M20-ID Mechanical Unit Operator Manual

< Robot ARC Mate 120+D
< Robot M-20+D
MECHANICAL UNIT
OPERATOR'S MANUAL
B-84074EN/06
© FANUC CORPORATION, 2019

• Original Instructions
Thank you very much for purchasing FANUC Robot.

Before using the Robot, be sure to read the "FANUC Robot series SAFETY HANDBOOK
(B-80687EN)" and understand the content.
• 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 Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual, we endeavor to include all pertinent matters. There are, however, a very
large number of operations that must not or cannot be performed, and if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as being possible are "not possible".
B-84074EN/06 SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
This chapter describes the precautions which must be followed to enable the safe use of the robot. Before
using the robot, be sure to read this chapter thoroughly.
For detailed functions of the robot operation, read the relevant operator's manual to understand fully its
specification.
For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral equipment installed in a work cell.
For safe use of FANUC robots, you must read and follow the instructions in “FANUC Robot series
SAFETY HANDBOOK (B-80687EN)”.
1 PERSONNEL
Personnel can be classified as follows.
Operator:
• Turns the robot controller power ON/OFF
• Starts the robot program from operator panel
Programmer or Teaching operator:

• Operates the robot
• Teaches the robot inside the safeguarded space
Maintenance technician:
• Operates the robot
• Teaches the robot inside the safeguarded space
• Performs maintenance (repair, adjustment, replacement)
- The operator is not allowed to work in the safeguarded space.

- The programmer or teaching operator and maintenance technician are allowed to work in the
safeguarded space. Works carried out in the safeguarded space include transportation, installation,
teaching, adjustment, and maintenance.
- To work inside the safeguarded space, the person must be trained on proper robot operation.
Table 1 (a) lists the work outside the safeguarded space. In this table, the symbol “” means the work
allowed to be carried out by the specified personnel.
Table 1 (a) List of work outside the Safeguarded Space

Programmer or Maintenance
Operator
Teaching operator technician
Turn power ON/OFF to Robot controller   
Select operating mode (AUTO/T1/T2)  
Select remote/local mode  
Select robot program with teach pendant  
Select robot program with external device  
Start robot program with operator’s panel   
Start robot program with teach pendant  
Reset alarm with operator’s panel  
Reset alarm with teach pendant  
Set data on teach pendant  
s-1
SAFETY PRECAUTIONS B-84074EN/06
Programmer or Maintenance
Operator
Teaching operator technician
Teaching with teach pendant  
Emergency stop with operator’s panel   
Emergency stop with teach pendant   
Operator’s panel maintenance 
Teach pendant maintenance 
During robot operation, programming and maintenance, the operator, programmer, teaching operator and
maintenance technician take care of their safety using at least the following safety protectors.
• Use clothes, uniform, overall adequate for the work

• Safety shoes
• Helmet
2 DEFINITION OF SAFETY NOTATIONS

To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution on
safety with "WARNING" or "CAUTION" according to its severity. Supplementary information is
indicated by "NOTE". Read the contents of each "WARNING", "CAUTION" and "NOTE" before using
the robot.
Symbol Definitions
Used if hazard resulting in the death or serious injury of the user will be expected to
WARNING occur if he or she fails to follow the approved procedure.
Used if a hazard resulting in the minor or moderate injury of the user, or equipment
CAUTION damage may be expected to occur if he or she fails to follow the approved
procedure.
Used if a supplementary explanation not related to any of WARNING and CAUTION
NOTE is to be indicated.
s-2
3 PROCEDURE TO MOVE ARM WITHOUT

DRIVE POWER IN EMERGENCY OR
ABNORMAL SITUATIONS
(1) For emergency or abnormal situations (e.g. persons trapped in or sandwiched by the robot), brake
release unit can be used to move the robot axes without drive power.
Please order following unit and cable.
Name Specification
A05B-2450-J350 (Input voltage AC100-115V single phase)
Brake release unit
A05B-2450-J351 (Input voltage AC200-240V single phase)
A05B-2525-J047 ( 5m)
Robot connection cable
A05B-2525-J048(10m)
A05B-2525-J010 ( 5m) (AC100-115V Power plug) (*)
A05B-2525-J011(10m) (AC100-115V Power plug) (*)
Power cable
A05B-2450-J364 ( 5m) (AC100-115V or AC200-240V No power plug)
A05B-2450-J365(10m) (AC100-115V or AC200-240V No power plug)
(*) These do not support CE marking.
(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.
CAUTION
Robot systems installed without adequate number of brake release units or
similar means are neither in compliance with EN ISO 10218-1 nor with the
Machinery Directive and therefore cannot bear the CE marking.
WARNING
Robot arm would fall down by releasing its brake because of gravity. Therefore,
it is strongly recommended to take adequate measures such as hanging Robot
arm by a crane before releasing a brake.
s-3
In case of releasing the J2-axis motor brake

J2軸モータブレーキを解除する場合 In J3軸モータブレーキを解除する場合
case of releasing the J3-axis motor brake
落下
Fall down
Fall
落下down Fall
落下down
Method of supporting the robot arm

アーム支持方法
Sling
スリング
(*) This figure is an example of floor mount.

(*) 図は床置き設置時の例です。
The設置角度によっては落下方向が異なり
direction of fall is different according
ますので重力の影響を考慮し適切に支
to the installation angle, so support
えてください。
the robot appropriately in consideration
of the influence of the gravity.
Fig. 3 (a) Releasing J2 and J3 motor brake and measures
s-4
4 WARNING & CAUTION LABEL

(1) Greasing and degreasing label
1) 必ず排脂口を開けて給脂して下さい。
Ｏｐｅｎｔｈｅｇｒｅａｓｅｏｕｔｌｅｔ
ａｔｇｒｅａｓｉｎｇ．
必须在排脂口打开的状态下供脂。
2) 手動式ポンプを使用して給脂を行って
下さい。
Ｕｓｅａｈａｎｄｐｕｍｐａｔ
ｇｒｅａｓｉｎｇ．
请使用手动式供脂泵进行供脂。
3）必ず指定グリスを使用して下さい。
Ｕｓｅｄｅｓｉｇｎａｔｅｄｇｒｅａｓｅ
ａｔｇｒｅａｓｉｎｇ．
必须使用指定的润滑脂。
Fig. 4 (a) Greasing and degreasing label
Description
When greasing and degreasing, observe the instructions indicated on this label.
(1) Open the grease outlet at greasing.
(2) Use a hand pump at greasing.
(3) Use designated grease at greasing.
CAUTION
See Section 7.3 Maintenance for explanations about specified greases, the
amount of grease to be supplied, and the locations of grease and degrease
outlets for individual models.
(2) Step-on prohibitive label
Fig. 4 (b) 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.
s-5
(3) High-temperature warning label
Fig. 4 (c) 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.
(4) Transportation label
300kg
250kg×2
150kg×2
Fig. 4 (d) Transportation label
Description
When transporting the robot, observe the instructions indicated on this label.
Using a crane
• Use a crane with a load capacity of 300kg or greater.
• Use two slings with each load capacity of 250 kg or greater, sling the robot as shown Chapter 1
of operator’s manual.
• Use two M10 eyebolts with each load capacity of 1470 N (150 kgf) or greater.
CAUTION
See Section 1.1 TRANSPORTATION for explanations about the posture a
specific model should take when it is transported.
s-6
(5) High current attention label
接触注意
溶接中、内部は高電流が流れます。
DO NOT ACCESS
DURING ENERGIZED
HIGH CURRENT INSIDE
禁禁触触
焊接时内部部大电流。
Fig. 4 (e) High current attention Label
Description
Do not access during energized high current inside.
(6) Operating space and payload label

Below label is added when CE specification is specified.
Fig. 4 (f) Operating space and payload label (Example of ARC Mate 120iD, M-20iD/25)
s-7
B-84074EN/06 PREFACE
PREFACE
This manual explains the operation procedures for the mechanical units of the following robots:
Mechanical unit Maximum

Model name Remarks
specification No. load
FANUC Robot ARC Mate 120iD A05B-1228-B201 25kg With all axes brakes
FANUC Robot M-20iD/25 A05B-1228-B202 25kg With all axes brakes
With all axes brakes
FANUC Robot M-20iD/25 A05B-1228-B226 25kg
Food grade type
FANUC Robot ARC Mate 120iD/12L A05B-1228-B301 12kg With all axes brakes
FANUC Robot M-20iD/12L A05B-1228-B302 12kg With all axes brakes
FANUC Robot ARC Mate 120iD/35 A05B-1228-B401 35kg With all axes brakes
FANUC Robot M-20iD/35 A05B-1228-B402 35kg With all axes brakes
The label stating the mechanical unit specification number is affixed in the position shown below. Before
reading this manual, verify the specification number of the mechanical unit.
(1)
TYPE (2)
NO. (3)
DATE (4)
WEIGHT (5) kg
TY PE
NO.
D A TE
WEIGHT kg
Position of label indicating mechanical unit specification number
TABLE 1 (a)
(1) (2) (3) (4) (5)
WEIGHT kg
CONTENTS Model name TYPE No. DATE (Without
controller)
FANUC Robot ARC Mate 120iD A05B-1228-B201 250
FANUC Robot M-20iD/25 A05B-1228-B202 250
PRODUCTION
FANUC Robot M-20iD/25 A05B-1228-B226 SERIAL YEAR AND 250
LETTERS FANUC Robot ARC Mate 120iD/12L A05B-1228-B301 NO. MONTH 250
FANUC Robot M-20iD/12L A05B-1228-B302 IS PRINTED ARE 250
PRINTED
FANUC Robot ARC Mate 120iD/35 A05B-1228-B401 250
FANUC Robot M-20iD/35 A05B-1228-B402 250
p-1
PREFACE B-84074EN/06
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
SAFETY HANDBOOK B-80687EN Intended readers:

All persons who use the FANUC Robot and system Operator, system designer
designer must read and understand thoroughly this Topics:
handbook Safety items for robot system design, operation,
maintenance
R-30iB Plus/ OPERATOR’S MANUAL Intended readers:
R-30iB Mate Plus (Basic Operation) Operator, programmer, maintenance technician,
controller B-83284EN system designer
OPERATOR’S MANUAL Topics:
(Alarm Code List) Robot functions, operations, programming, setup,
B-83284EN-1 interfaces, alarms
OPERATOR’S MANUAL Use:
(Optional Function) Robot operation, teaching, system design
B-83284EN-2
ARC WELDING FUNCTION
OPERATOR’S MANUAL
B-83284EN-3
Spot WELDING FUNCTION
OPERATOR’S MANUAL
B-83284EN-4
DISPENSE FUNCTION
OPERATOR’S MANUAL
B-83284EN-5
MAINTENANCE MANUAL Intended readers:
R-30iB Plus : Trained maintenance technician, system designer
B-83195EN Topics:
R-30iB Mate Plus: Installation, start-up, connection, maintenance
B-83525EN Use:
Installation, start-up, connection, maintenance
This manual uses following terms.
Name Terms in this manual

Connection cable between robot and controller Robot connection cable
Robot mechanical unit Mechanical unit
p-2
B-84074EN/06 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1
PREFACE ....................................................................................................p-1
1 TRANSPORTATION AND INSTALLATION ........................................... 1

1.1 TRANSPORTATION...................................................................................... 1
1.2 INSTALLATION ............................................................................................. 4
1.2.1 Installation Method................................................................................................... 5
1.2.2 Angle of Mounting Surface Setting .......................................................................... 8
1.3 MAINTENANCE AREA .................................................................................. 9
1.4 INSTALLATION CONDITIONS ...................................................................... 9
2 CONNECTION WITH THE CONTROLLER .......................................... 10
3 BASIC SPECIFICATIONS .................................................................... 11
3.1 ROBOT CONFIGURATION ......................................................................... 11
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND WORK
ENVELOPE ................................................................................................. 15
3.3 ZERO POINT POSITION AND MOTION LIMIT ........................................... 17
3.4 MOTION RANGE ACCORDING TO CABLE INTEGRATION ...................... 22
3.5 WRIST LOAD CONDITIONS ....................................................................... 23
3.6 OPERATING AREA FOR INCLINATION INSTALLATION .......................... 27
4 EQUIPMENT INSTALLATION TO THE ROBOT .................................. 32
4.1 END EFFECTOR INSTALLATION TO WRIST ............................................ 32
4.2 EQUIPMENT MOUNTING FACE ................................................................ 35
4.3 LOAD SETTING .......................................................................................... 38
5 PIPING AND WIRING TO THE END EFFECTOR ................................ 40
5.1 AIR SUPPLY (OPTION) .............................................................................. 41
5.2 AIR PIPING (OPTION) ................................................................................ 42
5.3 INTERFACE FOR OPTION CABLE (OPTION) ........................................... 43
6 AXIS LIMIT SETUP ............................................................................... 52
6.1 CHANGE AXIS LIMIT BY DCS (OPTION) ................................................... 53
6.2 ADJUSTABLE MECHANICAL STOPPER SETTING (OPTION).................. 56
6.2.1 Installing the Adjustable Mechanical Stopper ........................................................ 56
6.2.2 Changing the Parameter Setting ............................................................................. 57
7 CHECKS AND MAINTENANCE ........................................................... 59

7.1 PERIODIC MAINTENANCE ........................................................................ 59
7.1.1 Daily Checks .......................................................................................................... 59
7.1.2 Periodic Checks and Maintenance.......................................................................... 60
7.2 CHECK POINTS .......................................................................................... 62
7.2.1 Confirmation of Oil Seepage .................................................................................. 62
c-1
TABLE OF CONTENTS B-84074EN/06
7.2.2 Confirmation of the Air Control Set (option) ......................................................... 63

7.2.3 Check the Mechanical Unit Cables and Connectors .............................................. 64
7.2.4 Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper ............ 66
7.3 MAINTENANCE........................................................................................... 67
7.3.1 Replacing the Batteries (1 year (3840 hours) checks) ............................................ 67
7.3.2 Replacing the Grease and Oil of the Drive Mechanism
(3 years (11520 hours) checks) checks) ................................................................. 68
7.3.2.1 Grease replacement procedure for the reducer (J1/J2/J3-axis)
(except M-20iD/25 food grade type) ................................................................. 69
7.3.2.2 Procedure for releasing remaining pressure from the grease bath
(J1/J2/J3-axis) (except M-20iD/25 food grade type) ......................................... 71
7.3.2.3 Oil replacement procedure for the 1/J2/J3-axis reducer
(M-20iD/25 food grade type) ............................................................................. 72
7.3.2.4 Procedure for Releasing remaining pressure from the Oil bath
(J1/J2/J3-axis) (M-20iD/25 food grade type)..................................................... 78
7.3.2.5 Oil replacement procedure for the J4-axis gearbox ........................................... 78
7.3.2.6 Oil replacement procedure for the J5/J6- axis gearbox
(ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35) ................................ 81
(ARC Mate 120iD/12L, ARC Mate 120iD/12L) ............................................... 84
7.3.2.8 Procedure for Releasing remaining pressure from the Oil bath
(J4/J5/J6-axis) .................................................................................................... 87
7.4 STORAGE ................................................................................................... 87
8 MASTERING ......................................................................................... 88
8.1 OVERVIEW ................................................................................................. 88
8.2 RESETTING ALARMS AND PREPARING FOR MASTERING ................... 91
8.3 ZERO POSITION MASTERING .................................................................. 92
8.4 QUICK MASTERING ................................................................................... 95
8.5 QUICK MASTERING FOR SINGLE AXIS ................................................... 98
8.6 SINGLE AXIS MASTERING ...................................................................... 101
8.7 MASTERING DATA ENTRY ...................................................................... 103
8.8 VERIFYING MASTERING ......................................................................... 105
9 TROUBLESHOOTING ........................................................................ 106
9.1 TROUBLESHOOTING............................................................................... 106
10 MATERIAL HANDLING CONDUIT (OPTION) .................................... 114
10.1 NOTES WHEN CABLE IS ATTACHED TO MATERIAL HANDLING
CONDUIT .................................................................................................. 114
10.2 OTHER NOTES ......................................................................................... 115
APPENDIX
A PERIODIC MAINTENANCE TABLE ................................................... 119
B STRENGTH OF BOLT AND BOLT TORQUE LIST............................ 124
C INSULATION ABOUT ARC WELDING ROBOT ................................ 125
C.1 INSULATION AT THE WRIST ................................................................... 125
C.2 INSULATION AT THE ADDITIONAL AXIS ................................................ 126
D CONTROL OF MULTIPLE ROBOTS .................................................. 127
c-2
B-84074EN/06 1. TRANSPORTATION AND INSTALLATION
1 TRANSPORTATION AND INSTALLATION

1.1 TRANSPORTATION
Use a crane or a forklift to transport the robot. When transporting the robot, be sure to change the posture
of the robot to that shown below and lift it by using the eyebolts and the transport equipment properly.
WARNING
1 When hoisting or lowering the robot with a crane or forklift, move it slowly, and
with great care. When placing the robot on the floor, exercise care to prevent the
installation surface of the robot from striking the floor.
2 The robot becomes unstable when it is transported with the end effector or
equipment is installed. Make sure to remove the end effector when the robot is
transported. (Except light cargo such as welding torch or wire feeder).
3 Use the transport equipment only for transportation. Do not use the forklift
pockets to secure the robot.
4 Before moving the robot by using crane, check and tighten any loose bolts on
the forklift pockets.
5 Do not pull eyebolts sideways.
1) Transportation using a crane (Fig. 1.1 (a), (b))

Fasten the M10 eyebolts to the two points of the robot base and lift the robot by the two slings. In this
case, please intersect and hang two Slings as shown in figure.
CAUTION
When lifting the robot, be careful not to damage motors, connectors, or cables of
the robot by slings.
Note)
注）
1. 1．ロボット総質量
Robot mass: 250kg
250kg
2. 2．アイボルトはJIS
Eyebolt compliedB1168に準拠のこと
with JIS B 1168.
273 213
3. Quantity eyebolt 2個
3．数量アイボルト 2 pcs
950 スリング 2個
Sling 2 pcs
Crane
Loadクレーン
capacity. : 300 kg or more
可搬質量： 300kg以上
Sling
Loadスリング
capacity : 250 kg/per 1 or more
可搬質量： 250kg/本以上
Eyebolt
アイボルト
Allowable
許容荷重：load 150kgf/個以上
: 150kgf/per 1 or more
ロボット重心位置
Center of gravity
M10 eyebolt
アイボルト (M10) Mounting
アイボルト position
JB-BEY-10
JB-BEY-10 (2)
(2) of eyebolt
取り付け位置
1320
Robot posture
輸送姿勢
on transportation
J1 0°
J2 -25°
J3 -47°
J4 0° VIEW
矢視AA
J5 -55°
J6 0°
173 175
Fig. 1.1 (a) Transportation using a crane (ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35)
-1-
1. TRANSPORTATION AND INSTALLATION B-84074EN/06
Note)
注）
1. Robot mass: 250kg
1．ロボット総質量
2. Eyebolt 250kg
complied with JIS B 1168.
2．アイボルトはJIS B1168に準拠のこと
3. Quantity eyebolt 2 pcs
3．数量アイボルト 2個
Sling
スリング22個 pcs
273 215
Crane
1087 クレーン
Load capacity. : 300 kg or more
可搬質量： 300kg以上
Slingスリング
Load可搬質量：
capacity : 250kg/本以上
250 kg/per 1 or more
Eyebolt
アイボルト
Allowable
許容荷重： load : 150kgf/個以上
150kgf/per 1 or more
Center of gravity M10 eyebolt (M10) Mounting position

ロボット重心位置アイボルト of eyebolt
JB-BEY-10 (2)(2)
JB-BEY-10 アイボルト
取り付け位置
1241
Robot posture
on transportation
輸送姿勢
J1 0°
J2 -33°
J3 -55°
J4 -30°
J5 -120° VIEW A
矢視A
J6 90° 173 175
Fig. 1.1 (b) Transportation using a crane (ARC Mate 120iD/12L, M-20iD/12L)
2) Transporting the robot with a forklift (Fig. 1.1 (c), (d))

When transporting a robot with a forklift, use special transport equipment. Transport equipment is
prepared as the option.
Robot posture
輸送姿勢 on transportation
J1 0° Note)
注）
1．ロボット総質量 250kg
J2 -25° 1. Robot mass: 250kg
J3 -47°
J4 0°
J5 -55°
J6 0° 950
Forklift load capacity

フォークリフト可搬質量
Center of gravity
:300kg以上
300kg or more ロボット重心位置
Center of gravity
1320
100
100
200 200
408.5 408.5
Bracket (2 pcs)
A290-7228-X271
ブラケット (2個）
A290-7228-X271
Fig. 1.1 (c) Transportation using a forklift (ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35)
CAUTION
Be careful not to strike the transport equipment with the forklift forks.
-2-
Robot posture
on輸送姿勢
transportation
J1 0° Note)
J2 -33° 注）
1. Robot mass: 250kg
1．ロボット総質量 250kg
J3 -55°
J4 -30°
J5 -120° Forklift load capacity
フォークリフト可搬質量
J6 90° : 300kg or more
300kg以上 1087
Center of gravity
Center of gravity
1241
100
100
200 200 173 175

408.5 408.5
Bracket
ブラケット (2 (2個）
pcs)
A290-7228-X271
A290-7228-X271
Fig. 1.1 (d) Transportation using a forklift (ARC Mate 120iD/12L, M-20iD/12L)
CAUTION
Be careful not to strike the transport equipment with the forklift forks.
-3-
1.2 INSTALLATION
Fig. 1.2 (a) 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.
Robot front
ロボット正面
4-φ18 through +0.018

4-O18 貫通 (Locating
(突き当て面) surface) (Locating surface)
(突き当て面) 2-φ12H7 ( 0 )
φ26
O26Counter
ザグリ bore
depth 32 125 125 32 through
2-O12 H7 (+0.018 ) 貫通
深さ 55 O21Counter
φ21
0
ザグリ bore
(for robot
(ロボット固定用)fixation) 121 ±0.1 121 ±0.1
A depth
深さ 55 5
15
(突き当て面)surface)
32
(Locating
(2-O12 H7)
151 ±0.1
173
A Section A-A
150
断面 A-A
125
Rotation center
J1軸回転中心
of J1-axis
70
300
140
15.5 11
5
B
122.5
(突き当て面) surface)
B
35
Section B-B
断面 B-B
(Locating
4-φ11through
4-O11 貫通
150 φ17
O17counter
ザグリbore
depth
深さ 5
300 (for transport equipment)
(輸送部材用)
155.5 155.5
173
Fig. 1.2 (a) Dimensions of the robot base
-4-
1.2.1 Installation Method

