410/C/110)B.83584EN/05 3. BASIC SPECIFICATIONS — J2+J3=-70" Stroke end (Lower limit) Jae sg=-74" The maximum stopping distance(position) Fig. 3.3 (k) 2/d3-axis interference angle (minus side) (M-410/C/185/3151500) Software restriction +360° -— +360° Stroke end (Upper limit) -360° Stroke end (Lower limit) (Note) There is no mechanical stopper Fig. 3.3 (1) J4-axis motion limit 37+3. BASIC SPECIFICATIONS. B.83584E N06 3.4 WRIST LOAD CONDITIONS Fig. 3.4 (a) to (d) show the relationships between the horizontal offset of the center of gravity of the wrist Joad and the permissible load inertia. See Section 3.1 about allowable load moment and inertia at wrist. See Fig. 3.4 (2) to check whether the center of gravity of the load is inside or outside of the wrist. See Fig. 3.4 (£) for explanations about the vertical offset of the center of gravity of the wrist load. Keep the wrist load within a range graphically shown in Fig. 3.4 (a) to (d), See Fig. 3.4 (g) for explanations about how to calculate the load inertial 60 7 ] & 6 Allowable wrist load inertia (kgm?) 8 20 10 ° oO 200 400 600 800 {mm} Allowable horizontal offset (mm) Fig. 34 (a) Diagram of the permissibie load for the wrist section (M-410iC/110), NOTE Allowable vertical offset is 1000mm from wrist flange. 38+B.B9584EN/06 3. BASIC SPECIFICATIONS ‘Allowable load inertia at wrist (kgm) 800 00 7400 200 0 200 400 Bo. Allowable horizontal offset (F) of Allowable Horizontal offset (r) of gravity center at inside area gravity center at front area Fig. 3.4 (b) Diagram of the permissible load for the wrist section (M-410/6/185) Allowable load inertia at wrist (kgm?) 800 600 400 200 0 200 400 600 my Allowable horizontal offset (r) of Allowable Horizontal offset (r) of, gravity center at inside area ‘gravity center at front area Fig. 3.4 (¢) Diagram of the permissible load for the wrist section (M-410iC/315) NOTE Allowable vertical offset is 1000mm from wrist flange .39-3. BASIC SPECIFICATIONS 8.09584EN06 260 [pkg] E = 8 200kg i J400kg ago 600 400 200 200 400 ogi"! ‘Allowable horizontal offset (r) of Allowable Horizontal offset(e) of Gravity center atinsie area fravity center at front area Fig. 34 (d) Diagram of the permissible load for the wrist section (M-410/C7500) NOTE Allowable vertical offset is 1000mm from wrist flange Fig. 3.4 (e) Allowable wrist load condition -40-B.83584EN/05 3. BASIC SPECIFICATIONS cae stray oishad Atowabie vera = atte oo cone otrauy = sfineratoad ‘bom cone tray ofthe were J=JitWL? W. Mass (ka) = Length (im), = Inertia (kgm) Fig. 3.4 (g) Calculating inertia ‘The total inertia around the wrist (J4) axis is the sum of the horizontal offset inertia of a workpiece and the geometric inestia around the center of the gravity of the workpiece. It ca be calculated as showa above, NOTE Ifa hand or workpiece has a complicated shape, divide it into simple shapes as shown above. Calculate the geometric inertia and offset inertia of each shape, then obtain their sum. oa3. BASIC SPECIFICATIONS. B.83584E N06 3.5 LOAD CONDITIONS ON J2 BASE, J3 ARM Fig. 3.5 shows the J2 base and the J3 arm load condition. ut position of center of graviy of the J2 base part in this area Load capacity on the J3 arm: 30kg Total weight wth wrist partis less or eugl to max. of wrist payload Fig. 3.5 J2 base/J3 arm load condition4, EQUIPMENT INSTALLATION B.S3584EN/05 TO THE ROBOT 4 EQUIPMENT INSTALLATION TO THE ROBOT 41 END EFFECTOR INSTALLATION TO WRIST Fig. 4.1 (a) to (c) show the figures for installing end effectors on the wrist. Select screws and positioning pins of a length that matches the depth of the tapped holes and pin holes. See Appendix B “Recommended bolt tightening torques” for tightening torque specifications, ‘AX CAUTION Notice the tooling coupling depth to wrist flange should be shorter than the fiange coupling length. 160 +8. 2-Pr0H 7039 depth 12, equally spaced \ 6-M10 depth 16 a. \ / equally spaced Fig. 4.1 (a) End effector interface (M-410/C/110) 4B4. EQUIPMENT INSTALLATION TO THE ROBOT B-83584E NOG 255 159 56 80 H7 (3) @160 h8 (0) /~8-MI0 depth 20 equally spaced 2-@ 10 H7 |2"")depth 20 equally spaced Fig. 41 (b) End effector interface (M-410iC/185/315) oad4, EQUIPMENT INSTALLATION B.S3584EN/05 TO THE ROBOT 2-0 127 (3) depth 12 \— 10.M12 depth 20, ~ 8( 125H7 area) e| i = D125 H7 ("2") area depth 8 [ 250 he ( Section A-A Fig. 4:1 (c) End effector interface (M-410iC/500) 2454. EQUIPMENT INSTALLATION TO THE ROBOT B-83584E NOG 4.2 EQUIPMENT MOUNTING FACE As shown in Fig. 4.2 (a) to (c), tapped holes are provided to install equipment to the robot AX CAUTION 1 Never perform additional machining operations such as drilling or tapping on the robot body. This can seriously affect the safety and functions of the robot. 