fanuc M900iA Maintenance Manual
FANUC > M-900iA/350
MECHANICAL UNIT
MAINTENANCE MANUAL
B-82135EN/01
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
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-82135EN/01 SAFETY
SAFETY
FANUC is not and does not represent itself as an expert in safety
systems, safety equipment, or the specific safety aspects of your
company and/or its work force. It is the responsibility of the
owner, employer, or user to take all necessary steps to guarantee
the safety of all personnel in the workplace.
The appropriate level of safety for your application and
installation can best be determined by safety system professionals.
FANUC therefore, recommends that each customer consult with
such professionals in order to provide a workplace that allows for
the safe application, use, and operation of FANUC systems.
Additionally, as the owner, employer, or user of a robotic system,
it is your responsibility to arrange for the training of the operator
of a robot system to recognize and respond to known hazards
associated with your robotic system and to be aware of the
recommended operating procedures for your particular
application and robot installation.
FANUC therefore, recommends that all personnel who intend to
operate, program, repair, or otherwise use the robotics system be
trained in an approved FANUC training course and become
familiar with the proper operation of the system. Persons
responsible for programming the system-including the design,
implementation, and debugging of application programs-must be
familiar with the recommended programming procedures for your
application and robot installation.
The following guidelines are provided to emphasize the
importance of safety in the workplace.
IMPORTANT
Before operating, servicing or in any other way handling
the robot, the "FANUC Robot SAFETY HANDBOOK (B80687EN)" must be thoroughly studied.
s-1
SAFETY B-82135EN/01
Considering safety
for your robot
installation
Keeping people and
equipment safe
Safety is essential whenever robots are used. Keep in mind the
following factors with regard to safety:
• The safety of people and equipment
• Use of safety enhancing devices
• Techniques for safe teaching and manual operation of the
robot(s)
• Techniques for safe automatic operation of the robot(s)
• Regular scheduled inspection of the robot and workcell
• Proper maintenance of the robot
The safety of people is always of primary importance in any
situation. However, equipment must be kept safe, too. When
prioritizing how to apply safety to your robotic system, consider
the following:
•People
• External devices
• Robot(s)
• Tooling
• Workpiece
Using safety enhancing
devices
Setting up a safe
workcell
Always give appropriate attention to the work area that surrounds
the robot. The safety of the work area can be enhanced by the
installation of some or all of the following devices:
• Safety fences, barriers, or chains
• Light curtains
• Interlocks
• Pressure mats
• Floor markings
• Warning lights
• Mechanical stops
• EMERGENCY STOP buttons
• DEADMAN switches
A safe workcell is essential to protect people and equipment.
Observe the following guidelines to ensure that the workcell is set
up safely. These suggestions are intended to supplement and not
replace existing federal, state, and local laws, regulations, and
guidelines that pertain to safety.
• Sponsor your personnel for training in approved FANUC
training course(s) related to your application. Never permit
untrained personnel to operate the robots.
• Install a lockout device to prevent unauthorized persons from
operating the robot.
• Use anti-tie-down logic to prevent the operator from bypassing
safety measures.
• Arrange the workcell so the operator faces the workcell and
can see what is going on inside the cell.
s-2
B-82135EN/01 SAFETY
• Clearly identify the work envelope of each robot in the system
with floor markings, signs, and special barriers. The work
envelope is the area defined by the maximum motion range of
the robot, including any tooling attached to the wrist flange that
extend this range.
• Position all controllers outside the robot work envelope.
• Never rely on software as the primary safety element.
• Install flashing lights and/or audible warning devices that
activate whenever the robot is operating, that is, whenever
power is applied to the servo drive system.
• Wherever possible, install safety fences to protect against
unauthorized entry by personnel into the work envelope.
• Install special guarding that prevents the operator from
reaching into restricted areas of the work envelope.
• Use interlocks.
• Use presence or proximity sensing devices such as light
curtains, mats, and capacitance and vision systems to enhance
safety.
• Periodically check the safety joints or safety clutches that can
be optionally installed between the robot wrist flange and
tooling. If the tooling strikes an object, these devices dislodge,
remove power from the system, and help to minimize damage
to the tooling and robot.
• Make sure all external devices are properly filtered, grounded,
shielded, and suppressed to prevent hazardous motion due to
the effects of electro-magnetic interference (EMI), radio
frequency interference (RFI), and electro-static discharge
(ESD).
• Make provisions for power lockout/tagout at the controller.
