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7/26/2019 B-83574CM_01 LR Mate 200iD_4L Operator's Manual
1/76
B-83574CM/01
< > LR Mate 200+D/4S
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FANUC Robot Safety Manual(B-80687EN)
F NUC
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B-83574CM/01
s-1
FANUC()
FANUC Robot Safety Manual (B-80687EN)
1
ON/OFF
()
2
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B-83574CM/01
s-2
3
(1) FANUC
(2)
()(3)
) 3 (b)
(4) (A B C D )
(5)
(6) ()
(7)
(8)
(9)
(10)
(11)()
()
(12) FANUC
(13)
(14)
(15)
()
(16)
(17), 3 (c),
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B-83574CM/01
s-3
RM1Motor power/brake
RP1PulsecoderRI/RO,XHBK,XROT
EARTH
3 (a)
Panel board
FENCE1
FENCE2
Panel board
EAS1
EAS11
EAS2
EAS21
R-30iAEAS1,EAS11,EAS2,EAS21FENCE1,FENCE2
R-30iA MateEAS1,EAS11,EAS2,EAS21FENCE1,FENCE2CRMA64()
R-30iB, R-30iB Mate
EAS1,EAS11,EAS2,EAS21
R-30iB
(B-83195CM) R-30iB
(B-83525CM)
3 (b)
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B-83574CM/01
s-4
3 (c)
3.1
ON/OFF
(1)
(2)
(3)
(4)
)
3.1
Panel board
EMGIN1
EMGIN2
Panel board
EES1
EES11
EES2
EES21
EES1-EES11EES2-EES21 EMGIN1-EMGIN2
R-30iAEES1,EES11,EES2,EES21EMGIN1,EMGIN2
R-30iA MateEES1,EES11,EES2,EES21EMGIN1,EMGIN2CRMA64()
EES1-EES11EES2-EES21
R-30iB, R-30iB Mate
EES1,EES11,EES2,EES21
R-30iB
(B-83195CM) R-30iB
(B-83525CM)
3.1
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B-83574CM/01
s-5
3.2
(1)
(2)
(3) (
)
(4)
(5)
AUTO)
T1,T2)
)
)
(R-30iA Mate
/
/
(1)
)
(2) /
(a)
(b)
)
R-30iB/R-30iB Mate 3 3
/
10000
/ 3
/
AUTO
T1, T2
T1,T2
(6)/
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B-83574CM/01
s-6
(7)
(a)
(b)
(c)
(d)
(e)
(8)
3.3
(1)
(2)
(3) /
(4)
(5) 0
(6)
(7)
(8)
(9)
(10) /
(11)
(12)
2
(13)
(14)
(15)
(16)
(17)
(18)
(19)
(20)
(21)
(22)
(23)
(24)()
(25)
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B-83574CM/01
s-7
(26)()
(27)()
4
4.1
(1)
(2)
(3)
(4)
4.2
(1)
(2)
(3)
(4)
(
)
(5)
()
(
)
(6) (SRVO-050)
5
5.1
(1) (JOG)
T1
(2) (JOG)
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B-83574CM/01
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5.2
(1)
(2)
5.3
(1)
5.4
(1)
6
6.1
(1) ()
(2)
7
3
( IEC 60204-1 0 )
-
-
( IEC 60204-1 1 )
- SRVO-199 Control Stop(-199 )
-
( IEC 60204-1 2 )
-
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B-83574CM/01
s-9
3
SVOFF
AUTO P-Stop P-Stop C-Stop C-Stop P-Stop
A T1 P-Stop P-Stop - C-Stop P-Stop
T2 P-Stop P-Stop - C-Stop P-Stop
AUTO P-Stop P-Stop P-Stop P-Stop P-Stop
B T1 P-Stop P-Stop - P-Stop P-Stop
T2 P-Stop P-Stop - P-Stop P-Stop
AUTO C-Stop C-Stop C-Stop C-Stop C-Stop
C T1 P-Stop P-Stop - C-Stop P-Stop
T2 P-Stop P-Stop - C-Stop P-Stop
P-Stop: C-Stop:
-:
R-30iB
A (*)
(A05B-2600-J570) C (*)
(*) R-30iB R-30iB Mate SVOFF
Software version () Software version
(
C)
(A05B-2600-J570) AUTO T1
T2
SRVO-001 Operator panel E-stop
SRVO-002 Teach pendant E-stop
SRVO-007 External emergency stops (EES1-EES11EES2-EES21)
(R-30iB/R-30iBMate )
SRVO-218 Ext.E-stop/ServoDisconnect (EES1-EES11EES2-EES21)
(R-30iA Mate/R-30iB
)
SRVO-408 DCS SSO Ext Emergency Stop DCS I/O SSO[3] OFF
SRVO-409 DCS SSO Servo Disconnect DCS I/O SSO[4] OFF
-
-
-
DCS / DCS
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B-83574CM/01
s-10
AUTO
8 (1)
8 (a)
1) 500kg
2)
980N(100kgf
)4
3) 784N(80kgf) 4
(2)(: A05B-1142-K021A05B-1139-K022 )
2 5 m m
1c c
8 (b)
1)
2) 2.5mm 1cc
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B-83574CM/01
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(3)
CE
8 (c)
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B-83574CM/01
FANUC Robot LR Mate 200iD/4S A05B-1143-B201 4kg
(1)
(3)
(4) (5)
(2)
kgWEIGHTNO.
DATE
TYPE
1)
(1) (2) (3) (4) (5)
() kg
FANUC Robot LR Mate 200iD/4S A05B-1143-B201
20
p-1
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B-83574CM/01
p-2
FANUC Robot Safety Manual B-80687EN
OPERATOR'S MANUAL
(Basic Operation)
B-83284EN
OPERATOR'S MANUAL
(Alarm Code List)
B-83284EN-1
Optional Function
OPERATOR'S MANUAL
B-83284EN-2
R-30iB ate
:B-83525CM
:B-83555EN
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B-83574CM/01
c-1
................................................................................................................................. s-1
................................................................................................................................................p-1
1
...............................................................................................................................1
1.1
........................................................... ........................................................... ................................. 1
1.2
........................................................... ........................................................... ................................. 2
1.3
................................................... ........................................................... ................................. 5
1.4
................................................... ........................................................... ................................. 5
2 ...........................................................................................................6
2.1
........................................................ ........................................................... .... 6
3
...................................................................................................................................73.1
