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B-82874CM/06

FANUC Robot B-80687EN

-
-

FANUC

B-82874CM/06

FANUC()

FANUC Robot Safety Manual (B-80687EN)

ON/OFF

()

s-1

B-82874CM/06

(1) FANUC

(2)

()
(3)

() 3 (b)
(4) (A B C D )
(5)
(6) ()
(7)

(8)

(9)
(10)

(11) ()
()
(12) FANUC

(13)
(14)

(15)

()
(16)

(17) , 3 (c),

s-2

B-82874CM/06

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

EARTH

3 (a)

Panel board

R-30iB
EAS1,EAS11,EAS2,EAS21

EAS1
EAS11

R-30iA
R-30iA
EAS1,EAS11,EAS2,EAS21

EAS1,EAS11,EAS2,EAS21FENCE1,FENCE2
FENCE1,FENCE2

EAS2
EAS21

Panel board
FENCE1
FENCE2

3 (b)

R-30iAMate
Mate
R-30iA
EAS1,EAS11,EAS2,EAS21FENCE1,FENCE2
EAS1,EAS11,EAS2,EAS21

CRMA64
FENCE1,FENCE2

()
CRMA64

s-3

B-82874CM/06

3 (c)

3.1

ON/OFF

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

()
3.1

Panel board
EES1
EES11
EES2
EES21

Panel board

EES1-EES11 EES2-EES21
EMGIN1-EMGIN2

R-30iB
EES1-EES11EES2-EES21
EAS1,EAS11,EAS2,EAS21

EMGIN1-EMGIN2
R-30iA
R-30iA
EES1,EES11,EES2,EES21 EMGIN1,EMGIN2
EES1,EES11,EES2,EES21
EMGIN1,EMGIN2

R-30iA Mate
EES1,EES11,EES2,EES21EMGIN1,EMGIN2
R-30iA
Mate
CRMA64
EES1,EES11,EES2,EES21
EMGIN1,EMGIN2
()
CRMA64

EMGIN1
EMGIN2

3.1

s-4

B-82874CM/06

3.2

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

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

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

10000

/ 3

R-30iB/R-30iA CE/RIA R-30iA Mate

AUTO

T1, T2

T1,T2

s-5


R-30iA Mate

B-82874CM/06

(6) ( R-30iB/R-30iA R-30iA Mate CE/RIA ) /

(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)

s-6

B-82874CM/06

(20)

(21)

(22)
(23)
(24) ()

(25)


(26) ()

(27) ()

4.1

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

4.2

(
)

(5)
()
(
)

(6) (SRVO-050)

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

s-7

5.1

B-82874CM/06

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

5.2

(1)
(2)

5.3

(1)

5.4

(1)

A05B-2450-J350 ( AC100-115V )
A05B-2450-J351 ( AC200-240V )
A05B-2525-J047 (5m)
A05B-2525-J048 (10m)
A05B-2525-J010 (5m)( AC100-115V ) (*)
A05B-2525-J011 (10m) ( AC100-115V ) (*)
A05B-2450-J364 (5m) ()
A05B-2450-J365 (10m)( )

(*) CE
(2)

(3)

() EN ISO
10218-1 CE

s-8

B-82874CM/06

J3
J3

J2
J2

*
(*)

5.4 J2J3

6.1

(1) ()

(2)

s-9

B-82874CM/06

( IEC 60204-1 0 )

( IEC 60204-1 1 )

SRVO-199 Control Stop(-199 )

( IEC 60204-1 2 )

SVOFF

AUTO
T1
T2
AUTO
T1
T2

P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop

P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop

C-Stop
P-Stop
-

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

P-Stop
P-Stop
P-Stop
P-Stop
P-Stop
P-Stop

AUTO
T1
T2
P-Stop:
C-Stop:
-:

C-Stop
P-Stop
P-Stop

C-Stop
P-Stop
P-Stop

C-Stop
-

C-Stop
C-Stop
C-Stop

C-Stop
P-Stop
P-Stop

s-10

B-82874CM/06

R-30iB

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

A (*)
C (*)

()

R-30iA

RIA
()

R-30iA Mate
CE

RIA

B (*)
A
A
A
A (**)
( C)

C
C
(A05B-2500-J570)
(*) R-30iA ()
(**) R-30iA Mate SVOFF

CE

Software version () Software version

( C)
(A05B-2600-J570)(R-30iA R-30iA Mate (
C)(A05B-2500-J570)) AUTO T1 T2

SRVO-001 Operator panel E-stop

SRVO-002 Teach pendant E-stop
SRVO-007 External emergency stops
SRVO-194 Servo disconnect
SRVO-218 Ext. E-stop/ServoDisconnect
SRVO-408 DCS SSO Ext Emergency Stop
SRVO-409 DCS SSO Servo Disconnect

(EES1-EES11EES2-EES21) (R-30iA/R-30iB )
(SD4-SD41SD5-SD51) (R-30iA )
(EES1-EES11EES2-EES21)
(R-30iA Mate/R-30iB )
DCS I/O SSO[3] OFF
DCS I/O SSO[4] OFF

R-30iA R-30iA Mate , CE RIA

DCS / DCS

AUTO

s-11

B-82874CM/06

(1) /

1)

2)

8 (a) /

/
1)
2)
3)

/(3 (11,520
))
(2)

8 (b)

s-12

B-82874CM/06

(3)

8 (c)

(4)

300kg
250kg2

150kg2

8 (d)

2940N(300kgf)
2 2450N(250kgf) 1
1470N(150kgf) 2 M10

s-13

B-82874CM/06

(5) ( A05B-1222-H072)

Do not have impact

on this part

Do not chain, pry,

or strap on this part

8 (e)

1)
2)
(6)

DO NOT ACCESS
DURING ENERGIZED
HIGH CURRENT INSIDE

8 (f)

(7)
CE
+170 deg

(-185 deg)

-170 deg

(+185 deg)

0 deg

J5-axis rotation center

J5

Motion range
of J5-axis
rotation center
J5

D MAX. PAYLOAD
A
C
B
kg
(mm) (mm) (mm) (mm)
2186
1089
1511 1811
ARC Mate 120iC,M-20iA
20
10
ARC Mate 120iC/10L,M-20iA/10L 2384 1287 1709 2009

8 (g)

s-14

B-82874CM/06

FANUC Robot ARC Mate 120iC

FANUC Robot M-20iA
FANUC Robot ARC Mate 120iC/10L
FANUC Robot M-20iA/10L
FANUC Robot M-20iA/20M

3kg 20kg
3kg 20kg
3kg 10kg
3kg 10kg
20kg

A05B-1222-B201
A05B-1222-B202
A05B-1222-B301
A05B-1222-B302
A05B-1222-B702

kg
(5)

(2)

TYPE
NO .
DATE

kg

WEIG HT

TYPE
NO.
DATE

(3)
(4)

(1)

WEIGHT

AA

(1)

(2)

(3)

(4)

FANUC Robot
ARC Mate 120iC

A05B-1222-B201

250

FANUC Robot
M-20iA

A05B-1222-B202

250

FANUC Robot
ARC Mate 120iC/10L

A05B-1222-B301

FANUC Robot
M-20iA/10L

A05B-1222-B302

250

FANUC Robot
M-20iA/20M

A05B-1222-B702

250

p-1

(5)
kg
()

250

B-82874CM/06

B-80687EN

R-30iA

HANDLING TOOL
B-83124CM-2
ARC TOOL
B-82594CM-3
DISPENSE TOOL
B-83124EN-4

B-83124CM-6

:B-82595CM
RIA : B-82595CM-2

R-30iA Mate

LR HANDLING TOOL
B-83134CM-1
LR ARC TOOL
B-83134CM-2

B-83124CM-6

B-82725CM
R-30iB

OPERATORS MANUAL
(Basic Operation)
B-83284EN
OPERATORS MANUAL
(Alarm Code List)
B-83284EN-1
OPERATORS MANUAL
(Optional Function)
B-83284EN-2
Arc Welding Function
OPERATORS MANUAL
B-83284EN-3
Dispense Function
OPERATORS MANUAL
B-83284EN-5

B-83195EN

p-2

B-82874CM/06

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

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

......................................................................................................... 13
2.1

() .................................................................................................................................. 57
() .................................................................................................................................. 58
() ...................................................................................................................... 60

......................................................................................................................... 68
6.1
6.2

......................................................................................................... 43
......................................................................................................................................... 47
..................................................................................................................................... 49
(M-20iA/20M ) ...................................................................................... 51

............................................................................................. 57
5.1
5.2
5.3

..................................................................................................................................... 14
......................................................................................................... 18
......................................................................................................................... 21
............................................................................................................. 27
..................................................................................................................................... 28
............................................................................................. 33

............................................................................................................. 43
4.1
4.2
4.3
4.4

..................................................................................................................... 13

................................................................................................................................. 14
3.1
3.2
3.3
3.4
3.5
3.6

....................................................................................................................................................... 1
....................................................................................................................................................... 6
............................................................................................................................................. 11
............................................................................................................................................. 12

................................................................................................................. 68
..................................................................................... 69

............................................................................................................................. 71
7.1

............................................................................................................................................. 71
7.1.1
7.1.2
7.1.3
7.1.4
7.1.5
7.1.6

7.2

............................................................................................................................................71
1 (320 ) ...............................................................................................................73
3 (960 ) ...............................................................................................................74
1 (3,840 ) .................................................................................................................76
3 (11,520 ) ...............................................................................................................77
4 (15,360 ) ...............................................................................................................77

............................................................................................................................................. 77
7.2.1
7.2.2
7.2.3

(1 ) ...............................................................................................................77
(M-20iA/20M) ...........................................................................................................79
(3 (11,520 )) .................................................79
7.2.3.1

J1, J2, J3 .............................................................................................. 84

7.2.3.2

J4

c-1

B-82874CM/06

7.2.3.3

7.3

J5/J6 (ARC Mate 120iC/10L, M-20iA/10L) ...................................... 91

7.2.3.5

J4,J5 (M-20iA/20M) ........................................................................... 95

7.2.3.6

(J1, J2, J3 ) .............................................................................. 95

7.2.3.7

(J4, J5, J6 )

7.2.3.8

(ARC Mate 120iC, M-20iA,ARC Mate 120iC/10L, M-20iA/10L) .................................................... 96

(J4, J5 ) (M-20iA/20M)............................................................ 97

..................................................................................................................................................... 97

........................................................................................................................................98
............................................................................................................... 100
........................................................................................................................... 101
................................................................................................................................... 108
................................................................................................................................... 110
........................................................................................................................... 113
........................................................................................................................... 115

............................................................................................................................... 116
9.1
9.2
9.3

10

7.2.3.4

..................................................................................................................... 98
8.1
8.2
8.3
8.4
8.5
8.6
8.7

(ARC Mate 120iC, M-20iA,ARC Mate 120iC/10L, M-20iA/10L) ................................................... 85

J5/J6 (ARC Mate 120iC, M-20iA) ..................................................... 88

................................................................................................................................................... 116
....................................................................................................................... 116
............................................................................................................... 120

........................................................................................... 122
10.1
10.2
10.3

................................................................................... 122
................................................................................................................................... 123
................................................................................................................................... 125

11

() ........................................................................................ 126

12

TIG .............................................................................................................. 130

........................................................................................................................... 133

....................................................................................... 140

....................................................................................................... 141
C.1
C.2

................................................................................................................................................... 141
............................................................................................................................... 141

........................................................................................................... 142

c-2

1.

