Fanuc r2000ic 210we Mechanical Manual

< Robot R-2000+C/210WE
MECHANICAL UNIT
OPERATOR'S MANUAL
B-84014EN/02
© FANUC CORPORATION, 2017

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

Before using the Robot, be sure to read the "FANUC Robot 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-84014EN/02 SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
This chapter must be read before using the robot.
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 SAFETY
HANDBOOK (B-80687EN)”.
1 DEFINITION OF USER
The 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 safety fence
Maintenance technician:
• Operates the robot
• Teaches the robot inside the safety fence
• Performs maintenance (repair, adjustment, replacement)
- Operator is not allowed to work in the safety fence.

- Programmer/Teaching operator and maintenance technician is allowed to work in the safety fence.
Works carried out in the safety fence include transportation, installation, teaching, adjustment, and
maintenance.
- To work inside the safety fence, the person must be trained on proper robot operation.
s-1
SAFETY PRECAUTIONS B-84014EN/02
Table 1 (a) lists the work outside the safety fence. In this table, the symbol “{” means the work allowed
to be carried out by the worker.
Table 1 (a) List of work outside the fence

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 { {
Teaching with teach pendant { {
Emergency stop with operator’s panel { { {
Emergency stop with teach pendant { { {
Operator’s panel maintenance {
Teach pendant maintenance {
In the robot operating, 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.
• Check this manual thoroughly, and keep it handy for the future reference.
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 pinched 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-2450-J360 ( 5m)
Robot connection cable
A05B-2450-J361(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 not in compliance with EN ISO 10218-1 and 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 relasing J2-axis motor brake

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

アーム支持方法
Eyebolt (M10) 2pcs

アイボルト(M10) 2個
スリング
Sling 2 pcs2本
Fig. 3 (a) Arm operation by the release of J2, J3-axis motor brake and measures
4 PRECAUTIONS FOR MECHANISMS

In case of washing robot, perform air purge constantly when robot is in washing booth. Please refer to
piping and wiring to the end effector chapter of mechanical unit operator’s manual (B-84014EN) about
purge air inlet and purge pressure.
s-4
5 WARNING & CAUTION LABEL

(1) Oiling label
Fig. 5 (a) Oiling label
Description
When oiling, observe the instructions indicated on this label.
1) Open the ventilator hole at oiling.
2) Use a manual pump at oiling.
3) Be sure to use a specified oil.
CAUTION
See Chapter 7 ″CHECKS AND MAINTENANCE″ for explanations about
specified oil, the oil amount, and the locations of oil inlet, outlet and ventilator
hole.
(2) Step-on prohibitive label
Fig. 5 (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. 5 (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
>2500kg
<1200kg x2
<1200kg x2
>2500kg
>1000kg x4
>630kg x4
Fig. 5 (d) Transportation label

Description
When transporting the robot, observe the instructions indicated on this label.
1) Using a forklift
• Use a forklift having a load capacity of 2500 kg or greater.
• Keep the total mass of the robot to be transported to within 2400 kg, because the load capacity of the
forklift bracket (option) is 11760 N (1200 kgf).
2) Using a crane
• Use a crane with a load capacity of 2500 kg or greater.
• Use four slings each with each load capacity of 1000 kg or greater.
• Use at least four eyebolts with each allowable load of 6174 N (630 kgf) or greater.
CAUTION
Transportation labels are model-specific. Before transporting the robot, see the
transportation label affixed to the J2 arm side.
See Subsection 1.1 TRANSPORTATION for explanations about the posture a
specific model should take when it is transported.
s-6
(5) Operating space and payload capacity label

In the case of CE specification, the following label is added:
Fig. 5 (e) Operating space and payload label
(6) Transportation caution label
アイボルトを横引輸送部材に衝撃を輸送部材にチェーン

しないこと与えないことなどを掛けないこと
Do not pull eyebolt Do not have impact Do not chain, pry,
sideways on this part or strap on this part
禁止横向拉拽吊环螺钉禁止撞击搬运用部件禁止在搬运用部件上使用锁链
等物品固定或者搬运机器人
Fig. 5 (f) Transportation prohibitive label

(Transport equipment option)
Description
Keep the following in mind when transporting the robot.
1) Do not pull eyebolts sideways.
2) Prevent the forks of the forklift from having impact on a transport equipment.
3) Do not thread a chain or the like through a transport equipment.
s-7
Fig. 5 (g) Transportation caution label

(for transport equipment option)
Description
1) Remove the transport equipment after installing the robot.
2) Remove all loads when transporting the robot. (Wrist and arm)
3) Always place the robot in shipping position (refer to the manual) when transporting the robot.
4) Be sure to remove all eyebolts before transporting with a forklift.
s-8
B-84014EN/02 PREFACE
PREFACE
This manual explains about the operation procedures for the following robot mechanical units:
Mechanical unit
Model name Max. payload
specification No.
FANUC Robot R-2000iC/210WE A05B-1338-B201 210kg
The label stating the mechanical unit specification number is affixed in the following position. Before
reading this manual, verify the specification number of the mechanical unit.
Position of label indicating mechanical unit specification number
TABLE 1
(1) (2) (3) (4) (5)
WEIGHT kg
CONTENTS MODEL NAME TYPE No. DATE (Without
controller)
PRODUCTION
FANUC Robot SERIAL NO. YEAR AND
LETTERS A05B-1338-B201 1180
R-2000iC/210WE IS PRINTED MONTH ARE
PRINTED
p-1
PREFACE B-84014EN/02
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, OPERATOR'S MANUAL Intended readers :
R-30iB Plus (Basic Operation) Operator, Programmer, Maintenance technician,
controller B-83284EN System designer
OPERATOR'S MANUAL Topics :
Robot functions, Operations, Programming, Start-up,
(Alarm Code List)
Interfaces, Alarms
B-83284EN-1
Use :
Optional Function Robot operation, Teaching, System design
OPERATOR'S MANUAL
B-83284EN-2
Spot Welding Function
OPERATOR’S MANUAL
B-83284EN-4
Dispense Function
OPERATOR’S MANUAL
B-83284EN-5
Servo Gun Function
OPERATOR’S MANUAL
B-83264EN
MAINTENANCE MANUAL Intended readers :
R-30iB, R-30iB Plus： Maintenance technician, System designer
B-83195EN Topics :
Installation, Start-up, Connection, Maintenance
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-84014EN/02 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1 TRANSPORTATION AND INSTALLATION ........................................... 1

1.1 TRANSPORTATION...................................................................................... 1
1.1.1 Transportation with an End Effector Attached.........................................................4
1.2 INSTALLATION ............................................................................................. 5
1.2.1 Installation Method...................................................................................................6
1.3 MAINTENANCE AREA ................................................................................ 11
1.4 INSTALLATION CONDITIONS.................................................................... 11
2 CONNECTION WITH THE CONTROLLER .......................................... 12
2.1 CONNECTION WITH THE CONTROLLER ................................................. 12
3 BASIC SPECIFICATIONS..................................................................... 13
3.1 ROBOT CONFIGURATION ......................................................................... 13
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND
OPERATING SPACE .................................................................................. 17
3.3 ZERO POINT POSITION AND MOTION LIMIT........................................... 18
3.4 WRIST LOAD CONDITIONS ....................................................................... 22
3.5 LOAD CONDITIONS ON J2 BASE AND J3 CASING.................................. 23
4 EQUIPMENT INSTALLATION TO THE ROBOT .................................. 24
4.1 END EFFECTOR INSTALLATION TO WRIST ............................................ 24
4.2 EQUIPMENT MOUNTING FACE ................................................................ 25
4.3 LOAD SETTING .......................................................................................... 26
5 PIPING AND WIRING TO THE END EFFECTOR................................. 28
5.1 AIR SUPPLY (OPTION) .............................................................................. 29
5.2 AIR PIPING (OPTION) ................................................................................ 30
5.3 INTERFACE FOR OPTION CABLE (OPTION) ........................................... 31
5.4 INSTALLING THE AIR PURGE KIT ............................................................ 32
6 AXIS LIMITS SETUP............................................................................. 33
6.1 CHANGE AXIS LIMIT BY DCS (OPTION)................................................... 34
6.2 ADJUSTABLE MECHANICAL STOPPER AND LIMIT SWITCH
SETTING (OPTION) .................................................................................... 37
6.2.1 Installing Adjustable Mechanical Stopper Option .................................................38
6.2.2 Changing the Parameter Setting .............................................................................42
6.2.3 The Maximum Stopping Distance (Position) of Adjustable Mechanical
Stopper ...................................................................................................................43
7 CHECKS AND MAINTENANCE ........................................................... 44

c-1
TABLE OF CONTENTS B-84014EN/02
7.1 CHECKS AND MAINTENANCE .................................................................. 44

7.1.1 Daily Checks ..........................................................................................................44
7.1.2 Periodic Checks and Maintenance..........................................................................45
7.2 CHECK POINTS.......................................................................................... 47
7.2.1 Confirmation of Oil Seepage..................................................................................47
7.2.2 Confirmation of the Air Control Set or Air Purge Kit (option)..............................48
7.2.3 Check the Mechanical Unit Cables and Connectors ..............................................49
7.2.4 Check of Fixed Mechanical Stopper and Adjustable Mechanical Stopper ............50
7.2.5 Check of Purge Piping and Drain Holes.................................................................51
7.2.6 Check of Debris Cover ...........................................................................................52
7.3 MAINTENANCE........................................................................................... 53
7.3.1 Replacing the Batteries (1.5 year Periodic Maintenance) ......................................53
7.3.2 Replacing the Oil of the Drive Mechanism
(1 year (3840 hours) Periodic Maintenance) ..........................................................54
7.4 STORAGE ................................................................................................... 59
8 MASTERING ......................................................................................... 60
8.1 OVERVIEW ................................................................................................. 60
8.2 RESETTING ALARMS AND PREPARING FOR MASTERING ................... 61
8.3 ZERO POSITION MASTERING .................................................................. 62
8.4 QUICK MASTERING ................................................................................... 65
8.5 QUICK MASTERING FOR SINGLE AXIS ................................................... 68
8.6 SINGLE AXIS MASTERING ........................................................................ 71
8.7 MASTERING DATA ENTRY........................................................................ 74
8.8 VERIFYING MASTERING ........................................................................... 76
9 TROUBLESHOOTING .......................................................................... 77
9.1 TROUBLESHOOTING................................................................................. 77
APPENDIX
A PERIODIC MAINTENANCE TABLE ..................................................... 85
B STRENGTH OF BOLT AND BOLT TORQUE LIST.............................. 88
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B-84014EN/02 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 by using the eyebolts and the transport equipment at their points.
(1) Transportation using a crane (Fig. 1.1 (a))

The robot is transported with the specific transport equipment attached. Fasten the M20 eyebolts at
the four points and lift the robot by the four slings.
CAUTION
When lifting the robot, be careful not to damage conduits of the robot by slings.
(2) Transportation using a forklift (Fig. 1.1 (b))

The robot is transported with the specific transport equipment attached.
WARNING
1 When hoisting or lowering the robot with a crane or forklift, move it slowly with
great care. When placing the robot on the floor, exercise care to prevent the
installation surface of the robot from striking the floor.
2 Detach the end effectors and the floor plate before transporting the robot. If the
robot need to be transported with the floor plate or end effectors attached, take
the following precautions:
x The entire position of center of gravity is changed by installing the end
effector and the floor plate. Please note the balance enough.
x The end effector swings by the vibration when transported, and there is a
possibility that an excessive load acts on the robot. Secure the end effector
firmly according to Subsection 1.1.1.
x When you lift robot with the floor plate installed, please lift up not the robot
but the floor plate.
3 Use the forklift transport equipment only to transport the robot with a forklift. Do
not use the forklift transport equipment to secure the robot.
4 Before moving the robot by using transport equipment, check the bolts on the
transport equipment and tighten any loose bolts if any.
-1-
1. TRANSPORTATION AND INSTALLATION B-84014EN/02
ロボット輸送姿勢
Robot posture on transportation
Craneクレーン
可搬質量：
Load capacity.: 2.5トン
2.5 ton or more 以上 J1 軸任意
J1 Arbitrary
Sling スリング
J2 軸 -65°
J2 -65º
可搬質量：
Load capacity. 1.0トン/本
: 1.0 ton/sling 以上 J3 軸 0°
J3 0º
アイボルト
Eyebolt J4 J4 軸 0º 0°
許容荷重: 630kgf/個以上
Allowable load. : 630kgf/each or more J5 J5 軸 0º 0°
注) 1.機構部の質量: 1180kg J6 J6 軸 0º 0°
Note)
2.アイボルトは、JIS B 1168に準拠したものを使用すること。
1 Machine mass 1180 kg
3.アイボルトを4個、スリングを4本用意すること。
2 Eyebolt complied with JIS B 1168.
3 Quantity eyebolt 4 pcs, sling 4 pcs
1700
ロボット重心
Center of gravity
1547
Transport
輸送部材 equipment
(option)
573 348
478 478
アイボルトEyeboltM20 (4個)
(M20)
JB-BEY-20
JB-BEY-20 (4 pcs)
スプレッドバー
Spread bar
ロボット重心
Center of gravity
アイボルト
Eyebolt (M20)M20 (4個)
JB-BEY-20
JB-BEY-20 (4 pcs)
Fig. 1.1 (a) Transportation using a crane
-2-
ロボット輸送姿勢
Robot posture on transportation
Note) J1 軸任意
注) 1.機構部の質量: 1180kg J1 Arbitrary
1 Machine mass 1180 kg
J2 J2 軸 -65°
-65º
J3 J3 軸 0°
0º
J4 J4 軸 0°
0º
J5 J5 軸 0°
0º
J6 J6 軸 0º
0°
182 Center of gravity