.................................................... ............................................................ ....................... 7
3.2
.................................................... ........................................................... .... 8
3.3
...................................................... ..................................................... 9
3.4
.................................................. ........................................................... ............ 10
3.5
.................................................... ............................................................ ..................... 14
3.6
........................................................ ........................................................... .. 16
4 .............................................................................................................174.1
.......................................................... ................................................... 17
4.2
........................................................ ............................................................ ..................... 17
4.3
.................................................... ............................................................ ..................... 19
5 ............................................................................................. 215.1
................................................... ........................................................... ............................... 21
5.2 EE
.................................................. ............................................................ ..................... 22
6 ......................................................................................................................... 24
6.1
.................................................... ........................................................... .. 24
7 ............................................................................................................................. 267.1
................................................... ........................................................... ............................... 26
7.1.1 ............................................................................................................................................26
7.1.2 1 (320 ) ...............................................................................................................277.1.3 3 (960 ) ...............................................................................................................27
7.1.4 3 (960 ) ........................................................................................................................30
7.1.5 1 (3840 ) ..................................................................................................................30
7.1.6 4 (15360 ) ................................................................................................................30
7.2
................................................... ........................................................... ............................... 30
7.2.1 (1 ) ......................................................................................30
7.2.2 (4 (15360 )) ..................... ...................... ...................... .........31
7.3
........................................................... ........................................................... ............................... 32
8
..................................................................................................................... 33
8.1
........................................................... ........................................................... ............................... 33
8.2
.................................................... ........................................................... .. 348.3
.................................................... ............................................................ ..................... 35
8.4
.................................................... ............................................................ ..................... 37
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B-83574CM/01
c-2
8.5
.................................................... ............................................................ ..................... 39
8.6
...................................................... ........................................................... ............ 41
8.7
...................................................... ........................................................... ............ 42
9
.................................................................................................................................44
9.1
........................................................... ........................................................... ............................... 44
9.2
.................................................. ........................................................... ............ 44
A ............................................................................................................................. 51
B .........................................................................................54
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B-83574CM/01 1.