Fig. 1.2.1 (a) shows an example of installing the robot. In this example, the floor plate is fixed with four
M20 chemical anchors (tensile strength 400N/mm2 or more), and the robot base is fastened to the floor
plate with four M16 x 40 bolts (tensile strength 1200N/mm2 or more). If compatibility must be maintained
in teaching the robot after the robot mechanical unit is replaced, use the mounting face.
Front
正面
Locating surface
突き当て面
Locating surface
突き当て面
4-M16
4-M16through
貫通
400
300
150
J1-axis
J1軸回転中心 rotation
center
50
50 150 150
300
Robot
ロボット J1 base
J1ベース
400 Robot mounting bolts
M16 x 40 (4 pcs)
ロボット固定ボルト
Chemical anchor M16X40(4個)
Tensile strength : 1200N/mm2
M20 (4 pcs) 引張強度： 1200N/mm 2以上
or more
締付トルク： 318 Nm
ケミカルアンカー
Tensile strength : 400N/mm2 Tightening torque : 318Nm
M20(4個)
or more 2
引張強度： 400N/mm 以上
Tightening
締付トルク：torque 186 Nm: 186Nm
30
(埋め込み深さ)
(Depth)
200
200
Fig. 1.2.1 (a) Example of installing the robot
-5-
NOTE
The customer shall arrange for the positioning pin, anchor bolts, and floor plate.
Don’t perform leveling at the robot base directly using a push bolt or a wedge. To
secure the robot base, use four hexagon socket head bolt M16 x 40 (tensile
strength 1200N/mm2 or more) and tighten them with regulated tightening torque
318Nm.
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.
Flatness of robot installation surface must be less than or equal to 0.5mm.
Inclination of robot installation surface must be less than or equal to 0.5º. If robot
base is placed on uneven ground, it may result in the base breakage or low
performance of the robot.
Fig. 1.2.1 (b) and Table 1.2.1 (a) to (c) show the force and moment applied to the Robot base. Table 1.2.1
(d), (e) indicate the stopping distance and time of the J1 to J3 axes until the robot stops by Power-Off stop
or by Smooth stop after input of the stop signal. Refer to the data when considering the strength of the
installation face.
NOTE
Stopping times and distances in Table 1.2.1 (d) and (e) are reference values
measured in accordance with ISO 10218-1. Please measure and check the
actual values, since it varies depending on robot individual, load condition and
operation program. Stopping times and distances in Table 1.2.1 (d) are affected
by the robot's operating status and the number of Servo-off stops. Please
measure and check the actual values periodically.
Table 1.2.1 (a) Force and moment that act on robot base (ARC Mate 120iD, M-20iD/25)
Force in vertical Force in horizontal
Vertical moment direction Horizontal moment direction
MV [Nm](kgfm) FV [N] (kgf) MH [Nm] (kgfm) FH [N] (kgf)
During stillness 1592 (162） 2633 (269) 0 (0) 0 (0)
During acceleration
3798 (388) 3473 (354) 749 (76) 1405 (143)
or deceleration
During
7257 (768) 5278 (539) 2851 (291) 2436 (249)
Power-Off stop
During
3803 (388) 3469 (354) 762 (78) 1409 (144)
Smooth stop
Table 1.2.1 (b) Force and moment that act on robot base (ARC Mate 120iD/12L, M-20iD/12L)
During stillness 1325 (135) 2580 (263) 0 (0) 0(0)
During acceleration
2266 (231) 2971 (303) 402 (41) 466 (48)
or deceleration
During
6459 (659) 4916 (502) 3764(384) 2679 (273)
Power-Off stop
During
2204 (225) 3298 (337) 732 (75) 1757 (179)
Smooth stop
-6-
Table 1.2.1 (c) Force and moment that act on robot base (ARC Mate 120iD/35, M-20iD/35)
During stillness 1761 (180) 2549 (260) 0 (0) 0 (0)
During acceleration
3844 (392) 3386 (345) 549 (56) 715 (73)
or deceleration
During
9254 (944) 5851 (597) 2049 (209) 1468 (150)
Power-Off stop
During
3757 (383) 3351 (342) 730 (75) 781 (80)
Smooth stop
Table 1.2.1 (d) Stopping time and distance until the robot stopping
by Power-Off stop after input of stop signal
Model J1-axis J2-axis J3-axis
ARC Mate 120iD, Stopping time [ms] 276 344 200
M-20iD/25 Stopping distance [deg] (rad) 24.0 (0.42) 30.4 (0.53) 18.8 (0.33)
ARC Mate 120iD/12L, Stopping time [ms] 164 184 100
M-20iD/12L Stopping distance [deg] (rad) 17.5 (0.31) 16.2 (0.28) 5.7 (0.10)
ARC Mate 120iD/35, Stopping time [ms] 192 272 136
Table 1.2.1 (e) Stopping time and distance until the robot stopping
by Smooth stop after input of stop signal
Model J1-axis J2-axis J3-axis
ARC Mate 120iD, Stopping time [ms] 464 472 512
ARC Mate 120iD/12L, Stopping time [ms] 492 384 396
M-20iD/12L Stopping distance [deg] (rad) 39.8 (0.69) 27.6 (0.48) 17.9 (0.32)
ARC Mate 120iD/35, Stopping time [ms] 420 420 460
MV
FH
FV
MH
Fig. 1.2.1 (b) Force and moment that acts on robot base
-7-
1.2.2 Angle of Mounting Surface Setting

For all robot mounts except floor mount, be sure to set the mounting angle referring to the procedure below.
Refer to Section 3.1 for installation specifications.
1 Turn on the controller with the [PREV] and the [NEXT] key pressed. Then select [3 Controlled start].
2 Press the [MENU] key and select [9 MAINTENANCE].
3 Select the robot for which you want to set the mount angle, and press the [ENTER] key.
ROBOT MAINTENANCE CTRL START MANU
Setup Robot System Variables

Group Robot Library/Option Ext Axes
1 M-20iD/25 0
[TYPE]ORD NO AUTO MANUAL
4 Press the [F4] key.

5 Press the [ENTER] key until screen below is displayed.
*******Group 1 Initialization************
*************M-20iD/25*******************
--- MOUNT ANGLE SETTING---
0 [deg] : floor mount type

90 [deg] : wall mount type
180 [deg] : upside-down mount type
Set mount_angle (-180 - 180[deg])->
Default value = 0
6 Input the mount angle referring to Fig.1.2.2 (a).
+
Angle of
設置角度
mounting surface
Fig.1.2.2 (a) Mounting angle
-8-
7 Press the [ENTER] key until screen below is displayed again.
ROBOT MAINTENANCE CTRL START MANU
Setup Robot System Variables

Group Robot Library/Option Ext Axes
1 M-20iD/25 0
[TYPE]ORD NO AUTO MANUAL
8 Press the [FCTN] key and select [1 START (COLD)].
1.3 MAINTENANCE AREA

Fig. 1.3 (a) shows the maintenance area of the mechanical unit. Be sure to leave enough room for the robot
to be mastered. See Chapter 8 for mastering information.
650 900
Mastering area
マスタリング領域
500
300
300
500
Maintenance
保守スペース area
1000 (ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35)
1350 (ARC Mate 120iD/12L, M-20iD/12L)
Fig. 1.3 (a) Maintenance area
1.4 INSTALLATION CONDITIONS

Refer to specification of Section 3.1 about installation conditions.
-9-
2. CONNECTION WITH THE CONTROLLER B-84074EN/06
2 CONNECTION WITH THE CONTROLLER

The robot is connected with the controller via the power and signal cable and earth cable. Connect these
cables to the connectors on the back of the base.
For details on air and option cables, see Chapter 5.
WARNING
Before turning on controller power, be sure to connect the robot and controller
with the earth line (ground). Otherwise, there is the risk of electrical shock.
CAUTION
1 Before connecting the cables, be sure to turn off the controller power.
2 Don’t use 10m or longer coiled cable without first untying it. The long coiled
cable could heat up and become damaged.
Robot mechanical unit

ロボット機構部
Controller
制御装置
Robot connection cable

ロボット接続ケーブル
(power, signal cable, earth line)
(動力、信号ケーブル、アース線)
Air
エア
Connector for
動力線
Power line and
信号線ケーブル
Signal
用コネクタ line
Earth terminal
アース端子
(M8 bolt)
(M8ボルト)
Fig. 2 (a) Cable connection
- 10 -
B-84074EN/06 3. BASIC SPECIFICATIONS
3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
AC servo motor for J6-axis
J6軸用ACサーボモータ
End effector
エンドエフェクタ
mounting face
取付面
J3 arm
Wrist unit
手首ユニット J3アーム

J4軸用ACサーボモータ J2J2アーム
arm
AC J1軸用ACサーボモータ
servo motor for J1-axis
J2 base
J2ベース
J1J1ベース
base
Fig. 3.1 (a) Mechanical unit configuration
-
X+
+
Y J4
J6
J5
+ J3
- -
Z + -
-
J2
+
J1
Fig. 3.1 (b) Each axes coordinates and mechanical interface coordinates
NOTE
The end effector mounting face center is (0, 0, 0) of the mechanical interface
coordinates.
- 11 -
3. BASIC SPECIFICATIONS B-84074EN/06
Specifications (NOTE 1) (1/1)

Item Specification
ARC Mate 120iD ARC Mate 120iD/12L
Model
M-20iD/25 M-20iD/12L
Type Articulated type
Controlled axes 6 axes(J1, J2, J3, J4, J5, J6)
Installation(NOTE 2) Floor, Upside-down, Wall & Angle mount
Upper limit 170°(2.97rad) /-170°(-2.97rad)
J1-axis
/Lower limit 185°(3.23rad) /-185°(-3.23rad) (option)
Upper limit
J2-axis 160°(2.79rad)/ -100°(-1.74rad)
/Lower limit
Upper limit
J3-axis 268.4°(4.68rad)/-190°(-3.32rad)
/Lower limit
Motion range Upper limit
J4-axis 200°(3.49rad)/-200°(-3.49rad)
/Lower limit
Upper limit Cable integrated type 140°(2.44rad)/-140°(-2.44rad)
J5-axis
/Lower limit External cable type 180°(3.14rad)/-180°(-3.14rad)
J6-axis
J1-axis 210°/s ( 3.67rad/s) 210°/s ( 3.67rad/s)
Max motion speed J3-axis 265°/s ( 4.63rad/s) 265°/s ( 4.63rad/s)
(NOTE 3) J4-axis 420°/s ( 7.33rad/s) 420°/s ( 7.33rad/s)
J6-axis 720°/s(12.57rad/s) 720°/s(12.57rad/s)
At wrist 25 kg 12 kg
Maximum load On J3 arm
40 kg 36 kg
(NOTE 4)
J4-axis 52.0 Nm 22.0 Nm
Allowable load
J5-axis 52.0 Nm 22.0 Nm
moment at wrist
J6-axis 32.0 Nm 9.8 Nm
J4-axis 2.40 kgm2 0.65 kgm2
Allowable load
J5-axis 2.40 kgm2 0.65 kgm2
inertia at wrist
J6-axis 1.20 kgm2 0.17 kgm2
Repeatability (NOTE 5) ±0.02 mm ±0.03 mm
Mass 250kg
Acoustic noise level 70dB or less (NOTE 6)
Ambient temperature: 0 to 45℃ (NOTE 7)
Ambient humidity: Normally 75%RH or less (No condensation allowed.)
Short time (Within 1 month) 95%Rh or less
Installation environment (No condensation allowed.)
Permissible altitude: Above the sea 1000m or less
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (NOTE 8)
NOTE
1 Even if the robot is used according to the defined specifications, motion programs might shorten reducer life
or cause the robot to overheat. Use ROBOGUIDE (system design support tool by FANUC) for further
evaluation before running production.
2 In case of ARC Mate 120iD, M-20iD/25, when the Wall & Angle mount is specified, the motion range will be limited. See
Section 3.6.
3 During short distance motions, the axis speed may not reach the maximum value stated.
4 Maximum load on J3 arm is influenced by load of wrist. See Section 4.2 for detail.
5 Compliant with ISO9283.
6 This value is equivalent continuous A-weighted sound pressure level, which applied with ISO11201 (EN31201). This
value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
7 When the robot is used in a low temperature environment that is near to 0ºC, or not operated for a long time in the
environment that is less than 0ºC (during a holiday or during the night), a collision detection alarm (SRVO-050) etc. may
occur since the resistance of the drive mechanism could be high immediately after starting the operation. In this case, we
recommend performing the warm up operation for several minutes.
8 Contact the service representative, if the robot is to be used in an environment or a place subjected to
hot/cold temperatures, severe vibrations, heavy dust, water, water vapor, cutting fluid, cleaning fluid splash
and or other foreign materials.
- 12 -
Specifications (NOTE 1) (2/2)
Item Specification
ARC Mate 120iD/35
Model
M-20iD/35
Type Articulated type
Controlled axes 6 axes(J1, J2, J3, J4, J5, J6)
Installation(NOTE 2) Floor, Upside-down, Wall & Angle mount
Upper limit 170°(2.97rad)/-170°(-2.97rad)
J1-axis
/Lower limit 185°(3.23rad)/-185°(-3.23rad) (option)
Upper limit
J2-axis 160°(2.79rad)/100°(-1.74rad)
/Lower limit
Upper limit
J3-axis 268.4°(4.68rad)/-190°(-3.32rad)
/Lower limit
Motion range Upper limit
J4-axis 200°(3.49rad)/-200°(-3.49rad)
/Lower limit
J5-axis
J6-axis
/Lower limit External cable type
450°(7.85rad)/-450°(-7.85rad)
J1-axis 180°/s ( 3.14rad/s)
J2-axis 180°/s ( 3.14rad/s)
Max motion speed J3-axis 200°/s ( 4.54rad/s)
(NOTE 3) J4-axis 350°/s ( 6.11rad/s)
J5-axis 350°/s ( 6.11rad/s)
J6-axis 400°/s (6.98rad/s)
At wrist 35 kg
Maximum load On J3 arm
20 kg
(NOTE 4)
J4-axis 110.0 Nm
Allowable load
J5-axis 110.0 Nm
moment at wrist
J6-axis 60.0 Nm
J4-axis 4.00 kgm2
Allowable load
inertia at wrist
Repeatability (NOTE 5) ±0.03 mm
Mass 250kg
Acoustic noise level 70dB or less(NOTE 6)
Ambient temperature: 0 to 45℃ (NOTE 7)
Ambient humidity: Normally 75%RH or less (No condensation allowed.)
Short time (Within 1 month) 95%Rh or less
Installation environment (No condensation allowed.)
Permissible altitude: Above the sea 1000m or less
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (NOTE 8)
NOTE
1 Even if the robot is used according to the defined specifications, motion programs might shorten reducer life
or cause the robot to overheat. Use ROBOGUIDE (system design support tool by FANUC) for further
evaluation before running production.
2 When the Wall & Angle mount is specified, the motion range will be limited. See Section 3.6.
3 During short distance motions, the axis speed may not reach the maximum value stated.
4 Maximum load on J3 arm is influenced by load of wrist. See Section 4.2 for detail.
5 Compliant with ISO9283.
6 This value is equivalent continuous A-weighted sound pressure level, which applied with ISO11201 (EN31201). This
value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
7 When the robot is used in a low temperature environment that is near to 0ºC, or not operated for a long time in the
environment that is less than 0ºC (during a holiday or during the night), a collision detection alarm (SRVO-050) etc. may
occur since the resistance of the drive mechanism could be high immediately after starting the operation. In this case, we
recommend performing the warm up operation for several minutes.
8 Contact the service representative, if the robot is to be used in an environment or a place subjected to
hot/cold temperatures, severe vibrations, heavy dust, water, water vapor, cutting fluid, cleaning fluid splash
and or other foreign materials.
- 13 -
Table 3.1 (a) The dustproof and waterproof characteristics

(ARC Mate 120iD, ARC Mate 120iD/12L/35)
Normal specification
Wrist (*) +J3 arm IP67
Other part IP54
Table 3.1 (b) The dustproof and waterproof characteristics

(M-20iD/25/12L/35)
Severe dust/liquid protection
Normal specification
option
Wrist (*) + J3 arm IP67 IP67
Other part IP54 IP65
NOTE
1 It does not include conduit part. There is no dustproof and waterproof
characteristic for M/H conduit. Refer to Chapter 10 for details.
2 Definition of IP code
Definition of IP 67
6=Dust-tight
7=Protection from water immersion
Definition of IP 54
5=Dust-protected
4=Protection from splashing water
Definition of IP 65
6=Dust-tight: Complete protection against contact
5=Protection from water jet: Direct water projected in jets against the
enclosure from any direction shall have no harmful effects.
(1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids.
Potentially these liquids will cause irreversible damage to the rubber parts (such as: gaskets, oil seals,
O-rings etc.). (As exception to this only liquids tested and approved by FANUC can be used with the
robot.)
(a) Organic solvents
(b) Cutting fluid or cleaning fluid including chlorine / gasoline
(c) Amine type cutting fluid or cleaning fluid
(d) Acid, alkali and liquid causing rust
(e) Other liquids or solutions, that will harm NBR or CR rubber
(2) When the robots work in the environment, using water or liquid, complete draining of J1 base must
be done. Incomplete draining of J1 base will make the robot break down.
(3) Don not use unconfirmed cutting fluid and cleaning fluid.
(4) Do not use the robot immersed in water, neither temporary nor permanent. Robot must not be wet
permanently.
*Example : in case motor surface is exposed to water for a long time, liquid may invade inside the
motor and cause failure.
- 14 -
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND

WORK ENVELOPE
Fig. 3.2 (a), (b) show the robot operating space. When installing peripheral devices, be careful not to
interfere with the robot and its operating space.
+170 deg
1
R 183
(-185 deg)
(0 deg)
(+185 deg)
-170 deg
75 890 90
110 (food
(食品オイル仕様）
grade type)
Operating
J5軸中心動作領域 space of
J5-axis rotation center
J5-axis
J5軸回転中心
rotation center
76
°
215
250°
2181
30°
840
14°
0°
10
160°
8°
26
425
2°
1280
° 10
190
296
1681 1831
Fig. 3.2 (a) Operating space (ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35)
- 15 -
+170 deg
R 2272
(-185 deg)
(+185 deg)
-170 deg
81
75 1340 75
°
215
2622
J5-axis
J5軸回転中心
rotation center
J5軸中心動作領域
Operating space of
840
J5-axis rotation center

0°
9°
10
°
160°
268
425
°
99
190°
1721
619
2122 2272
Fig. 3.2 (b) Operating space (ARC Mate 120iD/12L, M-20iD/12L)
- 16 -
3.3 ZERO POINT POSITION AND MOTION LIMIT

Zero point and motion range are provided for each controlled axis. 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. The robot cannot exceed the motion range unless there is a loss of zero point position due to
abnormalities in servo system or system error. In addition, the motion range limit by a mechanical stopper
is also prepared to improve safety.
Fig. 3.3 (a) shows the position of the mechanical stopper. For the J1 to J3-axis, stopping by overtravel
damages the mechanical stopper. If this occurs, replace the stopper with a new one. Don’t reconstruct the
mechanical stopper. There is a possibility that the robot doesn't stop normally.
J3-axis mechanical stopper B

J3軸機械式ストッパB J3-axis mechanical
Spec.: J3軸機械式ストッパA
stopper A
仕様: A6-BA-16X20
Bolt
ボルト : A6-BA-16X20 J2-axis mechanical stopper B
J2軸機械式ストッパB
Spec.:
仕様
Stopper : A290-7222-X323
ストッパ : A290-7222-X323
J2-axis mechanical
J2軸機械式ストッパA Bolt :ボルト
A6-BA-24X40
: A6-BA-24X40
stopper A (締め付けトルク
(Tightening 128Nm)
torque 128Nm)
J1-axis mechanical
J1軸機械式ストッパA
stopper A
(機械式ストッパ指定時)
(When J1-axis
mechanical stopper
is specified)
B
J1-axis mechanical
stopper B
(When J1-axis mechanical
stopper is specified)
Spec.:
仕様 : A290-7228-X361
Stopper
ストッパ : A290-7228-X361 詳細 B
Detail B
Bolt ボルト
:A6-BA-8X30 (2 pcs)
: A6-BA-8X30 (2個)
(Tightening
(締め付けトルク torque 37.2Nm)
37.2Nm)
Fig. 3.3 (a) Position of mechanical stopper
- 17 -
When the J1-axis mechanical stopper and J1-axis adjustable mechanical stopper (option) is not used, attach
the label and protect the mounting face. If label has no adhesive force or it is lost, order and attach it.
Label
ラベル
A290-7228-X261
A290-7228-X261
Fig. 3.3 (b) Protection label for J1-axis mechanical stopper mounting position
WARNING
If spatter etc. attached to the mounting face or the tap, the J1-axis mechanical
stopper and J1-axis adjustable mechanical stopper (option) cannot be installed
correctly, and there is a possibility that the robot does not stop.
Fig. 3.3 (c) to 3.3 (i) show the zero point and motion limit and maximum stopping distance (stopping
distance in condition of maximum speed and maximum load) of each axis.
* The motion range can be changed. For information on how to change the motion range, see Chapter
6, “AXIS LIMIT SETUP”.
+185°
-185º-185°
Stroke end (Lowper limit)
ストロークエンド(下限)
0°
+185º Stroke
+185° end (Upper limit)
ストロークエンド(上限)
-185°
Fig. 3.3 (c) J1-axis motion limit (When mechanical stopper option is not selected)
- 18 -
+ 170°
+170º Stroke
+170° end (Upper limit)
10.8°
-180.8º The maximum stopping
-180.8v 最大停止距離 (位置)
distance (position)
+180.8º The maximum stopping
10.8°
0°
+180.8v distance
最大停止距離 (position)
(位置)
-170º Stroke
-170° end (Lower limit)
ストロークエンド(下限)
°
- 170
Fig. 3.3 (d) J1-axis motion limit (When mechanical stopper is selected)
0°
10
160°
-100º Stroke end (Lowper limit)

-100°ストロークエンド（下限）
8.8°
-108.8º The maximum

-108.8v 最大停止距離 (位置)stopping
distance (position)
8.8°
+168.8º The maximum stopping +160º Stroke end
+160°ストロークエンド（上限）
+168.8v 最大停止距離
distance (position) (位置) (Upper limit)
注）J3軸の位置によって動作範囲に
NOTE ) Motion limit is restricted
制限を受けます。 by the position of the J3-axis.
Fig. 3.3 (e) J2-axis motion limit
- 19 -
+220°
-90°
J2+J3=+220º
J2+J3=+220v
Stroke end (Upper limit)
7. 1
°
J2+J3=+225.1º
J2+J3=+225.1v J2+J3=-90º
3.1° J2+J3=-90v
The maximum
最大停止距離 stopping
(位置) Stroke end (Lower limit)
ストロークエンド(下限
distance (position)
J2+J3=-93.1º
J2+J3=-93.1v
The最大停止距離
maximum stopping
(位置) distance
(position)
注）J2軸の位置によって
NOTE ) Motion limit is restricted by the position of the J2-axis.
動作範囲に制限を受けます。
Fig. 3.3 (f) J3-axis motion limit
Software restrction
ソフトウェアによる制限
0°
20
-
+ 2
00°
-200º Stroke end (Lower limit)

-200°ストロークエンド（下限）
+200º Stroke end (Upper limit)

+200°ストロークエンド（上限）
NOTE ) There is no mechanical stopper of the J4-axis.
注）J4軸に機械式ストッパはありません。
Fig. 3.3 (g) J4-axis motion limit
- 20 -
Software restrction
ソフトウェアによる制限
±180º Stroke end
+140º Stroke end
+140°ストロークエンド
+ 180° ±180°ストロークエンド
0 °
+ 14 (Upper limit)
(上限)
- 1 -140º Stroke end

40 -140°ストロークエンド - 180°
° (Lower
(下限) limit)
Cable integrated type Conventional
従来ドレスアウト型 dress-out type
ケーブル内蔵J3アーム型
Fig. 3.3 (h) J5-axis motion limit
Software restrction +450º Stroke end+450

(Upper limit)
v ストロークエンド
ソフトウェアによる制限 (上限)
0°
0°
-450º-450
Stroke end
v ストロークエンド
(Lower
(下限) limit)
+270° -270°
-450° +450°
-270º Stroke end

-270v ストロークエンド
(Lower limit)
(下限)
+270º Stroke end

+270v ストロークエンド
(Upper limit)
(上限)
Cable integrated type Conventional
従来ドレスアウト型 dress-out type
ケーブル内蔵J3アーム型

Fig. 3.3 (i) J6-axis motion limit
- 21 -
3.4 MOTION RANGE ACCORDING TO CABLE INTEGRATION

In ARC Mate 120iD, M-20iD integrated cable in the hollow part of J3 arm is standard. (It is “Cable
integrated type” in the following). When the robot is shipped, the motion range is set to “Cable integrated
type”. The case where conduit is inserted in the J3 arm hollow part, and the cable is passed as shown in Fig.
3.4 (a) is defined as "Cable integrated".
Other than the above-mentioned, the case where the cable is passed outside of the J3 arm is defined as
"External cable type”.
Conduit
コンジット
Fig. 3.4 (a) Example of “Cable integrated”
When robot is used with “External cable type”, its motion range needs to be reset. Set the motion range
by the following methods.
1 Perform a Controlled Start.
2 Set “External cable type” on the robot initialization screen
3 Perform a Cold Start.
1: Cable integrated type

（J5:-140 .. 140, J6:-270 .. 270[deg]）
2: External cable type
(J5:-180 .. 180, J6:-450 .. 450[deg])
Select J3 dress-out type (1 or 2) ->
1) Note about “Cable integrate” type

