< > LR Mate 200+D/4S

B-83574CM/01

FANUC Robot Safety Manual(B-80687EN)

y
y

FANUC

B-83574CM/01

FANUC()

FANUC Robot Safety Manual (B-80687EN)

ON/OFF

()

s-1

B-83574CM/01

(1) FANUC

(2)

()
(3)

() 3 (b)
(A B C D )

()

(8)

(4)
(5)
(6)
(7)

(9)
(10)

(11) ()
()
(12) FANUC

(13)
(14)

(15)

()
(16)

(17) , 3 (c),

s-2

B-83574CM/01

RP1
Pulsecoder
RI/RO,XHBK,XROT
RM1
Motor power/brake

EARTH

3 (a)

Panel board

R-30iB, R-30iB Mate

EAS1,EAS11,EAS2,EAS21

EAS1
EAS11

R-30iB
R-30iA
EAS1,EAS11,EAS2,EAS21FENCE1,FENCE2
(B-83195CM)
R-30iB

(B-83525CM)

EAS2
EAS21

Panel board

R-30iA Mate
EAS1,EAS11,EAS2,EAS21FENCE1,FENCE2
CRMA64
()

FENCE1
FENCE2
3 (b)

s-3

B-83574CM/01

3 (c)

3.1

ON/OFF

(1)
(2)
(3)
(4)

()
3.1

EES1-EES11 EES2-EES21

R-30iB, R-30iB Mate

EES1-EES11EES2-EES21
EES1,EES11,EES2,EES21

EMGIN1-EMGIN2

Panel board
EES1
EES11
EES2

R-30iB
R-30iA
(B-83195CM)
R-30iB
EES1,EES11,EES2,EES21
EMGIN1,EMGIN2
(B-83525CM)

EES21

R-30iA Mate
EES1,EES11,EES2,EES21EMGIN1,EMGIN2
CRMA64
()

Panel board

EMGIN1
EMGIN2
3.1

s-4

B-83574CM/01

3.2

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

(AUTO)(T1,T2)(
)
(
)
(R-30iA Mate
/)
/

(1) (
)
(2) /
(a)
(b)
)
R-30iB/R-30iB Mate 3 3

10000

/ 3

AUTO

T1, T2

T1,T2
(6) /

s-5

B-83574CM/01

(7)
(a)
(b)
(c)
(d)
(e)
(8)

3.3

(1)
(2)

(3) /

(4)

(5) 0
(6)
(7)
(8)
(9)
(10) /

(11)

(12)
2
(13)
(14)

(15)

(16)
(17)
(18)





(19)
(20)

(21)

(22)
(23)
(24) ()

(25)

s-6

B-83574CM/01

(26) ()

(27) ()

4
4.1
(1)
(2)
(3)
(4)

4.2

(
)

(5)
()
(
)

(6) (SRVO-050)

(1)
(2)
(3)
(4)

5
5.1

(1) (JOG)
T1
(2) (JOG)

s-7

5.2

B-83574CM/01

(1)
(2)

5.3

(1)

5.4

(1)

6
6.1

(1) ()

(2)

( IEC 60204-1 0 )

( IEC 60204-1 1 )

SRVO-199 Control Stop(-199 )

( IEC 60204-1 2 )

s-8

B-83574CM/01

C
P-Stop:
C-Stop:
-:

AUTO
T1
T2
AUTO
T1
T2
AUTO
T1
T2

SVOFF

P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
C-Stop
P-Stop
P-Stop

P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
C-Stop
P-Stop
P-Stop

C-Stop
P-Stop
C-Stop
-

C-Stop
C-Stop
C-Stop
P-Stop
P-Stop
P-Stop
C-Stop
C-Stop
C-Stop

P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
C-Stop
P-Stop
P-Stop

(A05B-2600-J570)
(*) R-30iB R-30iB Mate SVOFF

R-30iB
A (*)
C (*)

Software version () Software version

( C)
(A05B-2600-J570) AUTO T1
T2

SRVO-001 Operator panel E-stop

SRVO-002 Teach pendant E-stop
SRVO-007 External emergency stops
SRVO-218 Ext.E-stop/ServoDisconnect
SRVO-408 DCS SSO Ext Emergency Stop
SRVO-409 DCS SSO Servo Disconnect