B-82874CM/06

1.1

1
2
3
4

()

(1)
J2 J3 1 2
1 JOINT() J2 J3 J2 J3
2 J2 J3 ()
3 J2 2 M10

2 SHIFT SHIFT JOINT

J2 J2 J2
(2) ( 1.1 (a)(c))
M10 2 2 2

(3) ( 1.1 (d)(f))

-1-

1.

B-82874CM/06

IN TRANSPORTATION

300kg
300kg

J1: 0
J2:-39
J3:-32
J4: 0
J5:-58
J6: 0

250kg
250kg

277

1055

1391

252

170 173

1.1 (a)

1.
250kg
250kg
2.
JIS B1168
JIS B1168
3.
2

2
(ARC Mate 120iC, M-20iA)

-2-

1.

B-82874CM/06

IN TRANSPORTATION

300kg
300kg

J1: 0
J2:-39
J3:-19
J4: 0
J5:-71
J6: 0

250kg
250kg

277

1224

1445

252

170 173

1.1 (b)

)
1.
250kg
JIS
250kgB1168
2.
JIS B1168
3.

2 2

(ARC Mate 120iC/10L, M-20iA/10L)

-3-

1.

B-82874CM/06

252

1.
250kg
250kg
JIS
2.
JISB1168
B1168
2
3.

2 2

300kg
300kg

998

258

250kg

250kg

1350

J1: 0
J2:-39
J3:-32
J4: 0
J5:-58
J6: 0

1.1 (c) (M-20iA/20M)

J1: 0
J2:-39
J3:-32
J4: 0
J5:-58
J6: 0

300kg
300kg
1026

1391

200

100

100

200

388

388

(2)

(2 )
A290-7222-X371
A290-7222-X371

250kg
1.
250kg

1.1 (d)

(ARC Mate 120iC, M-20iA)

-4-

1.

B-82874CM/06

J1J1

J2J2

J3J3

J4J4

J5J5

J6J6

00
-39
-39
-19
-19
00
-71
-71
00

300kg
300kg
1224

1445

200

100

100

200

(2)

(2 )
A290-7222-X371
A290-7222-X371

388

388

250kg
1.
250kg
1.1 (e)

252

J1 0
J1: 0
J2
-39
J2:-39
J3
-19
J3:-32
J4
0
J4: 0
J5 -71
J5:-58
J6
0
J6: 0

(ARC Mate 120iC/10L, M-20iA/10L)

300kg

998

258

1350

100

100

300kg

200
388

200
388

)
1.

250kg
250kg

(2)

(2 )
A290-7222-X371
A290-7222-X371

1.1 (f) (M-20iA/20M)

-5-

1.

1.2

B-82874CM/06

1.2 (a)

FRONT

J1J1

J1 AXIS ROTATION CENTER

300
150
157

157

20

4-18

4-O18

THROUGH

20

O265
26

150

157
157

300

343

173 0.1

20

FACING DEPTH

15

20

A
A

A-A

A-A

173 0.1

SECTION

343

1.2 (a)

.
1
2
3

(MENUS) 9 MAINTENANCE
INPUT

-6-

1.

B-82874CM/06

ROBOT MAINTENANCE

CTRL START MANU

Setup Robot System Variables

Group Robot Library/Option Ext Axes
1
M-20iA AM120iC
0

[TYPE]ORD NO
4
5

AUTO

MANUAL

F4 .
INPUT

*******Group 1 Initialization************
*************ARC Mate 120iC*************
--- MOUNT ANGLE SETTING --0 [deg] : floor mount type
90 [deg] : wall mount type
180 [deg] : upside-down mount type
Set mount_angle (0-180[deg])->
Default value = 0

1.2(b),

1.2 (b)
7

INPUT

-7-

1.

B-82874CM/06

ROBOT MAINTENANCE

CTRL START MANU

Setup Robot System Variables

Group Robot Library/Option Ext Axes
1
M-20iA AM120iC
0

[TYPE]ORD NO
8

AUTO

FCTN 1 START (COLD)

-8-

MANUAL

1.

B-82874CM/06

1.2 (c) 4 M20 ( 4.8) 4 M1640 ( 12.9)

FRONT
J1J1

J1 AXIS ROTATION CENTER

4-M16

4-M16

50

150

300

400

50

150
300
400
J1

J1

M20(4)
M20 (4 )
4.8
4.8
186Nm
186 Nm

200

()

30

M16X40
(4 )
M16X40 (4)
12.9
12.9
314
314Nm
Nm

1.2 (c)

4 M1640 ( 12.9) 314Nm

-9-

1.

B-82874CM/06

1.2 (d) 1.2 (a)(d)

J1J3
1.2 (a)
(ARC Mate 120iC, M-20iA, ARC Mate 120iC/10L,M-20iA/10L)

MV [Nm](kgfm)
FV N(kgf)
MH Nm(kgfm)
1537 (157)
2732 (279)
0 (0)
6233 (636)
4425(451)
2020 (206)
12802 (1306)
7979 (814)
8315 (848)

1.2 (b)

MV [Nm](kgfm)
FV N(kgf)
1554 (159)
2751 (281)
6302 (643)
4457 (455)
12944 (1321)
8038 (820)

1.2 (c)

ARC Mate 120iC, M-20iA

ARC Mate 120iC/10L,
M-20iA/10L
M-20iA/20M

(M-20iA/20M)

MH Nm(kgfm)
0 (0)
2045 (209)
8415 (859)

FH N(kgf)
0 (0)
3912 (399)
7239 (739)

FH N(kgf)
0 (0)
3953 (403)
7318 (747)

J1
J2

[ms]
[deg] (rad)
[ms]
[deg] (rad)
[ms]
[deg] (rad)

246
25.7 (0.45)
199
20.8 (0.36)
292
20.0 (0.35)

246
21.2 (0.37)
192
15.3 (0.27)
252
21.2 (0.37)

J3
125
11.5 (0.20)
104
10.7 (0.19)
132
11.7 (0.20)

100%

1.2 (d)
J1
J2
J3
[ms]
ARC Mate 120iC,
428
429
444
M-20iA
[deg] (rad)
45.3 (0.79)
44.3 (0.77)
47.3 (0.83)
[ms]
ARC Mate 120iC/10L,
437
442
442
M-20iA/10L
[deg] (rad)
47.6 (0.83)
44.6 (0.78)
45.2 (0.79)
[ms]
476
468
468
M-20iA/20M
[deg] (rad)
50.1 (0.87)
47.3 (0.83)
47.3 (0.83)
100%

MV
FV
FH

MH
1.2 (d)

- 10 -

1.

B-82874CM/06

1.3

1.3 (a)(c)
8

650

900

500

300

300

500

1150

1.3 (a)

(ARC Mate 120iC, M-20iA)

650

900

500

300

300

500

1350

1.3 (b)

(ARC Mate 120iC/10L, M-20iA/10L)

- 11 -

1.

B-82874CM/06

650

900

500

300

300

500

1175

1.3 (c) ( M-20iA/20M)

1.4

3.1

- 12 -

2.

B-82874CM/06

2.1

NC
5

1
2

10m

2.1

- 13 -

3.

B-82874CM/06

3.1

J5J5AC
AC

ARC Mate 120iC/10L

M-20iA/10L

J6AC
J6
AC J3
J3

M-20iA/20M
J4AC
J4
AC
J5 J5AC
AC

J5
AC
J5AC

ARC Mate 120iC

M-20iA

J3J3AC
AC

J6J6AC
AC

J2

J2

J3
AC
J3AC

J6
AC
J6AC

J2
J2

J3
J3

J3
J3

J4 J4AC
AC
J1
AC
J1AC
J2

J2

J1J1

J2
AC
J2AC

3.1 (a)

J1
AC
J1AC
J2

J2
J2 J2AC
AC

J1J1

ARC Mate 120iC ,M-20iA,

ARC Mate 120iC/10L, M-20iA/10L

M-20iA/20M

J4

J4

J3

+
J6

+
-

J3

J6

J5

J2

J2

J5

J1

J1

3.1 (b)

- 14 -

3.

B-82874CM/06

(1/3)

ARC Mate 120iC, M-20iA

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

() ( 1)
3 kg
20 kg
()
()

J1
J2
J3
J4

( / )
( 2)
J5
( 3)
( 2)
J6
( 3)
J1
J2

J3
4)
J4
J5
J6

J3
5)
J4

J5

J6
J4

J5

J6

185
160
273
200
140
180
270
450

(3.23rad) / -185 (-3.23rad)

(2.79rad) / -100 (-1.75rad)
(4.77rad) / -185 (-3.23rad)
(3.49rad) / -200 (-3.49rad)
(2.44rad) / -140 (-2.44rad)
(3.14rad) / -180 (-3.14rad)
(4.71rad) / -270 (-4.71rad)
(7.85rad) / -450 (-7.85rad)
195/sec (3.40rad/s)
175/sec (3.05rad/s)
180/sec (3.14rad/s)
360/sec (6.28rad/s)
360/sec (6.28rad/s)
550/sec (9.60rad/s)

3kg

20kg
12kg

7.7Nm
7.7Nm
0.22Nm
0.24kgm2
0.24kgm2
0.0027kgm2

(0.79kgfm)
(0.79kgfm)
(0.022kgfm)
(2.5kgfcms2)
(2.5kgfcms2)
(0.028kgfcm s2)

44Nm
44Nm
22Nm
1.04kgm2
1.04kgm2
0.28kgm2

(4.5kgfm)
(4.5kgfm)
(2.2kgfm)
(10.6kgfcms2)
(10.6kgfcms2)
(2.9kgfcms2)

0.08mm
250kg

70dB
) ISO11201 (EN31201)

- ,
- (AUTO )
045C 6)
75%RH ()
95%RH (1 )
1000m
0.5G 7)

3.6

J3

3
4

5
6

J3 4.2

0 0
(SRVO-050)

- 15 -

3.

B-82874CM/06

(2/3)

ARC Mate 120iC/10L, M-20iA/10L

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

() 1)
3 kg
10 kg
()
()

J1
J2
J3
J4

( / )
2)
J5
3)
2)
J6
3)
J1
J2

J3
4)
J4
J5
J6

J3
( 5)
J4

J5

J6
J4

J5

J6

185
160
275.6
200
140
180
270
450

(3.23rad) / -185 (-3.23rad)

(2.79rad) / -100 (-1.75rad)
(4.81rad) / -185 (-3.23rad)
(3.49rad) / -200 (-3.49rad)
(2.44rad) / -140 (-2.44rad)
(3.14rad) / -180 (-3.14rad)
(4.71rad) / -270 (-4.71rad)
(7.85rad) / -450 (-7.85rad)
195/sec (3.40rad/s)
175/sec (3.05rad/s)
180/sec (3.14rad/s)
400/sec (6.98rad/s)
400/sec (6.98rad/s)
600/sec (10.47rad/s)

3kg

10kg
12kg

7.7Nm
7.7Nm
0.22Nm
0.24kgm2
0.24kgm2
0.0027kgm2

(0.79kgf m)
(0.79kgfm)
(0.022kgfm)
(2.5kgfcms2)
(2.5kgfcms2)
(0.028kgfcms2)

22Nm
22Nm
9.8Nm
0.63kgm2
0.63kgm2
0.15kgm2

(2.2kgfm)
(2.2kgfm)
(1.0kgfm)
(6.4kgfcms2)
(6.4kgfcms2)
(1.5kgfcms2)

0.08mm
250kg

70dB
) ISO11201 (EN31201)

- ,
- (AUTO )
045C 6)
75%RH ()
95%RH (1 )
1000m
0.5G 7)

1 3.6
2

J3

3
4

5
6

J3 4.2

0 0
(SRVO-050)

- 16 -

3.