The range of motion of “1” is a set value when the hand (torch and tool) cable which FANUC
recommends is integrated in J3 arm. (Handling specification. M/H conduit option [A05B-1228-J701#
□□□] is needed. Refer to Section 10.2 about replacing cycle.) For other cases, set motion range and
the regular replacement cycle of the wrist axis according to the specification of installed hand (torch
and tool) cable, just like with external cable type.
2) Note about “External cable type”
The range of motion of “2” is the one of the external cable type. Set the motion range and the regular
replace cycle of the wrist axis according to installing hand (torch and tool) cable as usual.
- 22 -
3.5 WRIST LOAD CONDITIONS

 Fig. 3.5 (a) to (d) are diagrams showing the allowable load that can be applied to the wrist section.
 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.
 See Section 4.1 about mounting of end effector.
Z (cm)
65
60
5kg
60.2
55
50
45
10kg
40
39.8
35
30
15kg
26.4
25
20
20kg
17.5
15
25kg
12.2
10
X,Y (cm)
10 15 20 25 30 35 40 45 50
90mm
16.3
48.9
32.7
13.1
21.8
Fig. 3.5 (a) Wrist load diagram (ARC Mate 120iD, M-20iD/25)
- 23 -
Z (cm)
65
60
5kg
58.2 55
50
45
40
10kg
37.8
35
30
15kg
24.4 25
20
15.5 20kg
15
25kg
10
10.2
5
X,Y (cm)
10 15 20 25 30 35 40 45 50
110mm
16.3
48.9
21.8
32.7
13.1
Fig. 3.5 (b) Wrist load diagram (M-20iD/25 food grade type)
- 24 -
Z(cm)
40
35
4kg
32.7 30
25.2 6kg
25
20.6 8kg
20
10kg
15
14.9 12kg
11.2 10
X,Y(cm)
5 10 15 20 25 30
75 mm
16.4
12.5 20.4
10
8.3
Fig. 3.5 (c) Wrist load diagram (ARC Mate 120iD/12L, M-20iD/12L)
- 25 -
Z(cm)
60
55 10kg
54.1
50
45
42.4 15kg
40
35.4
20kg
35
30.5
25kg
30
30kg
27.0
25
35kg
23.1
20
15
10
X,Y(cm)
10 15 20 25 30 35 40
90 mm
5 38.5
31.2
26.8
23.7
20.4
17.5
Fig. 3.5 (d) Wrist load diagram (ARC Mate 120iD/35, M-20iD/35)
- 26 -
3.6 OPERATING AREA FOR INCLINATION INSTALLATION

When the robot ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35 are installed on an angle, the
operating area is limited to that angle.
Wall mount and inclination installation is enable against only the front direction and the back direction.
Against side direction is impossible.
Connector
分線盤
panel
Installation
設置角度
angle
Correct
正しい例 example 間違った例
Incorrect example
Incline
ロボット正面 against the方向
robot に傾
front direction
斜 Incline
ロボagainst
ット側面方 the robot
向に傾side direction
斜
All図ではロボ
axes are 0ºットは全
at the 軸0°です
figure.
Fig.3.6 (a) Direction of robot wall mount and inclination installation
The robot can’t rest except for within the ranges that are shown in the Fig. 3.6 (b) to (e) ARC Mate
120iD/12L, M-20iD/12L do not have such restriction.
- 27 -
62° 118°
O
-62° -118°
No restriction
動作領域
制限なし
Fig. 3.6 (b) Installation area (1) operating area (ARC Mate 120iD, M-20iD/25)
(-180º≦φ≦118º, -62º≦φ≦62º, 118º≦φ≦180º)
NOTE
In case of a mounted angle (1), there is no operating area restriction.
- 28 -
62° 118°
O
-62° -118°
+118° +62°
1677
1677
-118° -62°
1677
Fig. 3.6 (c) Installation area (2) operating area (ARC Mate 120iD, M-20iD/25)
(-118º<φ<-62º, 62º<φ<118º)
NOTE
Robot can rest or invert in a solid line range. The operation to a dotted line range
becomes possible when not resting and not inverting.
- 29 -
53° 127°
-53° -127°
No restriction
動作領域
制限なし
Fig. 3.6 (d) Installation area (1) operating area (ARC Mate 120iD/35, M-20iD/35)
(-180º≦φ≦-127º, -53º≦φ≦53º, 127º≦φ≦180º)
NOTE
In case of a mounted angle (1), there is no operating area restriction.
- 30 -
53° 127°
-53° -127°
+127° +53°
1531
1531
-127° -53°
1531
Fig. 3.6 (e) Installation area (2) operating area (ARC Mate 120iD/35, M-20iD/35)
(-127º<φ<-53º, 53º<φ<127º)
NOTE
Robot can rest or invert in a solid line range. The operation to a dotted line range
becomes possible when not resting and not inverting.
- 31 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-84074EN/06
4 EQUIPMENT INSTALLATION TO THE

ROBOT
CAUTION
Antirust oil is applied on the wrist end effector mounting surface when robot is
shipped. If necessary, remove this oil.
4.1 END EFFECTOR INSTALLATION TO WRIST

Fig. 4.1 (a) to (c) show the figures for installing end effectors on the wrist. Select screws and positioning
pins of a length that matches the depth of the tapped holes and pinholes. See Appendix B “STRENGTH
OF BOLT AND BOLT TORQUE LIST” for tightening torque specifications.
CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.
Do not attach the end effector such that it

この線より上側のJ5ギヤボックス側には
extends beyond this line toward the J5
エンドエフェクタを装着しないでください。
さもないとJ3アームと干渉します。
gearbox or collision with J3 arm may occur.
90
5
O 71 h7
0
-0.030 (h7
(h7 area
範囲5)5)
22.5°
2-O4 H7 ( 0 ) depth 6
+0.030
14-M4 depth7 7
14-M4 深さ
O 57 H7
+0.030
0 (H7 area 10)
(H7範囲10)
O
64
0
13
R
Fig. 4.1 (a) End effector interface (ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35)
CAUTION
Do not remove the M4 bolts of shaped area. If they are removed, the robot does
not return to the original state.
- 32 -
B-84074EN/06 TO THE ROBOT
Do not attach the end effector such that it

この線より上側のJ5ギヤボックス側には
extends beyond this line toward the J5
エンドエフェクタを装着しないでください。
gearbox さもないとJ3アームと干渉します。
110
or collision with J3 arm may occur.
5
O 71 h7
0
-0.030
(h7
(h7 area
範囲5)5)
22.5°
O 90
5 2- O 4 H7
+0.012
0 depth
深さ 66
14-M4
14-M4depth
深さ 77
+0.030
O 57 H7 0
(H7
(H7area
範囲10)
10)
O
64
0
13
R
Fig. 4.1 (b) End effector interface (M-20iD/25 food grade type)
CAUTION
- 33 -
75
O 71 h7
0
-0.030
(h7 area5)5)
(h7範囲
2-O4 H7( +0.012

0 ) depth 6
22.5°
8-M4
8-M4depth
深さ 77
O 57 H7
+0.030
0 (H7 area 10)
(H7範囲10)
(マテハンコンジット選択時H7範囲5)
(H7 area 5 when Material handling conduit is specified)
O
64
4
11
R
Fig. 4.1 (c) End effector interface (ARC Mate 120iD/12L, M-20iD/12L)
CAUTION
- 34 -
4.2 EQUIPMENT MOUNTING FACE

Fig. 4.2 (a) show load condition. As shown in Fig. 4.2 (b), (c), tapped holes are provided to install equipment
to the robot.
CAUTION
1 Never perform additional machining operations such as drilling or tapping on the
robot body. This can seriously affect the safety and functions of the robot.
2 Note that the use of a tapped hole not shown in the following figure is not
assured. Please do not tighten both with the tightening bolts used for mechanical
unit.
3 Equipment should be installed so that mechanical unit cable does not interfere. If
equipment interferes, the mechanical unit cable might be disconnected, and
unexpected troubles might occur.
W:W:Mass of the end effector mounting face

エンドエフェクタ取付面の質量
A,B,C : Mass
A,B,C: of equipment on the J3 casing
J3ケーシング部
D :D:
Mass of equipment on the J2 arm
J2アーム部機器取付面の質量
W,A,B,C,Dが以下の条件を満たすようにしてください。
Make W, A, B, C and D meet the following requirements.
ARC Mate 120iD, M-20iD/25 ARC Mate 120iD/12L, M-20iD/12L

ARC Mate 120iD/35, M-20iD/35
40 40
36 40
35 35 35
30
A+B+C+D (kg)
30 30
A+B+C+D (kg)
A+B+C+D (kg)
25 25
25
20 20 20
15 15
12 12 15
10 10 10
5 5 5
0 2
5 1012 15 20 25 30 0 5 1012 15 0 5 10 12 15 20 25 30 35 40 50
W (kg) W (kg) W (kg)
C
Fig. 4.2 (a) Loading condition
- 35 -
Rotation
J3軸回転中心 center of
J3-axis
2-M8
2-M8Depth
深さ1212
83
215
5 50
Rotation
J4-axis
141.5 45
20 13 50
4-M8 Depth
4-M8 深さ10 10
4-M8
4-M8Depth
深さ1010
25
62.5 40
25
Rotation
J4-axis
Rotation
J3-axis
333.5
2-M8 Depth 12 13 77
2-M8 深さ12
17.7
95
83
38
2-M8 Depth 10
Rotation center of 2-M8 深さ 10
J3軸回転中心
J3-axis 162 17.7
Fig. 4.2 (b) Equipment mounting faces (1/2) (A+B+C part)
NOTE
Tightening torque of the taps on the upper figure is 23Nm.
- 36 -
185 4-M10 Depth 15

4-M10 深さ15
33
33
28.5
6
Section A-A
断面 A-A
11
49
4-M8
4-M8 深さ12
Depth 12 (*) (*)
D part
160
50
10.5
6 152.6
146.5
360
A A
129.2
Fig. 4.2 (c) Equipment mounting faces (2/2) (D part + J2 base)
CAUTION
Be careful equipment in (*) part not interfere with the J3 casing.
- 37 -
4.3 LOAD SETTING

CAUTION
Set the correct load condition parameter before the robot runs. Do not operate
the robot in over when its payload is exceeded or incorrect. Do not exceed the
allowable payload including connection cables. Operation in with the robot over
payload may result in troubles such as reducer life reduction.
The operation motion performance screens include the MOTION PERFORMANCE screen, MOTION
PAYLOAD SET screen, and payload information and equipment information on the robot.
1 Press [MENU] key to display the screen menu.
2 Select [6 SYSTEM] on the next page.
3 Press the F1 ([TYPE]) key to display the screen switch menu.
4 Select “Motion” The MOTION PERFORMANCE screen will be displayed.
MOTION PERFORMANCE JOINT 10%

Group1
No. PAYLOAD[kg] Comment
1 25.00 [ ]
2 0.00 [ ]
3 0.00 [ ]
4 0.00 [ ]
5 0.00 [ ]
6 0.00 [ ]
7 0.00 [ ]
8 0.00 [ ]
9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number =0

[ TYPE] GROUP DETAIL ARMLOAD SETIND >
5 Ten different pieces of payload information can be set using condition No.1 to No.10 on this screen.
Place the cursor on one of the numbers, and click F3 ([DETAIL]). The MOTION PAYLOAD SET
screen appears.
MOTION PAYLOAD SET JOINT 10%
Group 1
1 Schedule No[ 1]:[Comment ]
2 PAYLOAD [kg] 25.00
3 PAYLOAD CENTER X [cm] -7.99
4 PAYLOAD CENTER Y [cm] 0.00
5 PAYLOAD CENTER Z [cm] 6.44
6 PAYLOAD INERTIA X [kgfcms^2] 0.13
7 PAYLOAD INERTIA Y [kgfcms^2] 0.14
8 PAYLOAD INERTIA Z [kgfcms^2] 0.07
[TYPE] GROUP NUMBER DEFAULT HELP
- 38 -
Center of robot X
ロボットの
end effector mounting face X
エンドエフェクタ取付面
中心
y
Z Mass m (kg)
質量m(kg)
xg (cm) Center of
Iy (kgf・cm・s2 ) Center of
重心重心
gravity
gravity
Iz (kgf・cm・s2 )
yg (cm)
Ix (kgf・cm・s2)
zg (cm)
Fig. 4.3 (a) Standard tool coordinate
6 Set the payload, gravity center position, and inertia around the gravity center on the MOTION
PAYLOAD SET screen. The X, Y, and Z directions displayed on this screen correspond to the
respective standard tool coordinates (with no tool coordinate system set up). When values are entered,
the following message will be displayed: “Path and Cycle time will change. Set it?” Respond to the
message with F4 ([YES]) or F5 ([NO]).
7 Pressing F3 ([NUMBER]) will bring you to the MOTION PAYLOAD SET screen for another
condition number. For a multi group system, pressing F2 ([GROUP]) will bring you to the MOTION
PAYLOAD SET screen for another group.
8 Press the [PREV] key to return to the MOTION PERFORMANCE screen. Click F5 ([SETIND]), and
enter the desired payload setting condition number.
9 On the list screen, pressing F4 ([ARMLOAD]) brings you to the equipment-setting screen.
MOTION ARMLOAD SET JOINT 100%
Group 1
1 ARM LOAD AXIS #1 [kg] 0.00
2 ARM LOAD AXIS #3 [kg] 12.00
[ TYPE ] GROUP DEFAULT HELP
10 Specify the mass of the loads on the J2 base and J3 casing. When you enter following parameter,
ARMLOAD AXIS #1[kg] : Mass of the load on the J2 base. (Contact your local FANUC
representative if you install equipments on J2 base.)
ARMLOAD AXIS #3[kg] : Mass of the load on the J3 casing, (wrist side)
the confirmation message “Path and Cycle time will change. Set it?” appears. Select F4 YES or F5
NO. Once the mass of equipment is entered, it is put in effect by turning the power off and on again.
- 39 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-84074EN/06
5 PIPING AND WIRING TO THE END

EFFECTOR
WARNING
• Only use appropriately-specified mechanical unit cables.
• Do not add user cables or hoses inside of the mechanical unit.
• Please do not obstruct the movement of the mechanical unit when cables are
added to outside of mechanical unit.
• Please do not perform remodeling (adding a protective cover, or secure an
additional outside cable) that obstructs the behavior of the outcrop of the cable.
• When external equipment is installed in the robot, make sure that it does not
interfere with other parts of the robot.
• Cut and discard any unnecessary length of wire strand of the end effector (hand)
cable. Insulate the cable with seal tape. (See Fig. 5 (a))
• If you have end effector wiring and a process that develops static electricity,
keep the end effector wiring as far away from the process as possible. If the
end effector and process must remain close, be sure to insulate the cable.
• Be sure to seal the connectors of the user cable and terminal parts of all cables
to prevent water from entering the mechanical unit. Also, attach the cover to the
unused connector.
• Frequently check that connectors are tight and cable jackets are not damaged.
• When precautions are not followed, damage to cables might occur. Cable failure
may result in incorrect function of end effector, robot faults, or damage to robot
electrical hardware. In addition, electric shock could occur when touching the
power cables.
End effector (hand) cable
Insulation processing
Cut unnecessary length of unused wire strand
Fig. 5 (a) Treatment method of end effector (hand) cable
- 40 -
B-84074EN/06 THE END EFFECTOR
5.1 AIR SUPPLY (OPTION)

Robot has air inlet and air outlet openings on the J1 base and the J3 casing used to supply air pressure to
the end effector. As couplings are not supplied, it will be necessary to prepare couplings, which suit to the
hose size. Please refer to the table below about panel union and inside and outer diameter of air tube.
Spec. of Panel union Panel union Outer, inner and number

Mechanical unit cable (Input side) (Output side) of air tube
A05B-1228-H201#□□
None
A05B-1228-H205#□□
A05B-1228-H221#□□ Outer 8mm
Rc3/8 X1
A05B-1228-H222#□□ Inner 5mm 1 pc
Rc3/8 X1
A05B-1228-H223#□□
A05B-1228-H224#□□
Air tube (output side)

panelエアチューブ(出力側)
union 1 pc
パネルユニオンX1
or または
without panel union
パネルユニオンなし
Air tube (inut side)

エアチューブ(入力側)
panel union 1 pc
パネルユニオンX1
Fig. 5.1 (a) Air supply (option)
- 41 -
5.2 AIR PIPING (OPTION)

Fig. 5.2 (a) shows how to connect air hose to the robot. If the air control set is specified as an option, the
air hose between the mechanical unit and the air control set is provided. Mount the air control set using the
information in Fig. 5.2 (b). This is outside FANUC delivery scope.
Elbow nipple
エルボーニップル
R3/8
R3/8
R3/8
Straight nipple
ストレートニップル
R3/8
R3/8
Air tube length 3m In点線内

dotted line
エアチューブ全長3m
Outer 10mm Inner 6.5mm Air control set (option)
外径10mm 内径6.5mm エア3点セット（オプション）
Spec.
仕様: ：A05B-1302-J011
A05B-1302-J011
Fig. 5.2 (a) Air piping (option)
Air control set

For the lubricator of air control set, fill in turbine oil #90 to #140 to the specified level. The machine tool
builder is required to prepare mounting bolts.
4-M6
IN OUT
70
Lubricator
ルブリケータ 57
Air filter
エアフィルタ
Fig. 5.2 (b) Air control set option (option)
NOTE
The capacity values of the air control set are determined as follows.
These values must not be exceeded.
0.49 to 0.69MPa(5 to 7kgf/cm2)

Supply air pressure
Air pressure Setting: 0.49MPa(5kgf/cm2)
Amount of consumption Maximum instantaneous amount 150Nl/min (0.15Nm3/min)
- 42 -
5.3 INTERFACE FOR OPTION CABLE (OPTION)

Fig. 5.3 (a) to (f) show the position of the option cable interface. EE (RI/RO), welding power supply cable,
Wire feeder cable, user cable usable to 3D Laser Vision sensor and force sensor, Ethernet cable, camera
cable are prepared as options.
NOTE
Each option cable is written as shown below on the connector panel.
EE(RI/RO) interface : EE
Welding power supply cable interface : W/P
Wire feeder cable interface : W/F
User cable usable to 3D Laser Vision sensor and force sensor : ASi
Ethernet cable : ES
Camera cable : CAM
Position of connector
出口側コネクタの位置
of output side
J1 connector
J1分線盤 panel
Fig. 5.3 (a) Interface for option cable (option)
- 43 -
(Air inlet)
(エア入口)
EE interface
EEインタフェース
(Air outlet)
(エア出口)
J1 connector
J1分線盤panel J3 casingJ3ケーシング
Fig. 5.3 (b) Interface for option cable (When A05B-1228-H201#25, H221#25 are specified)
(Gas inlet)
（エア入口）
Wire feeder cable

ワイヤ送給装置
interface Welding power
ケーブルインタフェース溶接電源ケーブル
supply cable
インタフェース
interface
Wire feeder cable

ワイヤ送給装置ケーブル
Welding power interface
溶接電源ケーブルインタフェース
supply cable
interface EE interface (RI/RO x 1)
EEインタフェース (RI/RO*1)
(Gas outlet)
(ガス出口)
J1 connector
J1分線盤panel J3 casing
J3ケーシング
Fig. 5.3 (c) Interface for option cable (When A05B-1228-H205#□□ is specified)
- 44 -
(Air inlet)
(エア入口)
Ethernet
イーサネットケーブルcable (signal)
(信号線)
interface
Camera cable interface User cable

ユーザケーブル
カメラケーブルインタフェース
(signal usable to 3DL sensor
(力センサ・立体センサ
対応信号線)
and インタフェース
force sensor) interface
J1 connector panel
J1分線盤
Camera cable interface

Ethernet cable (signal)
イーサネットケーブル (信号線)
interface
(Air outlet)
(エア出口)
User cable
EE interface (RI/RO
EEインタフェース x 1)
(RI/RO*1) (singal usable to 3DL
(力センサ・立体センサ
対応信号線)
sensor インタフェース
and force sensor)
J3ケーシング
J3 casing
Fig. 5.3 (d) Interface for option cable (When A05B-1228-H222#□□ is specified)
EE interface (RI/RO*8)
(Air outlet)
(エア出口)
(Air inlet)
(エア入口)
J1 connector
J1分線盤 panel J3 casing
J3ケーシング
Fig. 5.3 (e) Interface for option cable (When A05B-1228-H223#□□ is specified)
- 45 -

interface
EE interface (RI/RO*1)
User cable (singal usable

to 3DL sensor and force
(力センサ・立体センサ User cable (singal usable
sensor)
対応信号線) interface
インタフェース to(力センサ・立体センサ
3DL sensor and force
対応信号線)
sensor) インタフェース
interface
(Air inlet)
(エア入口)
interface (Air outlet)
(エア出口)
J3 casing
J1 connector
J1分線盤 panel J3ケーシング
Fig. 5.3 (f) Interface for option cable (When A05B-1228-H224#□□ is specified)
1 EE interface (RI/RO) (option)

Fig. 5.3 (g) to (i) show the pin layout for the EE interface (RI/RO).
EE interface (RI/RO)
EEインタフェース(RI/RO)
(出力側)
(Output)
End
エンド
EE effector
エフェクタ
3 2 1
0V XHBK RO1
5 4
24V RI1
Outside FANUC delivery scope
お客様にてご用意ください。
XHBK:手首破断検出信号
XHBK
: Hand broken
Controller
制御装置
Fig. 5.3 (g) Pin layout for EE interface (RI/RO) RI/RO x 1 (option)
(When A05B-1228- H201#□□, H205#□□ are specified)
EE interface (RI/RO) (Output)

EEインタフェース(RI/RO) (出力側)
4 3 2 1
RO4 RO3 RO2 RO1
9 8 7 6 5
RI1 0V(A1) XHBK RO6 RO5 End
エンド
15 14 13 12 11 10 effector
エフェクタ
RI5 RI9(XPPABN) RI8 RI4 RI3 RI2
20 19 18 17 16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1) RI6
24 23 22 21 Outside FANUC
RI7 0V(A2) RO8 RO7
delivery scope
XHBK : Hand broken
XHBK :手首破断検出信号
制御装置
Controller XPPABN : Pneumatic pressure abnormal
XPPABN:空圧異常信号
Fig. 5.3 (h) Pin layout for EE interface (RI/RO) RI/RO x 8 (option)
(When A05B-1228- H221#□□, H222#□□ are specified)
- 46 -
EE interface (RI/RO) (Output)
4 3 2 1
RO4 RO3 RO2 RO1
9 8 7 6 5
RI1 0V(A1) XHBK RO6 RO5 End
15 14 13 12 11 10
RI5 XPPABN RI8 RI4 RI3 RI2
effector
20 19 18 17 16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1) RI6
24 23 22 21
RI7 RO8 RO7

XHBK : Hand broken
Controller XPPABN : Pneumatic pressure abnormal
Fig. 5.3 (i) Pin layout for EE interface

(When A05B-1228-H223#□□, H224#□□ are specified) RI/RO x 8 (option)
CAUTION
To wire the peripheral device to the EE interface, refer to the “ELECTRICAL
CONNECTIONS Chapter of the CONTROLLER MAINTENANCE MANUAL”.
2 Wire feeder power supply Interface (W/F)(option)

Fig. 5.3 (j) to (l) show the pin layout for the wire feeder power supply interface.
Wire size
ワイヤサイズワイヤ送給装置用インタフェース(出力側)
Wire feeder interface (output side)
A,B,C,D 1.25SQ X 2 Pair MS3102A20-27SY
MS3102A20-27SY
I,N 1.25SQ X 1 J A
E,F,G,H,K,L,M 0.2SQ X 1 Drain MP1
I K B エンドEnd
UP1 S5 MP2 effector
エフェクタ
H N L C
S4 UP2 S6 SP1
G M D
S3 S7 SP2
F E
S2 S1