ロボット重心
82
756 フォークリフト
Forklift
Load 可搬質量： 2.5トン以上
capacity 2.5 ton or more
Transport equipment (option)
輸送部材
When transport the robot with a forklift, remove
フォークリフトによる運搬の際は、
all eyebolts
必ず全てのアイボルトを取り外してください。
Fig. 1.1 (b) Transportation using a forklift
CAUTION
Be careful not to strike the transport equipment with the forklift forks.
-3-
1.1.1 Transportation with an End Effector Attached

When transporting a robot with an end effector such as a hand attached, secure the arm with wood. If the
arm is not secured, the end effector may oscillate for a cause such as vibration during transportation, as a
result, a large impact load, imposes on the reducer of the robot, cause premature failure of the reducer.
木材
Woods
木材
Woods
パレット
Palette
Fig. 1.1.1 (a) Example of securing the arm during transportation when an end effector is attached
-4-
1.2 INSTALLATION
Fig. 1.2 (a) shows the robot base dimensions. Avoid placing any object in front of the robot on the
locating surface to facilitate the installation of the mastering fixture. (Shaded portion)
348
(Locating surface)
(突き当て面) (突き当て面)
(Locating surface)
37 281 268 50
310 ±0.1 8-M20 through
8-M20 貫通
8-φ248-Othrough
24 貫通 (輸送部材取付け用)
(for(ロボット固定用)
fixing the robot)
(突き当て面)
surface)
45
(Locating
305
278
205 ±0.1
J1-axis
J1軸回転中心
230
rotation center
540
460
205 ±0.1
Robot
ロボット正面front
230
230
270
278
(Locating surface)
A
(突き当て面)
45
2- O 20H7 +0.021
0 貫通
through
40 A 230
460
270
540
35 278 278 35
断面 A-A
Section A-A
Fig. 1.2 (a) Dimensions of the robot base
-5-
1.2.1 Installation Method

There are three methods for installation of the robot as given below. Select a method according to the
customer's installation environment, and install the robot.
- Installation method I Fig. 1.2.1 (a)

The floor plate is imbedded in concrete and fastened with twelve M20 (Tensile strength 400N/mm2
or more) chemical anchors. Also fasten the base plate to the robot base using eight M20 x 75 bolts
(Tensile strength 1200N/mm2 or more). Next, position the robot, and weld the base plate to the floor
plate. (Floor length is 10 to 15mm.) (The base plate is prepared as the option.)
- Installation method II Fig. 1.2.1 (b)

The floor plate is not imbedded in concrete. The floor plate is fastened at the twelve points with M20
chemical anchors (Tensile strength 400N/mm2 or more) and the inclination of the floor plate is
adjusted with the four fixing screws. The robot is positioned with the robot base pushed against the
three φ20 parallel pins inserted into the floor plate and the robot base is fastened on the floor plate
with eight M20 x 75 bolts (Tensile strength 1200N/mm2 or more).
- Installation method III Fig. 1.2.1 (c)

The installation method is generally the same as described above except that the parallel pins for
pushing the robot base are not used.
The 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.
The following parts are required to install the robot.

(○ : Parts needs to be prepared.)
Required parts Remarks Methods I Methods II Methods III

Robot mounting M20 x 75
○ ○ ○
bolts (Tensile strength 1200N/mm2 or more) 8 pcs
For M20
Plain washers (HRC 35 or more, thickness between 4 and 5 mm) ○ ○ ○
8 pcs
Chemical anchors M20 (Tensile strength 400N/mm2 or more) 12 pcs ○ ○ ○
Floor plate Thickness 32t 1 pc ○ ○ ○
Base plates Thickness 32t 4 pcs ○
Fixing screws M20 4 pcs ○ ○
Nuts M20 4 pcs ○ ○
Parallel pins φ20 3 pcs ○
NOTE
- Damage to robot will occur in case the mechanical unit is installed by a method
other than one of those 3 methods validated by FANUC.
- Customer must provide all necessary arrangements for the actual installation
work (such as welding and anchoring).
- 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.
-6-
1200 8-M20 through

555 555
185 185 12-φ24 through
555
460
540
185
1200
185
230
270
Robot front
555
230
460 Base plate (4 pcs)
Floor plate 270 Welding
540 part
Robot mounting bolts
M20 x 75 (8 pcs)
Tensile strength 1200N/mm2 or more
Plain washer
For M20 (8 pcs)
Base plate HRC 35 or more, thickness
Between 4mm and 5mm
Welding after Tightening torque 529.2Nm
positioning (54kgfm)
10～15
32
32
(depth)
Chemical anchors
200
M20 (12 pcs)

200
Tensile strength 400N/mm2 Floor plate

or more
Tightening torque 186.2Nm
(19kgfm) (NOTE) Bury the floor plate in the concrete.
Fig. 1.2.1 (a) Installation methodⅠ
-7-
1200
555 555 8-M20 through
358
290 12-φ24 through
185 185 3- O 20 H8 +0.033
0 through
555
450
315
250
185
540
460
1200
B
185
B
230
250
270
Robot front
450
555
A A
230
460 4-M20 through
270
Floor plate
540
Robot mounting bolts
450 450 M20 x 75 (8 pcs)
Plain washer
Chemical anchors For M20 (8 pcs)
M20 (12 pcs) HRC 35 or more, thickness
Tensile strength 400N/mm2 Between 4mm and 5mm
or more Tightening torque 529.2Nm
Mounting nut (54kgfm)
Tightening torque 186.2Nm
Nut
(19kgfm)
M20 (each 4 pcs)
(28)
40
32
(depth)
200
Straight pin
h7φ20 x 60 (3 pcs)
Section A-A Section B-B
Fig. 1.2.1 (b) Installation methodⅡ
-8-
1200 8-M20 through

555 555
12-φ24 through
185 185
555
450
185
540
460
1200
B
185
B
230
270
Robot front
450
555
A A
230
460 4-M20 through
270
Floor plate 540
450 450 Robot mounting bolts
M20 x 75 (8 pcs)
Chemical anchors Plain washer
M20 (12 pcs) For M20 (8 pcs)
Tensile strength 400N/mm2 HRC 35 or more, thickness
or more Mounting nut Between 4mm and 5mm
Tightening torque 186.2Nm Nut Tightening torque 529.2Nm
(19kgfm) M20 (each 4 pcs) (54kgfm)
32
(depth)
200
Section A-A Section B-B
Fig. 1.2.1 (c) Installation method Ⅲ
-9-
Fig. 1.2.1 (d) and Table 1.2.1 (a) indicate the force and moment applied to the base plate at the time of
Power-off stop of the robot. Table 1.2.1 (b) to (d) indicate the stopping distance and time of the J1 to J3
axis until the robot stopping by Power-Off stop, by Smooth stop or by Controlled stop after input of the
stop signal. Refer to the data when considering the strength of the installation face.
NOTE
Table 1.2.1 (b) to (d) are measured reference value complied with ISO10218-1.
Values differs depending on each robot individual difference, payload and the
program. So confirm the real value by measurement. Values in Table 1.2.1 (b) is
affected by the robot operating status and number of times of the servo-off stop.
Periodically measure the real values and confirm those.
Table 1.2.1 (a) Force and moment during Power-Off stop

Force in vertical Force in horizontal
Vertical moment Horizontal moment
Model direction direction
MV [kNm(kgfm)] MH [kNm(kgfm)]
FV [kN(kgf)] FH [kN(kgf)]
R-2000iC/210WE 69.58 (7100) 40.18 (4100) 25.48 (2600) 27.44 (2800)
FH MV
FV
MH
Fig. 1.2.1 (d) Force and moment during Power-Off stop
Table 1.2.1 (b) Stopping time and distance until the robot stopping by Power-Off stop after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [ms] 374 305 163
R-2000iC/210WE
Stopping distance [deg] (rad) 17.8 (0.31) 12.0 (0.21) 7.2 (0.13)
Table 1.2.1 (c) Stopping time and distance until the robot stopping by Smooth stop after input of stop signal
R-2000iC/210WE
- 10 -
Table 1.2.1 (d) Stopping time and distance until the robot stopping by Controlled stop after input of stop signal
R-2000iC/210WE
1.3 MAINTENANCE AREA

Fig. 1.3 (a) shows the maintenance area of the mechanical unit. Dotted line area is necessary for
mastering. Be sure to leave enough room for the robot to be mastered. See Chapter 8 for mastering.
Maintenance area
保守エリア（機構部）
(mechanical unit)
1500
167.5
650
482.5
300
300
416
600
マスタリング領域
Mastering area
184
377 573 348 752
950 1100
Fig. 1.3 (a) Maintenance area
1.4 INSTALLATION CONDITIONS

Refer to the caution below concerning installation conditions. Refer to also to the specifications found in
Section 3.1.
CAUTION
Damage to the cable jacket can cause water intrusion. Take care not to damage
the cable jacket when installing the robot. Replace the cable if it is damaged.
- 11 -
2. CONNECTION WITH
THE CONTROLLER B-84014EN/02
2 CONNECTION WITH THE CONTROLLER

2.1 CONNECTION WITH THE CONTROLLER
The robot is connected with the controller via the power cable, the signal cable and the earth cable.
Connect these cables to the connectors on the back of the robot base. For details on air, 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 will heat up and become damaged.
Robot ロボット
機構部
mechanical unit
制御装置
Controller
Robot connection cable

ロボット接続ケーブル
(power, signal cables and earth line)
(動力、信号ケーブル、アース線)
Pirge
パージエア air
Air
エア
アース端子用タップ
for earth terminal
(M8)
(M8)
Connector
for power line
動力線用コネクタ
Connector
信号線用コネクタ
for signal line
Fig. 2.1 (a) Cable connection
- 12 -
B-84014EN/02 3. BASIC SPECIFICATION
3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
AC servo motor (M4) for J4-axis
J4軸用ACサーボモータ(M4)
J5軸用ACサーボモータ(M5) J3ケーシング
J3 casing
Endエンドエフェクタ取付け面
effector mounting face
手首ユニット
Wrist unit
J3アーム
J3 arm
AC servo motor (M3)

for J3-axis
J2アーム
J2 arm
AC servo motor (M1)

for J1-axis J2軸用ACサーボモータ(M2)
AC servo motor (M2)
for J2-axis
J2ユニット
J2 unit
J1ユニット
J1 unit
+ X
J4 J5 J6
+
- + - - +
Z
J3 Y
J2 -
-
+
(*) All axes are 0° at this posture.