(EES1-EES11EES2-EES21)
(R-30iB/R-30iB Mate )
(EES1-EES11EES2-EES21)
(R-30iA Mate/R-30iB )
DCS I/O SSO[3] OFF
DCS I/O SSO[4] OFF

DCS / DCS

s-9

B-83574CM/01

AUTO

(1)

8 (a)

1) 500kg
2) 980N(100kgf) 4
3) 784N(80kgf) 4
(2) (: A05B-1142-K021A05B-1139-K022 )

2.5mm,
1cc

8 (b)

1)
2) 2.5mm 1cc

s-10

B-83574CM/01

(3)
CE

8 (c)

s-11

B-83574CM/01

FANUC Robot LR Mate 200iD/4S

A05B-1143-B201

4kg

(1)

TYPE
NO.
DATE

(2)
(3)
(4)

WEIGHT
(5) kg

1)
(1)

FANUC Robot

LR Mate 200iD/4S

(2)

(3)

(4)

(5)
() kg

A05B-1143-B201

20

p-1

B-83574CM/01

FANUC Robot Safety Manual B-80687EN

R-30iB Mate
OPERATOR'S MANUAL

(Basic Operation)
B-83284EN
OPERATOR'S MANUAL
(Alarm Code List)
B-83284EN-1
Optional Function
OPERATOR'S MANUAL
B-83284EN-2

:B-83525CM
:B-83555EN

p-2

B-83574CM/01

................................................................................................................................. s-1
................................................................................................................................................p-1
1

............................................................................................................................... 1
1.1
1.2
1.3
1.4

........................................................................................................... 6
2.1

............................................................................................................................................. 21
EE ................................................................................................................................... 22

......................................................................................................................... 24
6.1

............................................................................................................. 17
......................................................................................................................................... 17
..................................................................................................................................... 19

............................................................................................. 21
5.1
5.2

....................................................................................................................................... 7
................................................................................................................... 8
........................................................................................................... 9
......................................................................................................................... 10
..................................................................................................................................... 14
..................................................................................................................... 16

............................................................................................................. 17
4.1
4.2
4.3

....................................................................................................................... 6

................................................................................................................................... 7
3.1
3.2
3.3
3.4
3.5
3.6

....................................................................................................................................................... 1
....................................................................................................................................................... 2
............................................................................................................................................... 5
............................................................................................................................................... 5

................................................................................................................. 24

............................................................................................................................. 26
7.1

............................................................................................................................................. 26
7.1.1
7.1.2
7.1.3
7.1.4
7.1.5
7.1.6

7.2

............................................................................................................................................. 30
7.2.1
7.2.2

7.3

............................................................................................................................................26
1 (320 ) ...............................................................................................................27
3 (960 ) ...............................................................................................................27
3 (960 ) ........................................................................................................................30
1 (3840 ) ..................................................................................................................30
4 (15360 ) ................................................................................................................30
( 1 ) ......................................................................................30
(4 (15360 )) ..........................................................................31

..................................................................................................................................................... 32

..................................................................................................................... 33
8.1
8.2
8.3
8.4

..................................................................................................................................................... 33
................................................................................................................. 34
..................................................................................................................................... 35
..................................................................................................................................... 37

c-1

B-83574CM/01

8.5
8.6
8.7

..................................................................................................................................... 39
............................................................................................................................. 41
............................................................................................................................. 42

................................................................................................................................. 44
9.1
9.2

..................................................................................................................................................... 44
......................................................................................................................... 44

............................................................................................................................. 51

......................................................................................... 54

c-2

1.

B-83574CM/01

1.1

1
2
3

( 1.1)
4

J2 J2

500kg
500kg

100kg
100kg

632

J1 0
J2-29
J3-40
J4 0
J5-50
J6 0

240.5

161

221

1 :20kg
20kg
2 1.
JIS B 1168
JIS
B 2801
3 2.
4 4

3. 4 4

1.1

()

-1-

1.