ワイヤ送給装置用インタフェース(入力側)
Wire feeder interface (input side)
MS3102A20-27PY
Wire feeder cable
MS3102A20-27PY
A J
MP1 Drain
B K I
MP2 S5 UP1
C L N
UP2
H
Wire size
ワイヤサイズ
SP1 S6 S4
D M G A,B,C,D 1.25SQ X 2 Pair
SP2 S7 S3 I,N 1.25SQ X 1
E F E,F,G,H,K,L,M 0.2SQ X 1
S1 S2
Fig. 5.3 (j) Pin layout for LINCOLN wire feeder power supply (W/F) interface (option)
(When A05B-1228-H205#25L, H205#HLL are specified)
- 47 -
Wire size Wire feeder interface (output side)

ワイヤ送給装置用インタフェース(出力側)
ワイヤサイズ DPC25-10-1H
DPC25-10-1H
6 1.25SQ X 1, 0.2SQ X1
1,2,8,910 1.25SQ X 1
3,4,5,7 0.2SQ X 1 8 9 10 End
エンド
4
SP1
5
UP2
6
UP1
7
effector
エフェクタ
S5 S6 SP2 S1
1 2 3
MP1 MP2 S3


MS3102A20-27PY
MS3102A20-27PY
Wire feeder cable
A J
MP1 Drain
B K I
MP2 S5 UP1
C L N H
Wire size
ワイヤサイズ
SP1 S6 UP2 D 1.25SQ X 1, 0.2SQ X1
D M G A,B,C,I,N 1.25SQ X 1
SP2 S3 E,G,K,L 0.2SQ X 1
E F
S1
Fig. 5.3 (k) Pin layout for DAIHEN wire feeder (W/F) power supply interface (option)
(When A05B-1228-H205#25D, H205#HLD are specified)
ワイヤ送給装置用インタフェース(出力側)
Wire feeder interface (output side)
Wire size
ワイヤサイズ MS3106B18-19S
MS3106B18-19S
A,B,C,E,I,J 1.25SQ X 1
A
D,F,G,H 0.2SQ X 1
SP1
C B End
エンド
UP1 SP2 effector
エフェクタ
G F E D
S5 S7 UP2 S1
I H
MP1 S6
J
MP2


MS3102A20-27PY
MS3102A20-27PY Wire feeder cable
A J
MP1
B K I
MP2 S5 UP1
C L N H
SP1 S6 UP2 Wire size
ワイヤサイズ
D M G A,B,C,D,I,N 1.25SQ X 1
SP2 S7
E F
E,K,L,M 0.2SQ X 1
S1
Fig. 5.3 (l) Pin layout for FANUC wire feeder (W/F) power supply interface (option)
(When A05B-1228-H205#25H, H205#HLH are specified)
- 48 -
3 User cable (signal line usable to 3D Laser Vision Sensor and Force Sensor) (ASi) Interface (option)
Fig. 5.3 (m) shows pin layout for user cable (signal line usable to 3D Laser Vision Sensor and Force
Sensor) interface.
User cable(signal) interface(output side)

MS3102A20-27SY
J A
S10 S1
I K B End
S9 S11 S2
H N L C
effector
S8 S14 S12 S3 etc.
G M D
S7 S13 S4
F E
S6 S5
User cable(signal) interface(input side)

MS3102A20-27PY
A J
S1 S10
B K I
S2 S11 S9
C L N H
S3 S12 S14 S8
G
D
S4
M
S13 S7 AS cable
0.2mm×14pcs
2
E F
S5 S6

Fig. 5.3 (m) Pin layout for user cable
(signal usable to 3D Laser Vision Sensor and Force Sensor) (ASi) interface (option)
(When A05B-1228-H222#□□ are specified)
4 Ethernet cable Interface (ES) (option)

Fig. 5.3 (n) shows the pin layout for the Ethernet cable interface.
イーサネットケーブルインタフェース(出力側)
Ethernet cable interface (output side)
FFTYPE
TYPE Han M124PIN
Han M12 4PIND-coded
D-coded
2 RX+ 3 TX-
1 TX+ 4 RX-
イーサネットケーブルインタフェース(入力側)
Ethernet cable interface (input side)
FF TYPE
TYPEHan
HanM12
M124PIN
4PIN D-coded
D-coded
2 RX+ 3 TX-
1 TX+ 4 RX-
Fig. 5.3 (n) Pin layout for Ethernet (ES) cable interface (option)
(When A05B-1228-H222#□□ are specified)
- 49 -
Connector specifications
Table 5.3 (a) Connector specifications (User side)
Maker/
Cable name Input side (J1 base) Output side (J3 casing)
dealer
JMSP1305M Straight plug
EE
──── (FANUC Spec : A05B-1221-K845)
(RI/RO x 1)
JMLP1305M Angle plug
JMSP2524M Straight plug (Attached) Fujikura.Ltd
EE (FANUC Spec : A63L-0001-
────
(RI/RO x 8) 0234#S2524M)
JMLP2524M Angle plug
Plug : JL05-6A24-28PC-F0-R
(FANUC spec. :
A63L-0001-0463#P2424P)
EE End bell (elbow) :JL04-24EBH-R
Japan
(RI/ROX8) (FANUC spec. :
Aviation
For severe A63L-0001-0463#24EBL)
──── Electronics
dust/liquid Clamp :JL04-2428CK(20)-R
Industry,
protection (FANUC spec. :
A63L-0001-0463#2428CK20) Ltd.
package
Pin contact :ST-JL05-16P-C3-100
(FANUC spec. :
A63L-0001-0463#16PC3)
Straight plug : MS3106B20-27SY (*1) Straight plug : MS3106B20-27PY (*2)
Fujikura.Ltd
Elbow plug : MS3108B20-27SY or a Elbow plug : MS3108B20-27PY or a
compatible product compatible produce
W/F(*1), Japan
Clamp : MS3057-12A (*1) Clamp : MS3057-12A (*2) Aviation
ASi
(FANUC spec. : A05B-1221-K843 (FANUC spec. :A05B-1221-K841 Electronics
Straight plug (*1) and clamp (*1) are Straight plug (*2) and clamp (*2) are Industry, Ltd.
included) included)
Input side
Fujikura.Ltd
Connector
Japan
Straight plug : MS3106B20-27SY (*1)
Aviation
Elbow plug : MS3108B20-27SY
Electronics
or a compatible product DPC25-10A-1H
W/F(*2) Industry, Ltd.
Clamp MS3057-12A (*1) (FANUC spec.: A63L-0101-0074#S)
(FANUC spec. : A05B-1221-K843
Output side
Straight plug (*1) and clamp (*1) are
TOUA
included)
WIRELESS
CO.
Connector
Straight plug : MS3106B20-27SY (*1) Input side
Elbow plug : MS3108B20-27SY Fujikura.Ltd
Receptacle : MS3101A18-19P (*2)
or a compatible product Japan
W/F(*3) or a compatible produce
Clamp MS3057-12A (*1) Aviation
(FANUC spec. : A05B-1221-K843 Clamp MS3057-10A (*2)
Electronics
Straight plug (*1) and clamp (*1) are Industry, Ltd.
included)
Plug： D/MS3106A20-27SY(D190)(R1) Plug： D/MS3106A20-27PY(D190)(R1)
Back shell (straight)：CE02-20BS-S- Back shell (straight)：CE02-20BS-S-
ASi D(R1) D(R1)
For severe Back shell (elbow)：CE-20BA-S-D(R1) Back shell (elbow)：CE-20BA-S-D(R1)
dust/liquid Cable clamp (cable diameter) Cable clamp (cable diameter) Fujikura.Ltd
protection φ12.5~16 : CE3057-12A-1-D(R1) φ12.5~16 : CE3057-12A-1-D(R1)
package φ9.5~13 : CE3057-12A-2-D(R1) φ9.5~13 : CE3057-12A-2-D(R1)
φ6.8~10 : CE3057-12A-3-D(R1) φ6.8~10 : CE3057-12A-3-D(R1)
φ14.5~17 : CE3057-12A-7-D(R1) φ14.5~17 : CE3057-12A-7-D(R1)
- 50 -
Maker/
dealer
Connector Connector
2103 881 1405 2103 881 1405
2103 882 3405 2103 882 3405
Contact Contact HARTING
ES
0967 000 7576 0967 000 7576 K.K.
0967 000 5576 0967 000 5576
0967 000 8576 0967 000 8576
0967 000 3576 0967 000 3576
(Note) The voltage to which the wire feeder connector can be input is a direct current 40V.
(*1) for LINCOLN wire feeder
(*2) for DAIHEN wire feeder
(*3) for FANUC wire feeder
Table 5.3 (b) Connector specifications (Mechanical unit side·reference)

Maker/
dealer
EE
─── JMWR1305F
(RI/RO x 1)
Fujikura.Ltd
EE
─── JMWR2524F
(RI/RO x 8)
Fujikura.Ltd
Japan Aviation
W/F (*1), ASi MS3102A20-27PY MS3102A20-27SY
Electronics
Industry, Ltd etc.
TOUA WIRELESS
W/F (*2) MS3102A20-27PY DPC25-10C-1H
CO.
Fujikura.Ltd
Japan Aviation
W/F(*3) MS3102A20-27PY MS3106B18-19S
Electronics
Industry, Ltd
Connector 21 03 881 2425 Connector 21 03 881 2425 HARTING
ES
Contact 09 67 000 7476 Contact 09 67 000 7476 K.K
(*1) for LINCOLN wire feeder
(*2) for DAIHEN wire feeder
(*3) for FANUC wire feeder
Table 5.3 (c) Connector specifications (on the Mechanical unit side when
the M-20iD/25/12L/35 severe dust/liquid protection option is specified reference)
Component name Model Maker/dealer
Receptacle JL05-2A24-28SC-F0-R Japan Aviation Electronics Industry,
Socket contact ST-JL05-16S-C3-100 Ltd. etc
NOTE
For details, such as the dimensions, of the parts listed above, refer to the related
catalogs offered by the respective manufactures, or contact your local FANUC
representative.
- 51 -
6. AXIS LIMIT SETUP B-84074EN/06
6 AXIS LIMIT SETUP

By setting the motion range of each axes, you can change the robot’s motion range from the standard values.
Changing the motion range of the robot is effective under following circumstances:
• Used motion range of the robot is limited.
• There’s an area where tool and peripheral devices interfere with robot.
• The length of cables and hoses attached for application is limited.
The two methods used to prevent the robot from going beyond the necessary motion range.
• Axis limit by DCS (All axes)
• Axis limit adjustable mechanical stopper ((J1-axis) option)
WARNING
1 Changing the motion range of any axis affects the operating range of the robot.
To avoid trouble, carefully consider the possible effect of the change to the
movable range of each axis in advance. Otherwise, it is likely that an unexpected
condition will occur; for example, an alarm may occur when the robot tries to
reach a previously taught position.
2 For J1-axis, use adjustable mechanical stoppers, for J2/J3-axis, use the DCS
function so that damage to peripheral equipment and injuries to human bodies
can be avoided.
3 Mechanical stoppers are physical obstacles. For J1-axis, it is possible to re-
position the adjustable mechanical stoppers. But the robot cannot move beyond
them. For J2, J3-axis, the mechanical stoppers are fixed. For the J4, J5 and J6-
axis, only DCS-specified limits are available.
4 Adjustable mechanical stoppers (J1-axis) are damaged in any collision to stop
the robot. Once a stopper is subjected to a collision, it can no longer assure its
original strength and, therefore, might not stop the robot. When this happens,
replace the mechanical stopper with a new one.
5 When the mechanical stopper (J1-axis) is not used, attach the label and protect
the mounting face. If spatter etc. attached to the mounting face or the tap, the
stopper cannot be installed correctly, and there is a possibility that the robot
does not stop.
- 52 -
B-84074EN/06 6. AXIS LIMIT SETUP
6.1 CHANGE AXIS LIMIT BY DCS (OPTION)

The robot motion can be restricted with DCS (Dual check safety) function by using the following software.
For J2/J3-axis, the same effect as J1-axis adjustable mechanical stopper described at Section 6.2 can be
obtained. The robot motion can be restricted at any angle and position if it is in robot motion area. DCS
functions are certified to meet the requirements of International Standard ISO13849-1 and IEC61508
approved by certificate authority. If only the operating space is set using Joint Position Check, the robot
stops after it goes beyond the workspace. When the motor power is shut down, the robot’s momentum
causes it to move some distance before it completely stops. The actual "Robot Stop Position" will be beyond
the workspace. To stop the robot within the robot workspace, use the DCS Stop Position Prediction function.
The stop position prediction is disabled by default.
 DCS position/speed check function (J567)
As an example, we shows the procedure to set ±30º for J2-axis in here. Refer to Controller Dual check
safety function Operator’s Manual (B-83184EN) for details of other setting, function and DCS stop position
prediction.
Setting procedure
1 Press the [MENU] key to display the screen menu.
2 Press [0 NEXT] and press [6 SYSTEM].
3 Press the F1 ([TYPE]).
4 Select [DCS]. The following screen will be displayed.
AUTO
DCS JOINT 1%
1 Joint position check

2 Joint speed check:
3 Cart. position check OK
4 Cart. speed check
5 T1 mode speed check
6 User model
7 Tool frame
8 User frame
9 Stop position prediction
[TYPE] APPLY DETAIL UNDO
5 Move the cursor to [1 Joint position check], then press the [DETAIL].
AUTO
DCS JOINT 1%
Join Position check
No. G A Status Comment
1 DISABLE 1 1 ---- [ ]
2 DISABLE 1 1 ---- [ ]
3 DISABLE 1 1 ---- [ ]
4 DISABLE 1 1 ---- [ ]
5 DISABLE 1 1 ---- [ ]
6 DISABLE 1 1 ---- [ ]
7 DISABLE 1 1 ---- [ ]
8 DISABLE 1 1 ---- [ ]
9 DISABLE 1 1 ---- [ ]
10 DISABLE 1 1 ---- [ ]
[TYPE] DETAIL
- 53 -
6 Move the cursor to [1], then press the [DETAIL].
AUTO
DCS JOINT 1%
No. 1 Status:
1 Comment [*********************]
2 Enable/Disable DISABLE
3 Group 1
4 Axis 1
5 Safe side:
Position (deg):
Current: 0.000
6 Upper limit : 0.000
7 Lower limit : 0.000
8 Stop type: Power-off stop
[TYPE] PREV NEXT UNDO
7 Move the cursor to [DISABLE], then press [CHOICE], set the status to [ENABLE].
8 Move the cursor to [Group], then input the robot group number, then press the [ENTER] key.
9 Move the cursor to [Axis], then input “2”, then press the [ENTER] key.
10 Move the cursor to [Upper limit] right side, then input “30”, then press the [ENTER] key.
11 Move the cursor to [Lower limit] right side, then input “-30”, then press the [ENTER] key.
WARNING
If only the operating space is set using Joint Position Check, the robot stops
after it goes beyond the workspace. When the motor power is shut down, the
robot’s momentum causes it to move some distance before it completely stops.
The actual "Robot Stop Position" will be beyond the workspace. To stop the
robot within the robot workspace, use the DCS Stop Position Prediction function.
The stop position prediction is disabled by default.
AUTO
DCS JOINT 1%
No. 1 Status:
1 Comment [*********************]
2 Enable/Disable ENABLE
3 Group 1
4 Axis 2
5 Safe side:
Position (deg):
Current: 0.000
6 Upper limit : +30.000
7 Lower limit : -30.000
8 Stop type: Power-off stop
[TYPE] PREV NEXT UNDO
12 Press the [PREV] key two times, back to the first screen.
AUTO
DCS JOINT 1%
1 Joint position check UNSF CHGD

4 Cart. speed check
6 User model
7 Tool frame
8 User frame
- 54 -
13 Press the [APPLY].
14 Input 4-digit password, then press the [ENTER] key. (Password default setting is “1111”.)
15 The following screen will be displayed, then press the [OK].
AUTO
DCS JOINT 1%
Verify (diff)
F Number : F0000
VERSION : HandlingTool
$VERSION : V7.7097 9/1/2015
DATE: 17-7-28 19;44
DCS Version: V2. 0. 11
---Joint Position Check-----------------

No. G A Status Comment
1 EBABLE 1 2 CHGD [
2 ENABLE 1 2 ---- [
3 DISABLE 1 2 ---- [
ALL OK QUIT
[CHGD] on the right side of [1 Joint position check] will change to [PEND].
AUTO
DCS JOINT 1%
1 Joint position check UNSF PEND

4 Cart. speed check
6 User model
7 Tool frame
8 User frame
16 Cycle the power of the controller in the cold start mode so the new settings are enabled.
WARNING
You must cycle the power of the controller to enable the new setting. If you fail to
do so, the robot does not work normally and it may injure personnel or damage
the equipment.
- 55 -
6.2 ADJUSTABLE MECHANICAL STOPPER SETTING

(OPTION)
For the J1-axis, it is possible to re-position mechanical stoppers. Change the position of the mechanical
stoppers according to the desired movable range.
Item Movable range

Settable in steps of 30° degrees in a range of -160° to +170°
Upper limit
degrees
J1-axis adjustable Settable in steps of 30° degrees in the range of -170° to +160°
Lower limit
mechanical stopper degrees
Space between the upper A space of 40° or more is required.
and lower limits.
NOTE
1 If the newly set operation range does not include 0°, you must change it by zero
degree mastering so that 0º is included.
2 When adjustable mechanical stopper is ordered, mounting bolt is attached.
3 When motion range is changed by adjustable mechanical stopper, be sure to set
the motion range of soft same refer to Subsection 6.2.2.
6.2.1 Installing the Adjustable Mechanical Stopper

J1-AXIS STROKE MODIFICATION
Install the adjustable mechanical stopper referring to Fig. 6.2.1 (a).
Stopper ストッパ実装位置例
installing example (10°～170°の場合)
(In case of 10º to 170º)
Stopper
ストッパ
A290-7228-X361 (2)
A290-7228-X361 (2)
アダプタ
Adapter A290-7228-X362
A290-7228-X362プレート
A290-7228-X363 (2)
Plate ボルト
A290-7228-X363
A6-BA-8X30 (4)
(2) FRONT
前面
(締付けトルク 37.2Nm)FRONT
前面
Bolt ±170° ±10°
A6-BA-8X30 (4)
(Tightening torque 37.2Nm)
Attach the A290-7228-X363 and the stopper

4か所でA290-7228-X363とストッパを
Together with A6-BA-8X30 at 4 points.
A6-BA-8X30で共締めすること。
+80°
+110° +50°
+140° +20°
FRONT
前面 FRONT
前面
-140° -20°
-110° -50°
-80°
Fig. 6.2.1 (a) Installing of J1 axis adjustable stopper

- 56 -
Label
ラベル
A290-7228-X261
A290-7228-X261
Fig. 6.2.1 (b) Protection label for J1-axis adjustable mechanical stopper mounting position
6.2.2 Changing the Parameter Setting

Setting procedure
2 Select [0 NEXT] and press [6 SYSTEM].
3 Press F1 [TYPE].
4 Select [Axis Limits]. The following screen will be displayed.
System Axis Limits JOINT 100%

Group1 1/16
AXIS GROUP LOWER UPPER
1 1 -180.00 180.00 deg
2 1 -90.00 145.00 deg
3 1 -180.00 267.00 deg
4 1 -190.00 190.00 deg
5 1 -180.00 180.00 deg
6 1 -450.00 450.00 deg
7 1 0.00 0.00 mm
8 1 0.00 0.00 mm
9 1 0.00 0.00 mm
[ TYPE]
NOTE
0.00 indicates the robot does not have these axes.
5 Move the cursor to J1-axis. Type the new value using the numeric keys on the teach pendant. In this
time, set the axial upper limit and the lower limit at the position same as adjustable mechanical
stoppers are attached.
System Axis Limits JOINT 100%

Group1 1/16
AXIS GROUP LOWER UPPER
2 1 -90.0 145.00 deg
[ TYPE]
6 Turn off the controller and then turn it back on again in the cold start mode so the new information
can be used.
- 57 -
WARNING
1 You must turn off the controller and then turn it back on to use the new
information; otherwise, the old settings remain valid and could cause personnel
injury or equipment damage.
2 After changing system variables, be sure to run the robot at a low speed and
make sure that the robot stops at the ends of the stroke.
3 If a collision should occur, the J1-axis adjustable mechanical stopper becomes
deformed to absorb energy, so that the robot can stop safely. If the stopper is
deformed by mistake, replace it. The replacing method and ordering parts are
common to J1-axis mechanical stopper. Refer to Section 3.3.
4 Do not depend on parameter settings to control the motion range of your robot.
- 58 -
B-84074EN/06 7. CHECKS AND MAINTENANCE
7 CHECKS AND MAINTENANCE

Optimum performance of the robot can be maintained by performing the checks and maintenance
procedures presented in this chapter. (See the APPENDIX A PERIODIC MAINTENANCE TABLE.)
NOTE
The periodic maintenance procedures described in this chapter assume that the
FANUC robot is used for up to 3840 hours a year. In cases where robot use
exceeds 3840 hours/year, adjust the given maintenance frequencies
accordingly. The ratio of actual operating time/year vs. the 3840 hours/year
should be used to calculate the new (higher) frequencies. For example, when
using the robot 7680 hours a year with a recommended maintenance interval of
3 years or 11520 hours, use the following calculation to determine the
maintenance frequency: 3 years / 2 = perform maintenance every 1.5 years.
7.1 PERIODIC MAINTENANCE
7.1.1 Daily Checks

Clean each part, and visually check component parts for damage before daily system operation. Check the
following items when necessary.
Check items Check points and management

Check to see if there is oil on the sealed part of each joint. If there is an oil seepage,
Oil seepage clean it.
⇒”7.2.1 Confirmation of Oil Seepage”
(When air control set is used)
Air control set
⇒”7.2.2 Confirmation of the Air Control Set”
Check whether vibration or abnormal noises occur.
Vibration, abnormal When vibration or abnormal noises occur, perform measures referring to the following
noises section:
⇒”9.1 TROUBLESHOOTING”(symptom : Vibration, Noise)
Check that the taught positions of the robot have not deviated from the previously taught
positions. If displacement occurs, perform the measures as described in the following
Positioning accuracy
section:
⇒”9.1 TROUBLESHOOTING”(symptom : Displacement)
Peripheral equipment Check whether the peripheral equipment operate properly according to commands from
for proper operation the robot and the peripheral equipment.
Check that the end effector drops 5 mm or less when the servo power is turned off. If the
end effector (hand) drops more than the prescribed amount, perform the measures as
Brakes for each axis
described in the following section:
⇒”9.1 TROUBLESHOOTING”(symptom : Dropping axis)
Check whether unexpected warnings occur in the alarm screen on the teach pendant. If
Warnings unexpected warnings occur, perform the measures as described in the following manual:
⇒”CONTROLLER OPERATOR’S MANUAL (Alarm Code List)(B-83284EN-1)”
- 59 -
7. CHECKS AND MAINTENANCE B-84074EN/06
7.1.2 Periodic Checks and Maintenance

Check the following items at the intervals recommended below based on the period or the accumulated
operating time, whichever comes first. (○ : Item needs to be performed.)
Check and maintenance

intervals Check and Periodic
(Period, Accumulated Check points, management and
maintenance maintenance
operating time) maintenance method
1 3 1 2 3 4
item table No.
month months year years years years
320h 960h 3840h 7680h 11520h 15360h
○ ○ Cleaning the Confirm the controller ventilation system is not