B-82874CM/06

(3/3)

M-20iA/20M

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

() ( 1)
20 kg
185 (3.23rad) / -185 (-3.23rad)
160 (2.79rad) / -100 (-1.75rad)
275.6 (4.81rad) / -185 (-3.23rad)
200 (3.49rad) / -200 (-3.49rad)
140 (2.44rad) / -140 (-2.44rad)
450 (7.85rad) / -450 (-7.85rad)
195/sec (3.40rad/s)
175/sec (3.05rad/s)
180/sec (3.14rad/s)
405/sec (7.07rad/s)
405/sec (7.07rad/s)
615/sec (10.73rad/s)

J1
J2

J3
( / )
J4
J5
J6
J1
J2

J3
2)
J4
J5
J6

J3
3)
J4

J5

J6
J4

J5

J6

20kg
12kg
45.1Nm(kgfm) (4.6kgfm)
45.1Nm(kgfm) (4.6kgfm)
30.0Nm(kgfm) (3.1kgfm)
2.01kg.m2 (20.42 kgfcms2)
2.01kg.m2 (20.42 kgfcms2)
1.01kg.m2 (10.26 kgfcms2)
0.08mm
250kg
70dB
) ISO11201 (EN31201)

- ,
- (AUTO )
045C 4)
75%RH ()
95%RH (1 )
1000m
0.5G 5)

1) ( ) 3.6
2)
3) J3 4.2
4) 0 0
(SRVO-050)

5)

- 17 -

3.

B-82874CM/06

3.1 (a)

(ARC Mate 120i C, ARC Mate 120i C/10L)

J3

IP54
IP54
3.1 (b)

(M-20iA , M-20iA/10L, M-20iA/20M )

J3
IP67

IP54
10 11

IP67
IP55

(1) (O )
(a)
(b)
(c)
(d)
(e) (NBR)
(2) J1 J1

(3)

3.2

3.2 (a)(c)

- 18 -

3.

B-82874CM/06

-170 deg

17
R3

(+185 deg)

0 deg

(-185 deg)
R18
11

+170 deg

(0,+2186)

J5J5

73
.3

150

835

277

154

100

250

J5
J5

790

170
3
13

(+6,+986)
(+151,+779)

17

43
160

10

(-1511,+525)
(-333,+525)

(+1811,+525)

525

- 87

17
7

(+320,+310)

(0,0)

(-433,-394)

170 173
277

- 5

(-1486,+236)

- 132

(+718,-1036)

(-333,-432)
(+420,-1088)

3.2 (a)

(ARC Mate 120iC, M-20iA)

- 19 -

252

3.

B-82874CM/06

-170 deg
17
R3

(+185 deg)

0 deg

(-185 deg)
R200
9

+170 deg

(0,+2384)

J5

J5
J5J5

1040

150

277

100

154

250

.5
76

790

(+109,+1163)
160

-1

4 2

10

22

13.5

41

00

(+353,+815)
(+2009,+525)

- 4

(-1681,+202)

525

- 84

13.5

(-1859,+525)

(-277,+48)

(+320,+112)
(0,0)

170 173
4

(-638,-376)
- 5

-8

277

(-277,-623)
(+786,-1222)
(+420,-1286)

3.2 (b)

(ARC Mate 120iC/10L, M-20iA/10L)

- 20 -

252

3.

B-82874CM/06

+170 deg

7
31

(-185 deg)

(+185 deg)

0 deg

R 18
11

-170 deg

(+150,+2188)
150

100

J5J5

258

187

128

150

J5
J5

860

80
.1

(-68,+1058)

(+1813,+525)

87
525

9.9

10

790

160

16

(-426,+528)
(-1513,+525)

2
10

19

(+154,+776)

(+368,+399)
(+320,+316)

(-1488,+236)
(0,0)
5

170 173
258

(-450,-292)
(-431,-463)

252

10

(+719,-1038)
(+420,-1090)

3.2 (c) (M-20iA/20M)

3.3

(OT)

J1, J2, J3
3.3 (a)
3.3 (b)3.3 (k)
6

- 21 -

3.

B-82874CM/06

J5 B
J5B

(M-20iA/20M)
(M-20iA/20M)
J5
A
J5A
(M-20iA/20M)
(M-20iA/20M)

J3
J3
A290-7221-X324
A290-7221-X324

M10X20
M10X20
(
50.0Nm)
(
50.0 Nm)

J2
J2
A290-7222-X323
A290-7222-X323
M24X40
M24X40
( 128Nm)
(
128 Nm)

J1
J1
A05B-1222-H310
A05B-1222-H310
A290-7222-X361
A290-7222-X361

M12X16

M12X162
2
(
128Nm)
(
128 Nm)

M16X20

M16X201
1
(
56Nm)56 Nm)
(

3.3 (a)

- 22 -

3.

B-82874CM/06

+185

-185-185
()
0
+185+185
()

-185
3.3 (b)

J1 ()

+ 170

+170
()
+170
+172
+172
()

-172
()
-172
-170
()
+170

- 17 0
3.3 (c)

J1 ()

- 23 -

3.

B-82874CM/06

J3
J3

10
0

+ 160

-100
-100
9

-109
-109

+169
+169
+160
+160
3.3 (d)

J2
+273.1(ARC Mate 120iC, M-20iA)
+275.6(ARC Mate 120iC/10L, M-20iA/10L)

J2
J2

-1

85

3.3 (e)

J3

- 24 -

3.

B-82874CM/06

J2 = 0
J3 = 220

J2 = 157
J3 = 63

J2+J3 = 222.5

J2 = 160
J3 = 55

()

3.3 (f)

J2, J3 ()

J2 = 0
J3 = -90

J2+J3 = -92.5
()

J2 = -90
J3 = 0

3.3 (g)

J2, J3 ()

- 25 -

3.

B-82874CM/06

J4
J4

+20
0

0
-20

-200
-200

+200
+200

3.3 (h)

J4

J5

J5

140

+140
+140

+ 180

()
-140
-140
()

- 14
0

- 180

J3
J3

3.3 (i)

J5

- 26 -

180
180

3.

B-82874CM/06

+140

()

140

+144
()

140

-144
()
-140

()
3.3 (j) J5 (M-20iA/20M)

J6
J6

-450v ()
-450

+270

+450
+450v
()

-270
-450

+270

-270v ()
-270

+270v

()

J3
J3

M-20iA/20M

3.3 (k)

3.4

+450

J6

ARC Mate 120iC(M-20iA)() J3 J3 (Cable integrated J3

arm) J3
J3 3.4 J3
J3

- 27 -

3.

B-82874CM/06

3.4

(Conventional dress-out)(No dust M/H conduit)

1
2
3

1: Cable integrated J3 arm

J5:-140 .. 140, J6:-270 .. 270[deg]
2: Conventional dress-out
(J5:-190 .. 190, J6:-360 .. 360[deg])
3: No dust M/H conduit
(J5:-120 .. 120, J6:-270 .. 270[deg])
Select cable dress-out type (1 or 2 or 3) ->
1) J3 (Cable integrated J3 arm)
1 () J3 (
[A05B-1221-J701,J702] 10.3 )
()
2) (Conventional dress-out)
2 ()

3) (No dust M/H conduit)

3 [A05B-1221-J721]()
( 11 )

3.5

3.4 (a)(e)

- 28 -

3.

B-82874CM/06

Z(cm)
40
39.5 1kg
35
30
25
24.9 2kg
20
3kg

16.7
15
10

0.4
5

2.6

10 cm

2.5 5

4.8
X,Y(cm)

3.5 (a)

(ARC Mate 120iC, M-20iA 3kg )

- 29 -

3.

B-82874CM/06

Z(cm)
45
40.9
40
4kg

35
30
25.8
25
8kg
19.1

20
12kg

15.0
15
12.1

16kg
20kg

10
10.4
12.2

14.5
18.3
5

10

20

25

30
X,Y(cm)

10 cm
3.5 (b)

15

26.3

(ARC Mate 120iC, M-20iA 20kg )

- 30 -

3.

B-82874CM/06

Z(cm)
40
39.5 1kg
35
30
25
24.9 2kg
20
3kg

16.7
15
10

0.4
5

2.6

10 cm

2.5 5

4.8
X,Y(cm)

3.5 (c)

(ARC Mate 120iC/10L, M-20iA/10L 3kg )

- 31 -

3.

B-82874CM/06

19.7
17.5
14.4

Z(cm)
20
7kg
8kg
15

9kg
10kg

12
10
5

10

15

X,Y(cm)

10 cm

13.9
12.5
11.1
10

3.5 (d)

(ARC Mate 120iC/10L, M-20iA/10L 10kg )

- 32 -

3.

B-82874CM/06
Z(cm) 65
60.8

60

4kg

55
50
45
40

8kg

40
35
30
12kg
28.3

25
20

16kg

18.8
15
20kg

13
10
5

10

15

20

25

10cm

19.1

30

35

25.5

40

45

50

55
X,Y(cm)

35.3

50.2

15.3

3.5 (e) ( M-20iA/20M)

3.6

(ARC Mate 120iCM-20iA 20kg ARC Mate 120iC/10LM-20iA/10L 10kg

) 3.5 (a)(g)
(3kg )

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

60

120
130

50

0
3.6 (a)

(ARC Mate 120iC, M-20iA)

- 33 -

3.

B-82874CM/06

3.6 (b)

(1) (ARC Mate 120iC, M-20iA)

(1)

- 34 -

3.

B-82874CM/06

+65

-115

-65

1677

1677

+115

1677
3.6 (c)

(2) (ARC Mate 120iC, M-20iA)

- 35 -

3.

+60
+51

-129

-51
-60

1503

+120
+129

1503

1755

1755

B-82874CM/06

-120

1755

1503
3.6 (d)

(3) (ARC Mate 120iC, M-20iA)

- 36 -

3.

B-82874CM/06

(2)
(2)

75

105

(1)
(1)

0
3.6 (e)

(ARC Mate 120iC/10L, M-20iA/10L)

- 37 -

3.

B-82874CM/06

3.6 (f)

(1) (ARC Mate 120iC/10L , M-20iA/10L)

(1)

- 38 -

3.

B-82874CM/06

+75

-105

-75

1962

1962

+105

1962
3.6 (g)

(2) (ARC Mate 120iC/10L , M-20iA/10L)

- 39 -

3.

B-82874CM/06

(3)
(3)
(2)
(2)

60

120
130

50

(1)
(1)

0
3.6 (h) (M-20iA/20M)

3.6 (i) (1) (M-20iA/20M)

(1)

- 40 -

3.

B-82874CM/06

+117

1663

1663

+63

-117

-63

1663
3.6 (j) (2) (M-20iA/20M)

- 41 -

3.

B-82874CM/06

+117

+63
+51

1492

1492

+129

-129

-51
-63

-117

1492
3.6 (k) (3) (M-20iA/20M)

- 42 -

4.

B-82874CM/06

4.1

4.1 (a)(e)

100

36.5

22.5

13

9.5

29.5 32.5 32.5 29.5

0
-0.030

O 62 h7

O4H7 +0.012
66
0

.5 v

22

R1
20

75

62

62

75

15-M4
15-M4
66
(16-22.5 15)
(16-22.5
15 )

50

.O

4.1 (a)

50

119

56.5

(ARC Mate 120iC, M-20iA)

M3,M4

- 43 -

4.

