r-2000ib operator manual [b-82234en 07]

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OPERATORS MANUAL

B-82234EN/07

MECHANICAL UNIT

Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and understand the content. This manual can be used with controllers labeled R-30iA or R-J3iC. If you have a controller labeled R-J3iC, you should read R-30iA as R-J3iC throughout this manual. No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japans Foreign Exchange and Foreign Trade Law. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as impossible.

B-82234EN/07 SAFETY PRECAUTIONS

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1 SAFETY PRECAUTIONS For the safety of the operator and the system, follow all safety precautions when operating a robot and its peripheral devices installed in a work cell.

1.1 OPERATOR SAFETY Operator safety must be given the highest priority in robot system operation. It is very dangerous to enter the robot work area while the system is operating. Be sure to review your safeguards before starting robot system operation. The following lists the general safety precautions. Careful consideration must be made to ensure operator safety. (1) Have the robot system operators attend the training courses held

by FANUC.

FANUC provides various training courses. Contact our sales office for details.

(2) Even when the robot is stationary during operation, it may be ready to operate while, for example, waiting for a start signal. In this condition, the robot is still regarded as in motion. To ensure operator safety, make sure that an operator can be aware of the robot in motion by a warning light or some other visual indication, or an audible alert.

(3) Be sure to install a safety fence with a safety gate around the system so that no operator can enter the inside of the fence without opening the gate. The safety gate must be equipped with an interlock switch, a safety plug, and the like so that the robot stops if the safety gate is opened.

The controller is designed such that signals from the interlock switch and the like can be connected. The signals set the robot to the emergency stop state if the safety gate is opened. See Fig. 1.1 for connection.

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

A, Class B, Class C, or Class D). (5) Try to install the peripheral devices outside the work area. (6) Draw an outline on the floor, clearly indicating the range of the

robot motion, including the tools such as a hand. (7) Install a mat switch or photoelectric switch on the floor with an

interlock to a visual or aural alarm that stops the robot when an operator enters the work area.

SAFETY PRECAUTIONS B-82234EN/07

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(8) If necessary, install a safety lock so that no one except the operator in charge can turn on the power of the robot.

The circuit breaker installed in the controller is designed to disable anyone from turning it on when it is locked with a padlock.

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

turn off the power of the robot.

Interlock switch and safety plug that are activated if the gate is opened

RM1 Motor power/brake

RP1Pulsecoder RI/RO,XHBK,XROT

Fig.1.1 Safety Fence and Safety Gate

Note) Terminals EAS1, EAS11, EAS2, and EAS21 are provided on the

terminal block of the printed circuit board that is placed in the operators box or on the operators panel.


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1.1.1 Operator Safety An operator refers to a person who turns on and off the power to the robot system and starts a robot program from, for example, the operators panel during daily operation. Operators cannot work in the inside of the safety fence. (1) Operate the robot system from outside the safety fence. (2) If it is not necessary for the robot to operate, turn off the power of

the robot controller or press the EMERGENCY STOP button, and then proceed with necessary work

(3) Install an EMERGENCY STOP button within the operator's reach.

The robot controller is designed to be connected to an external EMERGENCY STOP button. With this connection, the controller stops the robot operation when the external EMERGENCY STOP button is pressed. See the diagram below for connection.

(Note) Connect EES1 and EES11.

Connect EES2 and EES21.

Fig.1.1.1 Connection Diagram for External Emergency Stop Switch


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

carry out all tasks outside the area. (2) Before teaching the robot, check that the robot and its peripheral

devices are all in the normal operating condition. (3) If it is inevitable to enter the robot work area to teach the robot,

check the locations, settings, and other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN switch on the teach pendant) before entering the area.

(4) The programmer must be extremely careful not to let anyone else enter the robot work area.

The operators panel from FANUC is provided with an EMERGENCY STOP button and a key switch (mode switch) for selecting an automatic operation mode (AUTO) or teach mode (T1 or T2). Before opening the safety gate to enter the inside of the safety fence for teaching purposes, set the switch to a teach mode, and then remove the key from the mode switch to prevent anyone else from changing the operation mode carelessly. While still in the automatic operation mode, the robot enters the emergency stop state if the safety gate is opened. Once the switch has been set to a teach mode, the safety gate is disabled. When conducting work, the programmer should be responsible for keeping other people from entering the inside of the safety fence while being aware of that the safety gate is disabled.

The teach pendant from FANUC is provided with a DEADMAN switch as well as an EMERGENCY STOP button. The button and switch function as follows: (1) EMERGENCY STOP button: Causes an emergency stop when pressed. (2) DEADMAN switch: Functions differently depending on the mode switch setting.

(a) Automatic operation mode: The DEADMAN switch is disabled. (b) Teach mode: Causes an emergency stop when released or strongly pressed. Note) The DEADMAN switch is provided to set the robot to the emergency stop state when the operator releases or strongly presses the teach pendant in case of emergency. The R-30iA adopts a 3-position DEADMAN switch. The operator can enable the robot to operate by pressing the DEADMAN switch to its intermediate point. When the operator releases or strongly presses the DEADMAN switch, the robot enters the emergency stop state.

The controller determines that the operator intends to start teaching when the operator has preformed two successive actions: setting the teach pendant enable switch to ON, and then pressing the DEADMAN switch. When conducting work, the operator should be responsible for assuring safety while being aware of that the robot is ready to operate in this condition.


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The teach pendant, operators panel, and peripheral device interface each have a single signal for starting robot operation. Whether these signals are valid depends on the settings of the mode switch and DEADMAN switch on the operators panel, the teach pendant enable switch, and the remote switch on the software, as shown below.

Mode Teach pendant

enable switch Remote switch

Teach pendant

Operators panel

Peripheral devices

Local Not allowed Not allowed Not allowed ON Remote Not allowed Not allowed Not allowed Local Not allowed Allowed to start Not allowed

AUTO Mode

OFF Remote Not allowed Not allowed Allowed to startLocal Allowed to start Not allowed Not allowed ON

Remote Allowed to start Not allowed Not allowed Local Not allowed Not allowed Not allowed

T1,T2 mode

OFF Remote Not allowed Not allowed Not allowed

(5) Before starting the robot from the operators box or operators

panel, make sure that nobody is in the robot work area and that the robot is normal.

(6) When a program is completed, be sure to carry out a test run according to the procedure below. (a) Run the program for at least one operation cycle in the single

step mode at low speed. (b) Run the program for at least one operation cycle in the

continuous operation mode at low speed. (c) Run the program for one operation cycle in the continuous

operation mode at the intermediate speed and check that no abnormalities occur due to a delay in timing.

(d) Run the program for one operation cycle in the continuous operation mode at the normal operating speed and check that the system operates automatically without trouble.

(e) After checking the completeness of the program through the test run above, execute it in the automatic operation mode.

(7) During automatic operation, the programmer must be outside the safety fence.


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1.1.3 Safety of the Maintenance Technician For the safety of maintenance technicians, the following should be carefully noted. (1) Never enter the robot work area during operation. (2) During maintenance work, the power to the controller should be

off where possible. Lock the main breaker with the key or the like, if necessary, to prevent anyone else from turning on the power.

(3) If it is inevitable to enter the robot work area while the power is on, press the EMERGENCY STOP button on the operators box, operators panel, or teach pendant, and then enter the area. The worker must indicate that the maintenance work is in progress, and must also be careful not to let anyone else operate the robot carelessly.

(4) When disconnecting the pneumatic system, be sure to reduce the supply pressure.

(5) Before starting maintenance work, check the robot and peripheral devices for dangerous or abnormal conditions.

(6) Never perform automatic operation if anybody is in the robot work area.

(7) When it is necessary to maintain the robot alongside a wall or instrument, or when multiple workers are working nearby, make certain that their escape path is not obstructed.

(8) When a tool is mounted on the robot, or when any moving device other than the robot is installed, such as belt conveyor, pay careful attention to its motion.

(9) When doing work, have a person stand beside the operators box or operators panel to press the EMERGENCY STOP button at any time; the person should be familiar with the robot system and able to sense any danger.

(10) When replacing or reinstalling components, take care to prevent foreign matter from entering the system.

(11) Before touching units, printed circuit boards, and other parts for inspection of the inside of the controller, or for any other purposes, be sure to turn off the power with the controller main breaker to protect against electric shock.

(12) When replacing parts, be sure to use those specified by FANUC. In particular, never use fuses or other parts of non-specified ratings. They may cause a fire or result in damage to the components in the controller.

(13) Before restarting the robot system after completion of maintenance work, make sure that nobody is in the work area and the robot and peripheral devices are normal.