*)この姿勢が全軸0°になります。
+
- J1
Fig. 3.1 (a) Mechanical unit configuration, each axis coordinates, and mechanical interface coordinates
NOTE
The end effector mounting face center is 0, 0, 0 of the mechanical interface
coordinates.
- 13 -
3. BASIC SPECIFICATION B-84014EN/02
Specifications Note 1)
Model R-2000iC/210WE
Type Articulated Type
Controlled axis 6 axes (J1,J2,J3,J4,J5,J6)
Installation Floor mount
Upper limit 165° (2.88rad)
J1-axis
Lower limit -165° (-2.88rad)
J2-axis
J3-axis
Motion range
J4-axis
J5-axis
J6-axis
J1-axis 95°/s (1.66rad/s)
J2-axis 85°/s (1.48rad/s)
Max. speed J3-axis 95°/s (1.66rad/s)
Note 2) J4-axis 120°/s (2.09rad/s)
J5-axis 120°/s (2.09rad/s)
J6-axis 190°/s (3.32rad/s)
At wrist 210kg
On J3 arm -
Max. payload
On J3 casing 10kg
On J2 base 550kg
J4-axis 1333N⋅m (136kgf⋅m)
Allowable load
moment at wrist
J4-axis 141.1kg⋅m2 (1440kgf⋅cm⋅s2)
Allowable load
inertia at wrist
Drive method Electric servo drive by AC servo motor
Repeatability ±0.1mm Note 3)
Mass 1180kg
Acoustic noise level 70.5dB Note 4)
Ambient temperature: 0 to 55°C (Robot), 0 to 45°C (Controller) Note 6)
Cleaning fluid temperature: 60°C or less
Installation environment Height: Up to 1000 meters above the sea level required,
Note 5) no particular provision for attitude.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases Note 7)
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 for further evaluation before
running production.
Note 2) During short distance motions, the axis speed may not reach the maximum value stated.
Note 3) Compliant with ISO9283.
Note 4) This value is the equivalent continuous A-weighted sound pressure level that applied with
ISO11201 (EN31201). This value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
Note 5) Air purge is required. (Refer to Section 5.4.)
Note 6) When the robot is used in a low temperature environment that is near to 0ºC, or the robot is not
operated for a long time in an environment that is less than 0ºC, for example during a holiday or
overnight, viscous resistance of the drive train may cause occurrence of collision detect alarm
(SRVO-050) etc. In this case, we recommend performing a warm up operation for several
minutes.
Note 7) 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, cutting oil splash and or other
foreign substances.
- 14 -
The following table lists the IEC60529-based Severe dust/liquid protection characteristics of the
R-2000iC/210WE.
Standard
J3 arm and wrist section
Drive unit of the main body IPX7
Main body
NOTE
Definition of IP code
Definition of IP X7
7=Protection from water immersion: Ingress of water in harmful quantity shall
not be possible when the enclosure is immersed in water under defined
conditions of pressure and time.
Performance of resistant chemicals and resistant solvents

1 The liquids below cannot be applied because they may cause deterioration or corrosion of the rubber
parts (such as gasket, oil seals, and O-rings) used in the robot. (As exception to this only liquids
tested and approved by FANUC can be used with the robot.)
(a) Organic solvent
(b) Chlorine- or gasoline-based cutting fluid
(c) Amine-based cleaning fluid
(d) Liquid or solution that includes a corrosive such as an acid or alkali or causes rust
(e) Some other liquid or solution to which nitrile rubber (NBR) does not have resistance
2 When the robot is used in an environment where a liquid such as water is dashed over the robot,
great attention should be given to drainage under the J1 base.
A failure may be caused if the J1 base is kept immersed in water due to poor drainage.
3 Replace gaskets by new one when it is removed when replacing part and check.
4 Don’t use unconfirmed liquid for cutting fluid and cleaning fluid. The following shows usable
cleaning fluid. Please don’t use the cleaning fluid under the condition over the allowable
concentration or temperature. Keep cleaning fluid temperature less than 60°C.
Permissible Reference
Cleaning fluid type Manufacturer name
concentration pH
5.0%
YUSHIRO CHEMICAL INDUSTRY
Yushiro cleaner W80 Diluted to 20 times with 9.0
CO.,LTD.
water
2.0%
Techniclean XHP BP Lubricants USA Inc. Diluted to 50 times with 8.3
water
5.0%
PRODUCTO SP-735 CIMCOOL Industrial Products LLC Diluted to 20 times with 9.5
water
3.0%
CIMCLEAN SP-787FN CIMCOOL Industrial Products LLC Diluted to 33 times with 10.7
water
8.0%
QUAKERCLEAN 624 CP Quaker Chemical Corporation Diluted to 12.5 times with 9.7
water
4.0%
QUAKERCLEAN 680 VDA Quaker Chemical Corporation Diluted to 25 times with 10.6
water
- 15 -
5 Insufficient management of cleaning fluid causes bad effects such as corrosion on the robot. Please
manage it carefully in accordance with the following description. For (a) to (e), FANUC
recommends making a management check sheet and recording a management history.
(a) Management of pH
Please monitor pH by using pH test paper, etc., and keep appropriate pH. PH decrease causes
deterioration of cleaning fluid, and it makes the robot parts corroded.
(b) Concentration management
Cleaning fluid is perishable when concentration is decreased, and the robot is also damaged
when cleaning fluid is too much concentrated. Keep the appropriate concentration in reference
to the manual of cleaning fluid.
(c) Refilling of diluted solution
Cleaning fluid is likely to be reduced by splashing or evaporation and carried out with
workpiece and chips. Please refill diluted solution regularly. Refilling before holidays will help
to prevent decay of cleaning fluid and maintain pH and antirust effect.
(d) Appearance check
Please check the followings of cleaning fluid on a daily basis and find the abnormality
beforehand.
Cleanliness / Discoloration / Occurrence of film and sludge
(e) Bad smell check
Bad smell occurs when microorganisms are bred. Please check the smell of cleaning fluid on a
daily basis. Examples of typical bad smell are as follows.
Rotten egg smell / Acidulous smell / Moldy smell / Other putrid smell
(f) Removing foreign materials
Removing chips and foreign materials with a high efficiency filter, etc. The more chloride ions
from diluted solution accumulate, the more cleaning fluid becomes harmful to the robot. In
cases that the chloride ions may enter from tap water, please take measures such as installation
of some removing filter.
(g) Removing oil from other processes
FANUC recommends installing oil skimmer or oil removal equipment. Other simple ways are
as below.
- Absorbing floating ingredients of the oil with non-woven fabric, etc.
- Scooping floating ingredients of the oil by a dedicated container (please use a dedicated
one to prevent other contaminations).
6 Using a unapproved cleaning liquid not included in the specification or one using an approved
cleaning liquid beyond its permissible concentration or temperature may result in serious damage to
the robot. If a different cleaning fluid or concentration of an approved solution is required, contact
your local FANUC representative in advance for details regarding performing an evaluation test.
7 Be sure to maintain air purge at the recommended regulated pressure.(See Section 5.4.) Continue
applying the air purge even when the robot is stopping or the power supply is cut. Failure to
maintain the recommended air purge pressure either when robot is in operation or stopped can may
allow water to intrude inside of the robot and/or allow drew to form inside of the robot, causing
serious damage to the robot. The air supply requires that a filter, dryer and oil filter be used and
properly maintained. An optional air purge kit is available.
8 Avoid direct spray of cleaning liquid on the robot from nozzle.
9 Do not allow the robot to be immersed in water, neither temporary nor permanent.
- 16 -
3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND

OPERATING SPACE
Fig. 3.2 (a) shows the robot operating space. When installing peripheral devices, be careful not to
interfere with the robot and its operating space.
+165v 1
R 71
0v
R 245
-165v 0
J5-axis
rotation center
J5軸回転中心
430 1280 227

225
25°
3045
136
° Operating space
1075
J5軸回転中心
56° 7
56° 6° of 動作領域
J5-axis rotation
44° center
59°
738
Rear後部干渉領域
side
Interference area
°
138
670
370
1598 2450
Fig. 3.2 (a) Operating space
- 17 -
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 fixed
mechanical stopper is also prepared to improve safety.
Fig. 3.3 (a) shows the position of fixed mechanical stopper.

Only in case of J1, robot stops by transforming fixed mechanical stopper (option).
Be sure to replace transformed stopper to new one. Tighten bolts with regulated torque referring to
Appendix B [MOUNTING BOLT TORQUE LIST].
Replace mechanical stopper of J1-axis referring to Section 6.2.
WARNING
Do not reconstruct the fixed mechanical stopper. There is a possibility that the
robot doesn't stop normally.
J5-axis fixed mechanical stopper
J5軸機械式固定ストッパ(可動部側)
(Movable
(上下2箇所) side)
(Upper and lower (2 locations))

J5軸機械式固定ストッパ(固定部側)
(Fixed side)
(上下2箇所)
(Upper and lower (2 locations))

J3軸機械式固定ストッパ
(Movable
(可動部側)side) J3-axis fixed mechanical stopper
(Movable
(可動部側)side)
(固定部側)
(Fixed side)

(可動部側)
(Movable side)

(Fixed
(固定部側)side)
J1-axis fixed mechanical stopper (option)

J1軸機械式固定ストッパ(オプション)
(Movable
(可動部側)side)

J1軸機械式固定ストッパ(オプション)
(Fixed side)
(固定部側)
Fig. 3.3 (a) Position of fixed mechanical stopper
- 18 -
Fig. 3.3 (b) to (g) show the zero point, 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".
165°
+165°+165
Stroke end (Upper limit)
vストロークエンド(上限) 4°
+169° The maximum stopping

+169 v 最大停止距離（位置）
distance (position)
0v
° The
4°
-169-169v 最大停止距離（位置）
maximum stopping
distance (position)
-165°-165
Stroke end (Lower limit)
vストロークエンド(下限)
165°
Fig. 3.3 (b) J1-axis motion limit
° 76
65 °
° Stroke
+76+76 end (Upper limit)
-65° Stroke
-65v end
ストロークエンド(下限)
(Lower limit) v ストロークエンド(上限)
4°
-69° The-69 v 最大停止距離(位置)

maximum stopping
4°
distance (position)
+80°v The
+80 maximum stopping
最大停止距離(位置)
distance (position)
(Note) Motion limit is restricted by the position of the J3-axis.

(注) J3軸の位置によって動作範囲に制限を受けます
Fig. 3.3 (c) J2-axis motion limit
- 19 -
150°
J2+J3=+150°
J2+J3=+150v
Stroke end (Upper
ストロークエンド(上限)
limit)
J2+J3=+154v
J2+J3=+154°
The最大停止距離(位置)
maximum stopping
distance (position)
79
°
J2+J3=-79°
J2+J3=-79 v
Stroke end
ストロークエンド(下限)
(Lower limit)
J2+J3=-83v
J2+J3=-83° (Note) Motion limit is restricted by the position of the J2-axis.
(注)J2軸の位置によって動作範囲に制限を受けます
The maximum stopping
distance (position)
Fig. 3.3 (d) J3-axis motion limit
Software restriction
+360°
0°
-360°
(Note)J4-axis
(Note） J4-axis does
does notthe
not have have
limit the mechanical
switch stopper.
and the mechanical stopper.
Fig. 3.3 (e) J4-axis motion limit
- 20 -
° +125 ° Stroke end (Upper limit)

12 5 +125° ストロークエンド（上限）
+127°
+127v The maximum (位置)
最大停止距離 stopping
distance (position)
0°
-127° The maximum stopping

125 -127v distance
最大停止距離 (位置)
(position)
°
-125° Stroke
-125° ストロークエンド(下限）
end (Lower limit)
Fig. 3.3 (f) J5-axis motion limit
Software restriction
+360°
0°
-360°
r. (Note) J6-axis
(Note） J6-axis does
does not have
not have the limitthe mechanical
switch stopper.
and the mechanical stopper.
Fig. 3.3 (g) J6-axis motion limit
- 21 -
3.4 WRIST LOAD CONDITIONS

Fig. 3.4 (a) is a diagram to limit loads applied to the wrist.
x Apply a load within the region indicated in the graph.
x 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.
x See Section 4.1 about the mounting of the end effector.
Z [cm]
90
120kg
80
78.4 140kg
70
67.0
160kg
60
58.0 180kg
50.7
50
210kg
42.1
40
30
20
39.5
10 49.5
56.8
20 30 40 50 60
X,Y [cm]
34.3
43.9
Fig. 3.4 (a) Wrist load diagram (ISO flange)
- 22 -
3.5 LOAD CONDITIONS ON J2 BASE AND J3 CASING

Fig. 3.5 (a) shows J2 base and J3 casing load condition.
0
50
R
重心位置
Center of gravity
重心位置
Center of gravity
200 J3ケーシング負荷
Load 10kg
on the J3 casing 10kg
200
J2ベース上可搬質量
Load capacity on the J2 base550kg
550kg
Fig. 3.5 (a) J2 base/J3 casing load condition
CAUTION
You cannot bet load on J3 arm.
- 23 -
4. EQUIPMENT INSTALLATION
TO THE ROBOT B-84014EN/02
4 EQUIPMENT INSTALLATION TO THE ROBOT

4.1 END EFFECTOR INSTALLATION TO WRIST
Fig. 4.1 (a) is the diagrams for installing end effectors on the wrist. To fasten the end effector, first
position it by two pin holes, then lock it using screws. Select screws and positioning pins of a length that
matches the depth of the tapped and pin holes. Fasten the bolt for fixing the end effector with following
torque.
73.5±3.4Nm (750±35kgfcm)
CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.
22.8
O 160
O 80
21
2- O 10H7 +0.015
0 深さ10
depth 10
30°
30 °
°
30
30
°
10-M10 深さ16
depth 16
125 ±0.05
O 125
30
°
°
227
30
30°
30°
Fig. 4.1 (a) End effector mounting face (ISO flange)
- 24 -
B-84014EN/02 TO THE ROBOT
4.2 EQUIPMENT MOUNTING FACE