2. Note that the use of a tapped hole not shown in the following figure is not assured. Please do not tighten both with the tightening bolts used for mechanical unit. 3. Equipment should be installed so that mechanical unit cable does not interfere. If equipment interfere, the mechanical unit cable might be disconnected, and unexpected troubles might occur. 45 520 Dare depen 18 j—2Mr2 enn 8 Fig. 4.2 (a) Equipment mounting faces (M-410i¢/110) 2 46-4, EQUIPMENT INSTALLATION B.S3584EN/05 TO THE ROBOT 173,447, 4-2 wrroush 2-MI? dents 20 el 52,4480. —4-NB deoth 12 2 e | E 0 Ie) LT | t-atisretatonconar —/ g 12-MI2 death 18 Fig. 42 (b) Equipment mounting faces (M-410/67165/915)4. EQUIPMENT INSTALLATION TO THE ROBOT B-83584E NOG 255 4 960, —antr2imovgn fa)_2r2oepmn 20 N 5 1 4 ee ‘ wi @ [ i : Sor , 28 Y oe a \ \A \ oy i Bs . } No.2 gepin 16 ‘anna aepan & 24412 6eptn 20 yee \e-uite dep 28 y al bes, 40 Fig. 4.2 (¢) Equipment mounting faces (M-410i¢/500), 2484, EQUIPMENT INSTALLATION B.S3584EN/05 TO THE ROBOT 4.3 LOAD SETTING AX CAUTION 1 Set the load condition parameter before the robot runs. Do not operate the robot in over when its payload is exceeded. Don't exceed the allowable payload including connection cables and its swing. Operation in with the robot over payload may occur result in troubles such as reducer life reduction. 2 WHEN PERFORMING LOAD ESTIMATION AFTER PARTS REPLACEMENT If wrist axis motors (J5/J6-axis) or reducers are replaced, payload estimation accuracy may decrease. Perform calibration of load estimation without the load such as hand before performing load estimation Refer to Chapter 9 "LOAD ESTIMATION” in the Optional Function OPERATOR'S MANUAL (8-83284EN-2). The operation motion performance screens include the MOTION PERFORMANCE screen, MOTION PAYLOAD SET screen, and payload information and equipment information on the robot. 1 Press the [MENU] key to display the screen menu, 2 Select [6 SYSTEM] on the next page, 3. Press the FI ([TYPE]) key to display the screen switeh menu, 4 Select “MOTION.” The MOTION PERFORMANCE screen will be displayed "MOTION PERFORMANCE TORT 10% Group PAYLOAD] omens 185.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 Active PAYLOAD umber =O [TYPE] GROUP DETAIL ARMLOAD_SETIND> 5 Ten different pieces of payload information can be set using condition No.1 to No.10 on this screen. Place the cursor on one of the numbers, and press F3 (DETAIL). The MOTION PAYLOAD SET screen will be displayed. MOTION PAYLOAD SET JOINT 10% Group 1 {Schedule Nol 1}-{Comment 2 PAYLOAD tke) 3 PAYLOAD CENTER X [et] 4 PAYLOAD CENTER Y [cm] 0.00 S PAYLOAD CENTER Z [cm] 2778 6 PAYLOAD INERTIA X (kafems'2] 36.84 7 PAYLOAD INERTIA ¥ [kafers'2] 59.39 8 PAYLOAD INERTIA Z [kgfoms"2] 15.10 [TYPE]GROUP NUMBER DEFAULT HELP4. EQUIPMENT INSTALLATION TO THE ROBOT B-83584E NOG 10 ‘center ofr end eecor mountng ace ‘ale roteop . | 4 sy ass mtg) "7.1 Greesing of Bearing and Balance 8 beating Bushing” “17-CHECKS AND MAINTENANCE B.83584F N06 ‘Check and maintenance intervals (Period, Accumulated | Check and ‘Check points, management and Periogie operating maintenance ok points, management maintenance time) items table No ‘Supply grease to | Supply grease to the JS base connection part J3 base bearing 20 connection part | "7.3.1 Greasing of Bearing and Balance bearing Bushing” © |_| Supply grease to | Supply grease to the wist connection part bearing \wist connection | 7.3.1 Greasing of Besring and Balance a partbearing | Bushing” OT] Replacing he | Replace the grease of each ans reducer and ease of drive | gearbox mrechensm | 5°72 Replacing the Grease ofthe rive | 141017 Mechanism” © | Replacing the Replace the mechanical unit cable mechanical unt | Contact yout local FANUC representative for 22 cable information regarding replacing the cable. © | Repiacing the Replace the controller batteries controller “Chapter 7 Replacing batteries of 25 batteries. MAINTENANCE MANUAL (B-83195EN)"B.89584EN/06. 