FANUC Robotics Quick Reference Document

FANUC Robotics Quick Reference DocumentHere is the information you requested!Note: This short document was compiled at your request as a courtesy of the FANUC Robotics Technical Support Group.For detailed information, you should consult your FANUC Robotics technical manual.For more information, call our Hotline: 1800-iQ-ROBOT* Note: This document is provided as a courtesy and contains condensed and/or summarized information tailored to assist you with a specific issue. For additional and/ordetailed information, you must refer to the appropriate FANUC Robotics Manual or eDoc which specifically applies to the robotics system(s) at your location.& %"& ' *(,.) -;0; 61 (83 61/! 91#! (77 -645 -3 3 ?32#@45? 0;/A819@ /;9@-59? 2-9A/ ;.;@5/?V ; 51@- E 592; 8-@5;9 @4-@ 5? /;925019@5-7 @; 2-9A/ ;.;@5/? -90 /A?@;81 ? C5@4 01?539-@10 ;.;@ 8;017? ; ?;2@C- 1@; @41 1D@19@ 1 85@@10 .E 7-C# @41 592; 8-@5;9 /;9@-5910 41 159# 59/7A0593# C5@4;A@ 7585@-@5;9# -77 59@1 91@ ?5@1? 121 19/10 41 159# 5? ;B5010 !-? 5?!# C5@4;A@ C- -9@E ;2 -9E 6590# 15@41 1D 1? ; 58 7510# 59/7A0593# .A@ 9;@7585@10 @;# C- -9@51? ;2 81 /4-9@-.575@E# 25@91? 2; - - @5/A7- A ;?1# 175-.575@E ; -//A -/E%915@41 2-9A/ ;.;@5/? 9; -9E;91 C4; 417 10 01B17; # / 1-@1 ; 0175B1 @41 592; 8-@5;9 /;9@-5910 41 159 5? 75-.71 2; -9E 0-8-31?# 59/7A0593# C5@4;A@ 7585@-@5;9# 5905 1/@# 59/5019@-7# ? 1/5-7 ; /;9?1 A19@5-7 0-8-31?# 17-@10 @;E;A A?1 ;2 ; 59-.575@E @; A?1 @41 592; 8-@5;9 ; 2; @41 1?A7@? ; /;9?1 A19/1? ;2 -9E -@@18 @ .E E;A @; -0- @ -9E ;2 @41 592; 8-@5;9 2; E;A - @5/A7- A ;?1? ; 9110?% 5@ 18-59? E;A 1? ;9?5.575@E @; @-61 -77 ?@1 ?91/1?- E @; 19?A 1 @41 ?-21@E ;2 E;A 1 ?;9917 59 E;A C; 6 7-/1 -90 E;A ; 3-95F-@5;9"? /;8 75-9/1 C5@4 -77 ?-21@E 13A7-@5;9?%

B–80795EN/011II. CONNECTION1. ROBOT EXTERNAL DIMENSIONRO B O TEXTERN A L D I M EN S I O NF ig . 1 sh ow sth e externa l dim ensionsof th erobot. W h en insta llingperiph era ldev ices, beca reful to clea ra w a ya nyobjectsth a ta rein therobot’sm otion pa th in norm a lopera tion.F ig . 1 Externa ldim ensions91

2. MOUNTING DEVICE TO THE ROBOT2II. CONNECTIONM O UN TIN G D EVI C E TO TH E RO B O T92B–80795EN/01

II. CONNECTIONB–80795EN/01F ig . 2.1(a ) sh ow sth ea llow a blera ng eforth ecenterof loa dg ra v ityfora loa d of 50kg . W h en using th erobot, keep th ecenterof loa d g ra v ityw ith in th eindica tedra ng e.If th ev ertica ldista ncefrom th ew ristfla ng etoth ecenterof loa dg ra v ityis30cm orm ore, th elim iton th em a xim um w ristsection loa d follow sth ecurv esh ow n in F ig . 2.1(b). Ensureth a tth eloa ddoesnotexceedtheindica tedra ng e.Vertical distance from the wrist flangeto the center of load gravity Lv(cm)Horizontal distance fromthe center of rotation ofthe J4–axis to theLh (cm)center of gravityAllowable range for thecenter of load gravity(Load is 50kg)F ig . 2.1(a ) A llow a blera ng eforth ecenterof loa dg ra v ityLimit on the load when vertical distanceLv from the wrist flange to the center ofload gravity is 30 cm or moreLoad W (kg)2.1W RIS TS EC TIO NL O A D C O N DI TIO N2. MOUNTING DEVICE TO THE ROBOTHorizontal distance Lh (cm) from the center ofthe J4 axis (point A) to the center of load gravityF ig . 2.1(b) M a xim um w ristsection loa d(forL v9330 cm )

2. MOUNTING DEVICE TO THE ROBOT2.2C O UP L I N G O F EN DEF F EC TO RTOW RIS TII. CONNECTIONB–80795EN/01F ig . 2.2sh ow sth eendeffectorm ounting surfa cea tth eendof th ew rist.C h oose bolts a nd positioning pits, considering th e depth of thecorresponding h oles.6–M10 Depth 16P.C.D90 Identical intervalson the circumference2– 10H8 Depth 8P.C.D90 Identical intervalson the circumferenceF ig . 2.2 Endeffectorm ounting fa ce94