As shown in Fig. 4.2 (a), tapped holes are provided to install equipment to the robot.
CAUTION
1 Never perform additional machining operation such as drilling or tapping on the
robot body. This can seriously affect the safety and function of the robot.
2 When using a user tap shown in Fig. 4.2 (a), keep the center of gravity position
of the equipment according to Section 3.5.
3 Equipment should be installed so that mechanical unit cable does not interfere. If
equipment interfere, the mechanical unit cable might be disconnected, and
unexpected troubles might occur.
4 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.
5 Bolts and covers are installed to these taps when this robot is shipped for
anti-rust. Be sure to install those when taps are not used.
155.5 67 機構部内ケーブル
Mechanical unit cable
87.5 35
3-M12depth
3-M12 深さ22 22
4-M10
4-M10 深さ15
depth 15
40
6-M10
6-M10 深さ15
depth 15
45
197
80
422.5 170 170
115 115
324.5
4-M12depth
4-M12 深さ22 22
395
329
329
60
60
6-M12
6-M12深さ22
depth 22
6-M12depth
6-M12 深さ2222
25 25
79
79
25 25
25 25 25 25 2-M12depth
2-M12 深さ18 18
2-M12 深さ18
2-M12 depth 18
112.5 112.5 97.5 97.5
377 377
Fig. 4.2 (a) Equipment mounting faces
- 25 -
TO THE ROBOT B-84014EN/02
4.3 LOAD SETTING

CAUTION
1 Set the load condition parameter before the robot runs. Do not operate the robot
in over when its payload is exceeded. Do not exceed the allowable payload
including connection cables. Operation in with the robot over payload may occur
result in troubles such as reducer life reduction.
2 WHEN PERFORMING LOAD ESTIMATION AFTER PARTS REPLACEMENT
If wrist axis motors (J5/J6-axis) or reducers are replaced, payload estimation
accuracy may decrease. Perform calibration of load estimation without the load
such as hand before performing load estimation.
Refer to Chapter 9 “LOAD ESTIMATION”
in the Optional Function OPERATOR’S MANUAL (B-83284EN-2)
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 the [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
1 210.00 [ ]
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 10 on this screen.
Place the cursor on one of the numbers, and press F3 [DETAIL]. The MOTION PAYLOAD SET
screen will be displayed.
MOTION PAYLOAD SET JOINT 10%
Group 1
1 Schedule No[ 1]:[Comment ]
2 PAYLOAD [kg] 210.00
3 PAYLOAD CENTER X [cm] -28.53
4 PAYLOAD CENTER Y [cm] 0.00
5 PAYLOAD CENTER Z [cm] 27.78
6 PAYLOAD INERTIA X [kgfcms^2] 56.84
7 PAYLOAD INERTIA Y [kgfcms^2] 59.39
8 PAYLOAD INERTIA Z [kgfcms^2] 15.10
[TYPE] GROUP NUMBER DEFAULT HELP
- 26 -
B-84014EN/02 TO THE ROBOT
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 appears: “Path and Cycletime 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 multigroup 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. Press F5 [SETIND], and
enter the desired payload setting condition number.
9 On the MOTION PERFORMANCE screen, press F4 [ARMLOAD] to display the MOTION
ARMLOAD SET screen.
(* This screen differs depending on the robot model.)
MOTION ARMLOAD SET JOINT 100%
Group 1
1 J2 BASE LOAD [kg] 550.00
2 J3 ARM LOAD [kg] 0.00
3 J3 CASING LOAD [kg] 10.00
[ TYPE ] GROUP DEFAULT HELP
10 Specify the weight of the load on the J2 base and J3 arm as follows:
(*) Load mounting face differs depending on the robot model. Refer to “3.5 LOAD CONDITIONS ON
J2 BASE AND J3 CASING”.
J2 BASE LOAD[kg]: Weight of the load on the J2 base
J3 ARM LOAD[kg]: Weight of the load on the J3 arm (Load cannot be applied to here)
J3 CASING LOAD[kg]: Weight of the load on the J3 casing
The following message appears: “Path and Cycletime will change. Set it?” Select F4 [YES] or F5
[NO]. Once the loads are set up, the settings are completed by switching the power off and on again.
- 27 -
5. PIPING AND WIRING TO
THE END EFFECTOR B-84014EN/02
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 the outside of the mechanical unit.
• Please do not perform remodeling (adding a protective cover, or secure an
additional outside cable) that obstructs the behavior of the cable.
• When external equipment is installed on 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 the 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
- 28 -
B-84014EN/02 THE END EFFECTOR
5.1 AIR SUPPLY (OPTION)

Robot has air inlets and air outlets openings on the back of the J1 base and the side of the J3 casing used
to supply air pressure to the end effector. The connector is a Rc1/2 female (ISO).
As coupling are not supplied, it will be necessary to prepare couplings which suit to the hose size.
2系統：パネルユニオンx２
Dual air lines panel union x 2
Rc1/2メス（エア出口側）
Rc1/2 female (Air outlet side)
Air tube 2 pcs

エアチューブx2
Outside diameter 12mm
外径
Inside 12mm
diameter 8mm
内径 8mm
Dual air lines panel union x 2

2系統：パネルユニオンx２
Rc1/2 female (Air inlet side)
Rc1/2メス（エア入口側）
Fig. 5.1 (a) Air supply (option)
- 29 -
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.
エルボニップル
Elbow nippleR3/8
R3/8 Straight nippleR1/2
ストレートニップル R1/2
R3/8
Air tube
エアチューブ
All length 3mm
全長3m
Outer 12mm外径12mm 内径8mm
エア3点セット
Air control set Inside 8mm
仕様: A05B-1311-J011
Spec.:A05B-1311-J011
In dotted line
破線内：オプション添付品
Optional parts
Fig. 5.2 (a) Air piping (option)
Air control set

Fill the lubricator having air control set to the specified level with turbine oil #90 to # 140. The machine
tool builder is required to prepare mounting bolts.
4-M6
IN OUT
70
ルブリケータ
Lubricator 57
エアフィルタ
Air filter
Fig. 5.2 (b) Air control set option (option)
- 30 -
B-84014EN/02 THE END EFFECTOR
NOTE
The capacity values of the three air components are determined as follows.
These values must not be exceeded.
2 2
Supply air pressure 0.49 to 0.69MPa(5 to 7kgf/cm )，Setting: 0.49MPa(5kgf/cm )
Air pressure 3
Amount of consumption Maximum instantaneous amount 150Nl/min(0.15Nm /min)
5.3 INTERFACE FOR OPTION CABLE (OPTION)

Fig. 5.3 (a) shows the position of the connector panel. Fig. 5.3 (b) shows the air interface.
Fig. 5.3 (a) Interface for air (OPTION)
J3分線板(出力側)
J3 connector plate (output side) J1分線板(入力側)
J1 connector plate (input side)
(パージエア入口)
(Purge air inlet)
Air inlet A
エア入口A
Airエア入口B
inlet B
エア出口A
Air outlet A
エア出口B
Air outlet B
ドライエアA
DRY AIR A ドライエアB
DRY AIR B
矢視A
View A 矢視B
View B
With user cable (signal line/power line)

ケーブル仕様
Cable spec.
210WE : 標準仕様 : A05B-1338-H551
A05B-1338-H551
Fig. 5.3 (b) Interface for option cable
- 31 -
5.4 INSTALLING THE AIR PURGE KIT

In case of R-2000iC/210WE, be sure to use air purge kit. Air purge kit (A05B-1338-K801) is preparatory
as the option, and use it, please. Set the air purge pressure to 20 to 30kPa (0.02 to 0.03 MPa, 0.2 to 0.3
kgf/cm2).
NOTE
1 It is recommended that a dedicated air pressure source be used for an air purge.
Do not use the same air pressure source for both the air purge kit and others.
Otherwise, the dryer capacity is exceeded and water or oil remains in air,
causing serious damage to the robot.
2 After installing the robot, perform an air purge at all times.
Even when the robot is not operated, an air purge is required if it is placed in a
bad condition such as water splash on the robot or its humid in washing booth.
220
60 100
2-Φ11
70
140
It is connected to DRY AIR A,

B DRY
to theAIR
J1 connector
A, Bへ panel.
(335) Prepare 2 kits and connect
キットを2セット用意して
272 それぞれ接続
them to A and B.
(33) 59 158 （1セットからの分岐不可）
(Branch from 1 set is not
(J1分線盤)
good.)
4-Φ7 (101)
Air outlet
空気出力口
95
41
22
(O10エアチューブ)
(φ10 Air tube)
180
14
35
Pneumatic
一次空圧源
187
air outlet
11
7
170
圧力計
Pressure
空気入力口
Air inlet gauge
(O10 エアチューブ)
(φ10 Air tube)
S
O
7 S
O
圧力調整用ノブ
Pressure adjustment knob
Fig. 5.4 (a) Regulator kit for air purge external dimensions
- 32 -
B-84014EN/02 6. AXIS LIMITS SETUP
6 AXIS LIMITS 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:
x Used motion range of the robot is limited.
x There’s an area where tool and peripheral devices interfere with the robot.
x The length of cables and hoses attached for application is limited.
There are two methods used to prevent the robot from going beyond the necessary motion range. These
are
x Axis limit by DCS (All axes (option))
x 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 any 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 in 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/J5-axis, the mechanical stoppers are fixed. For the J4
and J6-axes, only DCS-specified limits are available.
4 J2 and J3-axes interference angles cannot be changed.
5 Adjustable mechanical stoppers (J1-axis) is deformed in a collision to stop the
robot. Once a stopper is subject to a collision, it can no longer assure its original
strength and, therefore, may not stop the robot. When this happens, replace it
with a new one.
- 33 -
6. AXIS LIMITS SETUP B-84014EN/02
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 adjustable mechanical stopper described in 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.
x DCS position/speed check function (J567)
As an example, we shows the procedure to set ±30º for J2-axis in here. Refer to Dual check safety
function Operator’s Manual (B-83184EN) for details of other setting, function and DCS stop position
prediction.
Setting procedure
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
- 34 -
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 2
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
- 35 -
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 : F000
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 ENABLE 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.
- 36 -
6.2 ADJUSTABLE MECHANICAL STOPPER AND LIMIT

SWITCH SETTING (OPTION)
For the J1-axis, adjustable mechanical stopper (option) can be installed. It is possible to re-position
adjustable mechanical stoppers. Change the position of the adjustable mechanical stoppers according to
the desired movable range.
Table 6.2 (a) Motion range that can be set by the adjustable mechanical stopper and space
between the upper and lower limits
Item Settable motion range
Settable in steps of 7.5° in the range of -150° to -60° and
Upper limit
+30° to +120°.
J1-axis adjustable Settable in steps of 7.5° in the range of -120° to -30° and
Lower limit
mechanical stopper, +60° to +150°.
Space between the Combination of upper limit and lower limit has restriction.
upper and lower limits See Table 6.2 (b) for details.
Table 6.2 (b) Combination of upper limit and lower limit

Lower limit [deg] Upper limit [deg]
Standard stopper (-165°) Settable in steps of 7.5° in the range of -150° to -60° and +30° to +120°.
-120° Settable in steps of 7.5° in the range of -112.5° to -60° and +30° to +120°.
-112.5° Settable in steps of 7.5° in the range of -105° to -60° and +30° to +120°.
-67.5° Settable in steps of 7.5° in the range of -60° and +30° to +120°.
-60°, -52.5°, -45°, -37.5°, -30° Settable in steps of 7.5° in the range of +30° to +120°.
+60° Settable in steps of 7.5° in the range of +67.5° to +120°.
+67.5° Settable in steps of 7.5° in the range of +75° to +120°.
+112.5° Settable in +120°.
+120°, +127.5°, +135°, +142.5°, Only standard stopper (+165°) can be used.
+150°
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.
- 37 -
6.2.1 Installing Adjustable Mechanical Stopper Option
Stopper
ストッパ
A290-7338-X216
A290-7338-X216
Fig. 6.2.1 (a) J1-axis adjustable mechanical stopper (option)
1 Remove bolts and plate shown in Fig .6.2.1 (b).
ボルト
Bolts
M12X20SUS
M12 x 20SUS (6)
プレート
Plate
A290-7338-X643
A290-7338-X643
ボルト
Bolts
M12 x 20SUS(6)
M12X20SUS (6)
Plate
プレート
A290-7338-X643
A290-7338-X643
Fig. 6.2.1 (b) Mounting the J1-axis adjustable mechanical stopper (1/7)
- 38 -
2 Assemble the adapter and the plate referring to Fig. 6.2.1 (c).
Bolts
A97L-0318-0426#M12X35 (6)
Bolts
A97L-0318-0426#M12X50 (3) Washers
A97L-0318-0427#M12H (6)
Plate
A290-7338-X215
Adapter
A290-7338-X212
Washers Plate
A97L-0318-0427#M12H (3) A290-7338-X214
Fig. 6.2.1 (c) Mounting the J1-axis adjustable mechanical stopper (2/7)
3 Assemble parts assembled in step 2 to the robot.