1.2

B-83574CM/01

1.2 (a)

J1

J1
( 5 )

138
4-O11

69

138
( 19 )
( 1 )

80

200

160

69

( 15 )

15

( 1 )
( 10 )

( 1 )

( 10 )
20

80

200

160

1.2 (a)

()

.
31
1
2 (MENUS) 9 MAINTENANCE
3 INPUT

ROBOT MAINTENANCE

CTRL START MANU

Setup Robot System Variables

Group Robot Library/Option Ext Axes
1
LR Mate 200iD
0

[TYPE]ORD NO
4
5

AUTO

F4 .
INPUT

-2-

MANUAL

1.

B-83574CM/01

*******Group 1 Initialization************
*************LR Mate 200iD*************
--- 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

1.2 (b),

1.2 (b)
7

INPUT

ROBOT MAINTENANCE

CTRL START MANU

Setup Robot System Variables

Group Robot Library/Option Ext Axes
1
LR Mate 200iD
0

[TYPE]ORD NO
8

AUTO

MANUAL

FCTN 1 START (COLD)

1.2 (c) 1.2 (a)(c)

J1J3

-3-

1.

B-83574CM/01

1.2 (a)

Mv(Nm)
58.9
308.9
426.5

1.2 (b)

J1

Fv(N)
Mh(Nm)
235.2
0
520.9
135.0
675.7
236.5

Fh(N)
0
570.6
1445.0

[ms]
[deg] (rad)
*100%
*

J1
284
67.5 (1.18)

J2
148
23.5 (0.41)

J3
244
59.9 (1.04)

1.2 (c)
J1
636
155.1 (2.71)

[ms]
[deg] (rad)

J2
636
84.5 (1.47)

*100%
*

Mv

Fv
Fh
Mh
1.2 (c)

J1

-4-

J3
636
118.7 (2.07)

1.

B-83574CM/01

1.3

500

128

195

500

1.3
8

500

480

1.3

1.4

500

3.1 3.2

-5-

2.

B-83574CM/01

2.1

(NC)

1
2

(10m )

A
2.1

A A

()

-6-

3.

B-83574CM/01

3.1

J3
J3

J5
J5

J6

J6

J4
J4

J3J3

J2

J2
J3J3

J2

J2

J2
J2

J1

J1
J1J1

3.1 (a)

J6
-

J4

J3

J5 +
-

J2
+

J1

0
*0
3.1 (b)

-7-

3.

B-83574CM/01

( 1)

LR Mate 200i D/4S

6 (J1, J2, J3, J4, J5, J6)

550mm

340 /360(option) (460/s)

5.93rad/6.28rad(option) (8.03rad/s)
230 (460/s)
4.01rad (8.03rad/s)
402 (520/s)
7.02rad (9.08rad/s)
380 (560/s)
6.63rad (9.77rad/s)
240 (560/s)
4.19rad (9.77rad/s)
720 (900/s)
12.57rad (15.71rad/s)

J1
J2

()
( 2)

J3
J4
J5
J6

( 3)
J4

J5

J6
J4

J5

J6

8.86Nm
8.86Nm
4.90Nm
0.20 kgm2
0.20 kgm2
0.067kgm2

AC

4 kg

( 4)
( 5)

0.02mm
20kg
IP67
64.7dB ( 6)
045( 7)
: 75%RH ()
95%RH ()
1000m
2
4.9m/s (0.5G)
( 8)

1)
2)
3)
4)
5)
6)

3.6

( 3.2 )
) ISO11201 (EN31201)
-
- (AUTO )
7) 0 0
(SRVO-050)

8)

3.2

(1) (O )
(a)
(b)
(c)

-8-

3.

B-83574CM/01

(d)
(e) (NBR)
(2) J1 J1

(3)
(4)

3.3

3.3

-170 DEG
-180 DEG(OPTION)

0 DEG

+180 DEG(OPTION)

12
2
R1
06

+170 DEG

0
55

J5
J5

J3
J3

(0,+880)

70

290
R

75

0
11

J5
J5

319

20

260

41

120

(+122,+343)

(-39,+446)

75

(-550,+330)

330

280

(+550,+330)

280

(-199,+528)

(+476,+55)

(-181,+115)

11
5

(0,0)
(+225,-90)

(-174,-41) (-244,-50)
(+122,-71)

3.3

-9-

3.