Only controller dusty. If dust has accumulated, remove it. 20
1st ventilation
check system
○ Check for Check whether the robot has external damage or
external peeling paint due to the interference with the
damage or peripheral equipment. If an interference occurs,
1
peeling paint eliminate the cause. Also, if the external damage is
serious, and causes a problem in which the robot
will not operate, replace the damaged parts.
○ Check for water Check whether the robot is subjected to water or
cutting fluid. If water is found, remove the cause 2
and wipe off the liquid.
○ ○ Check for Check whether the cable connected to the teach
Only damages pendant, operation box and robot are unevenly
1st
to the teach twisted or damaged. If damage is found, replace the
pendant cable, the damaged cables.
check 19
operation box
connection cable
or the robot
connection cable
○ ○ Check for Observe the movable part of the mechanical unit
Only damage to the cable and welding cable, and check for damage.
1st
mechanical unit Also, check whether the cables are excessively
cable (movable bent or unevenly twisted. 3
check
part) and ⇒”7.2.3 Check the Mechanical Unit Cables
welding cable and Connectors”
○ ○ Check for Check whether the end effector cables are
Only damage to the unevenly twisted or damaged. If damage is found, 4
1st end effector replace the damaged cables.
check (hand) cable
○ ○ Check the Check the connection of each axis motor and other
Only connection of exposed connectors.
1st
each axis motor ⇒”7.2.3 Check the Mechanical Unit Cables 5
and other and Connectors”
check
exposed
connectors
○ ○ Retightening the Retighten the end effector mounting bolts.
Only end effector Refer to the following section for tightening torque
1st mounting bolts information: 6
check ⇒”4.1 END EFFECTOR INSTALLATION TO
WRIST”
- 60 -
Check and maintenance

intervals Check and Periodic
(Period, Accumulated Check points, management and
maintenance maintenance
operating time) maintenance method
1 3 1 2 3 4
item table No.
month months year years years years
320h 960h 3840h 7680h 11520h 15360h
○ ○ Retightening the Retighten the robot installation bolts, bolts to be

Only external main removed for inspection, and bolts exposed to the
1st bolts outside. Refer to the recommended bolt tightening
torque guidelines at the end of the manual. An
check
adhesive to prevent bolts from loosening is applied
to some bolts. If the bolts are tightened with greater 7
than the recommended torque, the adhesive might
be removed.
Therefore, follow the recommended bolt tightening
torque guidelines when retightening the bolts.
○ ○ Check the fixed Check that there is no evidence of a collision on the
Only mechanical fixed mechanical stopper, the adjustable mechanical
1st
stopper and the stopper, and check that the stopper mounting bolts are
adjustable not loose. 8
check
mechanical ⇒”7.2.4 Check of Fixed Mechanical Stopper and
stopper Adjustable Mechanical Stopper”
○ ○ Clean spatters, Check that spatters, sawdust, or dust does not exist
Only sawdust and on the robot main body. If dust has accumulated,
1st dust remove it.
check Especially, clean the robot movable parts well (each
joint, around the welding torch, conduit part, wrist
axis hollow part) 9
Insulation failure might occur when the spatter has
collected around the wrist flange or welding torch,
and there is a possibility of damaging the robot
mechanism by the welding current. (See Appendix
C)
○ Replacing the Replace the mechanical unit batteries. Regardless of
mechanical unit operating time, replace batteries at 1 year. 10
batteries ⇒”7.3.1 Replacing the Batteries”
○ Replacing cable Replace the cable of Mechanical unit welding
of Mechanical Contact your local FANUC representative for 17
unit welding information regarding replacing the cable.
power
○ Replacing the Replace the grease and oil of each axis reducer and
grease and oil of gearbox.
J1, J2, J3- axis ⇒”7.3.2 Replacing the Grease and Oil of the 11 to 15
reducer and J4 Drive Mechanism”
to J6-axis
gearbox
○ Replacing the Replace the mechanical unit cable
mechanical unit Contact your local FANUC representative for 16
cable information regarding replacing the cable.
○ Replacing the Replace the Material handling (M/H) conduit
Material Contact your local FANUC representative for
18
handling (M/H) information regarding replacing the conduit.
conduit
○ Replacing the Replace the controller batteries. Regardless of
controller operating time, replace batteries at 4 years.
batteries ⇒Chapter 7 Replacing batteries of
R-30iB/R-30iB Plus CONTROLLER 21
MAINTENANCE MANUAL (B-83195EN) or
R-30iB Mate/R-30iB Mate Plus CONTROLLER
MAINTENANCE MANUAL (B-83525EN)”
- 61 -
7.2 CHECK POINTS
7.2.1 Confirmation of Oil Seepage

Check items
Check there is oil on sealed part of each joint parts. If there is oil seepage, clean them.
Oil seal
オイルシール
(J6)
(J6)
Oil seal
オイルシール
F
(J3)
(J3)
C E
Detail
詳細FF
Detail C Oil seal
オイルシール
詳細 (J5)
(J5)
Oil seal
オイルシール
(J2)
(J2)
Detail
詳細EE
D
B Oil seal
オイルシール
(J4)
(J4)
Detail
詳細BB
Oil seal
オイルシール
Detail
詳細DD
(J1)
(J1)
Detail
詳細AA
Fig. 7.2.1 (a) Check parts of oil seepage
Management
 Oil might accumulate on the outside of the seal lip depending on the movement condition or
environment of the axis. If the oil viscosity changes, the oil might drip depending on the axis
movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis components
in Fig. 7.2.1 (a) before you operate the robot.
 In case of oil seepage, please consider replacing the grease and the oil altogether. This replacement
potentially can help improve the seepage situation.
 Also, motors might become hot and the internal pressure of the grease bath or oil bath may increase
by frequent repetitive movement and use in high temperature environments. In these cases, normal
internal can be restored by venting the grease outlet. (When opening the grease outlet of J1,J2 and J3-
axis, refer to Subsection 7.3.2 and ensure that grease is not expelled onto the machine or tooling. When
opening the oil outlet of J4 to J6-axis, put a oil pan under the oil outlet or place the oil outlet at the
upper side.)
- 62 -
WARNING
Hot grease might eject suddenly when you open the grease outlet. Attach bags
for collecting grease, and use appropriate protective equipment such as heat-
resistant gloves, protective glasses, a face shield, or a body suit if necessary.
 If you must wipe oil frequently, and opening the grease outlet does not stop the seepage, perform the
measures below.
⇒”9.1 TROUBLESHOOTING”(symptom : Grease leakage, Oil leakage)
7.2.2 Confirmation of the Air Control Set (option)

When an air control set is used, check the items below.
Item Check items Check points

Check the air pressure using the pressure gauge on the air regulator as shown
1 Air pressure in Fig.7.2.2 (a). If it does not meet the specified pressure of 0.49 to 0.69 MPa
(5-7 kgf/cm2), adjust it using the regulator pressure-setting handle.
Check the number of oil drops during operation. If it does not meet the
2 Lubricator oil mist quantity specified value (1 drop/10-20 sec), adjust it using the lubricator control knob.
Under normal usage, the lubricator will be empty in about 10 to 20 days.
3 Lubricator oil level Check to see that the air control set oil level is within the specified level.
Check the joints, tubes, etc. for leaks. Retighten the joints or replace parts, as
4 Leakage from hose
required.
Check the drain and release it. If the quantity of the drained liquid is significant,
5 Drain
examine the setting of the air dryer on the air supply side.
Handle for lubricator adjustment

ルブリケータ調整ハンドル
Pressure
圧力計gauge Lubricator oil drop amount check
ルブリケータオイル滴下量確認
Lubricator
ルブリケータ給油口 oil inlet
Lubricator
ルブリケータ
Air filter
エアフィルタ
Regulator
レギュレータ pressure
setting
圧力設定 handle
ハンドル
Drain port
ドレインポート
Fig. 7.2.2 (a) Air control set (option)
- 63 -
7.2.3 Check the Mechanical Unit Cables and Connectors

Inspection points of the mechanical unit cables and welding cables
Check the cables for visible damage that has been exposed. Closely inspect movable parts.
Clean any spatter that might be found.
Fig. 7.2.3 (a) Inspection points of the mechanical unit cables
- 64 -
Inspection points of the connectors
 Power/brake connectors of the motor exposed externally
 Robot connection cables, earth terminal and user cables
Check items
 Circular connector : Check the connector for tightness by turning it manually.
 Square connector : Check the connector for engagement of its lever.
 Earth/Ground terminal : Check the terminal for tightness.
Fig. 7.2.3 (b) Connector Inspection points
- 65 -
7.2.4 Check of Fixed Mechanical Stopper and Adjustable

Mechanical Stopper
 Check that there is no evidence of a collision on the fixed mechanical stopper and the adjustable
mechanical stopper. If there is evidence of a collision on the stopper, replace the parts.
 Check the tightness of the stopper mounting bolts. If they are loose, retighten them.
Be sure to check the tightness of the mounting bolts of the J1-axis swing stopper.
 Refer to Section 6.2 of the operator’s manual for details regarding the adjustable mechanical stopper.
J3-axis mechanical stopper B

J3軸機械式ストッパB J3-axis mechanical
Spec.: J3軸機械式ストッパA
stopper A
仕様 : A6-BA-16X20
Bolt
ボルト : A6-BA-16X20 J2-axis mechanical stopper B
Spec.:
仕様
Stopper : A290-7222-X323
ストッパ : A290-7222-X323
J2-axis mechanical
J2軸機械式ストッパA Bolt :ボルト
A6-BA-24X40
: A6-BA-24X40
stopper A (締め付けトルク 128Nm)
(Tightening torque 128Nm)
J1-axis mechanical
J1軸機械式ストッパA
stopper A
(When J1-axis
mechanical stopper is
specified)
B
J1-axis mechanical
stopper B
(When J1-axis mechanical
stopper is specified)
Spec.:
仕様 : A290-7228-X361
Stopper
ストッパ : A290-7228-X361 Detail
詳細 BB
Bolt ボルト
:A6-BA-8X30 (2 pcs)
: A6-BA-8X30 (2個)
(Tightening
(締め付けトルク torque 37.2Nm)
37.2Nm)
Fig. 7.2.4 (a) Check of fixed mechanical stopper and adjustable mechanical stopper
- 66 -
7.3 MAINTENANCE
7.3.1 Replacing the Batteries (1 year (3840 hours) checks)

The position data of each axis is preserved by the backup batteries. The batteries need to be replaced every
year. Also, use the following procedure to replace when the backup battery voltage drop alarm occurs.
Procedure for replacing the battery

1 Press the EMERGENCY STOP button to prohibit the robot motion.
CAUTION
Be sure to keep controller power turned on. Replacing the batteries with the
power turned off causes all current position data to be lost. Therefore, mastering
will be required again.
2 Remove the battery case cap. (Fig. 7.3.1 (a)) If it cannot be removed, tap it on its side with a plastic
hammer to loosen the cap before you remove it.
3 Take out the old batteries from the battery case. At this time, the battery can be taken out by pulling
the stick in the center of the battery box.
4 Insert new batteries into the battery case. Pay attention to the direction of the batteries.
5 Close the battery case cap.
Battery can be taken out

この棒を引っ張ると
by pulling this stick
バッテリが取り出せます。
Case cap
Battery case ケースキャップ
バッテリケース Battery spec.:A98L-0031-0027
バッテリ仕様:A98L-0031-0027
(1.5V -Volt C LR14 Alkaline Batteries 4 pcs)
(単二アルカリ電池 4本)
Fig. 7.3.1 (a) Replacing the battery
- 67 -
7.3.2 Replacing the Grease and Oil of the Drive Mechanism

(3 years (11520 hours) checks) checks)
According to below, replace the grease and the oil of the reducers of J1, J2 and J3-axes and the J4/J5/J6-
axis gearbox a based on every 3 years or 11520 hours, whichever comes first.
Upside-down mount
天吊設置の場合
+90º wall mount -90º wall mount

+90°壁掛け設置の場合 -90°壁掛け設置の場合
Fig. 7.3.2 (a) Installation method
- 68 -
7.3.2.1 Grease replacement procedure for the reducer (J1/J2/J3-axis)

(except M-20iD/25 food grade type)
CAUTION
Failure to supply grease correctly may cause an increase of the internal
pressure of the grease bath. Such pressure increase will then damage the seal,
which in turn leads to grease leakage and abnormal robot operation.
When performing greasing, therefore, observe the following precautions.
1 Before starting to grease, remove the seal bolt of the grease outlet to allow the
grease to come out.
2 Supply grease slowly, using a manual pump. (once per two seconds)
3 Whenever possible, avoid using an air pump, which is powered by the factory air
supply.
If the use of an air pump is unavoidable, supply grease with the pump at a
pressure lower than or equal to the gun tip pressure (see Table 7.3.2.1 (a)).
4 Use grease only of the specified type. Grease of a type other than that specified
may damage the reducer or lead to other problems.
5 After greasing, release remaining pressure from the grease bath using the
procedure given in Subsection 7.3.2.2, and then close the grease outlet.
6 To prevent slipping accidents and catching fire, completely remove any excess
grease from the floor or robot.
7 Grease nipple kit spec. : A05B-1227-K002
Table 7.3.2.1 (a) Grease name and amount to be replaced at regular intervals of three years (11520 hours)
Amount of grease to
Greasing points be applied Gun tip pressure Specified grease
J1-axis reducer 1250ｇ(1380ml)

J2-axis reducer 830ｇ(920ml) 0.1MPa or less (NOTE) Spec.: A98L-0040-0174
NOTE
When a manual pump is used for greasing, the standard rate is one pumping
cycles per two seconds.
WARNING
Hot grease might eject suddenly when you open the grease outlet. Attach bags
for collecting grease, and use appropriate protective equipment such as heat-
resistant gloves, protective glasses, a face shield, or a body suit if necessary.
- 69 -
For grease replacement or replenishment, use the Postures indicated below.

Consider relative angle of from posture of floor mount when robot is angle mount.
Table 7.3.2.1 (b) Grease supplying posture (J1/J2/J3-axis reducer)

Posture
Grease supplying position
J1 J2 J3 J4 J5 J6
Floor mount
J1-axis reducer Upside-down
grease supplying mount Arbitrary Arbitrary
posture Wall mount -90º
Wall mount +90º
Floor mount 0°
mount -90°
grease supplying Arbitrary Arbitrary Arbitrary Arbitrary Arbitrary
posture Wall mount -90º 90°
Wall mount +90º -90°
Floor mount 0° 0°
mount 0° 180°
grease supplying
posture Wall mount -90º +90° 0°
Wall mount +90º -90° 0°
1 Move the robot to the greasing Posture described in Table.7.3.2.1 (b).

2 Turn off controller power.
3 Remove the bolt and the seal washer from grease outlet. (Fig.7.3.2.1 (a))
4 Remove the bolt and the seal washer from grease inlet and attach grease nipple.
5 Keep greasing until the new grease pushes out the old grease and comes out from each grease outlet.
6 Release remaining pressure using the procedure given in Subsection 7.3.2.2. At this time, drain grease
according to Table 7.3.2.1 (c) to make space of grease bath.
J1-axis reducer grease outlet

J1軸減速機排脂口
Bolt M10 x16 &+ シールワッシャ
ボルトM10X16 seal washer
J1-axis reducer grease inlet

J1軸減速機給脂口
Bolt M10 x16 +&シールワッシャ

Bolt M6 x 8 &+ seal
ボルトM6X8 washer
シールワッシャ

Bolt M6 x 8 &+ seal

Bolt M10 x16 &+ seal

BoltボルトM10X16
M10 x16 & seal washer
+ シールワッシャ
Fig. 7.3.2.1 (a) Greasing point of J1/J2/J3-axis reducer
- 70 -
Table 7.3.2.1 (c) Drain grease amount for releasing remaining pressure
Operation axis Drain grease amount
J1-axis 160ml
J2-axis 180ml
J3-axis 55ml
Table 7.3.2.1 (d) Specification of seal washers

Parts name Specification
seal washer (M6) A30L-0001-0048#6M
seal washer (M10) A30L-0001-0048#10M
7.3.2.2 Procedure for releasing remaining pressure from the grease

bath (J1/J2/J3-axis) (except M-20iD/25 food grade type)
After applying grease, operate the robot more than 10 minutes as instructed below with the bolts, seal
washers and the grease nipple of the grease inlet and outlet uncapped to release the remaining pressure
within the grease bath. Attach a recovery bag below the grease inlet and outlet to prevent output grease
from splattering.
Operating axis
Grease J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis
replacement part
Axis angle
of 60° or
J1-axis reducer Arbitrary
more
OVR 100%
Axis angle
of 60° or
J2-axis reducer Arbitrary Arbitrary
more
OVR 100%
Axis angle
of 60° or
J3-axis reducer Arbitrary Arbitrary
more
OVR 100%
If the above operation cannot be performed due to the environment, adjust the operating time according to
the operating angle. (When the maximum allowable axis angle is 30 degrees, perform the twice operation
for 20 minutes or more.) If you grease multiple axes, you can exercise multiple axes at the same time. After
completion of the operation, attach the bolts and seal washers to the grease inlets and outlets. When
reusing the seal bolts, be sure to seal them with seal tape.
After replacing grease or oil, the internal pressure of the grease bath or oil bath may rise if the robot is
operated again under frequent inversion movement or a high temperature environment. In these cases, you
can return to normal internal pressure by releasing the grease outlet or oil outlet just after robot operation.
(When opening grease outlet or oil outlet, be sure that grease or oil is not spattered.)
- 71 -
7.3.2.3 Oil replacement procedure for the 1/J2/J3-axis reducer

(M-20iD/25 food grade type)
CAUTION
1 There is severe risk of gear damage in case robot is operated with oil shortage.
Please make sure the gearbox is always filled with correct amount of oil.
2 Failure to supply oil correctly may cause damage to the seal, which would in turn
lead to oil leakage and abnormal operation. When performing oiling, therefore,
observe the following cautions.
(1) Use specified oil. Use of non-approved oil may damage the reducer or lead to
other problems.
(2) After oiling, release remaining pressure from the grease bath using the
(3) To prevent slipping accidents and catching fire, completely remove any
excess oil from the floor or robot.
Table 7.3.2.3 (a) Oil name and amount to be replaced at regular intervals of three year (11520 hours)
Amount of oil to be
Oiling points applied Gun tip pressure Specified oil

J2-axis reducer 840ｇ(990ml) 0.1MPa or less (NOTE) Spec.: A98L-0040-0255
NOTE
When a manual pump is used for greasing, the standard rate is one pumping
cycles per two seconds.
For oil replacement or replenishment, use the Postures indicated below.

Table 7.3.2.3 (b) Oil supplying posture (J1/J2/J3-axis reducer)

Posture
Supply position
J1 J2 J3 J4 J5 J6
posture for Floor mount
Arbitrary
discharging oil Upside-down mount
of the J1-axis Wall mount -90º 90°
reducer Wall mount +90º -90°
Arbitrary
posture for Floor mount
Arbitrary
supply oil of Upside-down mount
the J1-axis Wall mount -90º -35°
reducer Wall mount +90º 35°
Arbitrary Arbitrary Arbitrary Arbitrary
posture for Floor mount -60°
Arbitrary
discharging oil Upside-down mount -20°
of the J2-axis Wall mount -90º 0° 0°
reducer Wall mount +90º 170° 0°
posture for Floor mount 20°
Arbitrary
supply oil of Upside-down mount -20°
the J2-axis Wall mount -90º 170° 20°
reducer Wall mount +90º 0° 20°
- 72 -
Posture
Supply position
J1 J2 J3 J4 J5 J6
posture for Floor mount 0° 90°
Arbitrary
discharging oil Upside-down mount 0° -75°
of the J3-axis Wall mount -90º 0° 0° 125°
reducer Wall mount +90º 170° 0° 125°
posture for Floor mount 0° -35°
Arbitrary
supply oil of Upside-down mount 0° 35°
the J3-axis Wall mount -90º 0° 0° 125°
reducer Wall mount +90º 170° 0° 125°
Exhausting oil method

1 Move the robot to the oil discharge posture for exhausting described in Table 7.3.2.3 (b).
3 Put the oil pan under the oil outlet. Then remove the plug or the bolt and the seal washer of the oil
inlet/outlet and ventilator hole, and discharge the oil.
Oiling method
Supply oil according to the description below.
1 Move the robot to the oil discharge posture for supplying described in Table 7.3.2.3 (b).
2 According to Fig. 7.3.2.3 (b) to (d), install the attached adapter (A290-7228-X327 for M6 or A290-
7228-X328 for M10) on the oil inlet and the ventilator hole. Then install the oil injection nipple
(A05B-1224-K006) to the ventilator hole.
3 Confirm the valve of the oil injection nipple with valve is open, according to Fig. 7.3.2.3 (b) to (d),
supply oil by using oil injection gun (A05B-1221-K005). If oil comes out from the upper side
ventilator hole, stop supplying oil, close the valve of the oil injection nipple, then remove the oil gun.
4 Attach the bolt and the seal washer on the upper side ventilator hole.
5 Remove the oil injection nipple with valve, attach the bolt and the seal washer to oil inlet.
In this time, oil may drop. Set the oil pan under it and attach the bolt and the seal washer immediately.
6 According to Subsection 7.3.2.4, release remaining pressure of the oil bath.
CAUTION
If supplying oil forcibly when valve is closed, internal pressure of oil bath rise
abnormally and cause oil leak from seal part or oil seal falling out. Be careful.
- 73 -
BB
ボルトM10X16
Bolt + シールワッシャ
M10 x16 & seal washer
AA
J1 J1
AA
Bolt M6 x 8 &+seal
AA
Bolt M6 x 8 &+ seal
B
B
Bolt M10 x16+&シールワッシャ
B
B
J2 J3
Fig. 7.3.2.3 (a) Oiling point of J1/J2/J3-axis reducer
Table 7.3.2.3 (c) Oiling points (J1-axis reducer)

Installation A B
Floor mount Oil inlet/outlet Ventilator hole
Upside-down mount Ventilator hole Oil inlet/outlet
Wall mount -90º Oil inlet Oi outlet/ventilator hole
Wall mount +90º Oil inlet Oi outlet/ventilator hole
Table 7.3.2.3 (d) Oiling points (J2-axis reducer)

Installation A B
Floor mount Oil inlet Oi outlet/ventilator hole
Upside-down mount Oil inlet/outlet Ventilator hole
Wall mount -90º Oil inlet Oi outlet/ventilator hole
Wall mount +90º Oil inlet Oi outlet/ventilator hole
Table 7.3.2.3 (e) Oiling points (J3-axis reducer)

Installation A B
Floor mount Oi outlet/ventilator hole Oil inlet
Upside-down mount Oi outlet/ventilator hole Oil inlet
Wall mount -90º Ventilator hole Oil inlet/outlet
Wall mount +90º Ventilator hole Oil inlet/outlet
Table 7.3.2.3 (c) Specification of seal washers

seal washer (M6) A30L-0001-0048#6M
seal washer (M10) A30L-0001-0048#10M
- 74 -
Adapter
アダプタ
A290-7228-X328
A290-7228-X328
Oil tray with a valve

バルブ付きオイル受け皿
A05B-1227-K007
Adapter
アダプタ
A290-7228-X328
A290-7228-X328
Oil injection nipple with a valve

バルブ付きオイル注入ニップル
A05B-1224-K006
A05B-1224-K006
Oil injection gun
オイル注入ガン
A05B-1221-K005
A05B-1221-K005
White
白線 line
Valve is open Valve is closed

バルブが開いた状態バルブが閉じた状態
Fig. 7.3.2.3 (b) Oil injection by oil gun (oiling of J1-axis reducer) (in case of floor mount)
- 75 -

A05B-1224-K006
A05B-1224-K006
Adapter
アダプタ
A290-7228-X327
A290-7228-X327
Adapter
アダプタ
A290-7228-X328
A290-7228-X328
Oil injection gun
A05B-1221-K005
A05B-1221-K005 Oil tray with a valve
A05B-1227-K007
A05B-1227-K007
White line
白線

Fig. 7.3.2.3 (c) Oil injection by oil gun (oiling of J2-axis reducer) (in case of floor mount)
- 76 -
Adapter
アダプタ
A290-7228-X327
A290-7228-X327
Adapter
アダプタ
A290-7228-X328
A290-7228-X328

A05B-1227-K007
A05B-1227-K007
Oil injection gun

A05B-1221-K005
A05B-1221-K005
A05B-1224-K006
A05B-1224-K006
White line
白線

Fig. 7.3.2.3 (d) Oil injection by oil gun (oiling of J3-axis reducer) (in case of floor mount)
- 77 -
7.3.2.4 Procedure for Releasing remaining pressure from the Oil

bath (J1/J2/J3-axis) (M-20iD/25 food grade type)
After applying oil, operate the robot more than 10 minutes as instructed below to release the remaining
pressure within the oil bath.
Operating axis
Oil J1-axis J2-axis J3-axis J4-axis J5-axis J6-axis
replacement part
Axis angle of
J1-axis reducer 60° or more Arbitrary
OVR 100%
Axis angle of
J2-axis reducer Arbitrary 60° or more Arbitrary
OVR 100%
Axis angle of
J3-axis reducer Arbitrary 60° or more Arbitrary
OVR 100%
for 20 minutes or more.) When you supply grease or oil to plural axes, you can run the plural axes at the
same time. Remaining pressure release at once if the ventilator hole is opened.
After replacing oil, the internal pressure of oil bath may rise if the robot is operated again under frequent
inversion movement or a high temperature environment. In these cases, you can return to normal internal
pressure by releasing the ventilator hole just after robot operation. (When opening the ventilator hole, be
sure that oil is not spattered.)
CAUTION
When reusing the oil adapter, be sure to seal the thread part with seal tape.
As for the seal washer, In one side, rubber sticks to the entire and the other side,
rubber sticks to only around hole and rubber sticks is incomplete state, Attach
later face to bolt side. Confirm seal washer by viewing. If it is damaged
obviously, replace it by new one.
See Table 7.3.2.3 (c) about specification of seal bolts and seal washer.
7.3.2.5 Oil replacement procedure for the J4-axis gearbox

CAUTION
other problems.
- 78 -
Table 7.3.2.5 (a) Oil name and amount of oiling of standard to be replaced
at regular intervals of three years (11520 hours)
Amount of oil to be applied
Oiling points Gun tip pressure Specified oil
NOTE)
Except M20iD/25 food grade type
Spec.: A98L-0040-0233
J4-axis gearbox 560ｇ(660ml) 0.1MPa or less
M20iD/25 food grade type
Spec.: A98L-0040-0255
NOTE) It is not a regulated amount injection.