4 Attach the stopper to the plate lower side.
Bolts
A97L-0318-0426#M12X35 (6)
Washers
A97L-0318-0427#M12H (6)
Stopper Bolts
A290-7338-X216 A97L-0318-0426#M16X45 (4)
(Figure is example of -67.5º) Washers
A97L-0318-0427#M16H (4)
Fig. 6.2.1 (d) Mounting the J1-axis adjustable mechanical stopper (3/7)
5 Assemble the adapter and the plate referring to Fig. 6.2.1 (e).
Bolts
Bolts A97L-0318-0426#M12X35 (8)
A97L-0318-0426#M12X50 (3)
Plate Washers
A290-7338-X215 A97L-0318-0427#M12H (8)
Adapter
A290-7338-X213
Washers
A97L-0318-0427#M12H (3) Plate
A290-7338-X214
Fig. 6.2.1 (e) Mounting the J1-axis adjustable mechanical stopper (4/7)
- 39 -
6 Assemble parts assembled in step 5 to the robot.

7 Attach the stopper to the plate lower side.
Bolts
A97L-0318-0426#M12X50 (3)
Washers
A97L-0318-0427#M12H (3) Bolts
A97L-0318-0426#M12X35 (6)
Washers
A97L-0318-0427#M12H (6)
Stopper
A290-7338-X216
(Figure is example of +67.5º)
Bolts
A97L-0318-0426#M16X45 (4)
Washers
A97L-0318-0427#M16H (4)
Fig. 6.2.1 (f) Mounting the J1-axis adjustable mechanical stopper (5/7)
8 Attach parts assembled in step 3 and step 6 with bolts and washers.
Bolts
A97L-0318-0426#M12X50 (3)
Washers
A97L-0318-0427#M12H (3)
Fig. 6.2.1 (g) Mounting the J1-axis adjustable mechanical stopper (6/7)
- 40 -
Plus side restricted angle
プラス側規制角度
+90v
+67.5v +112.5v
+82.5v
+105v
+60v +97.5v
+45v +75v
+120v
+52.5v
+37.5v
+30v
正面
Front
-150v
-127.5v -142.5v
-135v
-60v
-105v
-82.5v
-67.5v -112.5v
-90v -120v
-75v
-97.5v
マイナス側規制角度
Minus side restricted angle
+120v
+97.5v +142.5v
+112.5v
+135v
+90v
+105v +127.5v
+75v
+150v
+82.5v
+67.5v
+60v
Front
正面
-120v
-97.5v
-105v -112.5v
-30v
-52.5v -75v
-37.5v -82.5v
-90v
-60v
-45v
-67.5v
Fig. 6.2.1 (h) Mounting the J1-axis adjustable mechanical stopper (7/7)
- 41 -
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 -165.00 165.00 deg
2 1 -65.00 76.00 deg
3 1 -132.04 180.00 deg
4 1 -360.00 360.00 deg
5 1 -125.00 125.00 deg
6 1 -360.00 360.00 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 the axis limit to be set. 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
2/16
AXIS GROUP LOWER UPPER
2 1 -65.00 76.00 deg
[ TYPE]
6 Cycle power of controller in the cold start mode so the new information can be used.
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 adjustable mechanical stopper becomes deformed
to absorb energy, so that the robot can stop safely. If the stopper is deformed by
mistake, replace it.
4 For the J1 to J3-axis, do not count merely on changing the parameter when
changing the movable range of the robot. Use the mechanical stopper (for
J1-axis) or motion range restriction by DCS together. At this time, set same
motion area for both. If only parameter change is used, it is very dangerous
because safety is not guaranteed.
- 42 -
6.2.3 The Maximum Stopping Distance (Position) of Adjustable

Mechanical Stopper
The adjustable mechanical stopper is a mechanism that can be adjusted in its position. The robot can
work safely inside the adjusted motion range, up to the maximum range as shown in Table 6.2.3 (a) and
Fig. 6.2.3 (a). A robot attempting to travel beyond this set range of motion, will be stopped by these
stoppers, by collision; and therefore the robot will remain contained within the setup range.
Stopping the robot will cause the mechanical stopper to be “transformed” (means : permanently damaged).
Be sure to replace the deformed stopper before using the robot again.
Table 6.2.3 (a) The maximum stopping distance (position) of adjustable mechanical stopper
Plus side Minus side
J1-axis +11° -11°
The maximum The maximum

stopping distance 最大停止距離(位置)
stopping distance
(position) (position)
°
11
11
°
指定動作範囲
Specified motion range
Fig. 6.2.3 (a) The maximum stopping distance of adjustable mechanical stopper of J1-axis
- 43 -
7. CHECKS AND MAINTENANCE B-84014EN/02
7 CHECKS AND MAINTENANCE

Optimum performance of the robot can be maintained by performing the checks and maintenance
procedures presented in this chapter. (See 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 operation 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 CHECKS AND 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 or Air Purge Kit (option)”
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. When the displacement occurs, perform the measures as described in the
Positioning accuracy
following 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 0.2 mm or less when servo power is turned off.
If the end effector (hand) drops, perform the measures as described in the following
Brakes for each axis
section:
⇒”9.1 TROUBLESHOOTING”(symptom：Dropping axis)
If warning associated with purge pressure occurs, perform the following check.
Confirm there is no breakage on purge piping. Remove the seal bolts of the drain holes
and check there is no water inside.
Purge pressure ⇒”7.2.5 Check of Purge Piping and Drain Holes”
Confirm there is no gap and abnormal abrasion on the debris covers of the reducer outer
circumference.
⇒”7.2.6 Check of Debris Cover“
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:
⇒”OPERATOR’S MANUAL (Alarm Code List)(B-83284EN-1)”
- 44 -
B-84014EN/02 7. CHECKS AND MAINTENANCE
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 Periodic
(Period, Accumulated Check and Check points, management and
maintenance
operating time) maintenance item maintenance method
table No.
1 3 1 1.5 4
month months year years years
320h 960h 3840h 5760h 15360h
○ ○ Cleaning the controller Confirm the controller ventilation system is

Only ventilation system not dusty. If dust has accumulated, remove it.
20
1st
check
○ Check the external Check whether the robot has external
damage and damage due to the interference with the
appearance peripheral equipment. In addition, check
whether exposed parts has abnormal
corrosion or deterioration. If an interference 1
occurs, eliminate the cause. Also, if the
external damage or corrosion is serious, and
causes a problem in which the robot will not
operate, replace the damaged parts.
○ ○ Check for damages Check whether the cable connected to the
Only to the teach pendant teach pendant, operation box and robot are
1st cable, the operation box unevenly twisted or damaged. If damage is 21
check connection cable or the found, replace the damaged cables.
robot connection cable
○ ○ Check for damage to Observe the movable part of the mechanical
Only the mechanical unit unit cable, and check for damage. Also, check
1st cable (movable part) whether the cables are excessively bent or
2
check unevenly twisted.
⇒”7.2.3 Check the Mechanical Unit
Cables and Connectors”
○ ○ Check for damage to Check whether the end effector connection
Only the end effector (hand) cables are unevenly twisted or damaged. If
1st connection cable damage is found, replace the damaged 3
Check cables.
○ ○ Check the exposed Check the tightness of exposed connectors

Only connectors and fittings and fittings.
4
1st ⇒”7.2.3 Check the Mechanical Unit
check Cables and Connectors”
○ ○ Retightening the end Retighten the end effector mounting bolts.
Only effector mounting bolts Refer to the following section for tightening
1st
torque information: 5
check
⇒”4.1 END EFFECTOR INSTALLATION
TO WRIST”
- 45 -
Check and maintenance

intervals Periodic
(Period, Accumulated Check and Check points, management and
maintenance
operating time) maintenance item maintenance method
table No.
1 3 1 1.5 4
month months year years years
320h 960h 3840h 5760h 15360h
○ ○ Retightening the Retighten the bolts which were installed,

Only external main bolts removed, or exposed during inspection. Refer
1st to the recommended bolt tightening torque
check guidelines at the end of the manual. Some
bolts are attached with adhesive. If the bolts
are tightened with greater than the 6
recommended torque, the adhesive might be
removed.
Therefore, follow the recommended bolt
tightening torque guidelines when retightening
the bolts.
○ ○ Check the mechanical Check that there is no evidence of a collision on
Only stopper and the the mechanical stopper, the adjustable
1st adjustable mechanical mechanical stopper, and check the looseness of
stopper the stopper mounting bolts. Check that the
check 7
J1-axis swing stopper rotates smoothly.
⇒”7.2.4 Check of Fixed Mechanical
Stopper and Adjustable Mechanical
Stopper”
○ ○ Clean spatters, Check that spatters, sawdust, or dust does not
Only sawdust and dust exist on the robot main body. If dust has
1st
accumulated, remove it. Especially, clean the 8
robot movable parts well (each joint and the
check
conduit of the mechanical unit cable).
○ ○ Check the purge piping Confirm there is no breakage on purge piping.
Only and drain holes Remove the seal bolts of the drain holes and
1st check there is no water inside. 9
check ⇒”7.2.5 Check of Purge Piping and
Drain Holes”
○ ○ Check of debris covers Confirm there is no gap and abnormal
Only abrasion on the debris covers of the reducer
1st outer circumference. If damage was seen, 10
check replace the debris covers.
⇒”7.2.6 Check of Debris Cover”
○ Replacing the oil of Replace the oil of each axis reducer and gear
each axis reducer ⇒”7.3.2 Replacing the Oil of the Drive 11 to 17
Mechanism”
○ Replacing the Replace the mechanical unit batteries.
mechanical unit Regardless of operating time, replace batteries
batteries 18
at 1.5 years.
⇒”7.3.1 Replacing the Batteries”
○ Replacing the Replace the mechanical unit cable
mechanical unit cable Contact your local FANUC representative for 19
information regarding replacing the cable.
○ Replacing the controller Replace the controller batteries. Regardless of
batteries operating time, replace batteries at 4 years.
22
⇒”Chapter 7 Replacing batteries of
MAINTENANCE MANUAL (B-83195EN)”
- 46 -
7.2 CHECK POINTS
7.2.1 Confirmation of Oil Seepage

Check items
Check to see whether there is an oil seepage on the rotating parts of each joint axis.
Fig. 7.2.1 (a) Check points of oil seepage
Management
x Oil might accumulate on the outside of the seal lip depending on the movement condition or
environment of the axis. If the oil changes to a state of liquid, the oil might fall depending on the
axis movement. To prevent oil spots, be sure to wipe away any accumulated oil under the axis
components before you operate the robot.
x Also, drive mechanisms might become hot and the internal pressure of the oil bath might rise by
frequent repetitive movement and use in high temperature environments. In these cases, normal
internal pressure can be restored by venting the oil inlet. (When opening the oil outlet, refer to
Subsection 7.3.2.)
x If you must wipe oil frequently, and opening the oil inlet does not stop the seepage, perform the
measures below.
⇒”9.1 TROUBLESHOOTING”(symptom：Oil leakage)
- 47 -
7.2.2 Confirmation of the Air Control Set or Air Purge Kit (option)
When an air control set or air purge kit is used, check the items below.
Item Check items Check points

Check air pressure using the pressure gauge on the air control set as
shown in Fig. 7.2.2 (a). If it does not meet the specified pressure of
1 Air pressure
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
Lubricator oil mist specified value (1 drop/10-20 sec), adjust it using the handle for
2 In case of
quantity lubricator adjustment. The lubricator becomes empty in about 10 to 20
air control set
days under normal operation.
3 Lubricator oil level Check to see that the lubricator level is within the specified level.
Leakage from Check the joints, tubes, etc. for leaks. Retighten the joints or replace
4
hose parts, as required.
Check the drain and empty it. When the quantity of liquid in the drain is
5 Drain
excessive, examine the setting of the air dryer on the air supply side.
Check the supply pressure using the air purge kit shown in Fig. 7.2.2
6 Supply pressure (b). If it does not meet the specified pressure of 20 to 30 KPa (0.2 to
0.3kgf/cm2), adjust it using the regulator pressure setting handle.
In case of Check whether the color of the dew point checker is blue. When it is
7 air purge kit Dryer not blue, identify the cause and replace the dryer. Maintenance for air
purge kit, refer to the operator’s manual attached kit.
Check the drain and empty it. When the quantity of liquid in the drain is
8 Drain
excessive, examine the setting of the air dryer on the air supply side.
ルブリケータ調整ハンドル
Handle for lubricator adjustment
Pressure
圧力計gauge ルブリケータオイル滴下量確認
Lubricator oil drop amount check
Lubricator
ルブリケータ給油口 oil inlet
Lubricator
ルブリケータ
エアフィルタ
Air filter
Regulator
レギュレータ pressure
setting
圧力設定 handle
ハンドル
ドレインポート
Drain port
Fig. 7.2.2 (a) Air control set (option)
- 48 -
4-7X114-7x11 長丸穴
Length round hole Air outlet
空気出力口
(φ10 Air tube)
Pneumatic 圧力計 gauge

Pressure
一次空圧源
air outlet
Air inlet
空気入力口
(φ10 Air tube)
圧力調整用ノブ
Handle for
S
O
S
O
pressure adjustment
Fig. 7.2.2 (b) Air purge kit (option)
7.2.3 Check the Mechanical Unit Cables and Connectors

Check points of the mechanical unit cables
J2 and J3 movable parts, and fixed part cable which can interfere with the peripheral equipment.
Fig. 7.2.3 (a) Check points of the mechanical unit cables
Inspection points of the connectors

x Robot connection cables, earth terminal and user cables
Check items
x Square connector: Check the connector for engagement of its lever.
x Earth terminal: Check the terminal for tightness.
- 49 -
Fig. 7.2.3 (b) Connector Inspection points
7.2.4 Check of Fixed Mechanical Stopper and Adjustable

Mechanical Stopper
x Check that there is no evidence of a collision on the mechanical stopper and the adjustable
mechanical stopper. If there is evidence of a collision on the stopper, replace the parts.
x Check the tightness of the stopper mounting bolts. If they are loose, retighten them.
x Refer to Section 6.2 of the operator’s manual for details regarding the adjustable mechanical stopper.
Check the tightness of bolts.