• Eliminate pinch points. Pinch points are areas where personnel
could get trapped between a moving robot and other
equipment.
• Provide enough room inside the workcell to permit personnel
to teach the robot and perform maintenance safely.
• Program the robot to load and unload material safely.
• If high voltage electrostatics are present, be sure to provide
appropriate interlocks, warning, and beacons.
• If materials are being applied at dangerously high pressure,
provide electrical interlocks for lockout of material flow and
pressure.
Staying safe while
teaching or manually
operating the robot
Advise all personnel who must teach the robot or otherwise
manually operate the robot to observe the following rules:
• Never wear watches, rings, neckties, scarves, or loose clothing
that could get caught in moving machinery.
• Know whether or not you are using an intrinsically safe teach
pendant if you are working in a hazardous environment.
• Before teaching, visually inspect the robot and work envelope
to make sure that no potentially hazardous conditions exist.
The work envelope is the area defined by the maximum motion
s-3
SAFETY B-82135EN/01
range of the robot. These include tooling attached to the wrist
flange that extends this range.
• The area near the robot must be clean and free of oil, water, or
debris. Immediately report unsafe working conditions to the
supervisor or safety department.
• FANUC recommends that no one enter the work envelope of a
robot that is on. However, if you must enter the work envelope,
be sure all safeguards are in place, and check the teach pendant
DEADMAN switch for proper operation. Take the teach
pendant with you, turn it on, and be prepared to release the
DEADMAN switch. Only the person with the teach pendant
should be in the work envelope.
• Know the path that can be used to escape from a moving robot;
make sure the escape path is never blocked.
• Isolate the robot from all remote control signals that can cause
motion while data is being taught.
• Test any program being run for the first time in the following
manner:
Staying safe during
production operation
WARNING
Stay outside the robot work envelope whenever a
program is being run. Failure to do so can result in injury.
- Using a low motion speed, single step the program for at least
one full cycle.
- Using a low motion speed, test run the program continuously for
at least one full cycle.
- Using the programmed speed, test run the program continuously
for at least one full cycle.
- Make sure all personnel are outside the work envelope before
running production.
Advise all personnel who operate the robot during production to
observe the following rules:
• Know the entire workcell area. The workcell includes the robot
and its work envelope, plus the area occupied by all external
devices and other equipment with which the robot interacts.
• Understand the complete task the robot is programmed to
perform before initiating production operation.
• Make sure all personnel are outside the work envelope before
operating the robot.
• Never enter or allow others to enter the work envelope during
production operation of the robot.
• Know the location and status of all switches, sensors, and
control signals that could cause the robot to move.
• Know where the EMERGENCY STOP buttons are located on
both the robot control and external control devices. Be
prepared to press these buttons in an emergency.
• Never assume that a program is complete if the robot is not
s-4
B-82135EN/01 SAFETY
moving. The robot could be waiting for an input signal that will
permit it to continue activity.
• If the robot is running in a pattern, do not assume it will
continue to run in the same pattern.
• Never try to stop the robot, or break its motion, with your body.
The only way to stop robot motion immediately is to press an
EMERGENCY STOP button located on the controller panel,
teach pendant, or emergency stop stations around the workcell.
Staying safe during
inspection
Staying safe during
maintenance
When inspecting the robot, be sure to:
• Turn off power at the controller.
• Lock out and tag out the power source at the controller
according to the policies of your plant.
• Turn off the compressed air source and relieve the air pressure.
• If robot motion is not needed for inspecting the electrical
circuits, press the EMERGENCY STOP button on the operator
panel.
• Never wear watches, rings, neckties, scarves, or loose clothing
that could get caught in moving machinery.
• If power is needed to check the robot motion or electrical
circuits, be prepared to press the EMERGENCY STOP button,
in an emergency.
When performing maintenance on your robot system, observe the
following rules:
• Never enter the work envelope while the robot or a program is
in operation.
• Before entering the work envelope, visually inspect the
workcell to make sure no potentially hazardous conditions
exist.
• Never wear watches, rings, neckties, scarves, or loose clothing
that could get caught in moving machinery.
• Consider all or any overlapping work envelopes of adjoining
robots when standing in a work envelope.
• Test the teach pendant for proper operation before entering the
work envelope.
• If it is necessary for you to enter the robot work envelope while
power is turned on, you must be sure that you are in control of
the robot. Be sure to take the teach pendant with you, press the
DEADMAN switch, and turn the teach pendant on. Be
prepared to release the DEADMAN switch to turn off servo
power to the robot immediately.