3.4

B-83574CM/01

(OT)

3.4 (a)

J1
J1
J5
J5

()
A6-PS-8X20S
A6-PS-8X20S

B
J3
J3

:
J3A290-7142-X427
3
: A290-7142-X427
A6-PS-8X20S

A6-PS-8X20S
J3
X

J3
CEMEDINE SUPER X (CLEAR)

A-A

A-A

J2

J2
()
()

3.4 (a)

3.4 (b)3.4 (i)()()

J1J3
J3 3.4 (a)
J1
6

- 10 -

3.

B-83574CM/01
- 170

-170
-175

0
+175

+170

+ 170

3.4 (b)

J1 (J1 340)

-180

180

+180

3.4 (c)

J1 (J1 360)

- 11 -

3.

B-83574CM/01
0

+ 1
20

0
11

-110
-112(

+120

+123

3.4 (d)

J2

+205

- 69

+205

+206.5

-69

-70.5

3.4 (e)

J3

- 12 -

3.

B-83574CM/01

-190

+190

)
3.4 (f)

J4

+120

+122

20
+ 1

- 1
20

-122

-120

3.4 (g)

J5

- 13 -

3.

B-83574CM/01

+360

-360

+360
0

-360

)
3.4 (h)

3.5

J6

3.5
3.1

- 14 -

3.

B-83574CM/01

Z (cm)
40
1kg

37.7
35
30
24.5
18.6
15.1

25

2kg

20
3kg
15

4kg

10

15

3.5

20

25
25.8

10

18.1

12.5
14.6

7cm

- 15 -

30

X,Y (cm)

3.

3.6

B-83574CM/01

3.6 7kg
4

1kg
(1kg)

3.6

- 16 -

4.

B-83574CM/01

4.1

4.1

70

0
-0.025

5H7
O5H7
7 7

( 70 )

14.5

2-M3
5 5
2-M3

56

56

28

1.5
O3

28

45

O 40 h7

14.5

O 20 H7

2-M3 5
2-M3
5

+0.021
0

4-M5 8
4-M5 8

4.1

(2-M3)

4.2

4.2

- 17 -

4.

B-83574CM/01

2-M6
12
2-M6
12

35

49

49

35

55 100

2-M8
16
2-M816
()

20
62

191

2-M6
10
2-M6
10

48

26

191

2-M6
10
2-M6
10

26

48
4.2

- 18 -

150

80.5 80

4.

B-83574CM/01

4.3

1. MENU
2. 6 SYSTEM
3. F1TYPE
4. MOTION

MOTION PERFORMANCE
Group1
No. PAYLOAD[kg]

1
2
3
4
5
6
7
8
9
10

4.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00

JOINT 10%
Comment

[
[
[
[
[
[
[
[
[
[

]
]
]
]
]
]
]
]
]
]

Active PAYLOAD number =0

[ TYPE] GROUP DETAIL ARMLOAD
IDENT
5.

SETING >

>

No.1No.10 10 F3DETAIL

MOTION PAYLOAD SET

JOINT

Group 1
Schedule No[
1]:[Comment
1 PAYLOAD
[kg]
2 PAYLOAD CENTER X [cm]
3 PAYLOAD CENTER Y [cm]
4 PAYLOAD CENTER Z [cm]
5 PAYLOAD INERTIA X [kgfcms^2]
6 PAYLOAD INERTIA Y [kgfcms^2]
7 PAYLOAD INERTIA Z [kgfcms^2]
[TYPE]

GROUP

NUMBER

- 19 -

100%

]
4.00
0.10
0.00
11.95
10.00
10.00
10.10

DEFAULT

HELP

4.

B-83574CM/01

X
X

xg (cm)

Iy (kgfcms2 )

m(kg)

m(kg)

Iz (kgfcms2 )

yg (cm)
Ix (kgfcms2)

zg (cm)

4.3
6.

7.
8.
9.