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1.2 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES

1.2.1 Precautions in Programming (1) Use a limit switch or other sensor to detect a dangerous condition

and, if necessary, design the program to stop the robot when the sensor signal is received.

(2) Design the program to stop the robot when an abnormal condition occurs in any other robots or peripheral devices, even though the robot itself is normal.

(3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care must be taken in programming so that they do not interfere with each other.

(4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect the states of all devices in the system and can be stopped according to the states.

1.2.2 Precautions for Mechanism

(1) Keep the component cells of the robot system clean, and operate

the robot in an environment free of grease, water, and dust. (2) Use mechanical unit cable that have required user interface. Please

do not obstruct the movement of the mechanical unit cable when cables are added. ( Please never tie an external cable to the mechanical unit cable by using the nylon band etc. ) Moreover, please do not interfere with the mechanical unit cable when equipment is installed in the robot. If these precautions are not observed There is a possibility that the mechanical unit cable is disconnected and the trouble not anticipated occurs.

(3) Employ a limit switch or mechanical stopper to limit the robot motion so that the robot or cable does not strike against its peripheral devices or tools.


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1.3 SAFETY OF THE ROBOT MECHANISM

1.3.1 Precautions in Operation (1) When operating the robot in the jog mode, set it at an appropriate

speed so that the operator can manage the robot in any eventuality. (4) Before pressing the jog key, be sure you know in advance what

motion the robot will perform in the jog mode.

1.3.2 Precautions in Programming (1) When the work areas of robots overlap, make certain that the

motions of the robots do not interfere with each other. (2) Be sure to specify the predetermined work origin in a motion

program for the robot and program the motion so that it starts from the origin and terminates at the origin. Make it possible for the operator to easily distinguish at a glance that the robot motion has terminated.

1.3.3 Precautions for Mechanisms

(1) Keep the work area of the robot clean, and operate the robot in an

environment free of grease, water, and dust.

1.3.4 Procedure to move arm without drive power in emergency or abnormal situations

(1) For emergency or abnormal situations (e.g. persons trapped in or

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-J350

(Input Voltage AC100-115V single-phase)

A05B-2450-J351

(Input Voltage AC200-240V single-phase)

Robot connection

cable

A05B-2450-J360 (5m)

A05B-2450-J361 (10m)

Power cable

A05B-2525-J010 ( 5m) (AC100-150V type)

A05B-2525-J011 ( 10m) (AC100-150V type)

A05B-2450-J364 ( 5m) (AC200-200V type)

A05B-2450-J365 ( 10m) (AC200-200V type)


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(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.

NOTE Robot systems installed without adequate number of

brake release units or similar means are not in compliance with EN ISO 10218-1 nor with the Machinery Directive and therefore cannot bear the CE marking.

CAUTION Robot arm would fall down by releasing its brake because of gravity. Especially because spring balancer is used for J2-axis, it is hard to predict J2-arm movement by the condition of Robot attitude and end effecter.Therefore it is strongly recommended to take adequate measures such as hanging Robot arm by a crane before releasing a brake.(There is no balancer for R-2000iB/170CF,150U,165CF)

Eyebolt(M10,M12)2 leverblocks

Eyebolt(M10) pcs slings

In case of releasing a motor brake

Unpredictable

?

?

Method of supporting Robot arm

Fig. 1.3.4(a) Releasing J2 motor brake and measures (R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H)


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Eyebolt(M10) pcs slings

Fall down

In case of releasing a motor brake Method of supporting Robot arm

Fig. 1.3.4(b) Releasing J3 motor brake and measures

(R-2000iB/165F,210F,165R,200R,100P,125L,175L,100H)

Fall down

Fall down

Supporting method of arm forR-2000iB/165CFR-2000iB/170CF(floor mount)

Supporting method of arm forR-2000iB/150UR-2000iB/170CF(top mount)

Fig. 1.3.4(c) Releasing J2 and J3 motor brake and measures (R-2000iB/170CF,150U,165CF)


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1.4 SAFETY OF THE END EFFECTOR

1.4.1 Precautions in Programming (1) To control the pneumatic, hydraulic and electric actuators,

carefully consider the necessary time delay after issuing each control command up to actual motion and ensure safe control.

(2) Provide the end effector with a limit switch, and control the robot system by monitoring the state of the end effector.


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1.5 WARNING LABEL (1) Greasing and degreasing label

Fig. 1.5 (a) Greasing and Degreasing Label

Description

When greasing and degreasing, observe the instructions indicated on this label. 1) When greasing, be sure to keep the grease outlet open. 2) Use a manual pump to grease. 3) Be sure to use a specified grease.

CAUTION See Section 7 CHECKS AND MAINTENANCE for

explanations about specified greases, the amount of grease to be supplied, and the locations of grease and degrease outlets for individual models.


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(2) Disassembly prohibitive label

Fig. 1.5 (b) Disassembly Prohibitive Label

Description Do not disassemble the balancer unit because it contains a spring, which may cause serious danger (for the R-2000iB, a disassembly prohibitive label is affixed only to the balancer). (3) Step-on prohibitive label

Fig. 1.5 (c) Step-on Prohibitive Label

Description Do not step on or climb the robot or controller as it may adversely affect the robot or controller and you may get hurt if you lose your footing as well.


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(4) High-temperature warning label

Fig. 1.5 (d) High-temperature warning label

Description Be cautious 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 provision such as heat-resistant gloves. (5) Transportation label

>2500kg

>2500kg

>630kg x4


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Fig. 1.5 (f) Transportation label (R-2000iB/165R, 200R, 100P)

2500kg

>630kg X4

>1000kg X4

>2500kg

Fig. 1.5 (g) Transportation label (R-2000iB/165CF)


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Description When transporting the robot, observe the instructions indicated on this label. 1) Using a forklift Use a forklift having a load capacity of 2,500 kg or greater. Keep the total weight of the robot to be transported to within 2,200

kg, because the withstand load of the forklift bracket (option) is 5,390 N (550 kgf).

2) Using a crane Use a crane having a load capacity of 2,500 kg or greater. Use at least four slings each having a withstand load of 9,800 N

(1,000 kgf) or greater. Use at least four eyebolts each having a withstand load of 6,174 N

(630 kgf) or greater.

CAUTION Transportation labels are model-specific. Before

transporting the robot, see the transportation label affixed to the J2 base side.

See Sub-section 1.1 TRANSPORTATION for explanations about the posture a specific model should take when it is transported.


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(6) Balancer replacement label

150kg J2=0

Fig.1.5 (h) Balancer replacement label (R-2000iB/165F,210F,125L,175L,100H)

300kg

J2=-90

Fig. 1.5 (i) Balancer replacement label (R-2000iB/165R,200R, 100P)

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 0 for the R-2000iB/165F, 210F, 125L, 175L and 100H and keep the J2-axis at -90 for the R-2000iB/165R, 200R and 100P.

For the R-2000iB/165F, 210F, 125L, 175L and 100H the mass of the balancer is 150 kg.

For the R-2000iB/165R, 200R and 100P the mass of the balancer is 300 kg.

The R-2000iB/165CF has no balancer.

CAUTION For information about balancer replacement, contact

FANUC.


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(7) Motion range and load capacity label

In the case of CE specification, the following label is added:

0DEG-180DEG+180DEG

MAX. PAYLOAD : 165kg

Motion rangeof J5-axisrotation center

1919 2655

3045

370

J5-axis rotation center

Fig. 1.5 (j) Motion range label (example of R-2000iB/165F)

(8) Transportation prohibitive label (When transport equipment option is specified.)

Do not pull eyeboltsideways

Do not have impacton this part

Do not chain, pry,or strap on this part

Fig. 1.5 (k)Transportation prohibitive label

Description

Keep the following in mind when transporting the robot. 1) Do not pull eyebolts sideways 2) Prevent the forks of the forklift from having impact on a transport

equipment 3) Do not thread a chain or the like through a transport equipment.


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(9) Transportation prohibitive label (When transportation equipment option A05B-1329-H075 is

specified.)

1) Remove the transport equipment after installing the robot

2) Remove all loads when transporting the robot. (Wrist and arm)

3) Always Place the robot in shipping position (refer to the manual) when transporting the robot Transport Equipment

Fig. 1.5(l) Transportation prohibitive label

Description

1) Remove the transport equipment after installing the robot. 2) Remove all loads when transporting the robot. (Wrist and arm) 3) Always place the robot in shipping position (refer to the manual)

when transporting the robot.