• Whenever possible, perform maintenance with the power
turned off. Before you open the controller front panel or enter
the work envelope, turn off and lock out the 3-phase power
s-5
SAFETY B-82135EN/01
source at the controller.
WARNING
Lethal voltage is present in the controller WHENEVER IT
IS CONNECTED to a power source. Be extremely careful
to avoid electrical shock.
HIGH VOLTAGE IS PRESENT at the input side whenever
the controller is connected to a power source. Turning the
disconnect or circuit breaker to the OFF position removes
power from the output side of the device only.
• Release or block all stored energy. Before working on the
pneumatic system, shut off the system air supply and purge the
air lines.
• Isolate the robot from all remote control signals. If
maintenance must be done when the power is on, make sure the
person inside the work envelope has sole control of the robot.
The teach pendant must be held by this person.
• Make sure personnel cannot get trapped between the moving
robot and other equipment. Know the path that can be used to
escape from a moving robot. Make sure the escape route is
never blocked.
• Use blocks, mechanical stops, and pins to prevent hazardous
movement by the robot. Make sure that such devices do not
create pinch points that could trap personnel.
WARNING
Do not try to remove any mechanical component from the
robot before thoroughly reading and understanding the
procedures in the appropriate manual. Doing so can result
in serious personal injury and component destruction.
• Be aware that when you remove a servomotor or brake, the
associated axis will fall if it is not supported or resting on a hard
stop.
• When replacing or installing components, make sure dirt and
debris do not enter the system.
• Use only specified parts for replacement. To avoid fires and
damage to parts in the controller, never use nonspecified fuses.
s-6
B-82135EN/01 SAFETY
• Before restarting a robot, make sure no one is inside the work
envelope; be sure that the robot and all external devices are
operating normally.
• Use appropriate lighting for maintenance work. Take care that
the lighting does not create new dangerous situations.
• If it is necessary to operate the robot during the inspection, pay
careful attention to the robot's motion and be sure to press the
EMERGENCY STOP button immediately when necessary.
• Be careful not to slip on spilled grease during maintenance.
• Do not climb on the robot.
• Some components might be hot. Take care when working on
servo motors or inside the controller. Wear protective clothing
(heart-resistant gloves, etc.) when working on components that
are hot.
• After replacing components, be sure to tighten screws and
fasteners that were loosened.
• The motor and reducer are heavy. Be careful when replacing
them. If the robot collides with a mechanical hard stop, replace
the mechanical hard stop even if it does not seem to be
damaged.
• After replacing parts or making adjustments, be sure to test run
the robot according to the following procedure.
1. Using a low motion speed, single step the program for
at least one full cycle.
2. Using a low motion speed, test run the program
continuously for at least one full cycle.
3. As speed is increased the path may vary slightly. Run
through the program at 5-10% intervals up to 100%.
4. Using the programmed speed, test run the program
continuously for at least one full cycle.
Make sure all personnel are outside the fence before test
running.
• After maintenance work, clean the area around the robot of oil,
water, and debris.
s-7
SAFETY B-82135EN/01
Safety procedure for
maintenance
Entering safeguarded
space for maintenance
Follow this safety procedure when entering the safeguarded space
for maintenance.
1. Stop the robot system.
2. Shut off the power to the robot system, and lock the main
breaker to prevent accidental powering on during maintenance.
2'. If you have to enter the safeguarded space while power is
available to the robot system, you must do the following prior
to entering the safeguarded space:
- check the robot system to determine if any conditions exist
that are likely to cause malfunctions, - check that the teach
pendant works correctly, and
- if any damage or malfunction is found, complete the required
corrections and perform a retest before personnel enter the
safeguarded space.
3. Enter the safeguarded space (see "The Safety Sequence for
fence entry" in "FANUC Robot SAFETY HANDBOOK").
4. After maintenance is complete, check that the safeguard
system is effective. If it has been suspended to perform the
maintenance working, return it to its original effectiveness.
s-8
B-82135EN/01 SAFETY
Keeping machine
tools and external
devices safe
Programming safety
precautions
Mechanical safety
precautions
Certain programming and mechanical measures are useful in
keeping the machine tools and other external devices safe. These
measures are outlined below.
Implement the following programming safety measures to prevent
damage to machine tools and other external devices.
• Back-check limit switches in the workcell to make sure they do
not fail.
• Implement "failure routines" in programs that will provide
appropriate robot actions if an external device or another robot
in the workcell fails.
• Use handshaking protocol to synchronize robot and external
device operations.