XYZ
Path and Cycletime will change. Set it?/
? F4YES F5NO
F3NUMBER F2GROUP

PREV F5SETING
F4ARMLOAD
MOTION ARMLOAD SET

JOINT

100%

Group 1
1 ARM LOAD AXIS #1 [kg]
2 ARM LOAD AXIS #3 [kg]
[

TYPE

GROUP

0.00
1.00
DEFAULT

HELP

10. J2 J3
ARM LOAD AXIS #1 [kg] 1J2
ARM LOAD AXIS #3 [kg] 3J3

Path and Cycletime will change. Set it? F4YES F5NO

- 20 -

5.

B-83574CM/01

5.1

5.1 J1 (R1/4)
5.1

5.1

A05B-1143-H001

()

RO

2 RO
()

A05B-1143-H002

A97L-0218-0130#D1L (SMC )

2 1

RO1 to 2

A05B-1143-H003

A97L-0218-0130#D2L (SMC )

2 2

RO1 to 4

1.98mm2 (CV 0.11)

1
2
5m

RO3
M5

RO1
M5
RO2
M5
( AIR2)
(AIR
2)

M5
()
(

AIR1

1
X1
2
X2

AA

RO4
M5
RO1()
RO14 ()
A

EE

Rc1/4

Rc1/4

AIR 1

AIR 2
()
(

()
(

5.1

- 21 -

5.

5.2

B-83574CM/01

EE

EE

1
2

()

(1) EE (RI/RO )
5.2 EE (RI/RO )

A05B-1143-H301
A05B-1143-H301

()

EE
8
RO7
6

RO8
12
RI6
5

9
0V
11
RI5

24V
10
0V
4

1
24V
3
RI4

RI1
2
RI3

RI2

XHBK:

A05B-1143-H302
A05B-1143-H302

EE
1
2
3
4

0V
0V
0V
0V

5
6
7
8
9
10

RO1
RO2
RO3
RO4
RO5
RO6

11
12
13
14
15
16

RI1
RI2
RI3
RI4
RI5
RI6

17
18
19
20

XHBK
24V
24V
24V

EE

A05B-1143-H301,H302
5.2

EE (RI/RO )

EE

- 22 -

5.

B-83574CM/01

5.2 (a)( 5.2 (b))

5.2 (a)

()

5678910mm
A05B-1143-H301

5678910mm
A05B-1143-H301

5678910mm
A05B-1143-H302

RM15WTPZ-12P(71)
JR13WCC-*(72)

RM15WTLP-12P(71)
JR13WCC-*(72)
RM15WTLP-20P
JR13WCC-*(72)

5.2 (b)

A05B-1137-J058

(12 )
8mm

(12 )
9mm

A05B-1139-J059

(20 )
9mm

A05B-1137-J057

- 23 -

6.

B-83574CM/01

6.1

1
2
3
4

MENU
0 NEXT6 SYSTEM
F1TYPE
Axis Limits

System A xis Lim its

A XIS

GROUP

1
2
3
4
5
6
7
8
9

1
1
1
1
1
1
1
1
1

JOINT 30 %
1/16
UPP ER

L OW ER

-180.00
-100.00
-70.00
-190.00
-125.00
-360.00
0.00
0.00
0.00

180.00
145.00
205.00
190.00
125.00
360.00
0.00
0.00
0.00

deg
deg
deg
deg
deg
deg
mm
mm
mm

[ TYPE]

0.000

System Axis Limits

AXIS

System Axis Limits

GROUP

LOWER

-60.00

AXIS

GROUP

[ TYPE]

6
7

ENTER

- 24 -

LOWER

JOINT 30%
2/16
UPPER

-50.00

75.00

deg

6.

B-83574CM/01

- 25 -

7.

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()

3840 3840 /

7.1

7.1.1

(1)

1 ()
7.1.1 (a)
2
(
)

7.1.1 (a)

- 26 -

7.

B-83574CM/01

2
3

7.1.1 (b) 2 1
0.49MPa (5kgf/cm2)

2 1

Rc 1/4

Rc1/4

7.1.1 (b)
(2)

2
3
4

7.1.2

2 1 ()

2mm

1 (320 )

1 (320 ) 3
( 7.1.4 )

7.1.3

3 (960 )

3 ( 960 )
1 ( 7.1.5 )

1
2

( 1)

( 2)

J1
J3
( 3)

( 4)

- 27 -

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5
6

()
()

( 1)

7.1.3 (a)

( 2)

( 3)

J1 J3

- 28 -

7.