ボルトの緩みがないことを確認する

Fig. 7.2.4 (a) Check of fixed mechanical stopper and adjustable mechanical stopper
- 50 -
7.2.5 Check of Purge Piping and Drain Holes

Confirm there is no breakage on purge piping. Remove the seal bolts of the drain holes and check there is
no water inside. Be sure to attach seal bolts after checks. When reusing seal bolts, be sure to wind those
with seal tape.
Piping route of the purge air

B パージエアの配管経路
(DRY AIR A)
（DRY AIR A）
D
パージエアの配管経路
Piping route of the purge air
（DRY
(DRY AIRAIR
B) B）
A C
DRY AIR A
DRY AIR B
Detail
詳細
Piping connection
配管の接続部
(DRY AIRAIR
（DRY A) A）
ボルト
Bolt
Bolt
ボルト
B
A
Piping connection
配管の接続部
(DRY AIRAIR
（DRY B) B）
ボルト
Bolt
Bolt
ボルト
D
C
Fig. 7.2.5 (a) Check of purge piping
- 51 -
Drain hole 2
ドレイン穴2
M6X8（シールボルト）
M6 x 8 (seal bolt)
Drain hole 1
ドレイン穴1
M6X8（シールボルト）
M6 x 8 (seal bolt)
Fig. 7.2.5 (b) Check of drain holes
7.2.6 Check of Debris Cover

Confirm there is no gap and abnormal abrasion on the debris covers of the reducer outer circumference.
J3
デブリカバー
Debris cover Debris
デブリカバーcover
J2
J3 J1
J2
Debris
デブリカバー cover
J1
Fig. 7.2.6 (a) Check of debris covers
- 52 -
7.3 MAINTENANCE
7.3.1 Replacing the Batteries (1.5 year Periodic Maintenance)

The position data of each axis is preserved by the backup batteries. The batteries need to be replaced
every 1.5 year. Also use the following procedure to replace when the backup battery voltage drop alarm
occurs.
Procedure of replacing the battery

1 Press the EMERGENCY STOP button to stop the robot motion.
CAUTION
Be sure to keep the power turning on. Replacing the batteries with the power
turned off causes all current position data to be lost. Therefore, mastering will be
required again.
2 Stop the air purge of the DRY A.

3 Remove bolts M6 x 12SUS, and then removes the plate.
4 Remove the battery case cap. (Fig. 7.3.1 (a))
5 Take out the old batteries from the battery case.
6 Insert new batteries into the battery case while observing their correct direction.
7 Close the battery case cap.
8 Attach the plate.
9 Restart the air purge of the DRY A.
ボルト
Bolt
M6X12
M6 x 12SUS
SUS（8個）
(8 pcs)
Plate
プレート
Battery case Battery spec. :A98L-0031-0005

バッテリ仕様:A98L-0031-0005 Case cap
バッテリケースケースキャップ
(D(単一アルカリバッテリ
battery 4 pcs) 4本)
Fig. 7.3.1 (a) Replacing the battery
- 53 -
7.3.2 Replacing the Oil of the Drive Mechanism

(1 year (3840 hours) Periodic Maintenance)
According to below, replace the oil of the reducers of J1, J2, and J3 axes, J4/J5/J6-axis gearbox and the
wrist at the intervals based on every 1 year or 3840 hours, whichever comes first. See Table 7.3.2 (a) for
the oil name and the quantity.
Table 7.3.2 (a) Oil for 1-year (3840 hours) periodical replacement
Models Oiling point Quantity Gun tip pressure Specified oil
J1-axis reducer 4440g (5100ml)
Kyodo yushi
RV OIL SB150
R-2000iC/210WE J4/J5/J6-axis gearbox 1740g (2000ml) 0.15MPa or less
Spec :
wrist 1 (J4/J5-axis reducer) 2230g (2560ml)
A98L-0040-0323
wrist 2 (J6-axis gear) 130g (140ml)
wrist 3 (J6-axis reducer) 350g (400ml)
For oil replacement or replenishment, use the posture indicated below.
Table 7.3.2 (b) Postures for oiling

Posture
Supply position
J1 J2 J3 J4 J5 J6
J1-axis reducer Arbitrary
Arbitrary
J2-axis reducer 0°
Arbitrary Arbitrary Arbitrary
J3-axis reducer Arbitrary 0° 0°
J4/J5/J6-axis gearbox 0°
Arbitrary
Wrist 0° 90° 0° 0°
- 54 -
Oil replacement procedure of the J1/J2/J3-axis reducer

1 Move the robot to the oiling posture described in Table 7.3.2 (b).
2 Turn off controller power.
3 Put an oil pan or the like under the oil outlet.
4 Remove seal bolts of the oil outlet and the ventilator hole, then drain all oil.
5 Install the seal bolt in the oil outlet. When reusing the seal bolts, be sure to seal them with seal tape.
6 Remove the taper plug of the oil inlet.
7 Add the specified oil and quantity as shown in Table 7.3.2 (a) to each axis at the oil inlet for each
axis. Note: Measure the amount carefully and account for any spillage to ensure that appropriate
amount is added to each axis.
8 Attach taper plugs in the oil inlet and ventilator hole. When reusing the taper plugs, be sure to seal
them with seal tape.
J1減速機用給油口
J1-axis reducer oil inlet
テーパプラグ R3/4
taper plug R3/4
Upper
上面図 side
J2軸減速機用排油口
J2-axis reducer
J2-axis reducer oil inlet
J2軸減速機用給油口 M12x15（シールボルト）
oil outlet
テーパプラグ
taper plug R3/4 R3/4 M12 x 15 (seal bolt)
J1-axis reducer
J1軸減速機用空気口
M12x15（シールボルト）
ventilator hole
M12 x 15 (seal bolt)
Right side Front

正面図 side
右側面図
J2-axis reducer
ventilator hole
J1-axis reducer
oil outlet
左側面図
Left side
Fig. 7.3.2 (a) Replacing oil of the J1/J2-axis reducer
- 55 -
J3-axis reducer
J3減速機用給油口
oil inlet
taper plug R3/4
Upper
上面図 side
J3-axis reducer
ventilator hole
J3-axis reducer
oil outlet
Left
左側面図 side
背面図
Right side
Fig. 7.3.2 (b) Replacing oil of the J3-axis reducer
- 56 -
Oil replacement procedure of the J4/J5/J6-axis gearbox

3 Put an oil pan or the like under the oil outlet.
4 Remove seal bolts of the oil outlet and the ventilator hole, then drain all oil.
5 Install the seal bolt in the oil outlet. When reusing the seal bolts, be sure to seal them with seal tape.
6 Remove the taper plug of the oil inlet.
7 Add the specified oil and quantity as shown in Table 7.3.2 (a) to the oil inlet. Note: Measure the
amount carefully and account for any spillage to ensure that appropriate amount is added.
8 Attach taper plugs in the oil inlet and ventilator hole. When reusing the taper plugs, be sure to seal
them with seal tape.
J4/J5/J6-axis gearbox
J4/J5/J6軸
oil inlet ギヤボックス給油口
taper plug R3/4
Upper
上面図 side
ventilator hole
J4/J5/J6軸ギヤボックス空気口
M12 x 15 （シールボルト）
M12X15 (seal bolt)
J4/J5/J6軸ギヤボックス排油口
oil outlet
M12X15 （シールボルト）
左側面図
Left side Right
右側面図side
Fig. 7.3.2 (c) Replacing oil of the J4/J5/J6-axis gearbox
- 57 -
Oil Replacement Procedure for the Wrist

3 Put an oil pan or the like under the wrist oil outlet 1.
4 Remove seal bolts of the wrist oil outlet 1 and the wrist ventilator hole 1, then drain all oil. (Fig.
7.3.2 (d))
5 Install the seal bolt in the wrist oil outlet 1. When reusing the seal bolts, be sure to seal them with
seal tape.
6 Remove the taper plug of the wrist oil inlet 1.
7 Add the specified oil and quantity as shown in Table 7.3.2 (a) to the wrist 1 at the wrist oil inlet 1.
Note: Measure the amount carefully and account for any spillage to ensure that appropriate amount
is added.
8 Attach taper plugs in the wrist oil inlet 1 and wrist ventilator hole 1. When reusing the taper plugs,
be sure to seal them with seal tape.
9 Perform same procedure for wrist oil inlet 2 and 3.
手首給油口1
Wrist oil inlet 1
テーパプラグ
taper plug R1/8 R1/8
Wrist ventilator hole 1
手首空気口1 Wrist ventilator hole 3
手首空気口3
テーパプラグ
taper R1/8
plug R1/8 taper plug R1/8
手首給油口3
Wrist oil inlet 3
テーパプラグ
上面図side
Upper
Wrist ventilator hole 2

手首空気口2 Wrist oil inlet 2
手首給油口2
テーパプラグ
taper plug R1/4R1/4 テーパプラグ
右側面図
Right side 左側面図
Left side
手首排油口2
Wrist oil outlet 2 Wrist oil outlet 2
手首排油口2
テーパプラグ
taper plug R1/8 R1/8 テーパプラグ
taper plug R1/8R1/8
Wrist oil outlet 1

手首排油口1
テーパプラグ
taper plug R1/8R1/8 Wrist oil outlet 3
手首排油口3
M6M6X6 （シールボルト）
x 6 (seal bolt)
底面図side
Bottom
Fig. 7.3.2 (d) Replacing oil of the wrist
Table 7.3.2 (c) Specification of seal bolts and taper plugs

Parts name Specification
Seal bolt (M6) A97L-0218-0417#060606S
Seal bolt (M12) A97L-0218-0417#121515S
Taper plug (R1/4) A97L-0001-0436#2-2SUS-D
Taper plug (R3/4) A97L-0001-0436#2-6SUD-D
Taper plug (R1/8) A97L-0001-0436#2-1SUS-D
- 58 -
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. Use specified oil. Use of
non-approved oil may damage the reducer or lead to other problems.
7.4 STORAGE
When storing the robot, place it on a level surface with the same posture that was used for transportation.
(See Section 1.1.)
- 59 -
8. MASTERING B-84014EN/02
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
In case of performing mastering with gravity compensation 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 becomes necessary after:
x Motor replacement.
x Pulsecoder replacement
x Reducer replacement
x Cable replacement
x 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.
Types of Mastering
Table 8.1 (a) describes the following mastering methods.
Table 8.1 (a) Type of mastering

This is performed using a mastering fixture before the machine is shipped from the
Fixture position mastering
factory.
This is performed with all axes set at the 0-degree position. A zero-position mark
Zero-position mastering
(witness mark) is attached to each robot axis. This mastering is performed with all
(witness mark mastering)
axes 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
Quick mastering 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. (All axes at the
same time)
This is performed at a user-specified position for one axis. The corresponding count
Quick mastering for single value is obtained from the rotation count of the Pulsecoder connected to the relevant
axis 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.
This is performed for one axis at a time. The mastering position for each axis can be
Single-axis mastering
specified by the user. This is useful in performing mastering on a specific axis.
Mastering data entry Mastering data is entered directly.
- 60 -
B-84014EN/02 8. MASTERING
Once mastering is performed, you must carry out positioning, or calibration. Positioning is an operation in
which the controller reads the current pulse count value to sense the current position of the robot.
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.
CAUTION
1 If mastering is performed incorrectly, the positioner may behave unexpectedly.
This is very dangerous. Therefore, the positioning screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5 [DONE] on the positioning screen. The $MASTER_ENB
system variable is reset to 0 automatically, thus hiding the positioning screen.
2 It is recommended that you back up the current mastering data before
performing mastering.
8.2 RESETTING ALARMS AND PREPARING FOR

MASTERING
Before performing mastering because a motor has been replaced, it is necessary to 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 the steps 1 to 6.
1 Press the [MENU] key.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 ([TYPE]), and select [Variable] from the menu.
4 Place the cursor on $MASTER_ENB, then key in “1” and press the [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.