B–80795EN/012.3EQ UIP M EN TM O UN TIN GS URF A C EII. CONNECTION2. MOUNTING DEVICE TO THE ROBOTTh erea refourM 6 ta ppedh oleson th etop of th erobotJ2–/J3–a xisa rm ,a ssh ow n in F ig . 2.3. Th esea reprov ided to ena bleth em ounting of adev icesuch a sa cableh older. Useboltsh av ing a th rea dleng th of no m oreth a n 10m m .4–M6 depth 124–M6 depth 12CoverCover mountingbutton boltM6 8CoverCover mountingbutton boltM6 8F ig . 2.3D im ensionsof th eequipm entm ounting surfa ce95

2. MOUNTING DEVICE TO THE ROBOT2.4A I RS UP P LY(O P TIO N )II. CONNECTIONB–80795EN/01Th erea retw o a ir–pressureopening son th epedesta l. Th econnectorisaR3/8 (P T 3/8 ) fem a le. A scoupling a renotsupplied, itw illbenecessa ryto prepa recoupling sw h ich suittoth eh osesize.Air hoseOuter diameter 16Inner diameter 9.5Cable trackPanel unionR3/8 (PT3/8) Female(Outlet)Pipe connection pathInletPanel unionR3/8 (PT3/8) Female(Inlet)F ig . 2.4A ir–pressuresupplyconnection96Outlet

B–80795EN/012.5I N TERF A C E F O REN D EF F EC TO RII. CONNECTION2. MOUNTING DEVICE TO THE ROBOTF ig . 2.5(a ) sh ow sth eposition of th eendeffectorinterfa ce. Endeffectorinterfa ceisprepa reda sba sic function.F ig . 2.5(b) sh ow sth epin la youtforth eend effectorinterfa ce(EE).End effector interface (EE)F ig . 2.5(a ) Interfa ceforendeffectorEnd effector interface (EE) (Wrist side)EndeffectorThe customer shouldprepare these devicesControlunit*HBK : Wrist breakage detection signal*PPABN : Pneumatic error signalF ig . 2.5(b) P in la youtforendeffectorinterfa ce(EE)97

2. MOUNTING DEVICE TO THE ROBOT2.6S ERVO H A N D C A B L EI N TERF A C E (O P TIO N )II. CONNECTIONB–80795EN/01F ig . 2.6 (a ) sh ow sth eposition of th eserv o h a ndca bleinterfa ce. F ig . 2.6(b) sh ow s th e pin config ura tion of th e serv o h a nd ca ble interfa ceconnector.N O TEUsers wishing to use this interface should contact theappropriate FANUC representative.Servo hand cable interface (M5M1)Servo hand cable interface (M5P1)F ig . 2.6 (a ) Serv o h a ndca bleinterfa cepositionUser interface (M5M1) (Wrist side)EndeffectorThe customer shouldprepare these devices.User interface (M5P1) (Wrist side)EndeffectorThe customer shouldprepare these devices.Control unitF ig . 2.6 (b) S erv o h a ndca bleinterfa ceconnectorpin config ura tion98

B–80795EN/013II. CONNECTIONTRA N S P O RTA TIO N A N D I N S TA L L A TIO N993. TRANSPORTATION ANDINSTALLATION

3. TRANSPORTATION ANDINSTALLATION3.1TRA N S P O RTA TIO NII. CONNECTIONB–80795EN/01Th erobotca n betransportedusing a crane. To liftth erobot, atta ch ropestoth efourM 20eyeboltson top of th ev ertica la xiscolum n. K eep thea ng leof th ecra new h ilesuspendedw ith in 6 0deg rees.Th eoptiona ltra nsportation m em ber, sh ow n in th efig ure, isa v a ila bletoprev entth erobotfrom fa lling ov erin storag eorin transit. N oteth a tw h enth etra nsportation m em beris used, itsh ould be rem ov ed upon sa fedeliv eryora fterinsta lla tion. (SeeF ig . 3.1)Transport equipment (option)Note) 1 Machine weight 1.3ton2 The eye bolt shall complywith JIS B1168.3 Prepare four eye bolts andtwo slings.Center ofgravityAttitude in transitJ1 axisJ2 axisJ3 axisJ4 axisCrane capacity : 2.5tonSling capacity : 1.0tonM20 Eye bolt (4pcs)Center of gravityF ig .3.1 Tra nsportation bycra ne100