108

B-82874CM/06

32.5

32.5

29.5

29.5

O 65 h7
O 6 H7

+0.012
0

0
-0.030

1212

75

45

0
O 4

+0.012
0

12
12

75

O 25 H7

R1
20

4-M6 12
4-M6
12

4.1 (b) ( ISO ) (ARC Mate 120iC, M-20iA)

M3,M4

- 44 -

4.

B-82874CM/06

31.5

10

100

20

30.5 30.5

O4H7
DP66
8-M4
6
8-M4
6

+0.012
0

AA

50

45.5

50

45.5

22.5

56

8.5

0
O 62 h7 -0.080

11
0

50

108

4.1 (c)

45.5

50

(ARC Mate 120iC/10L, M-20iA/10L)

M3

- 45 -

10

4.

B-82874CM/06

31.5

10

30.5 30.5

10

108

20

O 65 h7

O 6 H7

+0.012
0

0
-0. 030

12
12

40

50

45.5

50

O 25 H7

+0.012
0

12
12

1 10

4-M6
12
4-M6
12

109
4.1 (d)

45.5

( ISO ) (ARC Mate 120iC/10L, M-20iA/10L)

M3

- 46 -

4.

100

B-82874CM/06

O 25 H7

10
3

45

+0.021
0

O 6 H7

+0.012
0

10
10

65

0
O4

65

7-M6
10
7-M6
10

96

79.1
4.1 (e)

4.2

(M-20iA/20M)

4.2 (a),(b)

- 47 -

4.

B-82874CM/06

W:
ARC
Mate
J3 120iC,M-20iA

A,B,C:
WA
ARC Mate 120iCM-20iA

WABC

A12kg

ABC 12kg

12

25
20
15

12

10
5
0

10

15

20

25

W (kg)

J3
J3

118

2-M6
2-M6 10
10

250

2-M6 8
2-M6
8
12

24 24

38

141.5

J4
J4

DETAIL C
94.5
30

45

20

4-M6
4-M6
88

25 25

101

4-M6 10
10

25 25

40

B
62.5

J4
J4

J3
J3

DETAIL B
38

32

118

2-M6
2-M6 10
10

130

A+B (kg)

ARC
Mate 120iC/10LM-20iA/10L
ARC
Mate 120iC/10L,M-20iA/10L

DETAIL A

4.2 (a)

J3
J3

(ARC Mate 120iC, M-20iA, ARC Mate 120iC/10L, M-20iA/10L)

- 48 -

4.

B-82874CM/06

W:
W:
W:

W': J3
A:

A: J3

WWA
W,W',A
12

25

A (kg)

20
15
12

10
5
0

10

15

20

25

W+W' (kg)

W'
A
J3
J3

30

4-M6
10
4-M610

45
45

5-M6
5-M610
10
22 30

30

50

4-M6
10
4-M6 10

J4

J4

W'

J4

J4

4.2 (b) (M-20iA/20M)

4.3

1. MENU()
2. 6 SYSTEM()
3. F1 TYPE()

- 49 -

4.
4.

B-82874CM/06

MOTION()

MOTION PERFORMANCE
Group1
No. PAYLOAD[kg]

1
2
3
4
5
6
7
8
9
10

20.00
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.

SETIND >

>

No.1No.10 10 F3 DETAIL()

MOTION PAYLOAD SET

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

GROUP

[Comment
[kg]
[cm]
[cm]
[cm]
[kgfcms^2]
[kgfcms^2]
[kgfcms^2]

NUMBER

100%

]
20.00
-7.99
0.00
6.44
0.13
0.14
0.07

DEFAULT

HELP

X
X

Z
xg (cm)

JOINT

Iy (kgfcms2 )

m(kg)

Iz (kgfcms2 )

yg (cm)
Ix (kgfcms2)

zg (cm)

4.3
6.

7.
8.

XYZ (
)
Path and Cycle time will change. Set it?( /)
F4 YES() F5 NO()
F3 NUMBER() F2 GROUP()

PREV() F5 SETIND()

- 50 -

4.

B-82874CM/06

9.

F4 ARMLOAD()
MOTION ARMLOAD SET

JOINT

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

TYPE

GROUP

100%

0.00
12.00
DEFAULT

HELP

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

Path and Cycle time will change. Set it?(/) F4

YES() F5 NO()

4.4

(M-20iA/20M)

ARC Mate 120iCM-20iA 3kg20kg 2 (ARC Mate 120iC/10L

M-20iA/10L 3kg10kg)
/ KAREL (
KAREL)
ARC Mate 120iC, M-20iA
M20SET03.PC3kg
M20SET20.PC20kg
ARC Mate 120iC/10L,M-20iA/10L
M2LSET03.PC3kg
M2LSET10.PC10kg
ARC Mate 120iCM-20iA
M-20iA 20kg M-20iA/10L 10kg ARC Mate 120iC
ARC Mate 120iC/10L 3kg

3.1 3.5 3kg 20kg ARC

Mate120iC/10L, M-20iA/10L 10kg
M-20iA/20M

KAREL 2
1)

KAREL 1
TP KAREL
M-20iA

:
1:

2)

CALL

KAREL 2

- 51 -

M20SET03(1)

4.

B-82874CM/06

KAREL
M-20iA M-20iA

KAREL
KAREL
KAREL

1. KAREL
* M-20iA 3kg

1.

MENUS SYSTEM F1 (TYPE)

2.

$KAREL_ENB

3.

TP

4.

CALL program()

Variables

F1 (INST) CALL CALL program

SYST-039 Operation
PROGRAM list
1 A1
2 HOME_IO
3 M20SET03
4 M20SET20
A1

Mode

T2

Selected
JOINT 10 %

5
6
7
8
1/2

1:
[ End ]

CALL . . .

Select item
PROGRAM

MACRO

KAREL

- 52 -

STRINGS

4.

B-82874CM/06

5.

F3 (KAREL) 3kg KAREL M20SET03

SYST-039 Operation
KAREL list
1 GEMDATA
2 GET_HOME
3 M20SET03
4 M20SET20
A1

Mode

T2
5
6
7
8

Selected
JOINT 10 %
MEM_PORT
PSCOLD

1/2
1:
[ End ]

CALL . . .

Select item
PROGRAM

6.

MACRO

KAREL

STRINGS

F4 (CHOICE)()CONSTANT()
SYST-039
A1
A1

Operation Mode
LINE 0

T2

Selected
T2 ABORTED
JOINT
10%
1/2

1:
[ End ]

CALL M20SET03 ( Constant )

[ CHOICE ]

7.

Constant()
SYST-039
A1
A1

Operation Mode
LINE 0

1:
[ End ]

CALL M20SET03 ( 1)

POINT

8.

T2

Selected
T2 ABORTED
JOINT
10%
1/2

TOUCHUP>

- 53 -

4.

B-82874CM/06

SHIFT FWD
3kg KAREL M20SET03.PC
SERVO-333
A1
USER

3kg

3kg

Power

off to
LINE 0

parameter set .

reset

( GP :

T2 ABORTED
JOINT
10%

1)

WARNING
Path and Cycle Time is Changed

OFFON

Please

power

off

9.

OFF/ON

2. KAREL

1 M-20iA
2 M-20iA
3 A
1 2 M-20iA 3kg 1 2
3kg

1 M-20iA 3kg 2 M-20iA 20kg

2 1
1
2

OFF/ON
2 OFF/ON

1 3kg

1:
1:

CALL

M20SET03(1)

2:
1:

CALL

M20SET20(2)

2 20kg

1.

MENUS SYSTEM F1 (TYPE)

- 54 -

Variables

4.

B-82874CM/06

2.

$KAREL_ENB 1

3.

KAREL
F1 (TYPE) KAREL
3 KAREL
A1
Select

T2 ABORTED
G1
JOINT
10%
710186 bytes free
1/7
No .
Program name
Comment
1 GEMDATE
PC [ GEM Vars
]
2 GET_HOME
PC [ Get Home Pos
]
3 M20SET03
PC [ 3kg payload
]
4 M20SET20
PC [ 20kg payload
]
5 MEM_PORT
PC [
]
6 PSCOLD
PC [
]

[ TYPE ]
4

LINE 0

CREATE

DELETE

[ ATTR ] >

KAREL ENTER 3kg KAREL

M20SET03.PC 2
M20SET03
Select

LINE 0

T2 ABORTED
G1
JOINT
10%
710186 bytes free
3/7
No .
Program name
Comment
1 GEMDATE
PC [ GEM Vars
]
2 GET_HOME
PC [ Get Home Pos
]
3 M20SET03
PC [ 3kg payload
]
4 M20SET20
PC [ 20kg payload
]
5 MEM_PORT
PC [
]
6 PSCOLD
PC [
]

M20SET03 is selected
[ TYPE ] CREATE DELETE
5

MONITOR

MONITOR

[ ATTR ] >

SHIFT FWD
3kg KAREL M20SET03.PC

- 55 -

4.

B-82874CM/06

SERVO-333

Power

1 M20SET03
3kg

off to
LINE 0

reset
T2 ABORTED
JOINT
10%

USER
3kg

parameter set .

( GP :

1)

3kg
parameter set . ( GP : 2 )
2 3kg

WARNING
Path and Cycle Time is Changed

Please

power

off

OFFON

OFF/ON

- 56 -

5.

B-82874CM/06

()

()( 5)
()

()

5 ()

5.1

()

J1 J3

A05B-1222-H201
A05B-1222-H205
A05B-1222-H207
A05B-1222-H221
A05B-1222-H231
A05B-1222-H235
A05B-1222-H237
A05B-1222-H251
A05B-1222-H601
A05B-1222-H605
A05B-1222-H202
A05B-1222-H203
A05B-1222-H206
A05B-1222-H232
A05B-1222-H233
A05B-1222-H236
A05B-1222-H214

()

()

Rc3/8 X1

Rc3/8 X1

8mm 5mm (1 )

1/4 NPT X2

6.35mm 4.23mm (2 )

Rc3/8 X2

Rc3/8 X2

10mm 6.5mm (2 )

- 57 -

5.

B-82874CM/06

A05B-1222-H202,H203,H232,H233
A05B-1222-H202,H203,H206.
H232,H233,H236

()

A05B-1222-H201,H205,H207,H214,

A05B-1222-H201,H205,H221,H231,H235
H221,H231,H235,H237,H601,H605

()

X1
1

()
X1

X1

X2
X2

5.1

5.2

()

()

5.2 (a)
3 1 3 1 3 1
5.2 (b)

- 58 -

5.

B-82874CM/06

R3/8
R3/8

R3/8

3()
1
:
A05B-1302-J011
:A05B-1302-J011

3m
3m
10mm6.5mm
10mm 6.5mm
5.2 (a)

()

3 1

70

3 1 #90#140

64

5.2 (b)

3 1 ()

3 1

0.490.69MPa (57kgf/cm2)
0.49MPa (5kgf/cm2)
150Nl/min(0.15Nm3/min)

- 59 -

5.

5.3

B-82874CM/06

()

5.3 (a)(e)
(RI/RO)()

EE(RI/RO)EE
()AS
()AP
W/F
W/P
()ASi
CAM
SEN

J4

J1

J1

5.3 (a)

()

- 60 -

5.