B-82234EN/07 PREFACE

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PREFACE This manual explains the maintenance and connection procedures for the mechanical units of the following robots:

Model name Mechanical unit specification No. Maximum load

FANUC Robot R-2000iB/165F A05B-1329-B201 165kg FANUC Robot R-2000iB/210F A05B-1329-B205 210kg FANUC Robot R-2000iB/165R A05B-1329-B221 165kg FANUC Robot R-2000iB/200R A05B-1329-B225 200kg FANUC Robot R-2000iB/100P A05B-1329-B231 100kg FANUC Robot R-2000iB/170CF A05B-1329-B241 170kg FANUC Robot R-2000iB/125L A05B-1329-B261 125kg FANUC Robot R-2000iB/175L A05B-1329-B265 175kg FANUC Robot R-2000iB/100H A05B-1329-B271 100kg FANUC Robot R-2000iB/165CF A05B-1324-B541 165kg FANUC Robot R-2000iB/150U A05B-1329-B291 150kg

The label stating the mechanical unit specification number is affixed in the position shown below. Before reading this manual, determine the specification number of the mechanical unit.

FANUC LTD OSHINO-MURA.YAMANASHI PREF. JAPAN

TYPENO.DATE

WEIGHT kg

(1)

(2) (3) (4) (5)

PREFACE B-82234EN/07

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TABLE 1 (1) (2) (3) (4) (5)

CONTENTS - TYPE No. DATE WEIGHT (Without controller)FANUC Robot R-2000iB/165F A05B-1329-B201 1170kg

FANUC Robot R-2000iB/210F A05B-1329-B205 1240kg

FANUC Robot R-2000iB-165R A05B-1329-B221 1480kg

FANUC Robot R-2000iB-200R A05B-1329-B225 1540kg

FANUC Robot R-2000iB/100P A05B-1329-B231 1560kg

FANUC Robot R-2000iB/170CF A05B-1329-B241 800kg

FANUC Robot R-2000iB/125L A05B-1329-B261 1190kg

FANUC Robot R-2000iB/175L A05B-1329-B265 1260kg

FANUC Robot R-2000iB/100H A05B-1329-B271 1150kg

FANUC Robot R-2000iB/150U A05B-1329-B291 1070kg

LETTERS

FUNUC Robot R-2000iB/165CF A05B-1324-B541

PRINT SERIAL NO.

PRINT PRODUCTION YEAR AND MONTH

1050kg

Position of label indicating mechanical unit specification number

B-82234EN/07 PREFACE

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RELATED MANUALS

For the FANUC Robot series, the following manuals are available: Safety handbook B-80687EN All persons who use the FANUC Robot and system designer must read and understand thoroughly this handbook

Intended readers : All persons who use FANUC Robot, system designer Topics : Safety items for robot system design, operation, maintenance

R-30iA controller Operations manual SPOT TOOL+ B-82594EN-1 HANDLING TOOL B-82594EN-2 DISPENSE TOOL B-82594EN-4 Servo Gun Function B-82634EN

Intended readers : Operator, programmer, maintenance person, system designer Topics : Robot functions, operations, programming, setup, interfaces, alarms Use : Robot operation, teaching, system design

Maintenance manual B-82595EN B-82595EN-1 (For Europe) B-82595EN-2 (For RIA)

Intended readers : Maintenance person, system designer Topics : Installation, connection to the controller, maintenance Use : installation, start-up, connection, maintenance

B-82234EN/07 Table of Contents

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TABLE OF CONTENTS

SAFETY PRECAUTIONS............................................................................s-1 PREFACE....................................................................................................p-1

1 TRANSPORTATION AND INSTALLATION ...........................................1 1.1 TRANSPORTATION...................................................................................... 2

1.1.1 Transportation with an End Effector Attached.......................................................24 1.2 INSTALLATION ........................................................................................... 26

1.2.1 Installation method .................................................................................................27 1.3 MAINTENANCE AREA................................................................................ 33 1.4 INSTALLATION SPECIFICATIONS ............................................................ 37

2 CONNECTION WITH THE CONTROLLER ..........................................38 2.1 CONNECTION WITH THE CONTROLLER................................................. 39

3 BASIC SPECIFICATIONS.....................................................................40 3.1 ROBOT CONFIGURATION......................................................................... 41 3.2 MECHANICAL UNIT OPERATION AREA AND

INTERFERENCE AREA .............................................................................. 50 3.3 ZERO POINT POSITION AND MOTION LIMIT........................................... 61 3.4 WRIST LOAD CONDITIONS....................................................................... 67 3.5 LOAD CONDITIONS ON J2-AXIS BASE AND J3-AXIS ARM..................... 90

4 MECHANICAL COUPLING TO THE ROBOT.......................................99 4.1 MECHANICAL COUPLING OF END EFFECTOR TO WRIST .................. 100 4.2 INSTALLING A FANUC/SPECIAL FLANGE ADAPTER

(R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L,100H)................................................................................................................... 110

4.3 EQUIPMENT MOUNTING FACE .............................................................. 111 4.4 LOAD SETTING ........................................................................................ 121 4.5 INERTIA LOAD SETTING ......................................................................... 123

5 PIPING AND WIRING TO THE END EFFECTOR...............................125 5.1 AIR SUPPLY (OPTION) ............................................................................ 126 5.2 AIR PIPING (OPTION) .............................................................................. 130 5.3 INTERFACE FOR OPTION CABLE (OPTION) ......................................... 132

Table of Contents B-82234EN/07

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6 AXIS LIMITS SETUP...........................................................................152 6.1 SETTING MOTION LIMITATION BY SOFTWARE.................................... 153 6.2 HARD STOPPER AND LIMIT SWITCH SETTING .................................... 154 6.3 CHANGING THE MOTION RANGE BY THE LIMIT SWITCH

(OPTION) .................................................................................................. 167 6.4 ADJUSTING LIMIT SWITCH (OPTION) .................................................... 171

7 CHECKS AND MAINTENANCE .........................................................175 7.1 PERIODIC MAINTENANCE ...................................................................... 176

7.1.1 Daily checks .........................................................................................................176 7.1.2 3-month (960 hours) checks .................................................................................177 7.1.3 1.5-year (5,760 hours) checks ..............................................................................181 7.1.4 3-year (11,520 hours) checks ...............................................................................181 7.1.5 MAINTENANCE.................................................................................................181

7.2 Greasing the Balancer Shaft (1 year (3840 hours) Periodic Maintenance) ............................................................................................. 182 7.2.1 Replacing the Batteries1.5 Year checks .......................................................182 7.2.2 Replacing the Grease of the Drive Mechanism3 years (11,520 hours)

checks ...............................................................................................................183

7.2.3 Grease Replacement Procedure for the Wrist (R-2000iB/165F, 210F,

165R, 200R, 100P, 170CF,125L, 175L, 100H, 150U).........................................185 7.2.4 Grease Replacement Procedure for the Wrist (R-2000iB/165CF) .......................192

7.2.5 Procedure for Releasing Residual Pressure from the Grease Bath.......................193 7.2.6 Procedure for Releasing Residual Pressure from the Grease Bath ......................194

7.3 STORAGE ................................................................................................. 196

8 MASTERING .......................................................................................197 8.1 GENERAL ................................................................................................. 198 8.2 RESETTING ALARMS AND PREPARING FOR MASTERING

................................................................................................................... 200 8.3 ZERO POSITION MASTERING ................................................................ 201 8.4 QUICK MASTERING ................................................................................. 211

8.4.1 SINGLE AXIS MASTERING .............................................................................213 8.5 MASTERING DATA ENTRY...................................................................... 217

9 TROUBLESHOOTING ........................................................................219 9.1 OVERVIEW ............................................................................................... 220 9.2 FAILURES, CAUSES AND MEASURES................................................... 221

B-82234EN/07 Table of Contents

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10 SEVERE DUST/LIQUID PROTECTION PACKAGE...........................228 10.1 SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)

................................................................................................................... 228 10.2 SEVERE DUST/LIQUID PROTECTION CHARACTERISTICS ................. 229 10.3 CONFIGURATION OF THE SEVERE DUST/LIQUID

PROTECTION PACKAGE......................................................................... 230 10.4 NOTES ON SPECIFYING SEVERE DUST/LIQUID

PROTECTION PACKAGE......................................................................... 231

APPENDIX

A PERIODIC MAINTENANCE TABLE ...................................................235 B BOLT TIGHTENING TORQUE TABLE...............................................248

B-82234EN/07 1.TRANSPORTATION AND INSTALLATION

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1 TRANSPORTATION AND INSTALLATION

1.TRANSPORTATION AND INSTALLATION B-82234EN/07

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1.1 TRANSPORTATION The robot can be transported by a crane or a forklift. When transporing the robot, be sure to change the attitude of the robot to that shown below and lift by using the eyebolts and the transport equipment at their points.

CAUTION When hoisting or lowering the robot with a crane or

forklift, move it slowly with great care. When placing the robot on the floor, exercise care to prevent the installation surface of the robot from striking the floor strongly.