Table 7.3.2.5 (b) Oiling posture (J4-axis gearbox)

Posture
Supply position
J1 J2 J3 J4 J5 J6
Floor mount 0°
Arbitrary
Upside-down mount 180°
J4-axis gearbox Arbitrary Arbitrary Arbitrary Arbitrary
Wall mount -90° -90°
0°
Wall mount +90° 90°
J4-axis gearbox ventilator hole

J4軸ギヤボックス空気抜き穴
taper plug R1/8
テーパプラグR1/8
J4-axis gearbox oil inlet & outlet

J4軸ギヤボックス給排油口
taper plug R1/8
Fig. 7.3.2.5 (a) Greasing point of J4-axis gearbox
Table 7.3.2.5 (c) Specification of taper plugs

A97L-0001-0436#2-1D (except M-20iD/25 food grade type)
taper plug (R1/8)
A97L-0001-0436＃2-1SUS-D (M-20iD/25 food grade type)

1 Move the robot to the oil discharge Posture for J4-axis gearbox described in Table 7.3.2.5 (b).
3 Put the oil pan under the oil outlet. Then remove the plug or the seal bolt of the oil inlet/outlet and
ventilator hole, and discharge the oil. (See Fig. 7.3.2.5 (b).)
- 79 -
Oiling method
Supply oil according to the description below.
1 Install oil injection nipple with a valve (A05B-1224-K006) to oil inlet.

2 Install the oil tray with a valve (A05B-1227-K007) to the J4-axis gearbox ventilator hole.
3 Confirm the valve is open, according to Fig. 7.3.2.5 (b), supply oil by using oil injection gun (A05B-
1221-K005). In this time, install adapter for keeping of oiling posture. (It is appendix of A05B-1224-
K006). If oil comes out to oil tray from ventilator hole, stop supplying oil, close the valve of the oil
injection nipple, then remove the oil gun.
4 Attach seal bolt to the ventilator hole. Replace seal bolt by new one. When reusing taper plugs, be sure
to wind it with seal tape.
5 Remove the oil injection nipple, attach the taper plug to oil inlet.
In this time, oil may drop. Set the oil pan under it and attach the seal bolts immediately.
Replace the taper plug by new one. When reusing taper plugs, be sure to wind it with seal tape.
6 Release the remaining pressure using the procedure given in Subsection 7.3.2.8.
CAUTION

バルブ付オイル受け皿
A05B-1227-K007
A05B-1227-K007
Oil injection gun

A05B-1221-K005
A05B-1221-K005

バルブ付オイル注入ニップル
A05B-1224-K006
A05B-1224-K006
Adapter for holding oiling posture

給油姿勢保持アダプタ
(Appendix of A05B-1224-K006)
（A05B-1224-K006に添付）
White白線
line
Valve is open
バルブが開いた状態 Valve is closed
バルブが閉じた状態
Fig. 7.3.2.3 (b) Oil injection by oil gun (oiling of J4-axis gearbox)
- 80 -

(ARC Mate 120iD, ARC Mate 120iD/35, M-20iD/25/35)
CAUTION
other problems.
Gun tip
Oiling points (total capacity of the oil bath) Specified oil
pressure
NOTE)
Except M20iD/25 food grade type
Spec.: A98L-0040-0233
J5/J6-axis 635ｇ(750ml) *1
0.1MPa or less
gearbox
M20iD/25 food grade type
Spec.: A98L-0040-0255

Table 7.3.2.6 (b) Oiling posture (J5/J6-axis gearbox)

Posture
Oiling points
J1 J2 J3 J4 J5 J6
Floor mount 0° 0°
Upside-down Arbitrary
J5/J6-axis 0° 180°
mount 0° Arbitrary
gearbox
Wall mount -90° 90° 0°
0°
Wall mount +90° 90° 180°
Arbitrary
J5/J6-axis Floor mount 20° to 90° -90°
gearbox Upside-down Arbitrary
-20° to -90° -90°
releasing mount Arbitrary Arbitrary
remaining Wall mount -90° 0° to 70° 90°
0°
pressure Wall mount +90° 110° to 180° -90°
(NOTE) Choose the one of the posture taken easily when there is two or more posture.

1 Move the robot to the posture for oil replacing described in Table 7.3.2.6 (b).
3 Put the oil pan under the oil outlet.
4 Remove two bolts and seal washers of oil outlet. Then remove the bolt and the seal washer of the oil
inlet See Fig.7.3.2.6 (a). In this time, if you remove bolt of oil inlet firstly, you can prevent spilling oil
on surroundings.
- 81 -
5 Install the bolt and the seal washer to the oil outlet (lower side) after all oil is exhausted.
J5/J6-axis gearbox oil outlet (upper(上側)

J5/J6軸ギヤボックス排油口 side)
Bolt M8 x10 & seal washer
ボルトM8X10 + シールワッシャ
J5/J6-axis gearbox oil outlet (lower(下側)

J5/J6軸ギヤボックス排油口 side)
Bolt M8 x10 & seal
J5/J6-axis gearbox oil inlet

J5/J6軸ギヤボックス給油口
Bolt M8 x10 & seal
Fig. 7.3.2.6 (a) Oil inlet and outlet
Table 7.3.2.6 (c) Specification of seal washer and taper plug

Seal washer (M8) A30L-0001-0048#8M
Injecting oil method

(1) Install the oil adapter (appendix) and oil injection nipple with valve (A05B-1224-K006) to oil inlet
(Fig.7.3.2.6 (c)) referring to Fig.7.3.2.6 (b).
(2) Confirm valve of oil inlet and oil outlet are open referring to Fig.7.3.2.4 (b). Supply oil by oil injection
gun (A05B-1221-K005). If oil comes out in oil tray from oil outlet (upper side), stop supplying oil,
close the valve oil injection nipple, and remove oil gun
(3) Attach the bolt and the seal washer to oil outlet (upper side).
(4) Remove the oil injection nipple with a valve, attach the bolt and the seal washer to the oil inlet. In this
time, oil may drop. Set a oil pan under the oil inlet and attach the bolt and the seal washer immediately.
(5) Release the remaining pressure using the procedure given in Subsection 7.3.2.8.
CAUTION
- 82 -
A
Oilオイル注入ガン
injection gun
A05B-1221-K005
A05B-1221-K005
Oil adapter
給油アダプタ
A290-7228-X568
A290-7228-X568

A05B-1224-K006
A05B-1224-K006
Detail
詳細 AA
White 白線
line
Valve is open
バルブが開いた状態 Valveバルブが閉じた状態
is closed
Fig. 7.3.2.6 (b) Oil injection by oil gun
Fig. 7.3.2.6 (c) Oil injection nipple with valve (A05B-1224-K006)
- 83 -

(ARC Mate 120iD/12L, ARC Mate 120iD/12L)
CAUTION
other problems.
Gun tip
Oiling points (total capacity of the oil bath) Specified oil
pressure
NOTE)
J5/J6-axis
280g(330ml) 0.1MPa or less Spec.: A98L-0040-0233
gearbox

Table 7.3.2.7 (b) Oiling posture (J5/J6-axis gearbox)

Posture
Oiling points
J1 J2 J3 J4 J5 J6
Floor mount 0° 0°
Upside-down Arbitrary
J5/J6-axis 0° 180°
mount 0° Arbitrary
gearbox
Wall mount -90° -90° 0°
0°
Wall mount +90° 90° 0°
Arbitrary
J5/J6-axis Floor mount 0° -90°
gearbox Upside-down Arbitrary
0° 90°
releasing mount Arbitrary Arbitrary
remaining Wall mount -90° -90° -90°
0°
pressure Wall mount +90° 90° -90°
(NOTE) Choose the one of the posture taken easily when there is two or more posture.
- 84 -

1 Move the robot to the posture of J5/J6-axis gearbox described in Table 7.3.2.7 (b).
3 Put the oil pan under the oil outlet.
4 Remove two bolts and washer of oil outlet. Then remove the taper plug of the oil inlet. (See Fig.
7.3.2.7 (a)) In this time, if you remove bolt of oil inlet firstly, you can prevent spilling oil on
surroundings.
5 Install the bolt and the seal washer to the oil outlet (lower side) after all oil is exhausted.
J5/J6-axis gearbox oil outlet

J5/J6軸ギヤボックス排油口 (upper side)
(上側)
Bolt M6 x8 &+ seal
J5/J6-axis gearbox oil outlet (lower side)

J5/J6軸ギヤボックス排油口 (下側)
Bolt M6 x8 &+ seal
J5/J6-axis gearbox oil inlet

J5/J6軸ギヤボックス給油口
taper plug R1/8
Fig. 7.3.2.7 (a) Oil inlet and outlet
Table 7.3.2.7 (c) Specification of seal washer and taper plug

Seal washer (M6) A30L-0001-0048#6M
Taper plug (R1/8) A97L-0001-0436#1-1D
Injecting oil method

(1) Install oil injection nipple with valve (A05B-1224-K006) to oil inlet (Fig.7.3.2.7 (c)) referring to
Fig.7.3.2.7 (b).
(2) Confirm valve of oil inlet and oil outlet are open referring to Fig.7.3.2.7 (b). Supply oil to J5/J6-axis
gearbox by oil injection gun (A05B-1221-K005). If oil comes out from oil outlet (upper side), stop
supplying oil, close the valve oil injection nipple, and remove oil gun
(3) Attach the bolt and the seal washer to oil outlet (upper side).
(4) Remove the oil injection nipple with a valve, attach the taper plug to the oil inlet. In this time, oil may
drop. Set a oil pan under the oil inlet and attach the taper plug immediately. Replace the taper plug
with a new one. When reusing it, wind it with seal tape.
(5) Release the remaining pressure using the procedure given in Subsection 7.3.2.8.
CAUTION
- 85 -
Oilオイル注入ガン
injection gun
A05B-1221-K005
A05B-1221-K005
White 白線
line

A05B-1224-K006
A05B-1224-K006
Detail
詳細 A A Valve is open
バルブが開いた状態 Valve is closed
バルブが閉じた状態
Fig. 7.3.2.7 (b) Oil injection by oil gun
Fig. 7.3.2.7 (c) Oil injection nipple with valve (A05B-1224-K006)
- 86 -
7.3.2.8 Procedure for Releasing remaining pressure from the Oil

bath (J4/J5/J6-axis)
After replacing oil, please do the following operation to adjust the amount of oil properly.
In case of J4-axis gearbox

If confirmed then please operate robot J4 axis during 10 minutes or more, at 100% override, making 90
degrees motion. Keep the taper plugs attached during this operation. When completed, move the robot
posture so that J4-gearbox oil outlet is right above. (In case of floor mount, J3=0°.) Remaining pressure
release at once if oil inlet/outlet is opened. After operation, wipe the oil that adheres to the surface of the
robot off when confirming it and close the oil inlet/outlet completely.
In case of J5/J6-axis gearbox

Move the robot to posture for releasing the remaining pressure. Operate robot J5 and J6 axis during 10
minutes or more, at 100% override, making 90 degrees motion on both axis. When completed, move the
robot posture so that the oil outlets is right above. (In case of floor mount, J3=0° and J4=-90º.) Remaining
pressure release at once if one of oil outlet is opened. (Be careful that oil is not spattered when opening the
oil outlet.)
Wipe the oil that adheres to the surface of the robot off when confirming it and tighten bolts of oil inlet
completely.
for 20 minutes or more.) After completion of the operation, attach the taper plug to the oil inlets. When you
supply grease or oil to plural axes, you can run the plural axes at the same time.
After replacing grease or oil, the internal pressure of the grease bath or oil bath may rise if the robot is
operated again under frequent inversion movement or a high temperature environment. In these cases, you
can return to normal internal pressure by releasing the grease outlet or oil outlet just after robot operation.
(When opening grease outlet or oil outlet, be sure that grease or oil is not spattered.)
CAUTION
When reusing the seal bolt, the taper plug, and the oil adapter, be sure to seal
the thread part with seal tape.
As for the seal washer, In one side, rubber sticks to the entire and the other side,
rubber sticks to only around hole and rubber sticks is incomplete state, Attach
later face to bolt side. Confirm seal washer by viewing. If it is damaged
obviously, replace it by new one.
See Table 7.3.2.6 (c) and Table 7.3.2.7 (c) about specification of seal bolts and
seal washer.
7.4 STORAGE
When storing the robot, place it on a level surface with the same posture for transportation. (See Section
1.1.)
- 87 -
8. MASTERING B-84074EN/06
8 MASTERING
Mastering associates the angle of each robot axis with the pulse count value supplied from the absolute
Pulsecoder connected to the corresponding axis motor. To be specific, mastering is an operation for
obtaining the pulse count value; corresponding to the zero position.
CAUTION
1 In case of ARC Mate 120iD, M-20iD series, mastering is performed with gravity
compensation function enabled in our factory before shipment. Please refer to
Chapter 11 of Controller optional function operator’s manual (B-83284EN-2) for
details of the gravity compensation function.
2 In case of performing mastering with gravity compensation (option) is enabled, if
load setting (See Section 4.3) is not correct, it will influence the precision of the
mastering.
8.1 OVERVIEW
The current position of the robot is determined according to the pulse count value supplied from the
Pulsecoder on each axis.
Mastering is factory-performed. It is unnecessary to perform mastering in daily operations. However,
mastering is required under the following conditions:
 Motor replacement.
 Pulsecoder replacement
 Reducer replacement
 Cable replacement
 Batteries for pulse count backup in the mechanical unit have gone dead
CAUTION
Robot data (including mastering data) and Pulsecoder data are backed up by
their respective backup batteries. Data will be lost if the batteries die. Replace
the batteries in the controller and mechanical units periodically. An alarm will
alert you when battery voltage is low.
- 88 -
B-84074EN/06 8. MASTERING
Types of Mastering
There are following mastering methods.
Table 8.1 (a) Type of mastering

Fixture position
Mastering performed with the mastering fixture before shipping.
mastering
Zero-position mastering Mastering which performed with all axes set at the 0-degree position. A zero-position mark
(witness mark (witness mark) is attached to each robot axis. This mastering is performed with all axes
mastering) aligned to their respective witness marks.
This is performed at a user-specified position. The corresponding count value is obtained
from the rotation count of the Pulsecoder connected to the relevant motor and the rotation
Quick mastering
angle within one rotation. Quick mastering uses the fact that the absolute value of a
rotation angle within one rotation will not be lost. (All axes at the same time)
This is performed at a user-specified position for one axis. The corresponding count value
Quick mastering for is obtained from the rotation count of the Pulsecoder connected to the relevant motor and
single axis the rotation angle within one rotation. Quick mastering uses the fact that the absolute
value of a rotation angle within one rotation will not be lost.
Mastering which performed for one axis at a time. The mastering position for each axis
Single axis mastering
can be specified by the user. Useful in performing mastering on a specific axis.
Mastering data entry Enter the Mastering data directly.
This section describes zero-position mastering, quick mastering, quick mastering for single axis, single-
axis mastering, and mastering data entry. For more detailed mastering (fixture position mastering), contact
your local FANUC representative.
This section describes zero-position mastering, quick mastering, single-axis mastering, and mastering data
entry. For more detailed mastering (fixture position mastering), contact your local FANUC representative.
CAUTION
1 If mastering is performed incorrectly, the robot may behave unexpectedly. This is
very dangerous. For this reason, the Master/Cal screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5, ([DONE]) on the Master/Cal screen. The $MASTER_ENB
system variable is then reset to 0 automatically, and the Master/Cal screen will
disappear.
2 Before performing mastering, it is recommended that you back up the current
mastering data.
3 When the motion range is mechanically 360 degrees or more, if J1/J4 axis to
which the cables are connected is turned one turn beyond the correct mastering
position, the cables in the mechanical unit will be damaged. If the correct rotation
position is not clear because the axis is moved too much during mastering,
remove the connector panel or cover, check the state of the internal cables, and
perform mastering in the correct position. For the checking procedure, see Fig.
8.1 (a) and (b).
- 89 -
Check that the cables are

J1=0vの時
ケーブルが捻れていないか
not twisted with the
確認してください
J1-axis placed in 0º
J1 connector panel
J1分線盤
Bolt
ボルト
M6 x10 (4)
M6X10 (4)
Fig. 8.1 (a) Confirming the state of cable (J1-axis)
Check
J4=0 that the cables are
vの時
Gasket (*)
ケーブルが捻れていないかガスケット(*)
not twisted
確認してください with the A290-7228-X441
A290-7228-X441
J4-axis placed in 0º Gasket cannot be reused.
(*)ガスケットは再利用できません。
Replace it when removing the plate.
プレートを外した際はガスケット
を新品に交換してください。
Plate Bolt ボルト

プレート
M6 x16 (8)M6X16 (8)
tightening締付けトルク
torque 4.5Nm
4.5Nm
ロックタイト243塗布
Apply LOCTITE 243
Fig. 8.1 (b) Confirming the state of cable (J4-axis)
- 90 -
8.2 RESETTING ALARMS AND PREPARING FOR

MASTERING
Before performing mastering because a motor is replaced, you must release the relevant alarm and display
the positioning menu.
Alarm displayed
“SRVO-062 BZAL” or “SRVO-075 Pulse not established”
Procedure
1 Display the positioning menu by following steps 1 to 6.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 [TYPE], and select [SYSTEM Variable] from the menu.
4 Place the cursor on $MASTER_ENB, then key in [1] and press [ENTER] key.
5 Press F1 [TYPE], and select[Master/Cal] from the menu.
6 Select the desired mastering type from the [Master/Cal] menu.
2 To reset the "SRVO-062 BZAL" alarm, follow steps 1 to 5.

2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 [TYPE], and select [Master/Cal] from the menu.
4 Press the F3 [RES_PCA], then press F4 [YES].
5 Turn off the controller power and on again.
3 To reset the "SRVO-075 Pulse not established " alarm, follow steps 1 to 2.
1 When the controller power is turned on again, the message "SRVO-075 Pulse not established"
appears again.
2 Move the axis for which the message mentioned above has appeared in either direction till the
alarm disappears when you press [FAULT RESET].
- 91 -
8.3 ZERO POSITION MASTERING

Zero position mastering (witness mark mastering) is performed with all axes set at the 0-degree position. A
zero-position mark (witness mark) is attached to each robot axis (Fig. 8.3 (a)). This mastering is performed
with all axes set at the 0-degree position using their respective witness marks.
Zero position mastering involves a visual check. It cannot be so accurate. It should be used only as a quick-
fix method.
Procedure of Zero-position Mastering

3 Press F1 [TYPE]. Then select [Variables] from the menu.
4 If $DMR_GRP[group].$GRAV_MAST=1, set the gravity compensation to enabled, if it is 0, set the
gravity compensation to disabled. In addition release the brake control.
NOTE
Gravity compensation can be set to enabled/disabled by setting the system
variables as follows:
$PARAM_GROUP[group].$SV_DMY_LNK[8] : FALSE(disabled) or TRUE
(enabled)
Brake control can be released by setting the system variables as follows:
$PARAM_GROUP.SV_OFF_ALL : FALSE (for all axes)
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE
After changing the system variables, cycle power of the controller.
(Mastering can be performed without setting of gravity compensation. However,
it will affect precision.)

7 Press F1 [TYPE].
8 Select [Master/Cal].
SYSTEM Master/Cal AUTO JOINT 10 %

TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 QUICK MASTER FOR SINGLE AXIS
5 SINGLE AXIS MASTER
6 SET QUICK MASTER REF
7 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ] LOAD RES_PCA DONE
- 92 -
9 Jog the robot into a posture for mastering.
10 Select [2 Zero Position Master]. Press F4 [YES].

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <12200039> <2000319>
11 Select [7 CALIBRATE] and press F4 [YES]. Mastering will be performed automatically.

Alternatively, turn off the controller power and on again. Turning on the power always causes
positioning to be performed.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Calibrated! Cur Jnt Ang(deg):
< 0.0000> < 0.0000> < 0.0000>
< 0.0000> < 0.0000> < 0.0000>
12 After positioning is completed, press F5 [DONE].
DONE
F5
13 Return the setting of the gravity compensation.

14 Return brake control to original setting, and cycle power of the controller.
Table 8.3 (a) Posture with position marks (witness mark) aligned
Axis Position
J1-axis 0 deg
J2-axis 0 deg
J3-axis 0 deg (When J2-axis is 0 deg.)
J4-axis 0 deg
J5-axis 0 deg
J6-axis 0 deg
- 93 -
Scribe mark (J5, J6)

ケガキ線(J5,J6)
Scribe mark
ケガキ線(J5)
(J5) 1
Scribe mark (J4)

ケガキ線(J4)
A A
Scribe mark (J3)
ケガキ線(J3)
Section
断面A-A A-A
Scribe mark (J1)

ケガキ線(J1)
View B
矢視B
Fig. 8.3 (a) Zero-position mark (witness mark) for each axis
Scribe mark
ケガキ線(J2) (J2)
Scribe mark (J6)

ケガキ線(J6)
View
詳細C C
Fig. 8.3 (b) Zero-position mark (witness mark) for each axis
- 94 -
8.4 QUICK MASTERING

Quick mastering is performed at a user-specified position. The pulse count value is obtained from the
rotation speed of the Pulsecoder connected to the relevant motor and the rotation angle within one rotation.
Quick mastering uses the fact that the absolute value of a rotation angle within one rotation will not be lost.
Quick mastering is factory-performed at the position indicated in Table 8.3 (a). Do not change the setting
unless there is any problem.
If setting the robot at the position mentioned above is impossible, you must re-set the quick mastering
reference position using the following method. (It would be convenient to set up a marker that can work in
place of the witness mark.)
CAUTION
1 Quick mastering can be used, if the pulse count value is lost, for example,
because a low voltage has been detected on the backup battery for the pulse
counter.
2 Quick mastering cannot be used, after the motor is replaced or after the
mastering data is lost from the robot controller.
Procedure Recording the Quick Mastering Reference Position

NOTE
(enabled)
- 95 -
5 Select [SYSTEM].
6 Select [Master/Cal]. Master/Cal screen will be displayed.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
7 Jog the robot to the quick mastering reference position.

8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position will
be set.