7. CHECKS AND MAINTENANCE 7.2 CHECK POINTS 7.2.1 Confirmation of Oil Seepage Check items Confirm whether there is oil seepage on the rotating parts of each joint axis. Fig. 7.2.1 Check parts of oil seepage Management Oil might accumulate on the outside of the seal lip depending on the movement condition or environment of the axis. If the oil viscosity changes, the oil might drip depending on the axis movement, To prevent oil spots, be sure to wipe away any accumulated oil under the axis components in Fig. 7.2.1 before you operate the robot. - Also, drive mechanisms might become hot and the internal pressure of the grease bath might rise by frequent repetitive movement and use in high temperature environments. In these cases, normal internal pressure can be restored by venting the grease outlet, (When opening the grease outlet, refer to Subsection 7.3.3 and ensure that grease is not expelled onto the machine or tooling.) ‘AX WARNING Hot grease might eject suddenly when you open the grease outlet. Attach bags for collecting grease, and use appropriate protective equipment such as heat-resistant gloves, protective glasses, a face shield, or a body suit if necessary. - Ifyou must wipe oil frequently, and opening the grease outlet does not stop the seepage, perform the ‘measures below 79.1 TROUBLESHOOTING” (symptom: Grease leakage)CHECKS 7.2.2 IND MAINTENANCE. B.89584EN08 Confirmation of the Air Control Set (option) ‘When an air control set is used, check the items below. em Check items (Check points, Check the air pressure using the pressure gauge on the air control set as 1 | Air pressure shown in Fig. 7.2.2. Ifit does not meet the specified pressure of 0.49 to 0.69 MPa (5-7 kgtlem?), adjust it using the regulator pressure-setting handle. (Check the number of oll drops during operation. Ifit does not meet the 2. | Lubricator oll mist quantity | specified value (1 drop/10-20 sec), adjust It using the lubricator control knob, Under normal usage, the lubricator will be empy in about 10 to 20 days. '3_| Lubricator oil level (Check fo see that the air control set oil level is within the specified level 4 | Leakage tom hose Check the joints, tubes, etc. for leaks. Retighten the joints or replace parts, as, required Ps CCheck the drain and release it. Ifthe quantity of the drained liquid ts significant, examine the setting ofthe air dryer on the alr supply side. Fiter Lubricator Handle for Oil inlet lubricator adjustment 5 treo mist amount check (eho) | J Lubricator Regulator Pressure gauge pressure gevs setting Fig. 7.2.2 Air control set (option) -80-‘B.83594EN/06 7. CHECKS AND MAINTENANCE 7.2.3 Check the Mechanical Unit Cables and Connectors Check points of the mechanical unit cable: Movable parts of TL, the upper side and lower side of link for wrist posture maintenance of rear side of 12 ixed department cable who interferes easily arm, movable patt in uniting part of 12 to J3 and 33 to J4 and in peripherals Fig. 7.2.3 (a) Inspection points of the mechanical unit cables, Check items < Cable protective sleeve > Check that no holes or tears exist on the cable protective sleeves. If there is damage as shown in Fig. 7.2.3 (b), replace the cable protective sleeves. Fig. 7.2.3 (b) Damage on the cable protective sleeve -si-CHECKS AND MAINTENANCE .egsesenios < Cables Check that there is no wear or damage on the cable jacket. If the inside wire strands are exposed due to wear or damage, replace the cables. ‘open ne steve trie acret nas damage as shown nee. replace ne cable Fig. 7.2.3 (¢) Cable check method Inspection points of the connectors Powerybrake connectors of the motor exposed externally Robot connection cables, earth terminal and user cables Check items = Circular connector: Check the connector for tightness by turning it by hand. = Square connector: Check the connector for engagement of its lever - Earth terminal ‘Check the terminal for tightness. For M.a10iC/105/915 For M-410iC/495/915, No pedestal or pedestal type efr0%c 1101500 Fig. 7.2.3 (d) Connector inspection points <2.‘B.8584E N05 7. CHECKS AND MAINTENANCE 7.2.4 Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper - Check that there is no evidence of a collision on the mechanical stopper and the adjustable ‘mechanical stopper. If there is evidence of a collision on the stopper, replace the parts. - Check the tightness of the stopper mounting bolts. If they are loose. retighten them. Be sure to check the tightness of the mounting bolts of the J1-axis swing stopper. = Check that the J1-axis swing stopper rotates smoothly. - _ Refer to Section 6.2 of the operator’s manual for details regarding the adjustable mechanical stopper ‘Check the tightness of the bolts and that the stopper\, rotates smoothly. \ ‘A Check the tightness of the bolts 7.2.4 Check of fixed mechanical stopper and adjustable mechanical stopper -3-