• Program the robot to check the condition of all external devices
during an operating cycle.
Implement the following mechanical safety measures to prevent
damage to machine tools and other external devices.
• Make sure the workcell is clean and free of oil, water, and
debris.
• Use software limits, limit switches, and mechanical hardstops
to prevent undesired movement of the robot into the work area
of machine tools and external devices.
s-9
SAFETY B-82135EN/01
Keeping the robot
safe
Operating safety
precautions
Programming safety
precautions
Observe the following operating and programming guidelines to
prevent damage to the robot.
The following measures are designed to prevent damage to the
robot during operation.
• Use a low override speed to increase your control over the
robot when jogging the robot.
• Visualize the movement the robot will make before you press
the jog keys on the teach pendant.
• Make sure the work envelope is clean and free of oil, water, or
debris.
• Use fuses to guard against electrical overload.
The following safety measures are designed to prevent damage to
the robot during programming:
• Establish interference zones to prevent collisions when two or
more robots share a work area.
• Make sure that the program ends with the robot near or at the
home position.
• Be aware of signals or other operations that could trigger
operation of tooling resulting in personal injury or equipment
damage.
• In dispensing applications, be aware of all safety guidelines
with respect to the dispensing materials.
NOTE
Any deviation from the methods and safety practices
described in this manual must conform to the approved
standards of your company. If you have questions, see
your supervisor.
s-10
B-82135EN/01 SAFETY
Warning labels 1. Greasing and degreasing label
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.
NOTE
See MAINTENANCE 3.1 REPLACING GREASE OF THE
DRIVE MECHANISM for explanations about specified
greases, the amount of grease to be supplied, and the
locations of grease and degrease outlets for individual
models.
s-11
SAFETY B-82135EN/01
2. Step-on prohibitive label
Step-on prohibitive label
Description Do not step on or climb the robot as it may adversely affect the
robot and you may get hurt if you lose your footing as well.
s-12
B-82135EN/01 SAFETY
3. High-temperature warning label
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 heatresistant gloves.
s-13
SAFETY B-82135EN/01
4. Transportation label
Transportation label
Description When transporting the robot, observe the instructions indicated on
this label.
1. Using a forklift
• Use a forklift having a load capacity of
3,000 kg or greater.
• Keep the total weight of the robot to be
transported to within 2,800 kg, because the
withstand load of the forklift bracket
(option) is 13,720 kgN (1,400 kg)
2. Using a crane
• Use a crane having a load capacity of 3,000
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.
s-14
B-82135EN/01 SAFETY
NOTE
See CONNECTION 3.1 TRANSPORTATION for
explanations about the posture a specific model should
take when it is transported.
s-15
PREFACE
PREFACE B-82135EN/01
This manual explains the maintenance and connection procedures
for the following robots:
Model name
FANUC Robot M-
Mechanical unit
specification No.
Maximum load
A05B-1327-B201 350kg
900iA/350
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.
TABLE 1
No. (1) (2) (3) (4) (5)
CONTENTS TYPE No. DATE WEIGHT
( W i t h o u t
controller)
LETTERS FANUC Robot
M-900iA/350
A05B-1327-B201 PRINT
SERIAL NO.
P R I N T
PRODUCTION
YEAR AND MONTH
1720kg
Position of label indicating mechanical unit specification number
p-1
B-82135EN/01 PREFACE
Specifications
ITEM M-900iA/350
Type Articulated Type
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6)
Installation (NOTE) Floor mount, Upside-down (Angle mount)
Motion range J1-axis 360° (6.28rad)
Motion range J2-axis 150° (2.62rad)
Motion range J3-axis 223.4° (3.90rad)
Motion range J4-axis 720° (12.57rad)
Motion range J5-axis 250° (4.36rad)
Motion range J6-axis 720° (12.57rad)
Max. Motion speed J1-axis 100°/s (1.75rad/s)
Max. Motion speed J2-axis 95°/s (1.66rad/s)
Max. Motion speed J3-axis 95°/s (1.66rad/s)
Max. Motion speed J4-axis 105°/s (1.83rad/s)
Max. Motion speed J5-axis 105°/s (1.83rad/s)
Max. Motion speed J6-axis 170°/s (2.97rad/s)
Max. load capacity at wrist 350kg
Max. load capacity at J3 arm 25kg
Max. load capacity at J2 arm 550kg
Allowable load moment at wrist J4-axis 1960N
Allowable load moment at wrist J5-axis 1960N
Allowable load moment at wrist J6-axis 891.8N
Allowable load inertia at wrist J4-axis 235.2kg m
Allowable load inertia at wrist J5-axis 235.2kg m
Allowable load inertia at wrist J6-axis 156.8kg m
m (200kgf m)
m (200kgf m)
m (91kgf m)
2
(2400kgf cm s2)
2
(2400kgf cm s2)
2
(1600kgf cm s2)
Drive method Electric servo drive by AC servo motor
Repeatability +/- 0.3mm
Weight Approx. 1720kg
Installation enviroment Ambient temperature : 0 - 45°C
Ambient humidity
Normally : 75%RH or less No dew, nor frost allowed.