7 CALIBRATE
[ TYPE ] YES NO

CAUTION
If the robot has lost mastering data due to mechanical disassembly or repair, you
cannot perform this procedure. In this case, perform Fixture position mastering
or zero –position mastering is required to restore mastering data.
- 96 -
Procedure of Quick Mastering

NOTE
(enabled)
5 Display the Master/Cal screen.
TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Not Mastered!
Quick master? [NO]

7 Select [3 QUICK MASTER] and press F4 [YES]. Quick mastering reference position will be set.
3 QUICK MASTER
[ TYPE ] YES NO
8 Select [7 CALIBRATE] and press [ENTER] key. Calibration is executed. Calibration is executed by
cycling power.
9 After completing the calibration, press F5 [Done].
DONE
F5

- 97 -
8.5 QUICK MASTERING FOR SINGLE AXIS

Quick mastering is performed at a user-specified position for one axis. The pulse count value is obtained
from the rotation times of the Pulsecoder connected to the relevant motor and the rotation angle within one
rotation. Quick mastering uses the character that the absolute value of a rotation angle within one rotation
will not be lost.
Quick mastering is factory-performed at the position indicated in Table 8.3 (a). Do not change the setting
unless there is any problem.
If setting the robot at the position mentioned above is impossible, you must re-set the quick mastering
reference position using the following method. (It would be convenient to set up a marker that can work in
place of the witness mark.)
CAUTION
1 Quick mastering can be used, if the pulse count value is lost, for example,
because a low voltage has been detected on the backup battery for the pulse
counter.
2 Quick mastering cannot be used, after the motor is replaced or after the
mastering data is lost from the robot controller.
Procedure Recording the Quick Mastering Reference Position

NOTE
(enabled)
- 98 -
5 Select [6 SYSTEM].
6 Select [Master/Cal]. The positioning screen will be displayed.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE

8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position will
be set.
7 CALIBRATE

CAUTION
If the robot has lost mastering data due to mechanical disassembly or repair, you
cannot perform this procedure. In this case, perform Fixture position mastering
or zero –position mastering is required to restore mastering data.
Procedure of Quick Mastering for single axis

NOTE
(enabled)
- 99 -
5 Display the Master/Cal screen.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
Robot Not Mastered!
Quick master? [NO]
6 Select [4 QUICK MASTER FOR SINGLE AXIS]. quick master for single axis screen will be
displayed.
SINGLE AXIS MASTER AUTO JOINT 10%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
7 Move the cursor to the [SEL] column for the unmastered axis and press the numeric key [1]. Setting
of [SEL] is available for one or more axes.

1/9
J5 0.000 ( 0.000) (1) [2]
J6 0.000 ( 0.000) (1) [2]
EXEC
8 Turn off brake control, then jog the robot to the quick mastering reference position.
9 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2.
10 Select [7 CALIBRATE] and press [ENTER] key. Calibration is executed. Calibration is executed
by cycling power.
11 After completing the calibration, press F5 Done.
DONE
F5
12 If gravity compensation is disabled, set it to enabled.

- 100 -
8.6 SINGLE AXIS MASTERING

Single axis mastering is performed for one axis at a time. The mastering position for each axis can be
specified by the user.
Single axis mastering can be used, if mastering data for a specific axis is lost, for example, because a low
voltage has been detected on the pulse counter backup battery or because the Pulsecoder has been replaced.

1/9
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
Table 8.6 (a) Items set in single axis mastering

Item Description
Current position The current position of the robot is displayed for each axis in degree units.
(ACTUAL AXIS)
Mastering position A mastering position is specified for an axis to be subjected to single axis mastering. It would
(MSTR POS) be convenient if it is set to the 0 degree position.
SEL This item is set to 1 for an axis to be subjected to single axis mastering. Usually, it is 0.
ST This item indicates whether single axis mastering has been completed for the corresponding
axis. It cannot be changed directly by the user.
The value of the item is reflected in $EACHMST_DON (1 to 9).
0 :Mastering data has been lost. Single axis mastering is necessary.
1 :Mastering data has been lost. (Mastering has been performed only for the other interactive
axes.) Single axis mastering is necessary.
2 :Mastering has been completed.
Procedure of Single axis mastering

NOTE
(enabled)
- 101 -
5 Select [6 SYSTEM].
6 Select [Master/Cal].

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
7 Select [5 SINGLE AXIS MASTER]. The following screen will be displayed.

1/9
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 0.000 ( 0.000) (0) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
8 For the axis to which to perform single axis mastering, set (SEL) to “1.” Setting of [SEL] is available
for one or more axes.
9 Turn off brake control, then jog the robot to the mastering position.
10 Enter axis data for the mastering position.
11 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2 or 1.

6/9
J1 0.000 ( 0.000) (0) [2]
J2 0.000 ( 0.000) (0) [2]
J3 0.000 ( 0.000) (0) [2]
J4 0.000 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 90.000 ( 0.000) (1) [0]
E1 0.000 ( 0.000) (0) [0]
E2 0.000 ( 0.000) (0) [0]
E3 0.000 ( 0.000) (0) [0]
EXEC
- 102 -
12 When single axis mastering is completed, press the [PREV] key to resume the previous screen.

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
13 Select [7 CALIBRATE], then press F4 [YES]. Positioning is performed. Alternatively, turn off the
controller power and on again. Positioning is performed.
14 After positioning is completed, press F5 [DONE].
DONE
F5

8.7 MASTERING DATA ENTRY

This function enables mastering data values to be assigned directly to a system variable. It can be used if
mastering data has been lost but the pulse count is preserved.
Mastering data entry method

1 Press the [MENU] key, then press [0 NEXT] and select [6 SYSTEM].
2 Press F1 [TYPE]. Select [Variables]. The system variable screen appears.
SYSTEM Variables AUTO JOINT 10%

1/669
1 $AAVM_GRP AAVM_GRP_T
2 $AAVM_WRK AAVM_WRK_T
3 $ABSPOS_GRP ABSPOS_GRP_T
4 $ACC_MAXLMT 0
5 $ACC_MINLMT 0
6 $ACC_PRE_EXE 0
[ TYPE ] DETAIL
- 103 -
3 Change the mastering data. The mastering data is saved to the $DMR_GRP.$MASTER_COUN
system variable.
1/669
135 $DMR_GRP DMR_GRP_T
136 $DMSW_CFG DMSW_CFG_T
[ TYPE ]
4 Select $DMR_GRP.

$DMR_GRP 1/1
1 [1] DMR_GRP_T
[ TYPE ] DETAIL

$DMR_GRP 1/29
1 $MASTER_DONE FALSE
2 $OT_MINUS [9] of BOOLEAN
3 $OT_PLUS [9] of BOOLEAN
4 $NASTER_COUN [9] of INTEGER
5 $REF_DONE FALSE
6 $REF_POS [9] of REAL
[ TYPE ] TRUE FALSE
5 Select $MASTER_COUN, and enter the mastering data you have recorded.

$DMR_GRP[1].$MASTER_COUN 1/9
1 [1] 95678329
2 [2] 10223045
3 [3] 3020442
4 [4] 30405503
5 [5] 20497709
6 [6] 2039490
7 [7] 0
8 [8] 0
9 [9] 0
[ TYPE ]
6 Press [PREV] key.

7 Set $MASTER_DONE to TRUE.

$DMR_GRP 1/29
1 $MASTER_DONE TRUE
2 $OT_MINUS [9] of BOOLEAN
[ TYPE ] TRUE FALSE
- 104 -
8 Display the positioning screen, and select [7 CALIBRATE], then press F4 [YES].
9 After completing positioning, press F5 [DONE].
DONE
F5
8.8 VERIFYING MASTERING

1 How to verify that the robot is mastered properly:
Usually, positioning is performed automatically when the power is turned on. To check whether
mastering has been performed correctly, examine if the current displayed position meets the actual
robot position by using the procedure described below:
(1) Reproduce a particular point in a program. Check whether the point agrees with the specified
position.
(2) Set all axes of the robot to their 0-degree (0 rad) positions. Check that the zero-degree position
marks indicated in Section 8.3 of OPERATOR’S MANUAL are aligned. There is no need to use
a visual aid.
If the displayed and actual positions do not match, the counter value for a Pulsecoder may have been
invalidated as a result of an alarm described in 2. Alternatively, the mastering data in system variable
$DMR_GRP.$MASTER_COUN may have been overwritten as a result of an operation error or some
other reason.
Compare the data with the values indicated on the supplied data sheet. This system variable is
overwritten whenever mastering is performed. Whenever mastering is performed, record the value of
the system variable on the data sheet.
2 Alarm type displayed during mastering and their solution method:
(1) BZAL alarm
This alarm is displayed if the Pulsecoder's backup battery voltage decreases to 0 V while the
power to the controller is disconnected. Furthermore, if the Pulsecoder connector is removed for
cable replacement, etc. this alarm is displayed as the voltage decreases to 0. Confirm if the alarm
will disappear by performing a pulse reset (See Section 8.2.). Then, cycle power of the controller
to check if the alarm disappears or not.
The battery may be drained if the alarm is still displayed. Perform a pulse reset, and turn off and
on the controller power after replacing the battery. Note that, if this alarm is displayed, all the
original data held by the Pulsecoder will be lost. Mastering is required.
(2) BLAL alarm
This alarm is displayed if the voltage of the Pulsecoder's backup battery has fallen to a level
where backup is no longer possible. If this alarm is displayed, replace the battery with a new one
immediately while keeping the power turned on. Check whether the current position data is valid,
using the procedure described in 1.
(3) Alarm notification like CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR, STBERR, and
SPHAL may have trouble with Pulsecoder, contact your local FANUC representative.
- 105 -
9. TROUBLESHOOTING B-84074EN/06
9 TROUBLESHOOTING
The source of mechanical unit problems may be difficult to locate because of overlapping causes. Problems
may become further complicated, if they are not corrected properly. Therefore, you must keep an accurate
record of problems and to take proper corrective actions.
9.1 TROUBLESHOOTING
Table 9.1 (a) shows the major troubleshooting symptoms that may occur in the mechanical unit and their
probable causes. If you cannot pinpoint a failure cause or which measures to take, contact your local
FANUC representative. For troubleshooting except the mechanical unit, refer to “CONTROLLER
MAINTENANCE MANUAL (B-83195EN etc.)” and Alarm Code List (B-83284EN-1).
Table 9.1 (a) Troubleshooting

Symptom Description Cause Measure
Vibration - The J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
Noise floor plate as the robot - It is likely that the robot J1 LOCTITE and tighten it to
operates. base is not securely the appropriate torque.
- There is a gap between the fastened to the floor plate. - Adjust the floor plate
J1 base and floor plate. - Probable causes are a surface flatness to within
loose bolt, an insufficient
- The J1 base retaining bolt the specified tolerance.
degree of surface flatness,
is loose. - If there is any
or contamination caught
between the J1 base and contamination between the
floor plate. J1 base and floor plate,
- If the robot is not securely remove it.
fastened to the floor plate,
the J1 base lifts the floor
plate as the robot operates,
allowing the base and floor
plates to strike each other,
which, in turn, leads to
vibration.
- The rack or floor plate [Rack or floor] - Reinforce the rack or floor
vibrates during operation of - It is likely that the rack or to make it more rigid.
the robot. floor is not sufficiently rigid. - If it is impossible to
- If the rack or floor is not reinforce the rack or floor,
sufficiently rigid, reaction modify the robot control
from the robot deforms the program; doing so might
rack or floor, leading to reduce the amount of
vibration. vibration.
- Vibration becomes more [Overload] - Check the maximum load
serious when the robot - It is likely that the load on that the robot can handle
adopts a specific posture. the robot is greater than once more. If the robot is
- If the operating speed of the maximum rating. found to be overloaded,
reduce the load, or modify
the robot is reduced, - It is likely that the robot
the robot control program.
vibration stops. control program is too
- Vibration in a specific
- Vibration is most noticeable demanding for the robot portion can be reduced by
when the robot is hardware. modifying the robot control
accelerating. - It is likely that the program while slowing the
- Vibration occurs when two ACCELERATION value is robot and reducing its
or more axes operate at the excessive. acceleration (to minimize
same time. the influence on the entire
cycle time)．
- 106 -
B-84074EN/06 9. TROUBLESHOOTING

Vibration - Vibration was first noticed [Gear, bearing, or reducer] - Operate one axis at a time
Noise after the robot collided with - It is likely that collision or to determine which axis is
(Continued) an object or the robot was overload applied an vibrating.
overloaded for a long excessive force on the - Remove the motor, and
period. drive mechanism, thus replace the gear, the
- The grease of the vibrating damaging the tooth surface bearing, and the reducer.
axis has not been or rolling contact surface of For the spec. of parts and
exchanged for a long a bearing, or reducer. the method of replacement,
period. - Prolonged overloaded use contact FANUC.
- There is vibration or may cause fretting fatigue - Using the robot within its
unusual sound just after on the gear tooth surface maximum rating prevents
replacing grease or oil or or the rolling surface of problems with the drive
parts. bearing and reducer. mechanism.
- Cyclical vibration and noise - It is likely that - Regularly changing the
occur. contamination caught in a grease with a specified
gear, bearing, or within a type can help prevent
reducer caused damage on problems.
the tooth surface or rolling - Using the specified grease
contact surface of the or oil at the recommended
bearing, or reducer. interval will prevent
- It is likely that problems.
contamination caught in a
gear, bearing, or within a
reducer cause vibration.
- It is likely that, because the
grease has not been
changed for a long period,
fretting occurred on the
tooth surface or rolling
contact surface of a
bearing, or reducer due to
metal fatigue.
- There is a possibility of
Grease or oil has not been
exchanged accurately.
The amount of grease or
oil may be insufficient.
- 107 -

Vibration - The cause of problem [Controller, cable, and motor] - Refer to the Controller
Noise cannot be identified from - If a failure occurs in a Maintenance Manual for
(Continued) examination of the floor, controller circuit, troubleshooting related to
rack, or mechanical preventing control the controller and amplifier.
section. commands from being - Replace the motor of the
supplied to the motor axis that is vibrating, and
check whether vibration
normally, or preventing still occurs. To replace the
motor information from motor, Contact your local
being sent to the controller FANUC representative.
normally, vibration might - If vibration occurs only
occur. when the robot assumes a
- Pulsecoder defect may be specific posture, it is likely
the cause of the vibration that a cable in the
as the motor cannot mechanical unit is broken.
propagate the accurate - Shake the movable part
position to the controller. cable while the robot is at
- If the motor becomes rest, and check whether an
defective, vibration might alarm occurs. If an alarm or
occur because the motor any other abnormal
cannot deliver its rated condition occurs, replace
performance. the mechanical unit cable.
- If a power line in a movable - Check whether the jacket
cable of the mechanical of the cable connecting the
unit has an intermittent mechanical unit and
break, vibration might controller is damaged. If
occur because the motor so, replace the connection
cannot accurately respond cable, and check whether
to commands. vibration still occurs.
- If a Pulsecoder wire in a - Check whether the jacket
movable part of the of the power cable is
mechanical unit has an damaged. If so, replace the
intermittent break, vibration power cable, and check
might occur because whether vibration still
commands cannot be sent occurs.
to the motor accurately. - Check that the robot is
- If a connection cable supplied with the rated
between the mechanical voltage.
unit and the controller has - Check that the robot
an intermittent break, control parameter is set to
vibration might occur. a valid value. If it is set to
- If the power supply cable is an invalid value, correct
about to be snapped, them. Contact your local
vibration might occur. FANUC representative for
- If the power source voltage further information if
drops below the rating, necessary.
vibration might occur.
- It may vibrate when the
invalid value parameter
was set.
- 108 -

Vibration - There is some relationship [Noise from a nearby machine] - Connect the grounding
Noise between the vibration of the - If the robot is not grounded wire firmly to ensure a
(Continued) robot and the operation of a properly, electrical noise is reliable ground potential
machine near the robot. induced on the grounding and prevent extraneous
wire, preventing electrical noise.
commands from being
transferred accurately, thus
leading to vibration.
- If the robot is grounded at
an unsuitable point, its
grounding potential
becomes unstable, and
noise is likely to be induced
on the grounding line, thus
leading to vibration.
- There is an unusual sound - There may be an unusual - Use the specified grease.
after replacement of sound when using other - When there is an abnormal
grease. than the specified grease. noise even when using the
- There is an unusual sound - Even for the specified specified grease, operate
after a long period. grease, there may be an for one or two days as an
- There is an unusual sound unusual sound during experiment. Generally, any
during operation at low operation at low speed abnormal noise will
speed. immediately after disappear.
replacement or after a long
period.
- There is an unusual sound - There is a possibility of - Stop the robot, and confirm
when operating right Grease or oil has not been the damage situation at
immediately the replacing exchanged accurately. The once.
part, grease or oil. amount of grease or oil Replenish grease or oil
may be insufficient. when they are insufficient.
- The movement speed of - Sludge may be generated - Perform running and
robot is not constant by the deterioration of the destroy the sludge. Then
oil, and it may be attached replace oil.
to bearing etc.
Rattling - While the robot is not [Mechanical section coupling - Check that the following
supplied with power, bolt] bolts for each axis are
pushing it with the hand - It is likely that overloading tight. If any of these bolts is
causes part of the or a collision has loosened loose, apply LOCTITE and
mechanical unit to wobble. a mounting bolt in the robot tighten it to the appropriate
- There is a gap on the mechanical section. torque.
mounting face of the - Motor retaining bolt
mechanical unit. - Reducer retaining bolt
- Reducer shaft
retaining bolt
- Base retaining bolt
- Arm retaining bolt
- Casting retaining bolt
- End effector retaining
bolt
- 109 -

Motor - The ambient temperature [Ambient temperature] - Reducing the ambient
overheating of the installation location - It is likely that the motor temperature is the most
increases, causing the overheated along with the effective means of
motor to overheat. ambient temperature rose, preventing overheat.
- After a cover was attached and could not release heat. - Having the surroundings of
to the motor, the motor [Operating condition] the motor well ventilated
overheated. - It is likely that the enables the motor to
- After the robot control overcurrent above the release heat efficiently,
program or the load was specified permissive thus preventing overheat.
changed, the motor average current. - If there is a source of heat
overheated. near, it is advisable to
install shielding to protect
the motor from heat
radiation.
- Relaxing the robot control
program and load condition
is effective to reduce the
average current. Thus,
prevent overheat.
- The teach pendant can
monitor the average
current. Check the average
current when the robot
control program launched.
- After a robot control [Parameter] - As for load setting, Input an
parameter (load setting - If data input for a appropriate parameter
etc.) was changed, the workpiece is invalid, the referring to Section 4.3 of
motor overheated. robot cannot be the operator’s manual.
accelerated or decelerated
normally, so the average
current increases, leading
to overheat.
- Symptom other than stated [Mechanical section problems] - Repair the mechanical unit
above - It is likely that problems while referring to the above
occurred in the mechanical descriptions of vibration,
unit drive mechanism, thus noise, and rattling.
placing an excessive load - Check that, when the servo
on the motor. system is energized, the
[Motor problems] brake is released.
- It is likely that a failure of If the brake remains
the motor brake resulted in applied to the motor all the
the motor running with the time, replace the motor.
brake applied, thus placing - If the average current falls
an excessive load on the after the motor is replaced,
motor. it indicates that the first
- It is likely that a failure of motor was faulty.
the motor prevented it from
delivering its rated
performance, thus causing
an excessive current to
flow through the motor.
- 110 -

Grease - Grease or oil is leaking [Poor sealing] - If a crack develops in the
leakage from the mechanical unit. - Probable causes are a casting, sealant can be
Oil crack in the casting, a used as a quick-fix to
leakage broken O-ring, a damaged prevent further grease or
oil seal, or a loose seal oil leakage. However, the
bolt. component should be
- A crack in a casting can replaced as soon as
occur due to excessive possible, because the
force that might be caused crack might extend.
in collision. - O-rings are used in the
- An O-ring can be damaged locations listed below.
if it is trapped or cut during - Motor coupling section
disassembling or re- - Reducer (case and
assembling. shaft) coupling section
- An oil seal might be - Wrist connection
damaged if extraneous section
dust scratches the lip of the - J3 arm coupling
oil seal. section
- A loose seal bolt or a taper - Inside the wrist
plug might allow grease to - Oil seals are used in the
leak along the threads. locations stated below.
- Inside the reducer
- Inside the wrist
- Seal bolts and taper plugs
are used in the locations
stated below.
- Grease inlet or outlet
- Oil inlet or outlet
- Cover fixation
Dropping axis - An axis drops because the [Brake drive relay and motor] - Check whether the brake
brake does not function. - It is likely that brake drive drive relay contacts are
- An axis drops gradually relay contacts are stuck to stuck to each other. If they
when it should be at rest. each other to keep the are found to be stuck,
brake current flowing, thus replace the relay.
preventing the brake from - If the brake shoe is worn
operating when the motor out, if the brake main body
is reenergized. is damaged, or if oil or
- It is likely that the brake grease has entered the
shoe has worn out or the motor, replace the motor.
brake main body is - J4-axis cable has movable
damaged, preventing the part .So if robot exceeds
brake from operating stroke limit, load depends
efficiently. on cable and it may cause
- It is likely that oil or grease damage of cables. If robot
has entered the motor, exceeds stroke limit,
causing the brake to slip. remove plate of back of J4,
return axis to motion range
during checking condition
of cables. If nylon band is
cut, attach new articles. If
you operate robot with
cable tie is cut, it cause
damage of cables. (See
Section 8.1).
- 111 -

Displacement - The robot operates at a [Mechanical section problems] - If the repeatability is
point other than the taught - If the repeatability is unstable, repair the
position. unstable, probable causes mechanical section by
- The repeatability is not are a failure in the drive referring to the above
within the tolerance. mechanism or a loose bolt. descriptions of vibration,
- If the repeatability becomes noise, and rattling.
stable, it is likely that a - If the repeatability is stable,
collision imposed an correct the taught program.
excessive load, leading to The problem will not occur
slipping on the base unless another collision
surface or the mating occurs.
surface of an arm or - If the Pulsecoder is faulty,
reducer. replace the motor.
- It is likely that the
Pulsecoder is faulty.
- Displacement occurs only [Peripheral equipment - Correct the setting of the
in specific peripheral displacement] peripheral equipment
equipment. - It is likely that an external position.
force was applied to the - Correct the taught
peripheral equipment, thus program.
shifting its position relative
to the robot.
- Displacement occurred [Parameter] - Re-enter the previous
after a parameter was - It is likely that the mastering data, which is
changed. mastering data was known to be correct.
rewritten in such a way that - If correct mastering data is
the robot origin was shifted. unavailable, perform
mastering again.
CLALM alarm - Ambient temperature of the [Peripheral temperature] - Perform a warm up
occurred. robot installation location is - When the robot is used in a operation or a low speed
Move error low, CLALM alarm is low temperature operation for several
excess alarm displayed on the teach environment that is near to minutes.
occurred. pendant screen. 0ºC, or the robot is not
- Ambient temperature of the operated for a long time in
robot installation position is an environment that is less
low, than 0ºC, there will be a
“Move error excess” alarm large viscous resistance of
is displayed on the teach the drive train immediately
pendant screen. after starting which will
cause the alarm.
- 112 -

CLALM alarm - After changing the motion - It is likely that a robot - If a robot collision has
occurred. program or the load collision occurred. occurred, press the
Move error
condition, the CLALM [RESET] key while
excess alarm
occurred. alarm is displayed. pressing the [SHIFT] key.
- After changing the motion Then, jog the robot in the
program or the load opposite direction while
condition, the “Move error pressing the [SHIFT] key.
excess” alarm is displayed. - Check the motion program.
[Overload] - Check the permissible
- It is likely that load value of the robot payload.
exceeded the permissible If the load exceeds the
value. permissible value, reduce
- It is likely that the motion the load or change the
program is too severe for motion program.
the robot. - Consider minimizing the
 Excessive motion due cycle time by reducing the
to a large “ACC speed or acceleration, and
(value)”. changing the motion
 Tight motion such as program.
reverse motion using - Check that the load setting
“CNT”. is performed correctly.
 Linear motion occurs
near singularity point
where axes revolve in
high speed.
- None of the symptoms - It is likely the vibration - Refer to the Symptoms:
stated above are the occurred. Vibration, Noise section of
problem. this troubleshooting for
more information.
- It is likely that rated voltage - Check that the robot is
is not supplied due to the supplied with the proper
voltage drop. rated voltage.
- Angle of robot mounting - According to “Angle of
surface is not set correctly. Mounting Surface Setting”,
set the angle of robot
mounting surface correctly.
BZAL alarm - BZAL is displayed on the - It is likely that the voltage - Replace the battery.
occurred teach pendant screen of the memory backup - Replace the cable.
battery is low.
- It is likely that the
Pulsecoder cable is
defective.
Table 9.1 (b) End effector mounting face allowable drops