(1) Transportation using a crane (Fig. 1.1 (b) to (n))

Fasten the M20 eyebolts at the four points and lift the robot by the four slings. The robot is transported with the specific transport equipment attached for the R-2000iB/165R, 200R, 100P and 170CF. There are two kinds of transportation equipment about the type installed on the J1 base and the type installed on the J2 base.( There is no type installed on the J2 base in R-2000iB/170CF.)

NOTE When lifting the robot, notice so that the motor, connectors or cables of the robot are not damaged by slings.

(2) Transportation using a fork lift (Fig. 1.1 (o) to (z))

The robot is transported with the specific transport equipment attached. For the R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L and 100H, there are two types of transport equipment: one to be attached to the J1 base and the other to the J2 base. For the R-2000iB/170CF and 165CF,there is a type of transport equipment to be attached to the J1 base. Transport equipment are prepared as an option.


- 3 -

WARNING Please follow notes when it is necessary to transport robot with 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. When you lift robot with the base plate installed,

please lift up not the robot but the base plate. NOTE If the transport equipment of the J2 base type for

the R-2000iB/165R, 200R, and 100P is used with a crane or forklift to hoist or lower the robot in the state where the robot is tilted, all load may be imposed on the strut bar used to protect against falling, thus deforming the strut bar. When you operate a crane or fork lift ,please confirm whether the robot is the horizontal enough.

NOTE Loctite 262 (rust preventive) may be applied to the

mounting bolts used to secure the transport equipment of the J2 base type. When removing those mounting bolts, be careful not to damage the heads of the bolts.

WARNING Use the forklift pockets only to transport the robot

with a forklift. Do not use the forklift pockets for any other transportation method. Do not use the forklift pockets to secure the robot.

Before moving the robot by using forklift pockets, check and tighten any loose bolts on the forklift pockets.


- 4 -

M20 tap through

To use eyebolt install to the out taps

M20 tap through

To use eyebolt install to the out taps

Fig. 1.1 (a) Position of the eyebolts and transportation equipment


- 5 -

1575

.5

317 305

NOTICE

See the list of specification for machine weight. Eyebolts complied with JISB 1168. Quantity Eyebolts 4 Sling 4

CraneCapacity min. 2.5 tonSlingCapacity min. 1.0 ton per 1

0or180

EYEBOLT(M20)Install to the out taps

Center ofgravity

476 348

477 348

1689.5

J2 AXISJ3 AXISJ4 AXISJ5 AXISJ6 AXIS

ROBOT POSTURE ON TRANSPORATION

J1 AXIS-60

0

0

0

0

Fig. 1.1 (b) Transportation using a crane (R-2000iB/165F)


- 6 -

348477

1710.5

1575

.5

317 305

Center ofgravity

Eyebolts(M20)Install to the out taps.


NOTICE


0or180



J1 AXIS-60

0

0

0

0

Fig 1.1 (c) Transportation using a crane (R-2000iB/210F)


- 7 -

Eyebolts(M20)

1831

2012

Center ofgravity

Center ofgravity

1242

0J2 AXISJ3 AXISJ4 AXISJ5 AXISJ6 AXIS

J1 AXIS-12040 0 0 0



NOTICE


Transporteqpuipment (OPTION)

Fig 1.1 (d) Transportation using a crane (R-2000iB/165R J1 base type)


- 8 -

Center ofgravity

Center ofgravity

Eyebolts(M20)

1831

2025

1242


J1 AXIS-12040 0 0 0



NOTICE


Transportequipment (OPTION)

Fig 1.1 (e) Transportation using a crane (R-2000iB/200R J1 base type)


- 9 -

1828

2272

Center ofgravity

Center ofgravity


J1 AXIS-12041 0 0 0



NOTICE


Transport equipment(OPTION)

Eyebolt (M20)

Fig 1.1 (f) Transportation using a crane (R-2000iB/100P J1 base type)


- 10 -

CraneCapacity min 2.5 ton

SlingCapacity min 1.0 ton

NOTE See the list of specification for machine weight. Eyebolt complied with JISB 1168. Quantity Eyebolt 4 Sling 4

11501113

909

Center ofgravity

0or 180

J2 AXISJ3 AXISJ4 AXISJ5 AXIS

J1 AXIS

0

0

0

-55

ROBOT POSTURE ON TRANPORTATION

Eye bolt(M20)

Transportequipment

Fig 1.1 (g) Transportation using a crane (R-2000iB/170CF)


- 11 -

12072012

1831

Transportequipment(OPTION)

Center ofgravity

CraneCapacity : min. 2.5 min

SlingCapacity : min. 10 ton

ArbitraryJ2 AXISJ3 AXISJ4 AXISJ5 AXISJ6 AXIS

ROBOT POSTURE ONTRANSPORTATIONJ1 AXIS

-12040 0 0 0

NOTICE) See the list of specification for machine weight. Eyebolt complied with JISB 1168. Quantity eyebolt 4 sling 4

When you transport robot, please transport it absolutely by the posture for transporation.When you transport robot, remove all tools.Remove transport equipment absolutely after you set robot up.

Fig 1.1 (h) Transportation using a crane (R-2000iB/165R J2 base type)


- 12 -

1207

1831

2025 Transportequipment(OPTION)

Center ofgravity

CraneCapacity : min. 2.5 ton

SlingCapacity : min. 1.0ton



-12040 0 0 0



Fig 1.1 (i) Transportation using a crane (R-2000iB/200R J2 base type)


- 13 -





12072272

1825



-12041 0 0 0

Transportequipment(OPTION)

Center ofgravity

Fig 1.1 (j) Transportation using a crane (R-2000iB/100P J2 base type)


- 14 -

Center ofgravity

Eyeblots(M20)Install to the out taps.

1575

.5

317 305348477

2044.5

0or180


J1 AXIS -60

0

0

0

0




ROBOT POSTURE ONTRANSPORTATION

Fig 1.1 (k) Transportation using a crane (R-2000iB/125L)


- 15 -

1910

1565

348477

Center ofgravity

317 305


0or180



J1 AXIS-60

0

0

0

0

NOTICE


Fig 1.1 (l) Transportation using a crane (R-2000iB/175L)


- 16 -

NOTICE

See the lisf of specification for machine weight. Eyebolts complied with JISB 1168. Quantity Eyebolts 4 Sling 4

0or180


ROBOT POSTURE ON TRANSPORTATION

J1 AXIS-60

0

0

0

CraneCapacity min.2.5 ton

SlingCapacity min.1.0 ton per 1

317 305

1575

.5

1590

348477

Center ofgravity

Eyebolt(M20)Install to the out taps

Fig 1.1 (m) Transportation using a crane (R-2000iB/100H)


- 17 -

Center of gravity


0

000-550


485

Install to the out taps.Eyebolts(M20)

423348

1314

1040

J1 AXIS

Center of gravity


NOTICE

See the list of specification for machine weight. Eyebolts complied with JISB 1168. Quantity Eyebolts 4 Sling 4Be sure to place the cable protection plate to prevent the slings from compressing cables.

Fig 1.1(n) Transportation using a crane (R-2000iB/165CF)


- 18 -

956

188

88

Center of gravity

Center ofgravity

ForkliftCapacity min. 2.0 ton*125L and 175L are 2.5 ton

NOTICE)

See the list of specifications for machine weight

Transport equipment 1OPTION

0or 180J2 AXISJ3 AXISJ4 AXISJ5 AXISJ6 AXIS

J1 AXIS -60 0 0 0 0


Fig 1.1 (o) Transportation using a forklift (R-2000iB/165F,210F,125L, 175L J1 base type)

100

200

NOTICE)

1. See the list of specification for machine weight. 2. Do not spoil the head of the bolt when detaching it because LOCTITE is spread on the installation bolt.

Center ofgravity

Center ofgravity

Arbitrary

ForkliftCapacity min. 2.0 ton 125L and 175L are min. 2.5 ton

868




J1 AXIS -60 0 0 0 0

Fig 1.1 (p) Transportation using a forklift (R-2000iB/165F,210F,125L,175L J1 base type)

CAUTION Exercise care to prevent the fork of the forklift from striking transport equipment strongly.

SchiltzALine

J2 base type


- 19 -

ForkliftCapacity min. 2.5 ton

Center ofgravity

1242

200

100

Transportequipment 3(option)

Center of gravity


J1 AXIS-12040 0 0 0


NOTICE

See the list of specification for machine weight.