1
1.1
1
2
3
( 1.1)
4
J2 J2
J1 0
J2-29 J3-40 J4 0 J5-50 J6 0
500kg
100kg
1. 20kg2. JIS B 28013. 4 4
632
221161240.5
)
1 :20kg
2 JIS B 1168
3 4 4
100kg
500kg
1.1
(
)
- 1 -
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B-83574CM/01 1.
*******Group 1 Initialization*************************LR Mate 200iD*************
--- MOUNT ANGLE SETTING ---0 [deg] : floor mount type
90 [deg] : wall mount type180 [deg] : upside-down mount type
Set mount_angle (-180 - 180[deg])->Default value = 0
6 1.2 (b),
1.2 (b)
7 INPUT
ROBOT MAINTENANCE CTRL START MANU
Setup Robot System Variables
Group Robot Library/Option Ext Axes1 LR Mate 200iD 0
[TYPE]ORD NO AUTO MANUAL
8 FCTN 1 START (COLD)
1.2 (c) 1.2 (a)(c)
J1J3
- 3 -
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1. B-83574CM/01
1.2 (a)
J1
Mv(Nm) Fv(N) Mh(Nm) Fh(N)
58.9 235.2 0 0
/308.9 520.9 135.0 570.6 426.5 675.7 236.5 1445.0
1.2 (b)
J1 J2 J3
[ms] 284 148 244
[deg] (rad) 67.5 (1.18) 23.5 (0.41) 59.9 (1.04)
*100%
*
1.2 (c)
J1 J2 J3
[ms] 636 636 636[deg] (rad) 155.1 (2.71) 84.5 (1.47) 118.7 (2.07)
*100%
*
Mh
Fv
Mv
Fh
1.2 (c)
J1
- 4 -
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B-83574CM/01 1.
- 5 -
1.3
1.3
8
195
128
480500 500
500
500
1.3
1.4
3.1 3.2
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2. B-83574CM/01
2
2.1
(NC)
5
1
2 (10m)
A A
A
2.1
(
)
- 6 -
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B-83574CM/01 3.
3
3.1
J3
J4
J5
J6
J1
J2
J2 J3
J3
J1
J2
J3
J5
J6
J3
J4
J2
J3
J2
J2
J1
J1
3.1 (a)
J2
J3
J1
J6
+
+
+ +
-
-
- -
*0
-
+
J5
+
J4
-
0
3.1 (b)
- 7 -
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3. B-83574CM/01
- 8 -
LR Mate 200iD/4S
6 (J1, J2, J3, J4, J5, J6)
550mm
( 1)
J1 340/360(option) (460/s)
5.93rad/6.28rad(option) (8.03rad/s)
J2 230 (460/s)
4.01rad (8.03rad/s)
J3 402 (520/s)
7.02rad (9.08rad/s)
J4 380 (560/s)
6.63rad (9.77rad/s)
J5 240 (560/s)
4.19rad (9.77rad/s)
()
( 2)
J6
720 (900/s)
12.57rad (15.71rad/s)
( 3) 4 kg
J4 8.86Nm
J5 8.86Nm
J6 4.90Nm
J4 0.20 kgm2
J5 0.20 kgm2
J6 0.067kgm
2
0.02mm
(
4) 20kg( 5) IP67
64.7dB 6)
045 7)
: 75%RH ()
95%RH(
)
1000m
4.9m/s2(0.5G)
8)
1)
2)
3) 3.6
4)
5) ( 3.2) 6) ) ISO11201 (EN31201)
-
- (AUTO)
7) 0 0
(SRVO-050)
8)
3.2 (1)(O)
(a)
(b)
(c)
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B-83574CM/01 3.