B-82874CM/06

EE

EE
(RI/RO*8)
(RI/RO*8)

()
()

()
()

J1
J1
5.3 (b)

J4
J4
( A05B-1222-H201, H231 )

A0 5B-1222-H202,H232

A05
B-1222 -H2
02 H232

()
)()

()

(
)
()

EE

E E
(RI/RO*1)
(RI/R
O*8)

()

J 1
J1
5.3 (c)

J4
J4

( A05B-1222-H202, H203, H232, H233 )

()
()
()
()

()
()

()
()

EE
EE
(RI/RO*8)
(RI/RO*8)

J1
J1
5.3 (d)

J4
J4
( A05B-1222-H205, H235 )

- 61 -

5.

B-82874CM/06

()
(

()
()

()
()
()
()

EE

EE
(RI/RO*8)
(RI/RO*8)

J1
J1

J4
J4

5.3 (e) ( A05B-1222-H207, H237 )

()
()

()
()

()
()

()
()

EE

EE
(RI/RO*8)
(RI/RO*8)
()
()

()
()

J1
J1

J4
J4

5.3 (f) ( A05B-1222-H214 )

- 62 -

5.

B-82874CM/06

EE

EE
(RI/RO*8)
(RI/RO*8)

()
()

()
()

J1
J1
5.3 (g)

J4
J4

( A05B-1222-H221,H251 )

EEEE

(RI/O*8)
(RI/RO*8)
()
()

()
()

J4
J4

J1
J1

5.3 (h) ( A05B-1222-H601 )

- 63 -

5.

B-82874CM/06

EE

EE
(RI/RO*8)
(RI/RO*8)

(
()
)

()
()

J4
J4

()
()

J1J1

()
()

5.3 (i) ( A05B-1222-H605 )

(1) EE (RI/RO)()
5.3 (j)(l) EE (RI/RO)

EE(RI/RO)
EE RI/RO
()

EE
3
0V

2
XHBK
5
24V

1
RO1
4
RI1

5.3 (j)

XHBK
XHBK
:

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

- 64 -

5.

B-82874CM/06

EE RI/RO
( )
(RI/RO)
4
RO4
9
RI1

3
RO3

8
0 V(A1)

2
RO2
7
XHBK

1
RO1
6
RO6

5
RO5

15
RI5

14
13
12
11
10
XPPABN
R I4
R I2
RI 8
R I3
20
19
18
17
16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1)
RI6
24
23
22
21
R I7
0V(A2)
RO8
RO7

XHBK

XHBK :
XPPABN

XPPABN:

5.3 (k)

EE (RI/RO) RI/RO 8 ()

EE RI/RO

(RI/RO)
()
4
RO4
9
RI1

3
R O3

8
0V(A1)

2
RO2

7
XHBK

1
RO1
6
RO6

5
RO5

14
13
12
11
10
RI8
R I3
XPPABN
RI4
RI2
20
19
18
17
16
24VF(A4) 24VF(A3) 24VF(A2) 24VF(A1)
RI 6
24
23
22
21
RI7
RO8
RO7

15
RI5

5.3 (l)

XHBK :
XHBK

XPPABN
XPPABN:

EE (RI/RO) RI/RO 8 (

(2) ()
5.3 (m)

()

MS3102A20-27SY

MS3102A20-27SY
J
Drain
I
UP1

H
S4

A
MP1
K
S5

N
UP2
G
S3

B
MP2
L
S6

M
S7
F
S2

C
SP1

D
SP2
E
S1

()
MS3102A20-27PY
MS3102A20-27PY
J
Drain

A
MP1
K
S5

B
MP2
C
SP1

M
S7

D
SP2
E
S1

5.3 (m)

I
UP1
N
UP2

L
S6

H
S4
G
S3

F
S2

()

- 65 -

A,B
1.25SQ X 3
C,D,I,N
1.25SQ X 1
E,F,K,L,M
0.2SQ X 1
G,H
0.2SQ X 1

Pair
E-N
L-K
G-H

5.

B-82874CM/06

(3) ()()
5.3 (n) ()
()()

MS3102A20-27SY
MS3102A20-27SY
J

S1

S10
I

S11

S9

S2

S8

K
L

S14

S3

S12

S7

S13

S4

S6

S5

()()

MS3102A20-27PY
MS3102A20-27PY
A

S10

S1
B

S11

S2
L

S3

S9
N

S12

S8
G

S13

S4

S14
M

S7

S5

S6

ASAS

0.2mm14pcs
2

5.3 (n)

()()

5.3 (a)

()
(J3 )
JMSP1305M
()
EE

(:A05B-1221-K845)
(RI/RO1)
JMLP1305M

JMSP2524M
()
EE

(:A63L-0001-0234#S2524M)
(RI/RO8)
JMLP2524M

MS3106B20-27PY (*2)
MS3106B20-27SY (*1)
W/F
MS3108B20-27PY
MS3108B20-27SY
AS

ASi
MS3057-12A (*2)
MS3057-12A (*1)

A05B-1221-K843
A05B-1221-K841
(*1)(*1) (*2)(*2)

MS3106B20-27P (*4)
MS3106B20-27S (*3)
MS3108B20-27P
MS3108B20-27S

AP
MS3057-12A (*4)
MS3057-12A (*3)

A05B-1221-K844
A05B-1221-K842
(*3)(*3) (*4)(*4)
() 40V

(J1 )

- 66 -

()FUJIKURA

()FUJIKURA
()

()FUJIKURA
()

5.

B-82874CM/06

5.3 (b)

EE
(RI/RO1)

( M-20iA, M-20iA/10L )

JL05-6A24-28PC-F0-R
(A63L-0001-0463#P2424P)
JL04-24EBL-R
(A63L-0001-0463#24EBL)
JL04-2428CK (20) R
(A63L-0001-0463#2428CK20)
ST-JL05-16P-C3-100
(A63L-0001-0463#16PC3)
5.3 (c)
(J1 )

()
()
()
()

( )
(J3 )

JMWR1305F
()FUJIKURA

EE
(RI/RO8)

JMWR2524F

MS3102A20-27PY

MS3102A20-27SY

5.3 (d)

()FUJIKURA
()

( M-20iA, M-20iA/10L )

JL05-2A24-28SC-F0-R
ST-JL05-16S-C3-100

- 67 -

()
()

6.

B-82874CM/06

J1

1
2
3

J1

J1

6.1

1
2
3
4

MENUS
0 NEXT6 SYSTEM
F1TYPE
Axis Limits

System Axis Limits

AXIS

1
2
3
4
5
6
7
8
9

GROUP

1
1
1
1
1
1
1
1
1

LOWER

-150.00
-60.00
-110.00
-240.00
-120.00
-360.00
0.00
0.00
0.00

JOINT 30%
1/16
UPPER

150.00
75.00
50.00
240.00
120.00
360.00
0.00
0.00
0.00

deg
deg
deg
deg
deg
deg
mm
mm
mm

[ TYPE]

0.000

J1

- 68 -

6.

B-82874CM/06
System Axis Limits
AXIS

System Axis Limits

GROUP

LOWER

AXIS

-60.00

GROUP

LOWER

JOINT 30%
2/16
UPPER

-50.00

75.00

deg

[ TYPE]

6
7

ENTER

6.2

J1

J1

+20+170 30
-170-20 30

0 0

J1
-170+170 30

6.2 (a)

J1

- 69 -

6.

B-82874CM/06

(140)

140

A290-7222-X361
A290-7222-X361

M12X16 (2)
M1216 (2)

A-A
AA

A290-7222-X361
A290-7222-X361

M12X16 (2)
M1216 (2)

-80
-50

-110
-20
-140

170

+20
+50

+140

+110
+80

AA

A-A
AA

A-A
6.2 (b)

J1

- 70 -

7.

B-82874CM/06

()

3840 3840 /

7.1

7.1.1

1
()
7.1.1 (a),(b)
2

(J3)
(J3)

F
E

CC

(J6)
(J6)

F F

ARC Mate 120iC, M-20iA

(J5)
(J5)

(J2)
(J2)

ARC Mate 120iC, M-20iA

E E

(J4)
(J4)

(J1)

ARC Mate 120iC, M-20iA

ARC Mate 120iC/10L, M-20iA/10L

(J1)

D D

A A
7.1.1 (a) (1/2)

- 71 -

7.

B-82874CM/06

K
J
H
G

(J6)

(J6)

ARC Mate 120iC/10L,

M-20iA/10L

(J5)

(J6)
(J6)

M-20iA/20M

(J5)

(J5)

(J5)

M-20iA/20M

(J4)

ARC Mate 120iC/10L,

M-20iA/10L

(J4)

M-20iA/20M

7.1.1 (b) (2/2)

(1)
3 1

7.1.1 (c) 3 1
0.490.69MPa (57kgf/cm2)

(1 1020 )
1020

3 1

2
3
4
5

7.1.1 (c)

3 1 ()

- 72 -

7.

B-82874CM/06

(2)

2
3
4

7.1.2

5mm

1 (320 )

1 320
3 ( 7.1.4 )

1
J4/J5/J6

OK

J4/J5/J6 3/4

7.1.2
7.2.2

OK

OK

NG
()

7.1.2

,,

- 73 -

7.

7.1.3

B-82874CM/06

3 (960 )

3 1 (
7.1.4 )

( 1)

(2)

(
3)

()

(4)

( 1)

7.1.3 (a)

- 74 -

7.

B-82874CM/06

7.1.3 (b)

( 2)

( 3)

J5
B
J5B

(M-20iA/20M)
(M-20iA/20M)
J5
A
J5A
(M-20iA/20M)
(M-20iA/20M)

J3
J3
A290-7221-X324
A290-7221-X324

M10X20
M10X20
(
50.0Nm)
(
50.0 Nm)

J2
J2
A290-7222-X323
A290-7222-X323
M24X40
M24X40
( 128Nm)
(
128 Nm)

J1

J1
A05B-1222-H310
A05B-1222-H310
A290-7222-X361
A290-7222-X361

M12X16

M12X162
2
(
128Nm)
(
128 Nm)
M16X20

M16X201
1
(
56Nm)56 Nm)
(

7.1.3 (c)

- 75 -

7.

B-82874CM/06

( 4)

(
C)

J3

7.1.3 (d)

7.1.4

1 (3,840 )

1 (3,840 )

1
2
3
4
5
6
7
8

()

J6
(M-20iA/20M)

( 7.1.3 )
( 7.1.3 )
7.1.3 )
( 7.1.3 )
( 7.1.3 )
( 7.2.1 )
J6 ( 7.2.2 )
( 7.1.3 )

- 76 -

7.

B-82874CM/06

7.1.5

3 (11,520 )

3 (11,520 )

J1J3 J4J6

7.1.6

( 7.2.2 )

4 (15,360 )

4 15,360

7.2

7.2.1

(1 )

ON OFF
(mastering)

2
3
4
5

( 7.2.1 (a),(b))

7.2.1 (b)

- 77 -

7.

B-82874CM/06

A98L-0031-0027
:A98L-0031-0027
2(4)
4
7.2.1 (a)

M5X10 (4)M5X104

A290-7221-Z236
A290-7221-Z236

7.2.1 (b)

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

()

- 78 -

7.