Fig 1.1 (q) Transportation using a forklift (R-2000iB/165R J1 base type)

Forkliftcapacity. 2.5 ton

Center of gravity

1242

100

200

Transportequipment 3(OPTION)

Center ofgravity


J1 AXIS-12040 0 0 0


NOTICE


Fig 1.1 (r) Transportation using a forklift (R-2000iB/200R J1 base type)



- 20 -

1242

100

200

Forkliftcapacity min. 2.5 ton

Center ofgravity

Center ofgravity


J1 AXIS-12041 0 0 0



NOTICE


Transport equipment 3(OPTION)

Fig 1.1(s) Transportation using a forklift (R-2000iB/100P J1 base type)

ForkliftCapacitymin 2.5 ton

Center ofgravity Center of

gravity

200

100

1207

73600

465

NOTE). See the list of specification for machine weight.When you transport robot,please be sure to transport it by the posture for transporation.When you transport robot,remove all tools.. Be sure to remove transport equipment after you set robot up.



-12040 0 0 0

Transportepuipment (OPTION)

Fig 1.1 (t) Transportation using a forklift (R-2000iB/165R J2 base type)



- 21 -

Forklift Capacity:min ton.

Center ofgravity Center of

gravity

1207

100

200

465 73

600




-12040 0 0 0

Transport Fig 1.1 (u) Transportation using a forklift (R-2000iB/200R J2 base type)

ForkliftCapacitymin ton.

Center of gravity Center of

gravity

200

100

1207

465 73

600




-12041 0 0 0

Transportequipment (OPTION)

Fig 1.1 (v) Transportation using a forklift (R-2000iB/100P J2 base type)



- 22 -

NOTE)


0or 180


J1 AXIS

0

0

0

-55

Center ofgravity


Forkliftcapacity 2.0 ton

Transport equipment(option)

188

88

956

Fig 1.1 (w) Transportation using a forklift (R-2000iB/170CF)

NOTE) See the list of the specification for machine weight.

0or 180


ROBOT POSTURE ON TRANSPORTATIONJ1 AXIS

0

0

0

-60

188

88

956 Transport equipment(OPTION) Forklift

Capacitiy. min 2.0 ton

Center ofgravity

Fig 1.1 (x) Transportation using a forklift (R-2000iB/100H J1 base type)



- 23 -

182

82


868Transport equipment(OPTION)


ROBOT POSTURE ON TRANSPORTATIONJ1 AXIS

0

0

0

-60

Arbitrary

Center ofgravity

NOTICE)

1. See the list of specification for machine weight. 2. Do not spoil the head of the bolt when detaching it because LOCTITE is spread on the installation bolt.

Fig 1.1 (y) Transportation using a forklift (R-2000iB/100H J2 base type)



182956

82

NOTE) See the list of the specification for machine weight.

Centerof gravity

Center ofgravity


-55

J6 AXISJ5 AXISJ4 AXISJ3 AXISJ2 AXISJ1 AXIS 0

0000

Fig 1.1 (z) Transportation using a forklift (R-2000iB/165CF)



- 24 -

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. If the arm is not secured, the end effector may oscillate for a cause such as vibration during transportation, thus imposing a large impact load on the reducer of the robot and damaging the reducer at an earlier stage.

Woods

Pallet

Woods

Fig. 1.1.1(a) Example of securing the arm during transportation when an end effector is attached


- 25 -

If the user cannot prepare a material for securing the arm, an optional securing jig kit for transportation is available. Specification: A05B-1329-K011 (R-2000iB/165F, 210F, 125L, 100H, 150U) A05B-1329-K012 (R-2000iB/175L)

BASEBOLT M12X35 (3)CONICAL SPRING WASHER (3)

SUPPORTBOLT M12X25 (3)WASHER (3)

HOLDERBOLT M10X120 (2)

NOTE)

1) REGARDING J2-AXIS AND J3-AXIS ATTITUDE DURING TRANSPORTING, REFFER TO FOLLOWING TABLE.

2) SUPPORT MUST BE FIXED TO HOLDER BY USING 3 BOLTS.3) BOLTS MUST BE TIGHTENED WITH TIGHTEINING TORQUE 94Nm(9.6kgfm).

J2 J3

-60 -47 0

Fig. 1.1.1(b) Securing jig kit for transportation


- 26 -

1.2 INSTALLATION Fig. 1.2 shows the robot base dimensions. Avoid placing any object in front of the robot on the mounting face to facilitate the installation of the mastering fixture.(Shaded portion) Please select one of the following three methods of installing the robot according to the customers use environment. 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. Fig. 1.2.1(d), Table 1.2.1(a), and Table 1.2.1(b) indicate the force and moment applied to the base plate at the time of emergency stop of the robot and indicate the stopping distance and time of the J1 through J3 axes moved and consumed from the pressing of the emergency stop button until the robot stops. Consider the strength of the installation face with the data taken into account.

NOTE For the R-2000iB/165R, 200R and 100P, the

mastering fixture is placed below the J1 base installation surface.

For fixing robot 8-24 through 38 facing depth 5

Rotation center of J1 axis

Mounting face

Mou

ntin

g fa

ce

Mou

ntin

g fa

ce

Front

For mounting transportation equipment or eyebolt 8-M20 through

Fig.1.2 Dimensions of the robot base


- 27 -

1.2.1 Installation method - Installation method I Fig. 1.2.1 (a) The floor plate is imbedded in concrete and fastened with twelve

M20 ( strength classification 4.8) chemical anchors. Also fasten the base plate to the robot base using eight M2065 bolts (strength classification 12.9). Next, position the robot, and weld the base plate to the floor plate. (Floor length is 10 to 15mm.)

( The base plate is prepared as the option.) - Installation method II Fig. 1.2.1 (b) The floor plate is not imbedded in concrete. The floor plate is

fastened at the twelve points with M20 chemical anchors (strength classification 4.8) and the inclination of the floor plate is adjusted with the four fixing screws. The robot is positioned with the robot base pushed against the three 20 parallel pins inserted into the base and the robot base is fastened on the floor plate with eight M20 x 65 bolts (strength classification 12.9).

- Installation method III Fig. 1.2.1(c) The installation method is generally the same as described above

except that the parallel pins for pushing the robot base are not used.

The following parts are required to install the robot. Common to methods I, II, and III

- Robot mounting bolts M20x65 (Strength classification 12.9) 8pcs - Chemical anchors M20 (Strength classification 4.8) 12pcs - Base plates Thickness 32t 4pcs - Floor plate Thickness 32t 1pcs Methods II and III - Fixing screws M20 Four - Nuts M20 Four Method II only - Parallel pins 20 Three

NOTE - When the robot is operated with a combination other than the above, it may be damaged. - Arrangements for installation work (such as welding

and anchoring) need to be made by customers.


- 28 -

Fig. 1.2.1 (a) Installation method


- 29 -

Fig.1.2.1 (b) Installation method


- 30 -

Fig. 1.2.1 (c) Installation method


- 31 -

Table1.2.1(a) Force and moment during emergency stop

Model Vertical moment MV [kNm(kgfm)]

Force in vertical direction

FV [kN(kgf)]

Horizontal moment

MH [kNm(kgfm)]

Force in horizontal direction

FH [kN(kgf)] R-2000iB/165F 62.72(6400) 37.24(3800) 24.50(2500) 26.46(2700) R-2000iB/210F 73.50(7500) 41.16(4200) 25.48(2600) 27.44(2800) R-2000iB/165R 75.46(7700) 39.20(4000) 25.48(2600) 28.42(2900) R-2000iB/200R 84.28(8600) 41.16(4200) 25.48(2600) 27.44(2800) R-2000iB/100P 77.42(7900) 38.22(3900) 25.48(2600) 26.46(2700) R-2000iB/170CF 37.24(3800 33.32(3400) 9.80(1000) 22.54(2300) R-2000iB/125L 61.74(6300) 35.28(3600) 24.50(2500) 25.48(2600) R-2000iB/175L 71.54(7300) 38.22 (3900) 25.48(2600) 26.46(2700) R-2000iB/100H 53.90(5500) 34.30(3500) 19.60(2000) 25.48(2600) R-2000iB/150U 63.70(6500) 36.26(3700) 23.52(2400) 26.46(2700) R-2000iB/165CF 31.36(3200) 29.40(3000) 17.64(1800) 17.64(1800)

Table1.2.1(b) Stopping time and distance when emergency stop

Model J1-axis J2-axis J3-axis

Stopping time [msec] 372 333 145 R-2000iB/165F

Stopping distance [deg] (rad) 22.2 (0.39) 15.0 (0.26) 7.5 (0.13)

Stopping time [msec] 335 271 151 R-2000iB/210F


Stopping time [msec] 519 352 202 R-2000iB/165R


Stopping time [msec] 483 267 169 R-2000iB/200R


Stopping time [msec] 542 349 282 R-2000iB/100P


Stopping time [msec] 448 203 135 R-2000iB/170CF

Stopping distance [deg] (rad) 26.6(0.46) 9.8(0.17) 8.0(0.13)

Stopping time [msec] 370 375 200 R-2000iB/125L


Stopping time [msec] 380 403 210 R-2000iB/175L


Stopping time [msec] 435 316 186 R-2000iB/100H


Stopping time [msec] 359 246 177 R-2000iB/150U

Stopping distance [deg] (rad) 19.9(0.35) 7.9(0.14) 9.4(0.16)

Stopping time [msec] 300 231 140 R-2000iB/165CF


override : 100%

Max payload, max speed and max inertia posture


- 32 -

MH

MV

FH

FV

Fig. 1.2.1 (d) Force during emergency stop


- 33 -

1.3 MAINTENANCE AREA Fig. 1.3 (a) to (d) show the maintenance area of the mechanical unit. Be sure to leave enough room for the robot to be mastered. See Chapter 8 for the mastering.