At power off 5mm
At emergency stop 5mm
NOTE
Each value indicates the amount by which an end effector mounting face may
fall.
- 113 -
10.MATERIAL HANDLING
CONDUIT (OPTION) B-84074EN/06
10 MATERIAL HANDLING CONDUIT (OPTION)

10.1 NOTES WHEN CABLE IS ATTACHED TO MATERIAL
HANDLING CONDUIT
(1) M/H (Material Handling) conduit is option to protect hand cable etc. You can prevent cables
interference with arm directly by installing this and can postpone life of cables. Instead conduit is
expendable supplies, so replace it regularly.
(2) The cable is recommended to be clamped at a position 70mm for the wrist side.
A position 30mm or more away is recommended for the J3 back side. In case of M-20iD/25/35, adjust
the length of the cable between clamping to 975±5mm. In case of M-20iD/12L, adjust the length of
the cable between clamping to 1410±5mm. Please absorb extra length to the conduit. If cables are not
clamped, cable and conduit may break. Be sure to clamp cables.
(3) Apply shell Alvania grease S2 to the surface of cables and air tubes inside the conduit to prevent cables
and air tubes from damage. If grease is not applied, it causes early damage of cables and conduit.
Table 10.1 (a) Recommended cables and air tube

Cable name Spec. of FANUC Specifications
Outside diameter Φ8.3mm
End effector cable A66L-0001-0459
0.2mm2 24-core Cable for moving part
Outside diameterΦ9.5 mm
Power line A66L-0001-0401#10
1.25mm2 10-core Cable for moving part
Outside diameter Φ7.0mm
Force sensor cable A66L-0001-0178#03P 0.3mm2 2-core 3 pairs (6-core)
Cable for moving part
3DV sensor Outside diameter Φ6.5mm
A66L-0001-0796
camera cable Cable for moving part
TU0604 (Outside diameter=φ6mm,
Air tube A97L-0218-0010
Inside diameter=φ4mm)
Cableクランプ間のケーブル長さ
length between clamps
M-20iD/25/35 : 975±5mm
M-20iD/12L : 1410±5mm
70mm 30mm
Cable
ケーブルタイtie
Cable, air tube
ケーブル、エアチューブ
Rubber
ゴムシート tube
Cable clamp position

ケーブルクランプ位置
Cable clamp position

ケーブルクランプ位置 Grease applying area
グリース塗布範囲
Fig. 10.1 (a) Cable length between clamp
- 114 -
10.MATERIAL HANDLING
B-84074EN/06 CONDUIT (OPTION)
(4) Please make sure that all cables form a bunch 30mm or less in diameter as shown in the figure so that
the cables do not rub at the edge of the J6 hollow flange. If filling degree exceed the recommended
value, it causes premature failure of cables and the conduit.
Conduit
O 30
Cable , air tube
Fig. 10.1 (b) Diameter of cable and air tube in conduit
(5) It is recommended to install a protect ring, if necessary, so that neither cables nor the bolt attached to
the J6 midair flange may interfere.
(6) Please roll cables in the rubber seat etc. so as not to damage the surfaces of the cables by the edge of
the cable tie, and bind them with a cable tie.
10.2 OTHER NOTES

(1) When M/H conduit is installed, limiting J6 axis range of motion to ±190° is recommended. Cable life
shortens when the range exceeds ±190° though it is possible to use a range of motion more than this
(maximum ±270°).
Table 10.2 (a) Regular exchange cycle

Exchange cycle
J5-axis:±140° Cycle that is shorter among 1.2 million cycles (As one cycle every 30 seconds)
J6-axis:±190° and 2 years
NOTE
Please note that it is a standard at the replacing cycle when the cable wire
strands and the air tube of the FANUC recommendation are used. If cable is not
clamped or grease is not applied or filling degree of cable in conduit is over or
robot is operated with fluoric resin ring is broken, it causes early damage of
cables and conduit.
(2) Please examine the structure that the cutting powder etc. do not invade in Conduit when you specify
M/H conduit and severe dust/liquid protection option simultaneously.
- 115 -
APPENDIX
B-84074EN/06 APPENDIX A. PERIODIC MAINTENANCE TABLE
A PERIODIC MAINTENANCE TABLE
- 119 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-84074EN/06
FANUC Robot ARC Mate 120iD, ARC Mate 120iD/12L/35, M-20iD/25/12L/35 Periodic Maintenance Table
Accumulated operating Oil First 3 6 9 1 2

Check
time (H) time
Grease check months months months year years
Items amount 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check for external
1 damage or peeling paint 0.1H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
2 Check for water 0.1H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the mechanical cable
3 and welding power cable 0.1H - ○ ○ ○
(Damaged or twisted)
Check the end effector
4 (hand) cable 0.1H - ○ ○ ○
Check the motor connector.
5 (Loosening) 0.1H - ○ ○ ○
6 Tighten the end effector bolt 0.1H - ○ ○ ○

Tighten the cover and main
7 bolt
1.0H - ○ ○ ○
Check the fixed mechanical
Mechanical unit
8 stopper and adjustable 0.1H - ○ ○ ○

mechanical stopper
Remove spatter and dust
9 etc.
1.0H ○ ○ ○
10 Replacing battery *3 0.1H - ● ●
Replacing grease of J1 axis
11 reducer
0.5H 1380ml

12 reducer 0.5H 920ml

Replacing oil of J4 axis

14 gearbox
0.5H 660ml
Replacing oil of J5 and J6 750ml (*4)

15 axis gearbox
0.5H 330ml (*5)
Replacing cable of
16 mechanical unit
4.0H -
Replacing Mechanical unit
17 welding power cable
4.0H - ●
18 Replacing the M/H conduit 1.0H - ●

Check the robot cable, teach
19 pendant cable and robot 0.2H - ○ ○ ○
Controller
connecting cable
Cleaning the controller
20 ventilation system 0.2H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
21 Replacing battery *1 *3 0.1H -

*1 Refer to “REPLACING UNITS Chapter of MAINTENANCE” of the following manuals.
R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL (B-83195EN),
R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
*2 ●: requires order of parts
○: does not require order of parts
*3 Regardless of the operating time, replace the mechanical unit batteries at 1 year, replace controller
batteries at 4 years.
*4：ARC Mate 120iD, M-20iD/25
*5：ARC Mate 120iD/12L, M-20iD/12L
- 120 -
3 4 5 6 7 8
years years years years years years Item
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ 4
○ ○ ○ ○ ○ 5
○ ○ ○ ○ ○ 6
○ ○ ○ ○ ○ 7
○ ○ ○ ○ ○ 8
○ ○ ○ ○ ○ 9
● ● ● ● ● 10
Overhaul
● ● 11
● ● 12
● ● 13
● ● 14
● ● 15
● 16
● ● 17
● ● 18
○ ○ ○ ○ ○ 19
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 20
● 21
- 121 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-84074EN/06
FANUC Robot M-20iD/25 food grade type Periodic Maintenance Table
Accumulated operating Oil First 3 6 9 1 2

Check
time (H) time
Grease check months months months year years
Items amount 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check for external
1 damage or peeling paint 0.1H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
2 Check for water 0.1H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○

Check the mechanical cable
3 and welding power cable 0.1H - ○ ○ ○
(Damaged or twisted)
Check the end effector
4 (hand) cable 0.1H - ○ ○ ○
Check the motor connector.
5 (Loosening) 0.1H - ○ ○ ○
6 Tighten the end effector bolt 0.1H - ○ ○ ○

Tighten the cover and main
7 bolt
1.0H - ○ ○ ○
Check the fixed mechanical
Mechanical unit
8 stopper and adjustable 0.1H - ○ ○ ○

mechanical stopper
Remove spatter and dust
9 etc.
1.0H ○ ○ ○
10 Replacing battery *3 0.1H - ● ●
11 reducer
0.5H 1090ml



14 gearbox
0.5H 660ml
Replacing oil of J5 and J6

15 axis gearbox
0.5H 750ml
Replacing cable of
16 mechanical unit
4.0H -
Replacing Mechanical unit
17 welding power cable
4.0H - ●
18 Replacing the M/H conduit 1.0H - ●

Check the robot cable, teach
19 pendant cable and robot 0.2H - ○ ○ ○
Controller
connecting cable
Cleaning the controller
20 ventilation system 0.2H - ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
21 Replacing battery *1 *3 0.1H -

*1 Refer to “REPLACING UNITS Chapter of MAINTENANCE” of the following manuals.
R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL (B-83195EN),
R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
*2 ●: requires order of parts
○: does not require order of parts
*3 Regardless of the operating time, replace the mechanical unit batteries at 1 year, replace controller
batteries at 4 years.
- 122 -
3 4 5 6 7 8
years years years years years years Item
11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ 4
○ ○ ○ ○ ○ 5
○ ○ ○ ○ ○ 6
○ ○ ○ ○ ○ 7
○ ○ ○ ○ ○ 8
○ ○ ○ ○ ○ 9
● ● ● ● ● 10
Overhaul
● ● 11
● ● 12
● ● 13
● ● 14
● ● 15
● 16
● ● 17
● ● 18
○ ○ ○ ○ ○ 19
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 20
● 21
- 123 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-84074EN/06
B STRENGTH OF BOLT AND BOLT TORQUE LIST

NOTE
When applying LOCTITE to a part, spread the LOCTITE on the entire length of
the engaging part of the female thread. If applied to the male threads, poor
adhesion can occur, potentially loosening the bolt. Clean the bolts and the
threaded holes and wipe off any oil on the engaging section. Make sure that
there is no solvent left in the threaded holes. When finished, remove all the
excess LOCTITE when you are finished screwing the bolts into the threaded
holes.
Use the following strength bolts. Comply with any bolt specification instructions.
Hexagon socket head bolt made of steel:
Size M22 or less: Tensile strength 1200N/mm2 or more
Size M24 or more: Tensile strength 1000N/mm2 or more
All size plating bolt: Tensile strength 1000N/mm2 or more
Hexagon bolt, stainless bolt, special shape bolt (button bolt, low-head bolt, flush bolt .etc.)
Tensile strength 400N/mm2 or more
Refer to the following tables if the bolts tightening torque are not specified.
Recommended bolt tightening torques Unit: Nm

Hexagon socket head
button bolt
Hexagon socket head
Hexagon socket head Hexagon socket head Hexagon bolt
bolt
Nominal bolt (stainless steel) flush bolt (steel)
(steel)
diameter Low-head bolt
(steel)
Tightening torque Tightening torque Tightening torque Tightening torque
Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit Upper limit Lower limit
M3 1.8 1.3 0.76 0.53 ―――― ―――― ―――― ―――
M4 4.0 2.8 1.8 1.3 1.8 1.3 1.7 1.2
M5 7.9 5.6 3.4 2.5 4.0 2.8 3.2 2.3
M6 14 9.6 5.8 4.1 7.9 5.6 5.5 3.8
M8 32 23 14 9.8 14 9.6 13 9.3
M10 66 46 27 19 32 23 26 19
M12 110 78 48 33 ―――― ―――― 45 31
(M14) 180 130 76 53 ―――― ―――― 73 51
M16 270 190 120 82 ―――― ―――― 98 69
(M18) 380 260 160 110 ―――― ―――― 140 96
M20 530 370 230 160 ―――― ―――― 190 130
(M22) 730 510 ―――― ―――― ―――― ―――― ―――― ――――
M24 930 650 ―――― ―――― ―――― ―――― ―――― ――――
(M27) 1400 960 ―――― ―――― ―――― ―――― ―――― ――――
M30 1800 1300 ―――― ―――― ―――― ―――― ―――― ――――
M36 3200 2300 ―――― ―――― ―――― ―――― ―――― ――――
- 124 -
C. INSULATION ABOUT
B-84074EN/06 APPENDIX ARC WELDING ROBOT
C INSULATION ABOUT ARC WELDING

ROBOT
The arc welding robot performs welding, using a welding torch attached to its end effector mounting face
via a bracket. Because a high welding current flows through the welding torch, the insulating material
must not permit bolting directly from the welding torch bracket to mounting face plate.
If no due consideration is taken, a poor insulation caused by a pileup of spatter can allow the welding
current to leak into robot mechanical units, possibly damaging the motor or melting the mechanical unit
cable jackets.
C.1 INSULATION AT THE WRIST

Please be careful to the following contents.
- Insulate the end effector mounting surface. Insulation material which is inserted between the end
effector mounting surface and the welding torch bracket must be different, and bolt them separately
referring to Fig. C.1 (a).
- Insert the insulating material between the torch bracket and faceplate to ensure the two are electrically
isolated. When installing the insulating material, be sure to set the crack in the torch holder away from
that of the insulating material to prevent spatter from getting in the cracks.
- Allow a sufficient distance (at least 5 mm) at the insulating materials in case a pileup of spatter should
occur.
5mm5mm以上
or more Torch bracket
トーチブラケット
Torch
トーチ
Robot wrist
ロボット手首
Torch bracket mounting bolts

トーチブラケット固定ボルト
Insulation material
絶縁部材固定ボルト
mounting bolts
Bad 悪い例
example
Insulation
絶縁部材 material
(bakelite
(ベークライト等)etc.)
Fig. C.1 (a) Insulation at the wrist
- Even after the insulation is reinforced, it is likely that, if a pileup of spatter grows excessively, current
may leak. Periodically remove the spatter.
- 125 -
C. INSULATION ABOUT
ARC WELDING ROBOT APPENDIX B-84074EN/06
C.2 INSULATION AT THE ADDITIONAL AXIS

If welding fixtures are installed to the additional axis, Perform insulation against between welding fixtures
and the additional axis to prevent welding electric current intrusion. If the follower unit is used, perform
insulation against between welding fixtures and follower unit to prevent welding electric current intrusion
into the housing.
Points
絶縁必要箇所 that need
the insulation
Fig. C.2 (a) Insulation at the additional axis
- 126 -
B-84074EN/06 APPENDIX D.CONTROL OF MULTIPLE ROBOTS
D CONTROL OF MULTIPLE ROBOTS

One controller can control up to four robots. Moreover, one controller can control up to eight groups, 72
axes.
NOTE
“Group” means the gathering of independent movable axes.
Group
グループ1 1 Group 2
グループ2 Group 3
グループ3 Group
グループ44 Group
グループ55
Positioner
ポジショナ
Additional
Teach
教示操作盤 pendant 付加軸
axis
F1 F2 F3 F4 F5 F
シフトシフト
-X +X
(J1) (J1)
-Y +Y
(J2) (J2)
-Z +Z
前進 (J3) (J3)
後退 -X +X
7 8 9 (J4) (J4)
-Y +Y
4 5 6 (J5) (J5)
-Z +Z
1 2 3 (J6) (J6)
. ,
0 - +
Amplifier Amplifier Amplifier

+% (J7) (J7)
アンプアンプアンプ

-
-% - +
(J8) (J8)
ボックス
box ボックス
box ボックス
box
Main controller
メイン制御装置
Fig. D (a) Example of Control of multiple robots
When multiple robots are controlled with one controller, select the appropriate servo card of controller from
Table D (a).
Table D (a) Servo card when multiple robots are controlled (R-30iB Plus, R-30iB Mate Plus)
Number of
Servo card Remarks
robots
A05B-2670-H041 (12 axes) (Note) Max. 6 auxiliary axes can be used in total of robot
2
A05B-2670-H042 (18 axes) 1st and 2nd
3
A05B-2670-H043 (24 axes) 1st , 2nd and 3rd
4
A05B-2670-H044 (36 axes) 1st , 2nd, 3rd and 4th
(Note) It can be used only when auxiliary axes are not specified.
- 127 -
B-84074EN/06 INDEX
INDEX
MAINTENANCE AREA................................................. 9
<A> MASTERING ................................................................ 88
ADJUSTABLE MECHANICAL STOPPER MASTERING DATA ENTRY .................................... 103
SETTING (OPTION) ................................................. 56 MATERIAL HANDLING CONDUIT
AIR PIPING (OPTION) ................................................. 42 (OPTION) ................................................................ 114
AIR SUPPLY (OPTION) ............................................... 41 MECHANICAL UNIT EXTERNAL
Angle of Mounting Surface Setting .................................. 8 DIMENSIONS AND WORK ENVELOPE ............... 15
AXIS LIMIT SETUP ..................................................... 52 MOTION RANGE ACCORDING TO CABLE
INTEGRATION ......................................................... 22
<B>
BASIC SPECIFICATIONS ........................................... 11 <N>
NOTES WHEN CABLE IS ATTACHED TO
<C> MATERIAL HANDLING CONDUIT..................... 114
CHANGE AXIS LIMIT BY DCS (OPTION)................ 53
Changing the Parameter Setting ..................................... 57 <O>
Check of Fixed Mechanical Stopper and Oil replacement procedure for the 1/J2/J3-axis
Adjustable Mechanical Stopper .................................. 66 reducer (M-20iD/25 food grade type)........................ 72
CHECK POINTS ........................................................... 62 Oil replacement procedure for the J4-axis
Check the Mechanical Unit Cables and gearbox ....................................................................... 78
Connectors .................................................................. 64 Oil replacement procedure for the J5/J6- axis
CHECKS AND MAINTENANCE ................................ 59 gearbox (ARC Mate 120iD, ARC Mate
Confirmation of Oil Seepage .......................................... 62 120iD/35, M-20iD/25/35)........................................... 81
Confirmation of the Air Control Set (option) ................. 63 Oil replacement procedure for the J5/J6- axis
CONNECTION WITH THE CONTROLLER ............... 10 gearbox (ARC Mate 120iD/12L, ARC Mate
CONTROL OF MULTIPLE ROBOTS ........................ 127 120iD/12L) ................................................................. 84
OPERATING AREA FOR INCLINATION
<D> INSTALLATION ....................................................... 27
Daily Checks .................................................................. 59 OTHER NOTES .......................................................... 115
OVERVIEW .................................................................. 88
<E>
END EFFECTOR INSTALLATION TO WRIST ......... 32 <P>
EQUIPMENT INSTALLATION TO THE Periodic Checks and Maintenance ................................. 60
ROBOT ...................................................................... 32 PERIODIC MAINTENANCE ....................................... 59
EQUIPMENT MOUNTING FACE ............................... 35 PERIODIC MAINTENANCE TABLE ....................... 119
PIPING AND WIRING TO THE END
<G> EFFECTOR ................................................................ 40
Grease replacement procedure for the reducer PREFACE .................................................................... p-1
(J1/J2/J3-axis) (except M-20iD/25 food grade Procedure for releasing remaining pressure from
type)............................................................................ 69 the grease bath (J1/J2/J3-axis) (except M-
20iD/25 food grade type)............................................ 71
<I>
Procedure for Releasing remaining pressure from
INSTALLATION ............................................................. 4
the Oil bath (J1/J2/J3-axis) (M-20iD/25 food
INSTALLATION CONDITIONS.................................... 9
grade type) .................................................................. 78
Installation Method .......................................................... 5
Procedure for Releasing remaining pressure from
Installing the Adjustable Mechanical Stopper ................ 56
the Oil bath (J4/J5/J6-axis) ........................................ 87
INSULATION ABOUT ARC WELDING
ROBOT .................................................................... 125 <Q>
INSULATION AT THE ADDITIONAL AXIS ........... 126 QUICK MASTERING ................................................... 95
INSULATION AT THE WRIST ................................. 125 QUICK MASTERING FOR SINGLE AXIS ................. 98
INTERFACE FOR OPTION CABLE (OPTION).......... 43
<R>
<L> Replacing the Batteries (1 year (3840 hours)
LOAD SETTING ........................................................... 38 checks)........................................................................ 67
Replacing the Grease and Oil of the Drive
<M>
Mechanism (3 years (11520 hours) checks)
MAINTENANCE .......................................................... 67
checks)........................................................................ 68
i-1
INDEX B-84074EN/06
RESETTING ALARMS AND PREPARING

FOR MASTERING .................................................... 91
ROBOT CONFIGURATION......................................... 11
<S>
SAFETY PRECAUTIONS ........................................... s-1
SINGLE AXIS MASTERING ..................................... 101
STORAGE ..................................................................... 87
STRENGTH OF BOLT AND BOLT TORQUE
LIST ......................................................................... 124
<T>
TRANSPORTATION ...................................................... 1
TRANSPORTATION AND INSTALLATION ............... 1
TROUBLESHOOTING ............................................... 106
<V>
VERIFYING MASTERING ........................................ 105
<W>
WRIST LOAD CONDITIONS ...................................... 23
<Z>
ZERO POINT POSITION AND MOTION
LIMIT ......................................................................... 17
ZERO POSITION MASTERING .................................. 92
i-2
B-84074EN/06 REVISION RECORD
REVISION RECORD
Edition Date Contents
・Addition of M-20iD/25 food grade type (A05B-1228-B226)
06 Jul., 2022
・Correction of errors
05 Jan., 2022 ・Correction of errors
04 Apr., 2021 ・Correction of errors
・Addition of ARC Mate 120iD/35, M-20iD/35
03 Jun., 2020
・Addition of ARC Mate 120iD/12L, M-20iD/12L
02 Jan., 2020
01 Mar., 2019
r-1
B-84074EN/06
* B - 8 4 0 7 4 E N / 0 6 *

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< Robot ARC Mate 120+D

< Robot M-20+D

© FANUC CORPORATION, 2019

Thank you very much for purchasing FANUC Robot.

• No part of this manual may be reproduced in any form.

Programmer or Teaching operator:

- The operator is not allowed to work in the safeguarded space.

Table 1 (a) List of work outside the Safeguarded Space

• Use clothes, uniform, overall adequate for the work

2 DEFINITION OF SAFETY NOTATIONS

3 PROCEDURE TO MOVE ARM WITHOUT

In case of releasing the J2-axis motor brake

Method of supporting the robot arm

(*) This figure is an example of floor mount.

Fig. 3 (a) Releasing J2 and J3 motor brake and measures

4 WARNING & CAUTION LABEL

Fig. 4 (a) Greasing and degreasing label

(2) Step-on prohibitive label

Fig. 4 (b) Step-on prohibitive label

(3) High-temperature warning label

Fig. 4 (c) High-temperature warning label

(4) Transportation label

Fig. 4 (d) Transportation label

(5) High current attention label

Fig. 4 (e) High current attention Label

(6) Operating space and payload label

Mechanical unit Maximum

Position of label indicating mechanical unit specification number

SAFETY HANDBOOK B-80687EN Intended readers:

This manual uses following terms.

Name Terms in this manual

1 TRANSPORTATION AND INSTALLATION ........................................... 1

7 CHECKS AND MAINTENANCE ........................................................... 59

7.2.2 Confirmation of the Air Control Set (option) ......................................................... 63

1 TRANSPORTATION AND INSTALLATION

1) Transportation using a crane (Fig. 1.1 (a), (b))

Center of gravity M10 eyebolt (M10) Mounting position

2) Transporting the robot with a forklift (Fig. 1.1 (c), (d))

Forklift load capacity

200 200 173 175

4-φ18 through +0.018

Fig. 1.2 (a) Dimensions of the robot base

1.2.1 Installation Method

Fig. 1.2.1 (a) Example of installing the robot

1.2.2 Angle of Mounting Surface Setting

ROBOT MAINTENANCE CTRL START MANU

Setup Robot System Variables

[TYPE]ORD NO AUTO MANUAL

4 Press the [F4] key.

--- MOUNT ANGLE SETTING---

0 [deg] : floor mount type

6 Input the mount angle referring to Fig.1.2.2 (a).

Fig.1.2.2 (a) Mounting angle

ROBOT MAINTENANCE CTRL START MANU

Setup Robot System Variables

[TYPE]ORD NO AUTO MANUAL

8 Press the [FCTN] key and select [1 START (COLD)].

1.3 MAINTENANCE AREA

1.4 INSTALLATION CONDITIONS