B-82874CM/06

7.2.2

(M-20iA/20M)

J6

(i) 1 ( 3,840 )
(ii) 7.1.1 7.2.2
(iii) 7.2.3.8

J6

7.2.2

Harmonic Grease 4BNo.2

A98L-0040-0230

40ml

0.1MPa
()

J6

J6

2 1

7.2.5

J6J6

J6

M6X8
+

M6X8

J6

M6X8
M6X8
+
7.2.2

7.2.3

J6 (M-20iA/20M)

(3 (11,520 ))

J1, J2, J3 J4, J5, J6 3 11,520

- 79 -

7.

B-82874CM/06

90
-90

90
+90

7.2.3 (a)

J4
J4

J4

J4
M6X8

M6X8

J4
J4

R1/8

R1/8
J3
J3

M6X8

M6X8
VIEW A

J1

J1

M8X10M8X10

7.2.3 (b)

(1)

- 80 -

7.

B-82874CM/06

J5/6
J5/J6

J5/J6

J5/J6

M6X8
M6X8

6
J3
20116
J32 2011

M8X10
M8X10

J31
J3

M8X10
M8X10

A-A A-A

SECTION
J2
J2
R1/8

R1/8

J2

J2
M8X10

M8X10

J1J1

R1/8
R1/8

7.2.3 (c)

(2)
(ARC Mate 120iC,M-20iA)

J5/6
J5/J6

M8X8

M8X8

J5/J6
J5/6

M6X8

M6X8

J4
J4
M8X10

M8X10

7.2.3 (d)

(3)
(ARC Mate 120iC,M-20iA)

- 81 -

7.

B-82874CM/06

J5/J6
1

J5/J6
1

M6X8
M6X8

J5/J6

J5/J6
M8X8

M8X8

J5/6
J5/J6

J5/J6

J5/6
M5X8
M5X8

J5/J6
2
J5/J6

M6X8

M6X8

6
J32 2011
J3
20116

M8X10

M8X10

J31
J3

M8X10
M8X10

SECTION
A-A A-A

J2
J2

R1/8 R1/8

J2

J2
M8X10
M8X10

J1J1

R1/8

R1/8

7.2.3 (e) (4)

(ARC Mate 120iC/10L,M-20iA/10L)

J4

J4

M8X10
M8X10

7.2.3 (f) (5)

(ARC Mate 120iC/10L,M-20iA/10L)

- 82 -

7.

B-82874CM/06

J4
J4
M6X8

M6X8

J3J3

M6X8

M6X8
A

J1
J1

M8X10M8X10

7.2.3 (g) (M-20iA/20M)

J5
J2J2
J5
M8X12
+
R1/8
M8X12

R1/8
C
B-B

B-B
C

J3 J5J5

J32
M8X12 +

M8X10

M8X12

M8X10
J3
J31

M8X10

M8X10

J4
J4
M6X8

M6X8

C-C

C-C
J2
J2

M8X10

M8X10
C

J1
J1

R1/8
R1/8

7.2.3 (h) (M-20iA/20M)

- 83 -

7.

B-82874CM/06

7.2.3

(M6X8)
(M8X10)
(R1/8)
(M5)
(M6)
(M8)

7.2.3.1

A97L-0218-0417#060808
A97L-0218-0417#081010
A97L-0001-0436#1-1D
A30L-0001-0048#5M
A30L-0001-0048#6M
A30L-0001-0048#8M

J1, J2, J3

2
( 2 1 )
3

7.2.3.5 (a)
4

5
7.2.3.6
6

7.2.3.1 (a)

3 (11,520 )

J1

1000g(1111ml)

J2

850g( 944ml)

J3

300g( 333ml)

(J1, J2, J3 )

0.1MPa
()

VIGOGREASE RE0
A98L-0040-0174

2 1
7.2.3.1 (b)

(J1, J2, J3 )

J1
J2
J3

J1

J2

J3

1
2
3

4
5

-90
+90

-90
+90

-90
+90

0
180
270 or -90
90

J4

J5

J6

7.2.3.1 (b)

( 7.2.3 (b), (c), (e))

J1 1 ( M8X10)
J2 3 ( M8X10)
J3 1 (J3 1 M8X10) *2011 6 2 1

- 84 -

7.

B-82874CM/06

7.2.3.6 130cc J1

7.2.3.2

J4
(ARC Mate 120iC, M-20iA,ARC Mate 120iC/10L, M-20iA/10L)

7.2.3.2 (a)

(J4 )
( 1)

J4

700g(822ml)

0.1MPa

BONNOC AX68
A98L-0040-0233

1
7.2.3.2 (b)

J4

J4 /

-90
+90

-90
+90

(J4 )

J1
J2
J3
J4
0
180
-90
90

180
0
90
-90

J5

J6

1 7.2.3.2 (b)J4
2
3

7.2.3.2 (a)
4
5

7.2.3.2 (b) 1

6
A
(1) 7.2.3.2 (b) J4
(2)

- 85 -

7.

B-82874CM/06

(3)
(4) (A05B-1221-K006)
(5) (A05B-1221-K005) 2-3cm

M8X10

1
M6X8

A05B-1221-K005

A05B-1221-K006

7.2.3.2 (b)

7.2.3.2 (c) (A05B-1221-K006)

(6)
(7)
(8)

(9) 7.2.3.2 (b) J4 ( 7.2.3.2 (d))

- 86 -

7.

B-82874CM/06

3/4

3/4

7.2.3.2 (d) (J4 )

(10) 7.2.3.7

(1) 7.2.3.2 (b) J4

()
(2)
(3) 2 J4 J4 2
(4) 1 ( 7.2.3.2 (e)) (A290-7222-X591)
7.2.3.2 (e) 0.6
1 25
(5)
2

(6) 7.2.3.2 (b) J4 ( 7.2.3.2 (d))

(7) 7.2.3.7

- 87 -

7.

B-82874CM/06

J4
J4

J4
J4

A290-7222-X591
A290-7222-X591

2
2

7.2.3.2 (e) J4

G1/8
(J4
J4

M6
J5/6
J5/J6

A A

A290-7222-X591

7.2.3.2 (f)

7.2.3.3

J5/J6 (ARC Mate 120iC, M-20iA)

J5/J6

7.2.3.3 (a)
(J5/J6 )
( 1)

700g(822ml)

- 88 -

0.1MPa

BONNOC AX68
A98L-0040-0233

7.

B-82874CM/06

1
7.2.3.3 (b)

J1
J5/J6

J5/J6

-90
+90

-90
+90

(J5/J6 )

J2
J3
J4
-50
0
50
180
140
180
40
0

-35
0
35
180
125
180
55
0

J5

J6

50

()

1 7.2.3.3 (b) J5/J6

2
3 ( 7.2.3.3 (a)) (
)

7.2.3.3 (a) (ARC Mate 120iC, M-20iA)

4

5 7.2.3.3 (b) J5/J6

A
(1) 7.2.3.3 (b) (A05B-1221-K006) ( 7.2.2.2 (c))
(2) (A05B-1221-K007)
(3) 7.2.3.3 (b)
(A05B-1221-K005)
(4)
(5)
(6) 7.2.3.3 (b) J5/J6 (
7.2.3.3 (c)) 7.2.3.7

(7) 7.2.3.7

- 89 -

7.

B-82874CM/06

A05B-1221-K005

A05B-1221-K006

A05B-1221-K007

7.2.3.3 (b)

7.2.3.3 (c) (J5/J6 ) (ARC Mate 120iC, M-20iA)

B

(1)
(A290-7222-X591) 7.2.3.3 (d) 0.6
1 25
(2)

- 90 -

7.

B-82874CM/06

(3) 7.2.3.3 (b) J5/J6 (

7.2.3.3 (c)) 7.2.3.7

(4) 7.2.3.7

A290-7222-X591

7.2.3.3 (d) (J5/J6 ) (ARC Mate 120iC, M-20iA)

7.2.3.4

J5/J6 (ARC Mate 120iC/10L, M-20iA/10L)

7.2.3.4 (a)

J5/J6

(J5/J6 )
( 1)

340g( 400ml)

- 91 -

0.1MPa

BONNOC AX68
A98L-0040-0233

7.

B-82874CM/06

7.2.3.4 (b)

J1
J5/J6
()
()
J5/J6
()
()
J5/J6
()

J5/J6
()

J5/J6
()

J5/J6
()

-90
+90

-90
+90

-90
+90

-90
+90

-90
+90

-90
+90

(J5/J6 )

J2
J3
J4
18
-40

-18
-72
108
18
-18
-72
108
90
-90
0
180
-30
30
-210
150
0
180
-90
90
2090
-20-90
070
110180

140
-40
-40
90
-90
90
90
0
0
0
0
-70
110
-70
-70
0
0
0
0
90
-90
-90
90

J5

J6

()

1 7.2.3.4 (b) J5/J6

2
3 ( 7.2.3.4 (a)) (
)

J5/J6

J5/J6
1)

M6X8+
M6X8+

J5/J6

J5/J6

M8X8+
M8X8+

J5/6
J5/J6

J5/J6

J5/J6

M5X8+
M5X8+

J5/J6
J5/J62

+
M6X8+
M6X8
7.2.3.4 (a) (ARC Mate 120iC/10L, M-20iA/10L)
4
5

6 7.2.3.4 (b) J5/J6 ()

- 92 -

7.

B-82874CM/06

A
(1) 7.2.3.4 (b) (A05B-1221-K006) ( 7.2.3.2 (c)) J5/J6 1
(2) (A05B-1221-K007) J5/J6 (J6 )
(3) 7.2.3.4 (b)
(A05B-1221-K005)
(4)
(5)
(6) 7.2.3.4 (b) J5/J6 () 2 (M5)
15ml
(7) 7.2.3.4 (b) J5/J6 ()( 7.2.3.4 (c))
(8) JOG J4 +90 3/4

(9) 7.2.3.7

A05B-1221-K007

A05B-1221-K006

A05B-1221-K005

7.2.3.4 (b)
B

(1) 7.2.3.4 (a)

(A290-7221-X591)( 7.2.3.4 (d))
J5/J6 2 1 5

- 93 -

7.

B-82874CM/06

(2) 7.2.3.4 (b)

( 7.2.3.4 (c))
(3) 2 (M6) 15ml

(4) 7.2.3.4 (b) J4 +/

2 (M6)

(5) 7.2.3.7

3/4
3/4

7.2.3.4 (c)
(J5/6 )
(ARC Mate 120iC/10L,M-20iA/10L)

A290-7221-X591

7.2.3.4 (d) (J5/6 )

(ARC Mate 120iC/10L,M-20iA/10L)

- 94 -

7.

B-82874CM/06

7.2.3.5

J4,J5 (M-20iA/20M)

8
( 2 1 )
9

7.2.3.5 (a)
10
11 7.2.3.8
12
7.2.3.5 (a)

J4

1100g (1220ml)

J5

1000g(1110ml)

(J4, J5 )

0.1MPa
()

VIGOGREASE RE0
A98L-0040-0174

2 1
7.2.3.5 (b)

J4

J5

1
2
3

4
5
6

-90
+90

-90
+90

J1

J2

(J4,J5 )

J3
0
0
90
90
-90
90
180
0

J4

J5

J6

7.2.3.5 (b)

( 7.2.3 (g), (h))

J4 1 ( M6X8)
J5 1 ( M8X12 + )

7.2.3.8

7.2.3.6

(J1, J2, J3 )

10 J2 3 J3 2011 5 1 2011 6
2

- 95 -

7.