500

1695

Mastering area

Maintenance are(mechanical unit)

arm length+ 200)

403

500

423 500

500

A

300

500

500 348

R-2000iB/165F : 1695mmR-2000iB/210F : 1715mmR-2000iB/125L : 1850mmR-2000iB/175L : 1915mmR-2000iB/100H : 1695mmR-2000iB/150U : 1695mm

Fig. 1.3 (a) Maintenance area (R-2000iB/165F, 210F, 125L, 175L, 100H, 150U)


- 34 -

Fig 1.3(b) Mastering area (R-2000iB/165R, 200R, 100P)

Maintenance area (mechanical unit)

Mastering area


- 35 -

605

500

500

500 774 500

Maintenance area

Mastering area

1085

Fig 1.3(c) Mastering area (R-2000iB/170CF)


- 36 -

605

500

500

Mastering area

Maintenance area(Mechanical unit)

500 783

500

550

550

930

Fig 1.3 (d) Maintenance area (R-2000iB/165CF)


- 37 -

1.4 INSTALLATION SPECIFICATIONS Table 1.4 shows the robot installation specifications.

Table 1.4 Installation specifications R-2000iB/165F Approx. 1170kg R-2000iB/210F Approx. 1240kg R-2000iB/165R Approx. 1480kg R-2000iB/200R Approx. 1540kg R-2000iB/100P Approx. 1560kg R-2000iB/170CF Approx. 800kg R-2000iB/125L Approx. 1190kg R-2000iB/175L Approx. 1260kg R-2000iB/100H Approx. 1150kg R-2000iB/165CF Approx. 1050kg

Weight of mechanical unit

R-2000iB/150U Approx. 1070kg Allowable ambient temperature 0 to 45 Allowable ambient humidity Usual : Less than 75RH

Short period (in one month)Max. 95RH or less (Condensation free)

Admosphere Free of corrosive gases (Lower Note) Vibration Less than 0.5G (4.9m/s2)

CAUTION Contact the service representative, if the robot is to be

used in an environment or a place subjected to severe vibrations, heavy dust, cutting oil splash and or other foreign substances.

If the robot is used especially in an adverse environment stated below, grease the balancer as required.

Dusty environment; for example, an application in which the robot is used to handle tiles or bricks. Environment full of spatters developed in spot welding; for example, an application in which welding spatters deposit and accumulate on and around the balancer

In addition, if the robot is used in a special environment stated below, use a robot jacket or some other means to protect the balancer support part (which joins with theJ2 arm and J2 base) and rod sliding part. Environment where glass abrasive powders and

others are used; for example, and application in which the robot or balancer is subjected to splashes of powders in handling and other operations during glass abrasion.

Environment where metal powders are used; for example, an application in which the robot or balancer is subjected to splashes of powders in handling and other operations during metal working.

2.CONNECTION WITH THE CONTROLLER B-82234EN/07

- 38 -

2 CONNECTION WITH THE CONTROLLER

B-82234EN/07 2.CONNECTION WITH THE CONTROLLER

- 39 -

2.1 CONNECTION WITH THE CONTROLLER The robot is connected with the controller (NC) via the power cable, the signal cable and the earth cable. Connect these cables to the connectors on the back of the base. For details on air and option cables, see Chapter 5.

CAUTION Before connecting the cables, be sure to turn off the

power.

Controller Robot

Power and signal cables

earth cables

Air

OptionPower cable

Signal cable

A

Detail A

Earth terminal

Fig. 2.1 Cable connection

3.BASIC SPECIFICATION B-82234EN/07

- 40 -

3 BASIC SPECIFICATIONS

B-82234EN/07 3.BASIC SPECIFICATION

- 41 -

3.1 ROBOT CONFIGURATION

AC servo motor (M5) For J5-axis

AC servo motor (M6)For J6-axis




End effector mounting face

Wrist unit

J3-axis arm

J3-axis casing

J2-axis arm

AC servo motor (M2) for J2-axis

J2-axis unit

J1-axis unit

Balancer

J2

+

-

J1

+

-

J3

+

-

J4 +

- J5 J6

+ - - +

All axes are 0 asthis posture.

Fig. 3.1 (a) Mechanical unit configuration and each axes coordinates (R-2000iB/165F, 210F, 125L, 175L,150U) NOTE) There is no balancer for R-2000iB/150U


- 42 -

0

Fig 3.1 (b) Mechanical unit configuration and each axes coordinates (R-2000iB/165R,200R,100P)

AC servo motor For J5-axis


AC servo motorFor J4-axis AC servo motorFor J1-axis

J2-axis arm

J2-axis arm

J3-axis casing

J1-axis unit AC servo motorFor J2-axis

J2-axis unit

Wrist unit

J3-axis arm


All axes are at 0 in this attitude.


- 43 -

AC servo motor(M1)For J1-axis

J1-axis unit


J2-axis unit

J2-axis arm




AC servio motor(M4)For J4-axis

J3-axis casing

Wrist unitEnd effectormounting face

J3-axis arm

J1

J2 J3

J4J5

J6+

+

++

+

+

- --

--

-

Fig 3.1 (c) Mechanical unit configuration and each axes coordinates (R-2000iB/170CF)

All axes are at 0 in this attitude.


- 44 -


J2-axis arm

J3-axis arm

J3 casing

AC servo motorFor J2-axis (M2)

J2-axis unit

J1-axis unit

Balancer


AC servo motorfor J3-axis (M3)

AC servo motorFor J5-axis(M5)


J1

J3

+

-

-

+

J2

+-

*All axes are 0as this posture.

+ -J4

J5+-

Fig 3.1 (d) Mechanical unit configuration and each axes coordinates (R-2000iB/100H)


- 45 -

Fig 3.1 (e) Mechanical unit configuration (R-2000iB/165CF)


AC servo motorFor J6-axis




J3-axis casing Wrist unit End effector morning face

J2-axis arm


J2-axis unit

J1-axis unit


- 46 -

Specifications (1/4) R-2000iB/165F R-2000iB/210F

Upper limit 180( 3.14rad) 180( 3.14rad)Lower limit -180(-3.14rad) -180(-3.14rad)Upper limit 76( 1.32rad) 76( 1.32rad)Lower limit -60(-1.05rad) -60(-1.05rad)Upper limit 230( 4.01rad) 230( 4.01rad)Lower limit -132(-2.30rad) -132(-2.30rad)Upper limit 360( 6.28rad) 360( 6.28rad)Lower limit -360(-6.28rad) -360(-6.28rad)Upper limit 125( 2.18rad) 125( 2.18rad)Lower limit -125(-2.18rad) -125(-2.18rad)Upper limit 360( 6.28rad) 360( 6.28rad)Lower limit -360(-6.28rad) -360(-6.28rad)

110/s (1.92rad/s) 95/s (1.66rad/s)110/s (1.92rad/s) 90/s (1.57rad/s)110/s (1.92rad/s) 95/s (1.66rad/s)150/s (2.62rad/s) 120/s (2.09rad/s)150/s (2.62rad/s) 120/s (2.09rad/s)220/s (3.84rad/s) 190/s (3.32rad/s)

165kg 210kg25kg 25kg550kg 550kg

921Nm (94kgfm) 1333Nm (136kgfm)921Nm (94kgfm) 1333Nm (136kgfm)461Nm (47kgfm) 706Nm (72kgfm)NOTE 1) 78.4kgm2 NOTE1) 141.1kgm2

(800kgfcms2) (1440kgfcms2)NOTE 1) 117.6kgm2 NOTE 1) 225.4kgm2




(410kgfcms2) (800kgfcms2)NOTE 1) 98kgm2 NOTE 1) 196kgm2

(1000kgfcms2) (2000kgfcms2)