(d)
(e) (NBR)
(2) J1 J1
(3)
(4)
3.3 3.3
260
20
29070
R75
R550
+180 DEG(OPTION)
-180 DEG(OPTION)
+170 DEG
-170 DEG
0 DEG
R106
R122
J5
J5
(-244,-50)(-174,-41)(0,0)
(-181,+115)
(-550,+330)(+550,+330)
330
(0,+880)
(-199,+528)
(-39,+446)
(+122,+343)
(+122,-71)(+225,-90)
(+476,+55)
120
4
115
41
75
110
280
280
319
J3J5
J5
J3
3.3
- 9 -
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3. B-83574CM/01
3.4 (OT)
3.4 (a)
J3 X
J1 A6-PS-8X20S
J5
J2()
J3 J3A290-7142-X427 A6-PS-8X20S
B
A A
A-AA-A
J1
A6-PS-8X20S
J5()
J2()
BJ3
:
3 : A290-7142-X427
A6-PS-8X20S
J3
CEMEDINE SUPER X (CLEAR)
3.4 (a)
3.4 (b)3.4 (i)()()
J1J3
J3 3.4 (a)
J1
6
- 10 -
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B-83574CM/01 3.
0
+170
+175
-175
-170
170+
170-
3.4 (b) J1 (J1 340)
0
-180
+180
180
3.4 (c) J1 (J1 360)
- 11 -
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3. B-83574CM/01
-110
-112(+120
+123
0
120
+
110
-
3.4 (d) J2
+206.5
+205
-70.5
-69
-69
+205
0
3.4 (e) J3
- 12 -
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B-83574CM/01 3.
0
+190
-190
)
3.4 (f) J4
0
+120
-120
+122
-122120
-
120
+
3.4 (g) J5
- 13 -
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B-83574CM/01 3.
7cm
25.8
18.1
14.6
12.5
15.1
37.7
24.5
18.6
1kg
3kg
40
35
30
25
20
15
10
5
Z (cm)
X,Y (cm)3025
20
15105
4kg
2kg
3.5
- 15 -
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3. B-83574CM/01
- 16 -
3.6 3.6 7kg
4
(1kg)
1kg
3.6
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B-83574CM/01 4.
4
4.1
4.1
O 31.5
45 O5H7 7
4-M5 8
70( ) 14.5
28
56
2-M3 5
7014.5
28
56
2-M3 5
20
H7
+0.0
21
0
O
40
h7
0-0.0
25
O
6
3
4-M5 8
2-M3 55H7 7
2-M3 5
4.1
(2-M3)
4.2
4.2
- 17 -
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4. B-83574CM/01
2-M8 16
2-M6 12
191
48 26
2-M6 10
8080.5
150
191
4826
2-M6 10
49
49
35
35
55 100
20
62
2-M8
16
(
)
2-M6
12
2-M6
10
2-M6
10
4.2
- 18 -
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B-83574CM/01 4.
4.3
1. MENU
2. 6 SYSTEM
3. F1TYPE
4. MOTION
MOTION PERFORMANCE JOINT 10% Group1
No. PAYLOAD[kg] Comment1 4.00 [ ]2 0.00 [ ]3 0.00 [ ]4 0.00 [ ]5 0.00 [ ]6 0.00 [ ]7 0.00 [ ]8 0.00 [ ]9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number =0[ TYPE] GROUP DETAIL ARMLOAD SETING >
IDENT >
5. No.1No.10 10 F3DETAIL
MOTION PAYLOAD SET JOINT 100%
Group 1Schedule No[ 1]:[Comment ]
1 PAYLOAD [kg] 4.002 PAYLOAD CENTER X [cm] 0.103 PAYLOAD CENTER Y [cm] 0.00
4 PAYLOAD CENTER Z [cm] 11.955 PAYLOAD INERTIA X [kgfcms^2] 10.006 PAYLOAD INERTIA Y [kgfcms^2] 10.007 PAYLOAD INERTIA Z [kgfcms^2] 10.10
[TYPE] GROUP NUMBER DEFAULT HELP
- 19 -
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4. B-83574CM/01
- 20 -
m(kg)
X
Z
X
y
Ix (kgfcms )2
Iy (kgfcms )2
Iz (kgfcms )2
y (cm)g
z (cm)g
x (cm)g
m(kg)
4.3
6. XYZ
Path and Cycletime will change. Set it?/? F4YES F5NO
7. F3NUMBER F2GROUP
8. PREV F5SETING
9. F4ARMLOAD
MOTION ARMLOAD SET JOINT 100%
Group 11 ARM LOAD AXIS #1 [kg] 0.002 ARM LOAD AXIS #3 [kg] 1.00
[ TYPE ] GROUP DEFAULT HELP
10. J2 J3
ARM LOAD AXIS #1 [kg] 1J2
ARM LOAD AXIS #3 [kg] 3J3
Path and Cycletime will change. Set it? F4YES F5NO
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B-83574CM/01 5.