1 Press the [MENU] key.
2 Press [0 NEXT] and select [6 SYSTEM].
3 Press F1 ([TYPE]), and select [Master/Cal] from the menu.
4 Press F3 ([RES_PCA]), then press F4 ([YES]).
5 Cycle power of the controller.
3 To reset the “SRVO-075 Pulse not established” alarm, follow the steps 1 to 2.
1 After cycling controller power, 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 the [RESET] key.
- 61 -
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, and might not be highly accurate. It should be used only
as a quick-fix method.
Zero-position Mastering Procedure

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
$PARAM_GROUP.SV_OFF_ENB[*] : FALSE (for all axes)
After changing the system variables, cycle power of the controller.

7 Press F1 [TYPE], display the screen change menu.
8 Select [Master/Cal]. The positioning screen will be displayed.
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
- 62 -
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.

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 the 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 (NOTE) When J2-axis is 0 deg.
J4-axis 0 deg
J5-axis 0 deg
J6-axis 0 deg
- 63 -
J4
A
B
J3
矢視A
VIEW A
J6
J2 C
矢視B
VIEW B
J5
矢視
VIEWC
C
J1
Positioning
位置合わせマーク mark
J1
J1 J2 J3
J2 J3
J4
J4 J5
J5 J6
J6
Fig. 8.3 (a) Zero-position mark (witness mark) for each axis
- 64 -
8.4 QUICK MASTERING

Quick mastering is performed at a user-specified position for each 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 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). If possible, do not change
the setting.
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 Pulsecoder is replaced or after the
mastering data is lost from the robot controller.
Procedure Recording the Quick Mastering Reference Position

NOTE
$PARAM_GROUP[group].$SV_DMY_LNK[8] ：FALSE (disabled) or TRUE
(enabled)
- 65 -
5 Select [6 SYSTEM].

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 is
saved.

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 to restore mastering data.
- 66 -
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 Move the cursor to [3 QUICK MASTER] and press the [ENTER] key. Press F4 [YES]. Quick
mastering data is saved.

3 QUICK MASTER
8 Select [7 CALIBRATE] and press the [ENTER] key. Calibration is executed. Calibration is
executed by cycling power.
9 After completing the calibration, press F5 [DONE].
DONE
F5

- 67 -
8.5 QUICK MASTERING FOR SINGLE AXIS

Quick mastering for a single axis 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 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). If possible, do not change
the setting.
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 Pulsecoder is replaced or after the
mastering data is lost from the robot controller.
Procedure Recording the Quick Mastering Reference Position

NOTE
(enabled)
TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
- 68 -
8 Select [6 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.

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 to restore mastering data.
Procedure of Quick Mastering for single axis

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

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
- 69 -
6 Select [4 QUICK MASTER FOR SINGLE AXIS]. You will see the quick master for single axis
screen.
AUTO JOINT 1%
[ QUICK MASTER FOR SINGLE AXIS

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.
AUTO JOIN 1%
QUICK MASTER FOR SINGLE AXIS

1/9
J5 0.000 ( 0.000) (1) [2]
J6 0.000 ( 0.000) (1) [2]
EXEC

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 F4 [YES]. Calibration is executed. Calibration is executed by
cycling power.
11 After completing the calibration, press F5 [DONE].
DONE
F5

- 70 -
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.
SINGLE AXIS MASTER AUTO J OINT 10%

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
(MSTR POS) would be convenient to set to it to the 0_ 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)
- 71 -

TORQUE = [ON ]
3 QUICK MASTER
7 CALIBRATE
7 Select [5 SINGLE AXIS MASTER]. The following screen will be displayed.
SINGLE AXIS MASTER AUTO JO INT 10%

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 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.
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.
SINGLE AXIS MASTER AUTO JOINT 10%

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
- 72 -
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

- 73 -
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.
AUTO
SYSTEM Variables JOINT 1%
TORQUE = [ON]
1 $AO_MAXAX 536870912
2 $AP_PLUGGED 4
3 $AP_TOTALAX 1677216
4 $AP_USENUM [12] of Byte
5 $AUTOINIT 2
6 $BLT 19920216
[ TYPE ]
3 Change the mastering data.

The mastering data is saved to the $DMR_GRP.$MASTER_COUN system variable.
AUTO
TORQUE = [ON]
135 $DMR_GRP DMR_GRP_T
136 $ENC_STAT [2] of ENC STATT
[ TYPE ]
4 Select $DMR_GRP.
AUTO
$DMR_GRP 1/1
1 [1] DMR_GRP_T
AUTO
$DMR_GRP 1/29
1 $MASTER_DONE FALSE
2 $OT_MINUS [9] of BOOLEAN
3 $OT_PLUS [9] of BOOLEAN
4 $MASTER_COUNT [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 ] TRUE FALSE
- 74 -
5 Select $MASTER_COUN, and enter the mastering data you have recorded.
AUTO
$DMR GRP 1/1

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
6 Press the [PREV] key.

7 Set $MASTER_DONE to TRUE.
AUTO
$DMR GRP 1/1

1 $MASTER_DONE TRUE
2 $OT MINUS [9] of BOOLEAN
[TYPE] TRUE FALSE
8 Display the positioning screen, and select [7 CALIBRATE], then press F4 [YES].
9 After completing positioning, press F5 [DONE].
DONE
F5
- 75 -
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.
- 76 -
B-84014EN/02 9. TROUBLESHOOTING
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 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 the cause of a failure or which measures to take, contact your
local FANUC representative.
Table 9.1 (a) TROUBLESHOOTING

Symptoms Descriptions Causes Measures
Vibration - As the robot operates, its [Base plate and floor plate - Re-weld the base plate to
Noise base plate lifts off the floor fastening] the floor plate.
plate. - It is likely that the base - If the weld is not strong
- There is a gap between the plate is not securely enough, increase its width
base plate and the floor fastened to the floor plate and length.
plate. because of poor welding.
- There is a crack in the weld - If the base plate is not
that fastens the base plate securely fastened to the
to the floor plate. floor plate, it lifts as the
robot operates, allowing the
base and floor plates to
strike each other which, in
turn, leads to vibration.
- The J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
base 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 base plate. - Adjust the base plate
J1 base and base plate. - Probable causes are a surface flatness to within
- A J1 base retaining bolt is loose bolt, an insufficient the specified tolerance.
loose. degree of surface flatness, - If there is any foreign
or foreign material caught material between the J1
between the base plate and base and base plate,
floor plate. remove it.
- If the robot is not securely - Apply adhesive between
fastened to the floor plate, the J1 base and base plate.
the J1 base lifts the floor
plate as the robot operates,
allowing the base and floor
plates to strike each other.
That, 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 rigid enough. - If reinforcing the rack or
- If they are not rigid enough, floor is impossible, modify
counterforce can deform the robot control program;
the rack or floor, and doing so might reduce the
causes vibration. vibration.
- 77 -
9. TROUBLESHOOTING B-84014EN/02

Vibration - Vibration becomes more [Overload] - Check the maximum load
Noise serious when the robot - It is likely that the load on that the robot can handle
(Continued) adopts a specific posture. the robot is greater than the once more. If the robot is
- If the operating speed of maximum rating. overloaded, reduce the
the robot is reduced, - It is likely that the robot load, or modify the robot
vibration stops. control program is too control program.
- Vibration is most noticeable demanding for the robot - Vibration can be reduced
when the robot is hardware. by re-modifying the robot
accelerating. - It is likely that the control program; reducing
- Vibration occurs when two ACCELERATION value is speed or acceleration with
or more axes operate at the excessive. minimizing the influence on
same time. the entire cycle time.
- Vibration or noise was first [Broken gear, bearing, or - Operate one axis at a time
noticed after the robot reducer] to determine which axis is
collided with an object or - It is likely that collision or vibrating.
the robot was overloaded overload applied an - Remove the motor, and
for a long period. excessive force on the replace the gear, the
- The oil of the vibrating or drive mechanism, thus bearing, and the reducer.
noise occurring axis has damaging the gear tooth For the spec. of parts and
not been replaced for a surface or rolling surface of the method of replacement,
long period. a bearing, or reducer. contact your local FANUC
- Cyclical vibration and noise - Prolonged overloaded use representative.
occur. may cause fretting fatigue - Using the robot within its
on gear tooth surface or maximum rating prevents
rolling surface of bearing problems with the drive
and reducer. mechanism.
- It is likely that foreign - Regularly greasing with the
material caught in a gear, specified oil can help
bearing, or within a reducer prevent problems.
has caused damage on the
gear tooth surface or rolling
surface of the bearing, or
reducer.
- It is likely that foreign
material caught in a gear,
bearing, or within a reducer
is causing vibration.
- It is likely that, because the
oil has not been changed
for a long period, fretting
occurred on the gear tooth
surface or rolling surface of
a bearing, or reducer due to
metal fatigue by neglect
greasing.
- 78 -

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, preventing troubleshooting related to
rack, or mechanical unit. control commands from the controller and amplifier.
being supplied to the motor - Replace the motor of the
normally, or preventing
axis that is vibrating, and
motor information from
check whether vibration still
being sent to the controller
normally, vibration might occurs. For the method of
occur. replacement, contact your
- Pulsecoder defect may be local FANUC
the cause of the vibration representative.
as the motor cannot - If vibration occurs only
propagate the accurate when the robot assumes a
position to the controller. specific posture, it is likely
- If the motor becomes that there is a mechanical
defective, vibration might problem.
occur because the motor - Shake the movable part
cannot deliver its rated cable while the robot is at
performance. rest, and check whether an
- If a power line in a movable alarm occurs. If an alarm or
cable of the mechanical any other abnormality
unit has an intermittent occurs, replace the
break, vibration might occur mechanical unit cable.
because the motor cannot - Check whether the cable
accurately respond to jacket of the robot
commands. connection cable is
- If a Pulsecoder wire in a damaged. If so, replace the
movable part of the connection cable, and
mechanical unit has an check whether vibration still
intermittent break, vibration occurs.
might occur because - Check whether the power
commands cannot be sent cable jacket is damaged. If
to the motor accurately. so, replace the power
- If a robot connection cable cable, and check whether
has an intermittent break, vibration still occurs.
vibration might occur. - Check that the robot is
- If the power supply cable is supplied with the rated
about to be snapped, voltage.
vibration might occur. - Check that the robot control
- If the power source voltage parameter is set to a valid
drops below the rating, value. If it is set to an
vibration might occur. invalid value, correct it.
- It may vibrate when an Contact your local FANUC
invalid value parameter representative for further
was set. information if necessary.
- There is some relationship [Noise from a nearby machine] - Connect the grounding wire
between the vibration of the - If the robot is not grounded firmly to ensure a reliable
robot and the operation of a properly, electrical noise ground potential thereby
machine near the robot. can be induced on the preventing extraneous
grounding 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
will lead to vibrate.
- 79 -

Rattling - While the robot is not [Mechanical unit mounting bolt] - Check the following
supplied with power, - It is likely that overloading retaining bolts tightness for
pushing it by hand wobbles or a collision has loosened each axis. If any of these
part of the mechanical unit. a mounting bolt in the robot bolts is loose, apply
- There is a gap on the mechanical unit. LOCTITE and bolt down
mounting face of the with appropriate torque.
mechanical unit. - Motor retaining bolt
- Reducer retaining bolt
- Reducer shaft retaining
bolt
- Base retaining bolt
- Arm retaining bolt
- Casing retaining bolt
- End effecter retaining bolt
Motor - The motor overheated due [Ambient temperature] - Reducing the ambient
overheat to the temperature in the - It is likely that the motor temperature is the most
installation area rose. overheated along with the effective means of
- After changing the Robot ambient temperature rose, preventing overheat.
control program or the load, and could not release heat. - Having the surroundings of
the motor overheat. [Operating condition] the motor well ventilated
- It is likely that the enables the motor to
overcurrent is above the release heat efficiently,
specified permissive thus preventing overheat.
average current. - If there is a source of heat
near the motor, it is
advisable to install
shielding to protect the
motor from heat radiation.
- Relaxing the robot control
program and load condition
is an effective way 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 workpiece appropriate parameter
etc.) was changed, the is invalid, the robot cannot referring to Section 4.3 of
motor overheated. be accelerate or decelerate the operator’s manual.
normally, so the average
current increases, leading
to the motor overheating.
- 80 -