Short time (within one month) : Max 95%RH
Height :
Up to 1,000 meters above the sea level requires, no particular provision for
attitude.
Vibration : 0.5 (4.9m/s
2
) or less
p-2
PREFACE B-82135EN/01
NOTE
The operation range of the J1-axis and J2-axis are limited
to the installation condition.
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
R-J3iB
controller
Setup and Operations
manual
SPOT TOOL
B-81464EN-1
HANDLING TOOL
B-81464EN-2
SEALING TOOL
B-81464EN-4
R-J3iB
controller
Maintenance manual
B-81465EN
B-81465EN-1
(European specification)
Intended readers :
All persons who use FANUC Robot, system
designer
Topics :
Safety items for robot system design, operation,
maintenance
Intended readers :
Operator, programmer, maintenance person,
system designer
Topics :
Robot functions, operations, programming,
setup, interfaces, alarms
Use :
Robot operation, teaching, system design
Intended readers :
Maintenance person, system designer
Topics :
Installation, connection to peripheral equipment,
maintenance
Use :
Installation, start-up, connection, maintenance
Mechanical unit Maintenance manual Intended readers :
Maintenance person, system designer
Topics :
Installation, connection to the controller,
maintenance
Use :
installation, start-up, connection, maintenance
FANUC Robot M-900iA/350
B-82135EN
- Spot welding, general-purpose large robot
p-3
B-82135EN/01 Table of Contents
TABLE OF CONTENTS
SAFETY ............................................................................................. s-1
PREFACE .......................................................................................... p-1
I. MAINTENANCE
1. CONFIGURATION ............................................................................ 3
1.1 J1-AXIS DRIVE MECHANISM........................................................................4
1.2 J2/J3-AXIS DRIVE MECHANISM...................................................................5
1.3 J4-AXIS DRIVE MECHANISM........................................................................6
1.4 J5/J6-AXIS DRIVE MECHANISM...................................................................7
1.5 MAJOR COMPONENT SPECIFICATIONS ....................................................8
2. PREVENTIVE MAINTENANCE ........................................................ 9
2.1 DAILY CHECKS .............................................................................................10
2.2 3-MONTH CHECKS........................................................................................12
2.3 1-YEAR CHECKS............................................................................................13
2.4 1.5-YEAR CHECKS.........................................................................................14
2.5 3-YEAR CHECKS............................................................................................15
2.6 MAINTENANCE TOOLS ...............................................................................16
3. PERIODIC MAINTENANCE............................................................ 21
3.1 REPLACING GREASE OF THE DRIVE MECHANISM..............................22
3.1.1 Grease Replacement Procedure for the J1-Axis/J2-Axis/J3-Axis and J4-Axis Gear Box22
3.1.2 Grease Replacement Procedure for the Wrist ...................................................................22
3.1.3 Attitude for Greasing.........................................................................................................23
3.2 GREASING POINTS .......................................................................................26
3.3 REPLACING THE BATTERIES.....................................................................27
4. TROUBLESHOOTING .................................................................... 28
4.1 OVERVIEW .....................................................................................................29
4.2 FAILURE AND CAUSE..................................................................................30
4.3 BACKLASH MEASUREMENT......................................................................38
5. ADJUSTMENTS.............................................................................. 41
5.1 AXIS LIMITS SETUP......................................................................................42
5.1.1 Zero Point Position and Motion Limit ..............................................................................43
5.1.2 Software Setting ................................................................................................................48
5.1.3 Hard Stopper and Limit Switch Setting ............................................................................50
5.2 ADJUSTING LIMIT SWITCH (OPTION)......................................................55
5.3 MASTERING ...................................................................................................58
c-1
Table of Contents B-82135EN/01
5.3.1 General ............................................................................................................................. 58