5
5.1
5.1J1(R1/4)
5.1
5.1
() RO
A05B-1143-H0012RO
()
A05B-1143-H002
1
A97L-0218-0130#D1L (SMC
) 2
1 RO1 to 2A05B-1143-H003 2 A97L-0218-0130#D2L (SMC) 22 RO1 to 4
1.98mm2 (
CV
0.11)
1
2
5
m
Rc1/4
AIR 1(AIR 2
(
EE
RO1M5
RO2M5(AIR 2)
RO3M5
RO4M5
M5(
AIR1 A
A
RO14 ()
X1X2
()
()
RO1()
1
2
Rc 4
A
(AIR2)
()
5.1
- 21 -
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5. B-83574CM/01
5.2 EE
EE
1
2)
3
(1) EE(RI/RO)
5.2 EE(RI/RO)
()
3 RI311 0V6 RI6
2 RI2
4 RI4
10 24V
1 RI19 24V8 RO8
5 RI5
7 RO7 12 0V
EE
XHBK:
RO610 RI616
RO15 RI111
RO590V4 RI515 24V20
RO480V3 RI414 24V19
RO370V2 RI313 24V18
RO260V1 RI212 XHBK17
EE
A05B-1143-H301
A05B-1143-H302
EE
A05B-1143-H301,H302
A05B-1143-H301
A05B-1143-H302
5.2 EE
(RI/RO
)
EE
- 22 -
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B-83574CM/01 5.
- 23 -
5.2 (a)( 5.2 (b))
5.2 (a) )
RM15WTPZ-12P(71)
JR13WCC-*(72)
5678910mm
A05B-1143-H301
RM15WTLP-12P(71)
JR13WCC-*(72)
5678910mm
A05B-1143-H301
RM15WTLP-20P
JR13WCC-*(72)
5678910mm
A05B-1143-H302
5.2 (b)
A05B-1137-J057
(12)
8mm
A05B-1137-J058
(12)
9mm
A05B-1139-J059
(20)
9mm
C
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6. B-83574CM/01
6
6.1
1 MENU
2 0 NEXT6 SYSTEM
3 F1TYPE
4 Axis Limits
System Axis Lim its JOINT 30%
1/16
AXIS GROUP LOWER UPPER
1 1 -180.00 180.00 deg2 1 -100.00 145.00 deg3 1 -70.00 205.00 deg4 1 -190.00 190.00 deg5 1 -125.00 125.00 deg6 1 -360.00 360.00 deg7 1 0.00 0.00 mm8 1 0.00 0.00 mm9 1 0.00 0.00 mm
[ TYPE]
0.000
5
System Axis Limits JOINT 30%2/16
AXIS GROUP LOWER UPPER
2 1 -50.00 75.00 deg
[ TYPE]
System Axis Limits
AXIS GROUP LOWER
2 1 -60.00
-
5
0
ENTER
6
7
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7. B-83574CM/01
7
()
3840 3840 /
7.1
7.1.1
(1)
1
1
(
)
7.1.1 (a)
2
(
)
7.1.1 (a)
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B-83574CM/01 7.
1 7.1.1 (b) 2 1
0.49MPa (5kgf/cm2)
2
3
2 1
Rc 1 4
Rc1 4
7.1.1 (b) 2 1 ()
(2)
1
2
3
4
2mm
7.1.2
1
(320
)
1 (320 ) 3
( 7.1.4 )
1
7.1.3 3 (960 )
3 ( 960 )
1 ( 7.1.5 )
1 ( 1)
2
( 2)
3
J1
J3
( 3)
4 ( 4)
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7. B-83574CM/01
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5 ()
6 ()
(
1)
7.1.3 (a)
(
2)
(
3)
J1 J3
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B-83574CM/01 7.