B-83574CM/01
J1
J1

A6-PS-8X20S

A6-PS-8X20S
J3
J3

:
J3A290-7142-X427
3
: A290-7142-X427
A6-PS-8X20S
A6-PS-8X20S
J3

J3

CEMEDINE SUPER X (CLEAR)

A-A
A-A

7.1.3 (b)

( 4)

J3

7.1.3 (c)

- 29 -

7.

7.1.4

B-83574CM/01

3 (960 )

3 960

7.1.5

1 (3840 )

1 (3840 )

()

1
2
3
4
5
6
7

7.1.6

( 7.1.3 )
( 7.1.3 )
( 7.1.3 )
( 71.3 )
( 7.1.3 )
( 7.2.1 )
( 7.1.3 )

4 (15360 )

4 15360

( 7.2 )

1
2

7.2

7.2.1

( 1 )

()
1

ON OFF

2
3
4

( 7.2.1 )

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7.

B-83574CM/01

2 4
2(4)
A98L-0031-0027
A98L-0031-0027

M4122
M4X12(2)

A290-7139-X253

M4X20(4)
M4204

7.2.1

7.2.2

()

(4 (15360 ))

4 15360
7.2.2 (a)
7.2.2 (a)

4 (15360 )

J1

2.7g(3ml)

J2

2.7g(3ml)

J3

1.8g(2ml)

J4

1.8g(2ml)

J5

1.8g(2ml)

J6

1.8g(2ml)

Harmonic Grease 4BNo.2

: A98L-0040-0230

A05B-1142-K021 ( 80g)

A05B-1139-K022 ( 80g)

(1) Harmonic Grease SK-3

(2)
(3)

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7.
1.
2.
3.
4.

B-83574CM/01

J6

J6

M46

M4X6
J5

J5

M4X6

M46
J4

J4

M46

M4X6

J3

J3

M46

M4X6

J2

J2

M46

M4X6

J1

J1

M8X10

M810

7.2.2

7.3

7.2.2 (b)

A97L-0318-0405#040606EN
A97L-0318-0406#081010EN

1.1

- 32 -

J2J6
J1

5 /

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8.1

( )

8.1

$MASTER_ENB=1 2
F5$MASTER_ENB=0

- 33 -

8.

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360 (J1 ,J4 )

8.1 (a)(b)

M4X10
(5) (5)
M4X10

J1=0
J1=0v

8.1 (a) (J1 )

OO

A290-7143-X406
A290-7143-X406

M4X10 (4)

2.0Nm
M4X10 (4)

J4=0
J4=0
v

2.0Nm

J3

J3

8.1 (b) (J4 )

8.2

Servo 062 BZAL

062 BZALServo 075 Pulse mismatch

(1)(6)
(1) MENU

- 34 -

075

8.

B-83574CM/01

(2)
(3)
(4)
(5)
(6)

0 NEXT6 SYSTEM
F1TYPEVariables
$MASTER_ENB 1ENTER
F1TYPEMater/Cal
Mater/Cal

Servo 062 BZAL(1)(5)

(1) MENUS
(2) 0 NEXT6 SYSTEM
(3) F1TYPEMater/Cal
(4) F3RES_PCA F4TRUE
(5)

Servo 075 Pulse mismatch(1)(2)

(1) Servo 075 Pulse mismatch
(2) Pulse not establishedFAULT RESET

8.3

1
2
3
4

MENU
0 NEXT6 SYSTEM
F1TYPE
Master/Cal

JOG

$PARAM_GROUP. $SV_OFF_ALL FALSE

$PARAM_GROUP. $SV_OFF_ENB[*]FALSE

ZERO POSITION MASTER F4YES

- 35 -

8.

B-83574CM/01

6 CALIBRATE F4YES

F5DONE

8.3

J1
J2
J3
J4
J5
J6

0
0
0 (* J2=0 deg )
0
0
0

- 36 -

8.