0.2mm1170kg 1240kg

Acoustic noise level

71.3dBNOTEThis value is equivalent continuous A-weighted sound pressure levelwhich applied with ISO11201(EN31201).This value is measured withthe following conditions"- Maximum load and speed""- Operating mode is AUTO"

Weight of mechanical unit 1480kg

Installation environment

Ambient temperature0 to 45Ambient humidity Normally 75%RH or less No dew,nor frost allowed. Short time (within one month) 95%RHHeight Up to 1000 meters above the sea level required,noparticularprovision for attitudeVibration 0.5G(4.9m/s2) or less

Drive method Electric servo dirive by AC servo motorRepeatability 0.3mm

J6 40.2kgm2

(410kgfcms2)

Allowableload inertiaat wrist

J4 78.4kgm2

(800kgfcms2)

J5 78.4kgm2

(800kgfcms2)

Allowableload momentat wrist

J4 921Nm (94kgfm)J5 921Nm (94kgfm)J6 461Nm (47kgfm)

J6-axis 220/s (3.84rad/s)

Max.loadcapacity

At Wrist 165kgAt J3-axis arm 25kgAt J2-axis base 550kg

J4-axis 150/s (2.62rad/s)J5-axis 150/s (2.62rad/s)

J6-axis 360( 6.28rad)-360(-6.28rad)

Max.motionspeed

J1-axis 110/s (1.92rad/s)J2-axis 100/s (1.75rad/s)J3-axis 110/s (1.92rad/s)

J4-axis 360( 6.28rad)-360(-6.28rad)

J5-axis 125( 2.18rad)-125(-2.18rad)

Motion range

J1-axis 180( 3.14rad)-180(-3.14rad)

J2-axis 65(1.13rad)-120(-2.08rad)

J3-axis 270(4.69rad)-95(-1.65rad)

Controlled axis 6-axisJ1,J2,J3,J4,J5,J6Installation Floor mount Rack mount

R-2000iB/165RType Articulated type

Note 1) The allowable load in standard inertia mode is shown in upper half and the allowable load in high inertia

mode in lower half. For details, see Section 4.5 in the connection manual.


- 47 -

Specifications (2/4) R-2000iB/100P R-2000iB/170CF

)Upper limit 180( 3.14rad) 180( 3.14rad)Lower limit -180(-3.14rad) -180(-3.14rad)Upper limit 65( 1.13rad) 135( 2.35rad)Lower limit -120(-2.09rad) -55(-0.96rad)Upper limit 270( 4.71rad) 220( 3.84rad)Lower limit -95(-1.66rad) -112(-1.95rad)Upper limit 360( 6.28rad) 360( 6.28rad)Lower limit -360(-6.28rad) -360(-6.28rad)Upper limit 125( 2.18rad) 125( 2.18rad)Lower limit -125(-2.18rad) -125(-2.18rad)Upper limit 360( 6.28rad) 360( 6.28rad)Lower limit -360(-6.28rad) -360(-6.28rad)


100kg 170kg25kg 25kg550kg 550kg

980Nm (100kgfm) 921Nm (94kgfm)980Nm (100kgfm) 921Nm (94kgfm)706Nm (72kgfm) 461Nm (47kgfm)

225.4kgm2 78.4kgm2

(2300kgfcms2) (800kgfcms2)225.4kgm2 78.4kgm2

(2300kgfcms2) (800kgfcms2)196kgm2 40.2kgm2


0.15mm1560kg 800kg



Weight of machine unit 1540kg


Ambient temperature0 to 45Ambient humidity Normally 75%RH or less No dew,nor frost allowed. Short time (within one month) 95%RHHeight Up to 1000 meters above the sea levelrequired,noparticular provision for attitude

Drive method Electric servo dirive by AC servo motorRepeatability 0.3mm

Allowableload inertiaat wrist

J4 141.1kgm2

(1440kgfcms2)

J5 141.1kgm2

(1440kgfcms2)

J6 78.4kgm2

(800kgfcms2)



J6-axis 190/s (3.32rad/s)

Max.loadcapacity

At wrist 200kgAt J3-axis arm At J2-axis base 550kg


J6-axis 360( 6.28rad)-360(-6.28rad)

Max.speed

J1-axis 90/s (1.57rad/s)J2-axis 85/s (1.48rad/s)J3-axis 95/s (1.66rad/s)

J4-axis 360( 6.28rad)-360(-6.28rad)

J5-axis 125( 2.18rad)-125(-2.18rad)

Motion range

J1-axis 180( 3.14rad)-180(-3.14rad)

J2-axis 65( 1.13rad)-120 (-2.09rad)

J3-axis 270(4.71rad)-95(-1.66rad)

Controlled axis 6-axesJ1,J2,J3,J4,J5,J6Installation Rack mount

R-2000iB/200RType Articulated type

Floor mount(or top mount)


- 48 -

Specifications (3/4) R-2000iB/175L R-2000iB/100H

5-axes (J1,J2,J3,J4,J5)

Upper limit 180( 3.14rad) 180( 3.14rad)Lower limit -180(-3.14rad) -180(-3.14rad)Upper limit 76( 1.33rad) 76( 1.33rad)Lower limit -60(-1.05rad) -60(-1.05rad)Upper limit 230( 4.01rad) 230( 4.01rad)Lower limit -125.9(-2.20rad) -132(-2.30rad)Upper limit 360( 6.28rad) 125( 2.18rad)Lower limit -360(-6.28rad) -125(-2.18rad)Upper limit 125( 2.18rad) 360( 6.28rad)Lower limit -125(-2.18rad) -360(-6.28rad)Upper limit 360( 6.28rad) -Lower limit -360(-6.28rad) -

95/s (1.66rad/s) 130/s (2.27rad/s)90/s (1.57rad/s) 130/s (2.27rad/s)95/s (1.66rad/s) 130/s (2.27rad/s)

120/s (2.09rad/s) 170/s (2.97rad/s)120/s (2.09rad/s) 360/s (6.28rad/s)190/s (3.32rad/s) -

175kg 100kg20kg -550kg 550kg

1225Nm (125kgfm) 441Nm (45kgfm)1225Nm (125kgfm) 245Nm (25kgfm)706Nm (72kgfm) -

225.4kgm2 39.2kgm2

(2300kgfcms2) (400kgfcms2)225.4kgm2 15.7kgm2

(2300kgfcms2) (160kgfcms2)196kgm2

(2000kgfcms2)

0.3mm 0.2mm1260kg 1150kg



Installation environment Ambient temperature0 to 45Ambient humidity Normally 75%RH or less No dew,nor frost allowed. Short time (within one month) 95%RHHeight Up to 1000 meters above the sea levelrequired,noparticular provision for attitu

Repeatability 0.2mmWeight of machine unit 1190kg

-(230kgfcms2)

Drive method Electric servo dirive by AC servo motor

Allowableload

inertia atwrist

J4 58.8kgm2

(600kgfcms2)

J5 58.8kgm2

(600kgfcms2)

J6 22.5kgm2



J6-axis 260/s (4.54rad/s)Max.loadcapacity

At wrist 125kgAt J3-axis arm 20kgAt J2-axis base 550kg


J6-axis 360( 6.28rad)-360(-6.28rad)

Max.speed J1-axis 110/s (1.92rad/s)J2-axis 110/s (1.92rad/s)J3-axis 110/s (1.92rad/s)

J4-axis 360( 6.28rad)-360(-6.28rad)

J5-axis 125( 2.18rad)-125(-2.18rad)

Motionrange

J1-axis 180( 3.14rad)-180(-3.14rad)

J2-axis 76( 1.33rad)-60 (-1.05rad)

J3-axis 230(4.01rad)-122.5(-2.14rad)

Controlled axis 6-axesJ1,J2,J3,J4,J5,J6Installation Floor mount

R-2000iB/125LType Articulated type


- 49 -

Specifications (4/4) R-2000iB/150U R-2000iB/165CF

Ungle mount Floor mountUpper limit 180( 3.14rad) 180( 3.14rad)Lower limit -180(-3.14rad) -180(-3.14rad)Upper limit 76( 1.33rad) 110( 1.92rad)Lower limit -60 (-1.05rad) -55 (-0.96rad)Upper limit 230(4.01rad) 120(2.09rad)Lower limit -132(-2.30rad) -130(-2.27rad)Upper limit 360( 6.28rad) 360( 6.28rad)Lower limit -360(-6.28rad) -360(-6.28rad)Upper limit 125( 2.18rad) 125( 2.18rad)Lower limit -125(-2.18rad) -125(-2.18rad)Upper limit 360( 6.28rad) 360( 6.28rad)Lower limit -360(-6.28rad) -360(-6.28rad)