B-82874CM/06

J1

J1

J2

J3

60

J3

J5

J6

OVR100

J2

J4

60

OVR100

60
OVR100

( 30 20
)

(
)

7.2.3.7

(J4, J5, J6 )
(ARC Mate 120iC, M-20iA,ARC Mate 120iC/10L, M-20iA/10L)

J4
7.2.3.2 (d)90 OVR100% J4
10 (
J3=0) J4 7.2.3.2 (d)
J4 ,

J5/J6
(1) ARC Mate 120iC, M-20iA
7.2.3.3 (c) 7.2.3.3 (b)
90 OVR100% J5J6 10 J5 J6

7.2.3.3 (c) J4 +/

(2) ARC Mate 120iC/10L, M-20iA/10L

7.2.3.4 (c) 7.2.3.3 (b)
90 OVR100% J5J6 10 J5 J6

J5/J6 () 2 (M5)
3/4 J4 +/
J5/J6 () 2 (M5)

( 45 20
)(

(
)

- 96 -

7.

B-82874CM/06

7.2.3

7.2.3.8

(J4, J5 ) (M-20iA/20M)

3 60
OVR100% 10 60 OVR100% 10 J5
J3
3

J1

J4

J2

J3

J5

60

J5

J4

J6

OVR100

60

OVR100

( 30 20
)

(
)

7.3

( 1.1 )

- 97 -

8.

B-82874CM/06

R-30iB ARC Mate iC ARC TOOL(3kgk )

(B-83284EN-2)

8.1

R-30iB

11

8.1

()

()

()

- 98 -

8.

B-82874CM/06

$MASTER_ENB=1 2
F5$MASTER_ENB=0

360 (J1 ,J4 )

8.1 (a)(c)

M8X12(4)
M8X12 (4)
J1

J1

J1=0
J1=0v

8.1 (a) (J1 )

(*)
(*)
A290-7222-X441
(*)
(*)

M5X12(9)

M5X12 (9)4.5Nm

4.5Nm

243
243

J4=0
J4=0v

3.3
3.3

8.1 (b) (J4 )

(ARC Mate 120iC,M-20iA,ARC Mate 120iC/10L,M-20iA/10L)

- 99 -

8.

B-82874CM/06

J4=0
J4=0

M5X12 (8)
M5X12(9)

8.1 (c) (J4 )

(M-20iA/20M)

8.2

Servo 062 BZAL( 062 BZAL)Servo 075 Pulse mismatch( 075 )

(1)(6)
(1) MENU()
(2) 0 NEXT () 6 SYSTEM ()
(3) F1TYPE()Variables()
(4) $MASTER_ENB 1ENTER()
(5) F1TYPE()Master/Cal()
(6) Master/Cal

Servo 062 BZAL(1)(5)

(1) MENUS
(2) 0 NEXT () 6 SYSTEM ()
(3) F1TYPE ()Master/Cal
(4) F3RES_PCA() F4TRUE()

- 100 -

8.

B-82874CM/06

(5)
3

Servo 075 Pulse mismatch(1)(3)

(1) Servo 075 Pulse mismatch
(2) Pulse not established FAULT RESET(
)

8.3

( )(
)

MENUS

0 NEXT()6 SYSTEM()

F1TYPE

Master/Cal

JOG

$PARAM_GROUP. $SV_OFF_ALL

FALSE

$PARAM_GROUP. $SV_OFF_ENB[*]FALSE ()

2 ZERO POSITION MASTER() F4YES

- 101 -

8.

B-82874CM/06

6 CALIBRATE F4YES

F5DONE

8.3

J1

0 deg

J2

0 deg

J3

0 deg (* J2=0 deg )

J4

0 deg

J5

0 deg

J6

0 deg

- 102 -

8.

B-82874CM/06

E
SECTION A-A

E
D

F
SECTION E-E

(J1)
(J1)
(J1)
(J1)

B B
DETAIL

C C
DETAIL

(J3)
(J3)

D D
DETAIL

(J6)
(J6)

(J3)
(J3)

F F
DETAIL

DETAIL
G G
8.3 (a)

(J5)
(J5)

(ARC Mate 120iC, M-20iA)

- 103 -

8.

B-82874CM/06

L
J

K
HJ
VIEW

(J2)
(J2)

H H
DETAIL

I I
DETAIL

(J6)
(J6)

(J4)
(J4)

K K
DETAIL
8.3 (b)

(J2)
(J2)

L L
DETAIL

(J5)
(J5)

(ARC Mate 120iC, M-20iA)

- 104 -

8.

B-82874CM/06

C
SECTION
B-B
B-B

B
A

(J1)
(J1)

DETAIL
A A

C C
DETAIL

(J6)
(J6)

(J3)
(J3)

D D
DETAIL

EE
DETAIL
8.3 (c)

(J5)
(J5)

DETAIL
F F

(ARC Mate 120iC/10L, M-20iA/10L)

- 105 -

8.

B-82874CM/06

K
J

VIEW B

(J2)
(J2)

GG
DETAIL

(J4)
(J4)

H H
DETAIL

I I
DETAIL

(J5)
(J5)

(J4)
(J4)

J J
DETAIL
8.3 (d)

KK
DETAIL
(ARC Mate 120iC/10L, M-20iA/10L)

- 106 -

8.

B-82874CM/06

C
C

(J2)
(J2)

(J4)
(J4)

(J2)
(J2)

A
A

(J5)(J5)

DD

(J6)

(J6)

E
E

FF

8.3 (e)

( M-20iA/20M) (1/2)

- 107 -

8.

B-82874CM/06

C-C

F-F
F-F
I

(J1)
(J1)

H
H

(J1)
(J1)

(J3)
(J3)

KK

(J3)
(J3)

LL

(J6)
(J6)

(J4)
(J4)

8.3 (f)

8.4

OO

NN

( M-20iA/20M) (2/2)

1
8.3
(
)

- 108 -

8.

B-82874CM/06

MENUS 6 SYSTEM

Master/Cal

JOG

5 SET QUICK MASTER REF() F4YES

JOG

- 109 -

8.
3

B-82874CM/06

3 QUICK MASTER() F4YES

CALIBRATE() F4YES

F5DONE

8.5

SINGLE AXIS MASTER

ACTUAL POS (MSTR POS)
J1
25.255
(0.000)
J2
25.550
(0.000)
J3 -50.000
(0.000)
J4
12.500
(0.000)
J5
31.250
(0.000)
J6
43.382
(0.000)
E1
0.000
(0.000)
E2
0.000
(0.000)
E3
0.000
(0.000)

JOINT 33%
(SEL)
[ST]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]

GROUP

- 110 -

EXE

8.

B-82874CM/06

8.5

ACTUAL POS

(deg)

()
MSTR POS

()
SEL

1 0

ST

$EACHMST_DON[19]
-0
-1()
-2

MENUS 6 SYSTEM

Master/Cal

SINGLE AXIS MASTER()

J5 SINGLE AXIS MASTER

J6
ACTUAL POS
(MSTR POS)
J1
25.255
( 0.000)
J2
25.550
( 0.000)
J3 -50.000
( 0.000)
J4
12.500
( 0.000)
J5
31.250
( 0.000)
J6
43.382
( 0.000)
E1
0.000
( 0.000)
E2
0.000
( 0.000)
E3
0.000
( 0.000)
[ TYPE ]

JOINT 10%
1/9
(SEL) [ST]
(0)
[2]
(0)
[2]
(0)
[2]
(0)
[2]
0
(0)
[0]
(0)
[0]
0
(0)
[2]
(0)
[2]
(0)
[2]
GROUP

EXEC

(SEL)1(SEL)
(SEL)

- 111 -

8.

B-82874CM/06
AUTO
JOINT

1%

AUTO
SINGLE AXIS MASTER

JOINT

1%

5/9

5/9

(MSTR POS )

(SEL)[ST]

0.000)

(0)

[0]

J5

31.250

0.000)

(1)

[0]

0.000)

(0)

[0]

J6

43.382

90.000)

(1)

[0]

GROUP

ACTUAL POS

EXEC

(MSTR POS ) (SEL) [ST]

GROUP

EXEC

JOG

JOINT 30%
5/9
(0.000)
(1)
(0.000)
(1)

[0]
[0]

SINGLE AXIS MASTER

5/9
J5
31.250
(0.000)
J6
43.382
(90.000)

JOINT 30%
(1)
(1)

[0]
[0]

GROUP
7

EXEC

F5EXEC()(SEL)0ST2( 1)

GROUP

EXEC
F5

SINGLE AXIS MASTER

ACTUAL POS
J1
25.255
J2
25.550
J3 -50.000
J4
12.500
J5
0.000
J6 90.000
E1
0.000
E2
0.000
E3
0.000

(MSTR POS)
(0.000)
(0.000)
(0.000)
(0.000)
(0.000)
(90.000)
(0.000)
(0.000)
(0.000)

JOINT 30%
(SEL)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
(0)
GROUP

PREV()

BACK
PREV

SYSTEM Master/Cal
JOINT 30%
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Press 'ENTER' or number key to select.

[ TYPE ]

DONE

- 112 -

1/9
[ST]
[2]
[2]
[2]
[2]
[2]
[2]
[2]
[2]
[2]
EXEC

8.

B-82874CM/06

6 CALIBRATE F4YES

10 F5DONE

DONE
F5
9

8.6

MENUS 6 SYSTEM

Variables()

$DMR_GRP. $MASTER_COUN

SYSTEM Variables
13
14

$DMR GRP
$ENC STAT

JOINT 10%
DMR GRPT
[2] of ENC STATT

[ TYPE ]

- 113 -

8.
4

B-82874CM/06

$DMR_GRP
JOINT 30%
DMR GRPT

SYSTEM Variables
$DMR
GRP
1/1
1
[1]
DMR GRPT

[2] of ENC STATT

ENTER

SYSTEM Variables
JOINT 10%
$DMR
GRP [1]
1/8
1
$MASTER DONE
FALSE
2
$OT MINUS
[9] of Boolean
3
$OT PLUS
[9] of Boolean
4
$MASTER COUN
[9] of Integer
5
$REF DONE
FALSE
6
$REF POS
[9] of Real
7
$REF COUNT
[9] of Integer
8
$BCKLSH SIGN
[9] of Boolean

[ TYPE ]
5

JOINT 10%

TRUE

FALSE

$MASTER_COUN
JOINT 30%
FALSE
[9] of Boolean
[9] of Boolean
[9] of Integer

ENTER

PREV()

$MASTER_DONE TRUE

TRUE

FALSE

SYSTEM Variables

JOINT 10%

$DMR
GRP [1].$MASTER COUN
1
[1]
95678329
2
[2]
10223045
3
[3]
3020442
4
[4]
304055030
5
[5]
20497709
6
[6]
2039490
7
[7]
0
8
[8]
0
9
[9]
0

1/9

SYSTEM Variables
JOINT 10%
$DMR
GRP [1]
1/8
1
$MASTER DONE TRUE
2
$OT MINUS [9] of Boolean

F4
[ TYPE ]
8

6 CALIBRATE F4YES

F5DONE

DONE
F5

- 114 -

TRUE

FALSE

8.

B-82874CM/06

8.7
1

(1)
(2) 0 8.3
(3)

2
$DMR_GRP.$MASTER_COUN

(1) BZAL
0V
0V ( 8.2 )

(2) BLAL

1
(3) CKALRCALPHALCSALDTERRCRCERRSTBERRSPHAL

- 115 -

9.

B-82874CM/06

9.1

9.2

9.2 (a)
9.2 (a)

J1
J1

J1

J1

ACCELERATION()

J1

J1

J1

- 116 -

9.