B-83574CM/01

J5
J5

A
A

A
B

J3
J3

J2

J2

J1
J1

J6
J6

J4
J4

B
B

8.3

8.4

8.3

1
2

1
2

MENUS6 SYSTEM
Master/Cal

- 37 -

8.

3
4

B-83574CM/01

JOG
5 SET QUICK MASTER REF F4YES

2
3

JOG
3 QUICK MASTER F4YES

4
5

6 CALIBRATE F4YES
F5DONE

- 38 -

8.

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8.5

8.5

ACTUAL POS
MSTR POS
SEL
ST

deg
0
1 0

$EACHMST_DON[19]
0
1

1
2

MENUS6 SYSTEM
Master/Cal

- 39 -

8.
3

B-83574CM/01

SINGLE AXIS MASTER

J5J6

SEL1SEL
SEL

5
6

JOG

F5EXECSEL0ST2 1

PREV

- 40 -

8.

B-83574CM/01

6 CALIBRATE F4YES

10 F5DONE

11

8.6

1
2

MENUS6 SYSTEM
Variables

$DMR_GRP. $MASTER_COUN

- 41 -

8.

B-83574CM/01

$DMR_GRP

$MASTER_COUN

6
7

PREV
$MASTER_DONE TRUE

8
9

6 CALIBRATE F4YES
F5DONE

8.7
1

(1)
(2) 0 8.3
(3)

2
$DMR_GRP.$MASTER_COUN

- 42 -

8.

B-83574CM/01

(1) BZAL
0V
0V 8.2

(2) BLAL

1
(3) CKALRCALPHALCSALDTERRCRCERRSTBERRSPHAL

- 43 -

9.

B-83574CM/01

9.1

9.2

9.2
9.2

J1
J1

J1

J1

J1

J1

J1

- 44 -

9.

B-83574CM/01

- 45 -

9.

B-83574CM/01

- 46 -

9.

B-83574CM/01

BZAL

O
O

BZAL

- 47 -

J3

B-83574CM/01

- 51 -

A.

A.

B-83574CM/01

FANUC Robot LR Mate 200iD/4S

(H)

3 6 9 1
320
960 1920 2880 3840

5760

6720

7680

0.2H

0.2H

2.0H

4
0.1H

5
1.0H

()
6
0.1H

7 ()

0.1H

0.5H

14ml

4.0H

0.2H

0.2H

0.1H

10

11

12 *1

*1

2
4800

*2

- 52 -

8640

9600 10560

B-83574CM/01

A.

11520 12480 13440 14400 15360 16320 17280 18240 19200 20160 21120 22080 23040 24000 24960 25920 26880 27840 28800 29760 30720

5
6
7

10

11
12

- 53 -

B.

B-83574CM/01

22 1200N/mm2
24 1000N/mm2
1000N/mm2
()
400N/mm2

M3
M4
M5
M6
M8
M10
M12
(M14)
M16
(M18)
M20
(M22)
M24
(M27)
M30
M36

Nm

()

()

1.8
4.0
7.9
14
32
66
110
180
270
380
530
730
930
1400
1800
3200

1.3
2.8
5.6
9.6
23
46
78
130
190
260
370
510
650
960
1300
2300

0.76
1.8
3.4
5.8
14
27
48
76
120
160
230

0.53
1.3
2.5
4.1
9.8
19
33
53
82
110
160

- 54 -

()

1.8
1.3
4.0
2.8
7.9
5.6
14
9.6
32
23

()

1.7
1.2
3.2
2.3
5.5
3.8
13
9.3
26
19
45
31
73
51
98
69
140
96
190
130

B-83574CM/01

<>

<>

1 (3840 )..............................................30
3 (960 )....................................................30
4 (15360 )............................................30

.......................................................................26

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....................................................................17
................................................16
................................................................14
1 (320 )...........................................27
3 (960 )...........................................27
........................................................41

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..........................................................................5

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................................................................................32
............................................24
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(4 (15360 ))......31

............................................................... s-1
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..............................................8

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................................................................39
........................................................................26
....................................................................51

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( 1 )..................30
....................................................44
........................................................................44
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............................................34

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................................................................37

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............................................................33
................................................................35
................................54

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.............................................................................. p-1
........................................................42

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01

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