J3
J3A290-7142-X427 A6-PS-8X20S
J3 X
A A
J1 A6-PS-8X20S
A-A
J3
:3 : A290-7142-X427
A6-PS-8X20S
J3
CEMEDINE SUPER X (CLEAR)
J1
A6-PS-8X20S
A-A
7.1.3 (b)
( 4)
J3
7.1.3 (c)
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7. B-83574CM/01
7.1.4 3 (960 )
3 960
1
7.1.5 1 (3840 )
1 (3840 )
1 ( 7.1.3 )
2 ( 7.1.3 )
3 ( 7.1.3 )
4 ( 71.3 )5 ( 7.1.3 )
6 () ( 7.2.1 )
7 ( 7.1.3 )
7.1.6 4 (15360 )
4 15360
1 ( 7.2 )
2
7.2
7.2.1
(
1
)
1
(
)1
ON
OFF
2 ( 7.2.1 )
3
4
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B-83574CM/01 7.
A290-7139-X253
M4X20(4)
2(4)A98L-0031-0027
M4X12(2)
2
4
A98L-0031-0027
M4122
M4
20
4
7.2.1 ()
7.2.2 4(15360 ))
4 15360
7.2.2 (a)
7.2.2 (a) 4 (15360 )
J1 2.7g(3ml)
J2 2.7g(3ml)
J3 1.8g(2ml)
J4 1.8g(2ml)
J5 1.8g(2ml)
J6 1.8g(2ml)
Harmonic Grease 4BNo.2
: A98L-0040-0230
A05B-1142-K021 (80g)
A05B-1139-K022 (80g)
(1) Harmonic Grease SK-3
(2)
(3)
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7. B-83574CM/01
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1.
2.
3.
4.
J6 M4X6J5 M4X6
J4 M4X6
J3
M4X6
J1 M8X10
J2 M4X6
J4
M46
J1
M810
J3
M4
6
J2
M4
6
J5
M46
J6
M4
6
7.2.2
7.2.2 (b)
A97L-0318-0405#040606EN J2J6 5 /
A97L-0318-0406#081010EN J1
7.3
1.1
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B-83574CM/01 8.
8
8.1
5
8.1
( )
1
1
MASTER_ENB=1 2
F5 MASTER_ENB=0
2
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8. B-83574CM/01
360
(J1,
J4
)
8.1 (a)
(b)
M4X10 (5)
J1=0v
M4X10 (5)
J1=0
8.1 (a)
(J1
)
M4X10 (4) 2.0Nm
J3
OA290-7143-X406
J4=0v
O
A290-7143-X406
M4X10 4)
2.0Nm
J3
J4=0
8.1 (b)
(J4
)
8.2
Servo 062 BZAL 062 BZALServo 075 Pulse mismatch 075
1 (1)(6)
(1) MENU
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B-83574CM/01 8.
(2) 0 NEXT6 SYSTEM
(3) F1TYPEVariables
(4) $MASTER_ENB 1ENTER
(5) F1TYPEMater/Cal
(6) Mater/Cal
2 Servo 062 BZAL(1)(5)
(1) MENUS
(2) 0 NEXT6 SYSTEM
(3) F1TYPEMater/Cal
(4) F3RES_PCA F4TRUE
(5)
3 Servo 075 Pulse mismatch(1)(2)
(1) Servo 075 Pulse mismatch
(2) Pulse not establishedFAULT RESET
8.3
1 MENU
2 0 NEXT6 SYSTEM
3 F1TYPE
4 Master/Cal
5 JOG
$PARAM_GROUP. $SV_OFF_ALL FALSE
$PARAM_GROUP. $SV_OFF_ENB[*]FALSE
6 2 ZERO POSITION MASTER F4YES
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8. B-83574CM/01
3 JOG
4 5 SET QUICK MASTER REF F4YES
1
2 JOG
3 3 QUICK MASTER F4YES
4 6 CALIBRATE F4YES
5
F5DONE
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B-83574CM/01 8.