B–80795EN/013.2I N S TA L L A TIO N3. TRANSPORTATION ANDINSTALLATIONII. CONNECTIONB a sica lly, th e robotsh ould be fa stened using founda tion bolts. Th ecustom erisresponsibleforperform ing th enecessa ryfounda tion w ork.F ig . 3.2 (a ) sh ow sth einsta lla tion h oledim ensionsforth erobotba se,w h ileF ig . 3.2(b) sh ow sth erequiredfounda tion w ork. M a keth esurfa ceindica ted by“XXX”w ith th eprepa red referencepla neorpositioningpins, th en fa sten th erobotsecurely.F ig . 3.2(d) sh ow san a ctua lexa m pleof robotinsta llation. Th efloorplatesh ouldbeem beddedin concretea ndfa stenedw ith sixch em ica la nch orsM 20(Streng th cla ssifica tion 4.8 ).F ig . 3.2(e), Ta ble3.2sh ow sforceandm ov em enta ppliedtoth eba sepla teduring em erg encystop state.Front6– 24 through holeHole to mountPositioningsurfaceF ig . 3.2 (a ) Insta lla tion h oledim ensionsof th erobotba se101

3. TRANSPORTATION ANDINSTALLATIONII. CONNECTIONB–80795EN/01FrontThrough holesfor anchor boltsF ig .3.2 (b) B a sedia g ra mN O TEIf it is necessary to maintain the compatibility of the taughtpoints after the robot mechanical unit has been replaced,the customer should prepare an installation plate, as shownin Fig. 3.2 (c).Positioning surfacePositioning surfaceBottom board tosupport J1–axisF ig .3.2(c) Insta lla tion pla te102

B–80795EN/013. TRANSPORTATION ANDINSTALLATIONII. CONNECTIONChemical anchorsM20 (6 pieces)Strength class: 4.8Tightening torque:19 kgmFloorsurfaceF ig .3.2 (d) S a m pleinsta lla tionTa ble 3.2 F orcea ndm om enta cting a tem erg ency stop625 kgfm6,125 NmVertical moment: MVForce in vertical direction: FV1,540 kgf15,092 NHorizontal moment: MH1,845 kgfm18,081 NmForce in horizontal direction : FH103810 kgf7,938 N

3. TRANSPORTATION ANDINSTALLATIONII. CONNECTIONB–80795EN/01MVMHFHFVF ig . 3.2 (e) F orcea ndm om enta cting a tem erg encystop104

B–80795EN/013.3M A I N TEN A N C EA REA O FC O N TRO L L ERII. CONNECTION3. TRANSPORTATION ANDINSTALLATIONF ig . 3.3(a ) sh ow sth ela youtof m a intena ncea rea .Maintenance areaF ig . 3.3(a ) L a youtof m a intena ncespa ceD uring m a stering , th erobotm ustbein th ea ttitudesh ow n in F ig . 3.3(b).P rov idesufficientspa ceto a llow th erobotto a ssum eth isa ttitudew h enJ1 1000.105

3. TRANSPORTATION ANDINSTALLATIONII. CONNECTIONMastering position (standard position)AxisB–80795EN/01Mastering position (opposite position)Mastering positionAxisJ1 axisJ1 axisJ2 axisJ2 axisJ3 axisJ3 axisJ4 axisJ4 axisStandard positionMastering positionOpposite positionF ig . 3.3(b) M a stering posture106

B–80795EN/013.4A S S EM B LYA TTH EI N S TA L L A TIO N S I TEII. CONNECTION3. TRANSPORTATION ANDINSTALLATIONTh ecustom erisresponsibleforprepa ring a ca bleductto ca rryth eca blesbetw een th erobotcontrollera nd th erobotitself.Th e robot’s connection ca bles a re disconnected from th e J1–a xisconnectorpla te(on th econtrollerside, th ecablesa releftconnected) priorto sh ipping . Th eca blessh ould beconnected toth eJ1–a xisconnectorpla tea ssh ow n in F ig . 3.4. B eca reful notto stra in th eca blesw h enconnecting th em .Air supply portpanel unionR3/8 (PT3/8) Female(Inlet)F ig . 3.4 Robotm ech a nica lunitca bledistribution pa nel107

3. TRANSPORTATION ANDINSTALLATION3.5A I RP I P I N GII. CONNECTIONB–80795EN/01F ig . 3.5sh ow sa irpiping .To be prepared by the customerAir supply portpanel unionR3/8 (PT3/8) Female(Inlet)F ig . 3.5 A irpiping108

3.6I N S TA L L A TIO NC O N D I TIO N3. TRANSPORTATION ANDINSTALLATIONII. CONNECTIONB–80795EN/01Ta ble3.6 sh ow sinsta lla tion condition.Ta ble 3.6 I nsta lla tion conditionItem sS pecifica tionsAir pressureMax. 7kgf/cm2 (0.69MPa)Weight of mechanical unitApprox. 1300kgAllowable ambient temperature0–45pCAllowable ambient humidityUsual: Less than 75% RHShort period (in one month) : Max. 95%RH or lessCondensation freeHeightUp to 1,000 meters above the sea levelrequires.AtmosphereFree of corrosive gases (Note)VibrationLess than 0.5G (4.9 m/s2)N O TEContact the service representative, if the robot is to be usedin an environment or a place subjected to severe vibrations,heavy dust, cutting oil splash and or other foreignsubstances.109

FANUC Robotics Quick Reference Document Here is the information you requested! Note: This short document was compiled at your request as a courtesy of the FANUC Robotics Technical Support Group. For detailed information, you should consult your FANUC Robotics technical manual. For more information, call our Hotline: 1800-iQ-ROBOT