5.3.2 Resetting Alarms and Preparing for Mastering................................................................ 59
5.3.3 Mastering to a Fixture (Master Position Master) ............................................................. 60
5.3.4 Zero Degree Mastering..................................................................................................... 65
5.3.5 Quick Mastering............................................................................................................... 68
5.3.6 Single Axis Mastering......................................................................................................69
5.3.7 Mastering Data Entry .......................................................................................................72
6. REPLACING PARTS .......................................................................75
6.1 NOTE FOR PART REPLACEMENT .............................................................76
6.2 REPLACING J1-AXIS MOTOR (M1) AND REDUCER ..............................78
6.3 REPLACING J2-AXIS MOTOR (M2) AND REDUCER ..............................85
6.4 REPLACING J3-AXIS MOTOR (M3) AND REDUCER ..............................90
6.5 REPLACING THE WRIST AXIS MOTORS (M4, M5, AND M6),
WRIST UNIT AND J4 AXIS REDUCER95
6.6 SEALANT APPLICATION............................................................................. 99
6.7 REPLACING MOTOR COVERS (OPTION) ...............................................100
7. PIPING AND WIRING....................................................................101
7.1 PIPING DIAGRAM .......................................................................................102
7.2 WIRING DIAGRAM .....................................................................................103
8. REPLACING CABLES ..................................................................106
8.1 CABLE FORMING .......................................................................................108
8.2 CABLE REPLACEMENT............................................................................. 111
8.3 LIMIT SWITCH REPLACEMENT (OPTION) ............................................122
II. CONNECTION
1. ROBOT INTERFERENCE AREA ..................................................129
1.1 External Dimensions ......................................................................................130
1.2 Operation Area ............................................................................................... 131
2. MECHANICAL COUPLING TO THE ROBOT ...............................133
2.1 WRIST LOAD CONDITIONS ...................................................................... 134
2.2 LOAD CONDITIONS ON J2-AXIS BASE AND J3-AXIS ARM ...............135
2.3 MECHANICAL COUPLING OF END EFFECTOR TO WRIST ................136
2.4 EQUIPMENT MOUNTING FACE............................................................... 137
2.5 SETTING SYSTEM VARIABLES FOR MINIMUM CYCLE CONTROL 138
2.6 AIR SUPPLY (OPTION)............................................................................... 141
2.7 INTERFACE FOR OPTION CABLE (OPTION) .........................................142
3. TRANSPORTATION AND INSTALLATION..................................154
3.1 TRANSPORTATION .................................................................................... 155
3.2 INSTALLATION........................................................................................... 160
c-2
B-82135EN/01 Table of Contents
3.3 MAINTENANCE AREA ...............................................................................164
3.4 AIR PIPING (OPTION) .................................................................................165
3.5 INSTALLATION SPECIFICATIONS...........................................................167
3.6 STORAGE ......................................................................................................168
APPENDIX
A. SPARE PARTS LIST ................................................................... 171
B. CONNECTION DIAGRAM............................................................ 175
C. PERIODIC MAINTENANCE TABLE ............................................ 179
D. BOLT TIGHTENING TORQUE TABLE........................................ 182
c-3
Table of Contents B-82135EN/01
I. MAINTENANCE
B-82135EN/01 MAINTENANCE 1. CONFIGURATION
1CONFIGURATION
1
The configuration of the mechanical unit is shown in Fig. 1.
AC SERVO MOTOR (M3)
FOR J3-AXIS
AC SERVO MOTOR (M6)
FOR J6-AXIS
AC SERVO MOTOR (M4)
FOR J4-AXIS
AC SERVO MOTOR (M5)
FOR J5-AXIS
AC SERVO MOTOR (M2)
FOR J2-AXIS
AC SERVO MOTOR (M1)
FOR J1-AXIS
Fig. 1 Mechanical unit configuration
J3-AXIS CASING
END EFFECTOR
MOUNTING FACE
WRIST UNIT
J2 AXIS ARM
J2 AXIS UNIT
J1 AXIS UNIT
—— 3 ——
1. CONFIGURATION MAINTENANCE B-82135EN/01
1.1 J1-AXIS DRIVE MECHANISM
Pinion gear
Fig. 1.1 shows the J1-axis drive mechanism.
The rotation of the J1-axis motor (M1) fastened to the table is
input to the reducer through the center gear, and the output rotates
the table.
Motor (M1)
for J1-axis
Pipe
Center gear
Table
J1-axis base
Fig. 1.1 J1-axis drive mechanism
J1-axis reducer
(Hollow shaft)
—— 4 ——
Loading...