b-83574cm_01 lr mate 200id_4l operator's manual

7/26/2019 B-83574CM_01 LR Mate 200iD_4L Operator's Manual

1/76

B-83574CM/01

< > LR Mate 200+D/4S


2/76

FANUC Robot Safety Manual(B-80687EN)

F NUC


3/76

B-83574CM/01

s-1

FANUC()

FANUC Robot Safety Manual (B-80687EN)

1

ON/OFF

()

2


4/76

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),


5/76

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)


6/76

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


7/76

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)/


8/76

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)


9/76

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)


10/76

B-83574CM/01

s-8

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 )

-


11/76

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


12/76

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


13/76

B-83574CM/01

s-11

(3)

CE

8 (c)


14/76


15/76

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


16/76

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


17/76

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


18/76

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


19/76

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 -


20/76


21/76

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 -


22/76

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 -


23/76

B-83574CM/01 1.

- 5 -

1.3

1.3

8

195

128

480500 500

500

500

1.3

1.4

3.1 3.2


24/76

2. B-83574CM/01

2

2.1

(NC)

5

1

2 (10m)

A A

A

2.1

(

)

- 6 -


25/76

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 -


26/76

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)


27/76

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 -


28/76

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 -


29/76

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 -


30/76

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 -


31/76

B-83574CM/01 3.

0

+190

-190

)

3.4 (f) J4

0

+120

-120

+122

-122120

-

120

+

3.4 (g) J5

- 13 -


32/76


33/76

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 -


34/76

3. B-83574CM/01

- 16 -

3.6 3.6 7kg

4

(1kg)

1kg

3.6


35/76

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 -


36/76

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 -


37/76

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 -


38/76

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


39/76

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 -


40/76

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 -


41/76

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


42/76

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

- 24 -


43/76

B-83574CM/01 6.

- 25 -


44/76

7. B-83574CM/01

7

()

3840 3840 /

7.1

7.1.1

(1)

1

1

(

)

7.1.1 (a)

2

(

)

7.1.1 (a)

- 26 -


45/76

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)

- 27 -


46/76

7. B-83574CM/01

- 28 -

5 ()

6 ()

(

1)

7.1.3 (a)

(

2)

(

3)

J1 J3


47/76

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)

- 29 -


48/76

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

- 30 -


49/76

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)

- 31 -


50/76

7. B-83574CM/01

- 32 -

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


51/76

B-83574CM/01 8.

8

8.1

5

8.1

( )

1

1

MASTER_ENB=1 2

F5 MASTER_ENB=0

2

- 33 -


52/76

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

- 34 -


53/76

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

- 35 -


54/76


55/76


56/76

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

- 38 -


57/76

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

- 39 -


58/76

8. B-83574CM/01

3 4 SINGLE AXIS MASTER

J5J6

4 SEL1SEL

SEL

5 JOG

6

7 F5EXECSEL0ST2 1

8 PREV

- 40 -


59/76

B-83574CM/01 8.

9 6 CALIBRATE F4YES

10 F5DONE

11

8.6

1 MENUS6 SYSTEM

2 Variables

3

$DMR_GRP. $MASTER_COUN

- 41 -


60/76

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

- 42 -


61/76

B-83574CM/01 8.

- 43 -

2

(1) BZAL

0V

0V 8.2

(2) BLAL

1

(3) CKALRCALPHALCSALDTERRCRCERRSTBERRSPHAL


62/76

9. B-83574CM/01

- 44 -

9

9.1

9.2

9.2

9.2

J1

J1

J1

J1

J1

J1

J1


63/76

B-83574CM/01 9.

- 45 -


64/76

9. B-83574CM/01

- 46 -


65/76

B-83574CM/01 9.

- 47 -

O

O

O

O

J3

BZAL

BZAL


66/76


67/76


68/76


69/76

B-83574CM/01 A.

- 51 -

A


70/76

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


71/76

B-83574CM/01 A.

- 53 -

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


72/76

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

- 54 -


73/76

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


74/76


75/76


76/76

b-83574cm_01 lr mate 200id_4l operator's manual

Documents