150kg 165kg10kg 25kg550kg 550kg

833Nm (85kgfm) 911Nm (93kgfm)833Nm (85kgfm) 911Nm (93kgfm)421Nm (43kgfm) 451Nm (46kgfm)

78.4kgm2 88.2kgm2

(800kgfcms2) (900kgfcms2) 78.4kgm2 88.2kgm2

(800kgfcms2) (900kgfcms2) 40.2kgm2 44.1kgm2


0.2mm 0.15mm1070kg 1050kg

71.3 78.1dB

"- Maximum load and speed""- Operating mode is AUTO"


Ambient temperature0 to 45Ambient humidity Normally 75%RH or less No dew,nor frost allowed. Short time (within one month) 95%RHHeight Up to 1000 meters above the sea level required,noparticularprovision for attitudeVibration 0.5G(4.9m/s2) or less

Acoustic noise levelNOTEThis value is equivalent continuous A-weighted sound pressure levelwhich applied with ISO11201(EN31201).This value is measured withthe following conditions

Drive method Electric servo dirive by AC servo motorRepeatability

Weight of machine unit

Allowableload capacityat wrist

J4

J5

J6

Allowableload capacityat wrist

J4J5J6

Max.loadcapacity

At wristAt J3-axis armAt J2-axis base

Max motionspeed

J1-axisJ2-axisJ3-axisJ4-axisJ5-axisJ6-axis

Installation

Motion range

J1-axis

J2-axis

J3-axis

J4-axis

J5-axis

J6-axis

Type Articulated typeControlled axis 6-axesJ1,J2,J3,J4,J5,J6

Angle mount


- 50 -

3.2 MECHANICAL UNIT OPERATION AREA AND INTERFERENCE AREA

Fig. 3.2 (a) to (j) show the robot interference area. When installing peripheral devices, be careful to clear away any objects that are the robot and the robots motion path in normal operation.

J3-axis rear side interference area


Motion range of J5-axis rotation center

Fig. 3.2 (a) Interference area (R-2000iB/165F)


- 51 -


J5-axisrotationcenter


Fig. 3.2 (b) Interference area (R-2000iB/210F)


- 52 -

Fig 3.2 (c) Interference area (R-2000iB/165R)


J5-axisrotationcenter



- 53 -

Fig 3.2 (d) Interference area (R-2000iB/200R)


J5-axisrotation center



- 54 -

Fig 3.2 (e) Interference area (R-2000iB/100P)


- 55 -

(+109,+833)

R 1520

(+300,+1720)

(+689,-559)

(0,0)

(+1520,+500)(-488,+546)(-731,+480)

(-635,+423)(+600,+260)

(-821,+815)

0 DEG+180DEG

-180DEG

Motion range ofJ5-axis rotationcenter


(+600,-553)

300 670

500

550

326REAR SIDEINTERFERENCE AREA

215

98

210

220

112

55

180

30

252.

5

Fig. 3.2 (f) Interference area (R-2000iB/170CF)


- 56 -




Fig. 3.2 (g) Interference area (R-2000iB/125L)


- 57 -

Fig. 3.2 (h) Interference area (R-2000iB/175L)


- 58 -

R 582

(+2655,+930)

R 2655

(+312,+3045)

(+1355,-370)

(0,0)

(+665,+337)

(+665,+1004)

(+445,+1953)

(-955,+425)

(-1099,+305)(-1538,+289)

(-1919,+1208)

1280

312

670

0 DEG.+180DEG.

-180DEG.

MOTION RANGEOF J4 AXISROTATION CENTER


1075

225

814

REAR SIDEINTERFERENCE AREA

(+665,-171)

-132 DEG

.

-10

DEG

.

76 DEG.

-60 DEG

.

-35 DEG

.

230 DEG.

215 DEG.

252.

5

215

Fig. 3.2 (i) Interference area (R-2000iB/100H)


- 59 -

R534

R 2655


J3-axis rear sideinterference area

(+2655,+930)

(+312,+3045)

(+1355,-370)

(0,0)

(+665,+337)

(+665,+1004)

(+445,+1953)

(-955,+425)

(-1099,+305)

(-1538,+289)

(-1919,+1208)

(+665,-171)

-132 DEG

.

230 DEG.

-60 DEG.

-30 DEG.

76 DEG.22

5

0 DEG.

+180DEG.

-180DEG.

252

670

J5

215 DEG.

(-1520,+1891)(+2162,+2160)

(-1495,+290)

(+1980,-209)-1

0 D

EG

16462260

670

1075

1280215

814312

THE ROBOT MAY NOT RESTDEPENDING ON ITS LOAD CONDITION AND POSTURE

THE ROBOT MAY NOT RESTDEPENDING ON ITS LOAD CONDITION AND POSTURE

Fig. 3.2 (j) Interference area (R-2000iB/150U)


- 60 -

Fig. 3.2 (k) Interference area (R-2000iB/165CF)


- 61 -

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). Overtravel is detected at both ends of the motion limit for each axis. In addition, the motion range limit by a mechanical stopper or limit switch is also prepared to improve safety. Fig.3.3 (a) to (i) show the zero point and motion limit, LS detection position, and mechanical stopper position of each axis. * The motion range can be changed. For information on how to change the motion range, see Chapter 6, "AXIS LIMIT SETUP".

-184 Stopper end

-180.5 Limit switch detection position

180 Stroke end

+184 Stopper end

+180.5 Limit switch detection position

(NOTE) The limit switch of J1-axis is an option.

Fig. 3.3 (a) J1-axis motion limit


- 62 -

Fig. 3.3 (b) J2-axis motion limit (R-2000iB/165F, 210F, 125L, 175L, 100H)

-120Stroke end (LOWER limit)

-120.5Limit switch detection position

-124Stopper end

+65Stoke end (Upper limit)

+65.5Limit switch detection position

+69Stopper end

(NOTE) The limit switch of J2-axis is an option. Motion limit is restricted by the position of the J3-axis.

Fig 3.3 (c) J2-axis motion limit (R-2000iB/165R,200R,100P)


+76 Stroke end (Upper limit)

+80 Stopper end



-60 Stroke end (Lower limit)

-64 Stopper end


- 63 -

+135vStroke end(Upper limit)

+139vStopper end

-55vStroke end(Lower limit)

-59vStopper end

135

055

Fig.3.3 (d) J2-axis motion limit (R-2000iB/170CF)

Fig.3.3 (e) J2-axis motion limit (R-2000iB/165CF)

-55 Stroke end (Lower Limit)


+110 Stroke end (Upper Limit)


+114 Stroke end

-59 Stopper end



- 64 -

Limit switch detection position

Stroke end (Upper limit)

Stopper end

Stroke end (Lower limit)


Stopper end


Fig. 3.3 (f) J3-axis motion limit (R-2000iB/165F, 210F, 165R, 200R, 100P, 125L, 175L, 100H)

55

0

J2+J3=-55vStroke end(Lower limit)

J2+J3=-59vStopper end

J2+J3=239vStopper end

J2+J3=235vStroke end(Upper limit)

0

125

235

Fig. 3.3 (g) J3-axis motion limit (R-2000iB/170CF)


- 65 -

Fig. 3.3 (h) J3-axis motion limit (R-2000iB/165CF)

Stopper end

+125Stroke end (Upper limit) +125Stopper (R-2000iB/165CF)

Stopper end

Stroke end (Lower limit)

(Except for R-2000iB/165CF)

(Except for R-2000iB/165CF)

Stopper end (for R-2000iB/165CF)

Fig. 3.3 (i) J5-axis motion limit (It is J4-axis for R-2000iB/100H)


Stopper end

Stopper end (Lower limit)


Stroke end (Upper limit)

Stopper end



- 66 -

(NOTE) J4-axis does not have the limit switch and the mechanical stopper.

(NOTE)J6-axis does not have the limit switch and the mechanical stopper.

Software restriction

Software restriction

Fig. 3.3 (j) J4-axis motion limit Fig. 3.3 (k) J6-axis motion limit (for R-2000iB/100H is not included) (It is J5-axis for R-2000iB/100H)


- 67 -

3.4 WRIST LOAD CONDITIONS Fig. 3.4 (a) to (t) are diagrams to limit loads applied to the wrist. Apply a load within the region indicated in the graph.Apply the conditions of the allowable load moment and the allowable load inertia. See Section 3.1 about the allowable load moment and the allowable load inertia.

28.5

33.8170kg(R-2000iB/170CF)

35.2

44.3

37.8

35.5

47.3

51.7

62.6

X, Y [cm]

Z [cm]

27.7

6050

r-2000ib operator manual [b-82234en 07]

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