Motor - Symptom other than stated [Mechanical section problems] - Repair the mechanical unit
overheat above - It is likely that problems 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 applied
the motor brake resulted in to the motor all the time,
the motor running with the replace the motor.
brake applied, thus placing - Judgment is possible if the
an excessive load on the average current decreased
motor. after replacing the motor,
- It is likely that a failure of the former motor had been
the motor prevented it from defected.
delivering its rated
performance, thus causing
an excessive current to flow
through the motor.
Oil - Oil leaks from the [Poor sealing] - If the casting cracks,
leakage mechanical unit. - Probable causes are a sealant can be used as a
crack in the casting, a quick-fix to prevent further
damaged O-ring, a oil leakage. However, the
damaged oil seal, or a component must be
loose seal bolt. replaced as soon as
- The casting may crack with possible, as the crack will
excessive force caused in widen.
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 - Reducer (case and shaft)
re-assembling. coupling section
- An debris cover or oil seal - Wrist coupling section
may be damaged if dust - J3 arm coupling section
scratches the lip. - Inside the wrist
- A loose seal bolt or a taper - Oil seals are used in the
plug may allow oil to leak locations stated below.
along the threads. - Inside the reducer
- Inside the wrist
- Seal bolts and taper plugs
are used in the locations
stated below.
- Oil inlet/outlet
- Oil ventilator hole
- Drain hole
- Debris covers are used in
the locations stated below.
- Surrounding of the J1 to
J3-axis reducers
- 81 -

Dropping - An axis falls because the [Brake drive relay and motor] - Check whether the brake
axis brake went out. - It is likely that brake drive drive relays are stuck to
- An axis falls while standing relay contacts are stuck to each other or not. If they
still. each other and keep the are found to be stuck,
brake current flowing, thus replace the relays.
preventing the brake from - Replace the motor after
operating when the motor is confirming whether the
reenergized. following symptoms have
- It is likely that the brake occurred.
shoe has worn out or the - Brake shoe is worn out
brake main body is - Brake main body is
damaged, preventing the damaged
brake from operating - Oil soaked through the
efficiently. motor
- It is likely that oil soak
through the motor, causing
the brake to slip.
Displace- - The robot moves to a point [Mechanical unit problems] - If the repeatability is
ment other than the taught - If the repeatability is unstable, repair the
position. unstable, probable causes mechanical unit by referring
- The repeatability is not are a failure in the drive to the above descriptions of
within the tolerance. mechanism or a loose bolt, vibration, noise, and
and so on. rattling.
- If the repeatability is stable, - If the repeatability is stable,
it is likely that collision by correct the taught program.
an excessive load caused Variation will not occur
slip on the fasting surface unless another collision
of each axis arm, and occurs.
reducer. - If the Pulsecoder is
- It is likely that the abnormal, replace the
Pulsecoder is abnormal. motor.
- Displacement occurs only [Peripheral equipment - Correct the setting of the
in a specific peripheral displacement] peripheral equipment
equipment. - It is likely that an external position.
force was applied to the - Correct the taught program.
peripheral equipment, thus
shifting its position relative
to the robot.
- Displacement occurred [Parameter] - Re-enter the previous
after a parameter was - It is likely that the mastering optimal mastering data.
changed. data was overwritten, and - If correct mastering data is
the origin had misaligned. unavailable, perform
mastering again.
BZAL alarm - BZAL is displayed on the - The voltage of the memory - Replace the battery.
displayed teach pendant screen backup battery may be low. - Replace the cable.
- The Pulsecoder cable may
be broken.
- 82 -
APPENDIX
B-84014EN/02 APPENDIX A. PERIODIC MAINTENANCE TABLE
A PERIODIC MAINTENANCE TABLE
- 85 -
A. PERIODIC MAINTENANCE TABLE APPENDIX B-84014EN/02
FANUC Robot R-2000iC/210WE Periodic Maintenance Table
Accumulated operating
time (H) Check Oil First 3 6 9 1 2
time amount check months months months year years
Items 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check for external
1 0.1H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
damage
Check damages of the
2 mechanical unit cable 0.2H ― ○ ○ ○
(movable part)
Check damage of the end
3 0.1H ― ○ ○ ○
effector (hand) cable
Check looseness of
4 0.2H ― ○ ○ ○
exposed connector
Retightening the
5 0.2H ― ○ ○ ○
end effector mounting bolts
Retightening the
6 2.0H ― ○ ○ ○
external main bolts
Check the fixed mechanical
7 stopper and the adjustable 0.1H ― ○ ○ ○
mechanical stopper
Clean spatters,
8 1.0H ― ○ ○ ○
Mechanical unit
sawdust and dust

Check of purge piping and
9 0.1H ― ○ ○ ○
drain holes *1
10 Check of debris covers *1 0.1H ― ○ ○ ○

Replacing the oil of J1-axis
11 1.0H 5100ml ● ●
reducer *1
12 0.5H 4300ml ● ●
reducer *1
13 0.5H 2100ml ● ●
reducer *1
Replacing the oil of
14 0.5H 2000ml ● ●
J4/J5/J6-axis gearbox *1
Replacing oil of wrist axis 1
15 0.5H 2560ml ● ●
(J4, J5-axis) *1
16 0.5H 140ml ● ●
(J6 gear) *1
17 0.2H 400ml ● ●
(J6-axis reducer) *1
Replacing the mechanical
18 0.1H ― ●
unit Batteries *1 *3
Replacing the mechanical
19 4.0H ―
unit cable*
Cleaning the controller
20 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
ventilation system
Controller
Check damages
of the teach pendant cable,
21 the operation box connection 0.2H ― ○ ○ ○
cable and the robot
connection cable
22 Replacing battery *1 *3 0.1H ―
*1 For descriptions about the items marked with an asterisk (*), refer to “REPLACING UNITS
Chapter” of this manual or the following manuals.
MAINTENANCE MANUAL (B-83195EN)
*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 or 1.5 year, replace
controller batteries at 4 years.
- 86 -
B-84014EN/02 APPENDIX A. PERIODIC MAINTENANCE TABLE
3 4 5 6 7 8
Items
years years years years years years
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
● 22
- 87 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-84014EN/02
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.)
Refer to the following tables if the bolts tightening torque is 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) 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 ―――― ―――― ―――― ―――― ―――― ――――
- 88 -
B-84014EN/01 INDEX
INDEX
<A> <O>
ADJUSTABLE MECHANICAL STOPPER OVERVIEW ..................................................................60
AND LIMIT SWITCH SETTING (OPTION)............37
AIR PIPING (OPTION).................................................30 <P>
AIR SUPPLY (OPTION)...............................................29 Periodic Checks and Maintenance .................................45
AXIS LIMITS SETUP ...................................................33 PERIODIC MAINTENANCE TABLE .........................85
PIPING AND WIRING TO THE END
<B> EFFECTOR................................................................28
BASIC SPECIFICATIONS ...........................................13 PREFACE .................................................................... p-1
<C> <Q>
CHANGE AXIS LIMIT BY DCS (OPTION)................34 QUICK MASTERING...................................................65
Changing the Parameter Setting .....................................42 QUICK MASTERING FOR SINGLE AXIS .................68
Check of Debris Cover...................................................52
Check of Fixed Mechanical Stopper and <R>
Adjustable Mechanical Stopper..................................50 Replacing the Batteries (1.5 year Periodic
Check of Purge Piping and Drain Holes.........................51 Maintenance)..............................................................53
CHECK POINTS ...........................................................47 Replacing the Oil of the Drive Mechanism (1 year
Check the Mechanical Unit Cables and (3840 hours) Periodic Maintenance) ..........................54
Connectors..................................................................49 RESETTING ALARMS AND PREPARING
CHECKS AND MAINTENANCE ................................44 FOR MASTERING....................................................61
Confirmation of Oil Seepage..........................................47 ROBOT CONFIGURATION.........................................13
Confirmation of the Air Control Set or Air Purge
Kit (option) .................................................................48 <S>
CONNECTION WITH THE CONTROLLER...............12 SAFETY PRECAUTIONS ........................................... s-1
SINGLE AXIS MASTERING .......................................71
<D> STORAGE .....................................................................59
Daily Checks ..................................................................44 STRENGTH OF BOLT AND BOLT TORQUE
LIST ...........................................................................88
<E>
END EFFECTOR INSTALLATION TO WRIST .........24 <T>
EQUIPMENT INSTALLATION TO THE The Maximum Stopping Distance (Position) of
ROBOT ......................................................................24 Adjustable Mechanical Stopper..................................43
EQUIPMENT MOUNTING FACE ...............................25 TRANSPORTATION ......................................................1
TRANSPORTATION AND INSTALLATION...............1
<I> Transportation with an End Effector Attached.................4
INSTALLATION.............................................................5 TROUBLESHOOTING .................................................77
INSTALLATION CONDITIONS..................................11
Installation Method ..........................................................6 <V>
Installing Adjustable Mechanical Stopper Option..........38 VERIFYING MASTERING ..........................................76
INSTALLING THE AIR PURGE KIT ..........................32
INTERFACE FOR OPTION CABLE (OPTION)..........31 <W>
WRIST LOAD CONDITIONS ......................................22
<L>
LOAD CONDITIONS ON J2 BASE AND J3 <Z>
CASING .....................................................................23 ZERO POINT POSITION AND MOTION
LOAD SETTING ...........................................................26 LIMIT.........................................................................18
ZERO POSITION MASTERING ..................................62
<M>
MAINTENANCE ..........................................................53
MAINTENANCE AREA...............................................11
MASTERING ................................................................60
MASTERING DATA ENTRY ......................................74
MECHANICAL UNIT EXTERNAL
DIMENSIONS AND OPERATING SPACE .............17
i-1
B-84014EN/02 REVISION RECORD
REVISION RECORD
Edition Date Contents
・Change of the label and specification.
02 Apr., 2020 ・Addition of caution for cleaning fluid
・Correction of errors
01 Nov., 2017
r-1
B-84014EN/02
* B - 8 4 0 1 4 E N / 0 2 *

Fanuc r2000ic 210we Mechanical Manual

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< Robot R-2000+C/210WE

© FANUC CORPORATION, 2017

Thank you very much for purchasing FANUC Robot.

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

Programmer or Teaching operator:

- Operator is not allowed to work in the safety fence.

Table 1 (a) List of work outside the fence

• Use clothes, uniform, overall adequate for the work

2 DEFINITION OF SAFETY NOTATIONS

3 PROCEDURE TO MOVE ARM WITHOUT

In case of relasing J2-axis motor brake

Method of supporting Robot Arm

Eyebolt (M10) 2pcs

4 PRECAUTIONS FOR MECHANISMS

5 WARNING & CAUTION LABEL

Fig. 5 (a) Oiling label

(2) Step-on prohibitive label

Fig. 5 (b) Step-on prohibitive label

(3) High-temperature warning label

Fig. 5 (c) High-temperature warning label

(4) Transportation label

Fig. 5 (d) Transportation label

(5) Operating space and payload capacity label

Fig. 5 (e) Operating space and payload label

(6) Transportation caution label

アイボルトを横引 輸送部材に衝撃を 輸送部材にチェーン

Fig. 5 (f) Transportation prohibitive label

Fig. 5 (g) Transportation caution label

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

7.1 CHECKS AND MAINTENANCE .................................................................. 44

1 TRANSPORTATION AND INSTALLATION

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

(2) Transportation using a forklift (Fig. 1.1 (b))

Fig. 1.1 (a) Transportation using a crane

182 Center of gravity

Fig. 1.1 (b) Transportation using a forklift

1.1.1 Transportation with an End Effector Attached

Fig. 1.2 (a) Dimensions of the robot base

1.2.1 Installation Method

- Installation method I Fig. 1.2.1 (a)

- Installation method II Fig. 1.2.1 (b)

- Installation method III Fig. 1.2.1 (c)

The following parts are required to install the robot.

Required parts Remarks Methods I Methods II Methods III

1200 8-M20 through

M20 (12 pcs)

Tensile strength 400N/mm2 Floor plate

Fig. 1.2.1 (b) Installation methodⅡ

1200 8-M20 through

Section A-A Section B-B

Fig. 1.2.1 (c) Installation method Ⅲ

Table 1.2.1 (a) Force and moment during Power-Off stop

1.3 MAINTENANCE AREA

377 573 348 752

Fig. 1.3 (a) Maintenance area

アイボルトを横引輸送部材に衝撃を輸送部材にチェーン