B-82874CM/06

- 117 -

J4/J5/J6

9.

B-82874CM/06

12

- 118 -

9.

B-82874CM/06

O
O

()

J3

- 119 -

9.

BZAL

B-82874CM/06

BZAL

9.2 (b)

5mm
5mm

9.3

KAREL

ARC Mate 120iC 3kg

hi03m2ia.pc
ARC Mate 120iC/10L 3kg

hi03m22t.pc
M-20iA 20kg

highm2ia.pc
M-20iA/10L 10kg

highm211.pc
KAREL KAREL 4.4
KAREL

- 120 -

9.

B-82874CM/06

ARC Mate 120iC 3kg

no03m2ia.pc
ARC Mate 120iC/10L 3kg

no03m22t.pc
M-20iA 20kg

normm2ia.pc
M-20iA/10L 10kg

normm211.pc

ARC Mate 102iC, ARC Mate 120iC/10L

V7.30P/36, V7.40P/20, V7.50P/13, V7.70P/05
M-20iA, M-20iA/10L
V7.30P/36, V7.40P/20, V7.50P/12,

V7.70P/05

- 121 -

10.

B-82874CM/06

10

10.1

(1)

(2) 70mm J3 30mm M-20iA

9705mmM-20iA/10L 11755mm

(3) Shell Alvania grease S2

10.1

A66L-0001-0459

0.2mm2

A66L-0001-0464#1

0.2mm2

A66L-0001-0401#10
A66L-0001-0178#03P

LED

SMC

A66L-0001-0143
A97L-0218-0010

70mm

A66L-0001-0525

24

2 4 (8 )

1.25mm
10
2
0.3mm 2 3 (6 )
0.26mm2
4 0.13mm2
2 0.08mm2 2
0.2mm2
6
TU0604 (=6mm=4mm)

M-20iA
9705mm

M-20iA
:: 970
u5mm
M-20iA/10L ::1175
11755mm
u5mm

30mm

()

10 (a)

30

(4) 30mm J6

10 (b)

- 122 -

10.

B-82874CM/06

(5) J6 (:A05B-1221-J711)
(6)

10.2

J4 ()
10.2 (a),(b)

M-20iA

10.2

A05B-1222-J731
(RI/RO 8 ) 6X4

A05B-1222-J732
(RI/RO 8 ) 6X4

A05B-1222-J733
(RI/RO
8 ) 6X4

J4/J6 10.1

J4
J4

10.2 (a) J3

- 123 -

10.

B-82874CM/06

10.2 (b)
J3 EE (A05B-1221-J736)

0V(D1)

+24V(A2)

+24V(A1)

RO8 RO7 RO6 RO5 RO4 RO3 RO2 RO1

RO1 RO8

+24V
0V

10.2 (c)

- 124 -

10.

B-82874CM/06

10.3

(1) J6 190
(270)190
10.3

120 (30 /)
2

J5 :140
J6 :190

J6
(2)
(3) J6
(A290-7221-X571 ) 2

- 125 -

11.()

11

B-82874CM/06

()

(1)

(2) 11 (a) 9mm

6mm J3 J3 11.4mm 6mm
M-20iA 9445mm
(3) Shell Alvania grease S2

(4)
11.1

A66L-0001-0459

0.2mm2

A66L-0001-0464#1

0.2mm2

A66L-0001-0401#10
A66L-0001-0178#03P

A66L-0001-0525

LED

SMC

A66L-0001-0143
A97L-0218-0010

24

2 4 (8 )

1.25mm 10
0.3mm2 2 3 (6 )
0.26mm2
4 0.13mm2
2 0.08mm2
2
0.2mm2 6
TU0604 (=6mm=4mm)

M-20iA:9445mm

M-20i A:944 5mm

11. 4

11 (a)

30

(5) J6 30mm

11 (b)

- 126 -

11.()

B-82874CM/06

(6) 11 (c)

()

J33

2mm

2mm
(6mm)X4
(O6mm) X 4

4-O
5

O43

O46

O3
6

O7

EE (O8mm)

(8mm)
(O8mm)

()

2mm

2mm

O46

O43

O3
6

(6mm)X4
(O6mm) X 4
2mm

4-O
5

O7

EE (O8mm)

(8mm)
(O8mm)
[6mm 4 EE(8mm)(8mm)]
[6mm4EE(8mm)(8mm)]
-1mm
1mm()

36mm
36mm
J3
J3
2mm

2mm
3050
3050

11 (c)

- 127 -

11.()

B-82874CM/06

(7) J3 11 (d)
J3

2.40.05

AX
8M
0.

M525(9 : 6.0Nm)

M525(96.0Nm)

OG105
O
G105
(JIS-B-2401,JIS-B-2406)
(JIS-B-2401, JIS-B-2406)

+0.035
0

O110H7

O 40

O 44

O40

(TSUS)
( 2T
SUS )

( (
3050)
3050)

M4,
1.5d,
M41.5d
(8 :
4.5Nm)
(84.5Nm)

()
()

32.5

32.5

46

7.5

78.5

25

32.5

46

46

39

A
A

11 (d) J3
(8) 11 (e)

- 128 -

11.()

B-82874CM/06

M410(8
)

M410(8)
:
4.5Nm
4.5Nm)

4.1

4 5

4.1

O44

O40

O40 +0.030
0

(TSUS)

2T SUS

3050)
(
3050)

: 518
518)

M4, 1.5d,
M41.5d
(8(84.5Nm)
: 4.5Nm)

()
()

11 (e)
(9) J6 190
(270)190
J5 120120

(10) ISO 5 ( 100)

- 129 -

12. TIG

12

B-82874CM/06

TIG

TIG ()
A290-7221-X265
J1
(A290-7221-X265)J1
(A99L-0035-0003)
A99L-0035-0003

0
20

55

A99L-0035-0003

A290-7221-X265
12 TIG

- 130 -

B-82874CM/06

- 133 -

A.

A.

B-82874CM/06

FANUC Robot ARC Mate 120iC, M-20iA

(H)

320

3 6 9
960

1920

2880

1
3840

2
4800

5760

6720

7680

0.2H

0.2H

0.2H

2.0H

0.1H

1.0H

0.1H

8 J4/J5/J6

0.1H

0.1H

10 J1

0.5H

1111ml

11 J2

0.5H

944ml

12 J3

0.5H

333ml

13 J4

0.5H

822ml

14 J5/J6

0.5H

822ml

15

4.0H

16

4.0H

1.0H

0.1H

0.2H

20

0.2H

21 *1

0.1H

1
2

3
4
5

17

18

19

*1
*2 :
:

- 134 -

9600 10560

8640

B-82874CM/06

A.

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

5
6

12

13

14

11

15

16

17

10

18
19

20
21

- 135 -

A.

B-82874CM/06

FANUC Robot ARC Mate 120iC/10L, M-20iA/10L

(H)

320

3 6 9
960

1920

2880

1
3840

2
4800

5760

6720

7680

0.2H

0.2H

0.2H

2.0H

1.0H

0.1H

7 J4/J5/J6

0.1H

0.1H

9 J1

0.5H

1111ml

10 J2

0.5H

944ml

11 J3

0.5H

211ml

12 J4

0.5H

822ml

13 J5/J6

0.5H

446ml

14

4.0H

15

4.0H

0.2H

19

0.2H

20 *1

0.2H

21 *1

0.1H

1
2

3
4

16

8640

9600 10560

17

18

*1
*2 :
:

- 136 -

B-82874CM/06

A.

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

10

12

13

11

14

15

16

17

18
19

- 137 -

A.

B-82874CM/06

FANUC Robot M-20iA/20M

(H)

320

3 6 9
960

1920

2880

1
3840

2
4800

5760

6720

7680

0.2H

0.2H

2.0H

0.1H

1.0H

0.1H

0.1H

9 J1

0.5H

1111ml

10 J2

0.5H

944ml

11 J3

0.5H

333ml

12 J4

0.5H

1220ml

13 J5

0.5H

1110ml

14 J6

0.5H

40ml

15

4.0H

0.2H

17

0.2H

18 *1

0.1H

1 0.2H
2

3
4
5

16

*1
*2 :
:

- 138 -

8640

9600 10560

B-82874CM/06

A.

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

11

12

13

15

10

14

16

17
18

- 139 -

B.

B-82874CM/06

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

- 140 -

()

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-82874CM/06

C.1

C.

C.2

(5mm )

- 141 -

D.

B-82874CM/06

1 4 1 6 40

3
3

2
2

4
4

5
5

D
D

( 1)
2
( 2)
3

A05B-2500-H042

(16 )

1,2 4

A05B-2500-H044

(24 )

1,2 4
3 2

A05B-2500-H042 (16 )
1,2 4
+
4 ( 1)
3,4 4
A05B-2500-J030 (16 ) ( 3)
A05B-2550-J020 (16 ) ( 4)
( 1) ARC Mate iC 8 1 2
A05B-2500-H040 (8 )4 A05B-2500-H040 (24 )
( 2) 2 3
( 3) R-30iA/R-30iB
( 4) R-30iA Mate

- 142 -

B-82874CM/06

..................................................................... 71
........................................... 100

<>
1 (3,840 ).............................................. 76
3 (11,520 )............................................ 77
4 (15,360 )............................................ 77

<>
(M-20iA/20M ) .................. 51
() .............................................................. 58
............................................................... 108

<>
...................................................................................6
..................................... 43
..................................................... 43

<>
............................................................. 98
............................... 140

<>

<>

...................................................................................1
.......................................................................1
................................................................................. 97
............................................. 68
................................................................. 68

............................................................... 125
() .............................................................. 57
...............................................................................p-1
....................................................... 101
....................................................... 115

<>

<>

......................... 33

........................................................................ 71
(M-20iA/20M)........................................ 79

<>
............................................................... 110
(1 )............................................ 77
......................................................................... 71
................................................................... 133

<>
..................................................................... 47
........................................................................ 12
(J1, J2, J3 ) .......... 95
(J4, J5 )
(M-20iA/20M)............................................................. 97
(J4, J5, J6 ) (ARC Mate
120iC, M-20iA,ARC Mate 120iC/10L, M-20iA/10L) 96
1 (320 )............................................ 73
3 (960 )............................................ 74
............................................................... 123
................................................................. 28
....................................................... 113

<>
................................................................... 98,116,141
(3 (11,520 )
).................................................................... 79
................................................... 116
....................................................................... 116
........................................... 120
................................................... 142
() ................................ 126
................................................................. 49
TIG ...................................................... 130

<>
........................................................................ 11
........................................................................ 77
................................................................ s-1

<>
J1, J2, J3 .......................... 84
J4
(ARC Mate 120iC, M-20iA,ARC Mate 120iC/10L,
M-20iA/10L) ............................................................... 85
J4,J5 (M-20iA/20M) ....... 95
J5/J6 (ARC Mate 120iC,
M-20iA)....................................................................... 88
J5/J6 (ARC Mate
120iC/10L, M-20iA/10L) ............................................ 91
......................................................................... 14
..................................... 18
................................................................. 14
................. 69

<>
..................................... 57
............... 122
() .................................................. 60

<>

............................................... 141
......................................... 27
........................................................... 141
................................... 122
................................................. 13
..................................................... 21

i-1

B-82874CM/06

06
05
04
03
02
01

2012 10

R-30iB
M-20iA/20M

2008 11

r-1

B-82874CM/06

* B - 8 2 8 7 4 C M /

0 6 *