6
8.5
8.5
ACTUAL POS deg
MSTR POS 0
SEL 1 0
ST
$EACHMST_DON[19]
0
1
2
1 MENUS6 SYSTEM
2
Master/Cal
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8. B-83574CM/01
3 4 SINGLE AXIS MASTER
J5J6
4 SEL1SEL
SEL
5 JOG
6
7 F5EXECSEL0ST2 1
8 PREV
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B-83574CM/01 8.
9 6 CALIBRATE F4YES
10 F5DONE
11
8.6
1 MENUS6 SYSTEM
2 Variables
3
$DMR_GRP. $MASTER_COUN
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8. B-83574CM/01
4 $DMR_GRP
5 $MASTER_COUN
6 PREV
7 $MASTER_DONE TRUE
8 6 CALIBRATE F4YES
9 F5DONE
8.7
1
(1)
(2) 0 8.3
(3)
2
$DMR_GRP.$MASTER_COUN
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B-83574CM/01 8.
- 43 -
2
(1) BZAL
0V
0V 8.2
(2) BLAL
1
(3) CKALRCALPHALCSALDTERRCRCERRSTBERRSPHAL
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9. B-83574CM/01
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9
9.1
9.2
9.2
9.2
J1
J1
J1
J1
J1
J1
J1
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B-83574CM/01 9.
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O
O
O
O
J3
BZAL
BZAL
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B-83574CM/01 A.
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A
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A. B-83574CM/01
- 52 -
FANUC Robot LR Mate 200iD/4S
(H)
320
3
960
6
1920
9
2880
1
3840 4800 5760 6720
2
7680 8640 9600 10560
1 0.2H
2 0.2H
3
2.0H
4 0.1H
5 1.0H
6 )
0.1H
7 () 0.1H
8 0.5H 14ml
9 4.0H
10
0.2H
11 0.2H
12 *1 0.1H
*1
*2
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B-83574CM/01 A.
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3
11520 12480 13440 14400
4
15360 16320 17280 18240
5
19200 20160 21120 22080
6
23040 24000 24960 25920
7
26880 27840 28800 29760
8
30720
1
2
3
4
5
6
7
8
9
10
11
12
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B. B-83574CM/01
B
22 1200N/mm2
24 1000N/mm2
1000N/mm2
()
400N/mm2
Nm
(
)
(
)
(
)
(
)
M3 1.8 1.3 0.76 0.53
M4 4.0 2.8 1.8 1.3 1.8 1.3 1.7 1.2
M5 7.9 5.6 3.4 2.5 4.0 2.8 3.2 2.3
M6 14 9.6 5.8 4.1 7.9 5.6 5.5 3.8
M8 32 23 14 9.8 14 9.6 13 9.3
M10 66 46 27 19 32 23 26 19
M12 110 78 48 33 45 31
(M14) 180 130 76 53 73 51
M16 270 190 120 82 98 69
(M18) 380 260 160 110 140 96
M20 530 370 230 160 190 130
(M22) 730 510
M24 930 650
(M27) 1400 960
M30 1800 1300
M36 3200 2300
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B-83574CM/01
i-1
1(3840)..............................................30
3(960)....................................................30
4(15360)............................................30
..................................................................................2
........................................17
....................................................17
..........................................................................5
..................................................................................1......................................................................1
................................................................................32
............................................24
................................................................24
(4(15360))......31
................................................................39
........................................................................26
....................................................................51
EE ..............................................................22
...........................................................................33,44
(1)..................30
....................................................44
........................................................................44
................................................................19
......................................9
..................................................................7
..........................................................................7
....................................................................26 ............................................34
................................................................37
............................................................33
................................................................35
................................54
........................................................................21
.............................................................................. p-1 ........................................................42
.......................................................................26
....................................................................17
................................................16
................................................................14
1(320)...........................................27
3(960)...........................................27
........................................................41
...............................................................s-1 .........................................................................5
.......................................................................30
....................................21
..............................................8
..................................................6
....................................................10
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