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Nachi LP-01 Series Instruction Manual

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MANIPULATOR
INSTRUCTION MANUAL
LP-01 series [AX20/FD11]
・
Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text
・
The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・
This operating manual must be given without fail to the individual who will be actually
.
operating the robot
・
Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
15th edition
2202, MLPEN-221-015,001
.
.

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  • Page 1 2202, MLPEN-221-015,001 MANIPULATOR INSTRUCTION MANUAL LP-01 series [AX20/FD11] 15th edition ・ Before attempting to operate the robot, please read through this operating manual carefully, and comply with all the safety-related items and instructions in the text ・ The installation, operation and maintenance of this robot should be undertaken only by those individuals who have attended one of our robot course ・When using this robot, observe the low related with industrial robot and with...

  • Page 2: Table Of Contents

    This manual explains the robot specifications, structure of each part and the basic handling precautions for inspection and maintenance to maintain function of the robot for a long period. It is recommended that this manual is read by robot utilization planners and installation staff as well as inspectors and maintenance staff for robot operation and the robot is handled only after understanding this manual completely.
  • Page 3 For safe use of the robot Read this manual carefully prior to installation, operation, maintenance, or inspection and use equipment correctly. Use the robot only after fully understanding the equipment, all safety points, and comments/suggestions. Instruction manual “Precautions for handling industrial robots” Instruction manual “INSTALLATION”...
  • Page 4 Labels and marks on manipulator Following labels and marks are affixed on manipulator. Their location and their existence itself may vary according to the robot type. This mark indicates a power supply inlet for the robot. Motor power and detecting device power is supplied to connectors and terminal blocks under various connector covers on the robot baring this mark.

  • Page 5: Chapter 1 Basic Specifications

    Chapter 1 Basic specifications List of basic specifications Item Specifications Robot type LP130-01 LP180-01 LP210-01 Structure Articulated construction Degrees of freedom Drive system AC servo system Axis 1 ±3.14 rad Axis 2 +0.71 ~ -1.65 rad Maximum Axis 3 Motion +0.30 ~ -2.04 rad range Axis 4...

  • Page 6: Outline Dimensions And Motion Range

    Outline dimensions and motion range [LP130-01] [LP180-01] [LP210-01]...

  • Page 7: Details Of Load Mounting Face

    Details of load mounting face ■ Wrist For the tool fixing bolts, use the mounting P.C.D. shown below. Besides the mounting P.C.D. shown below, different P.C.D. (option) is available. For details, contact our Service Division. Be sure to screw the M10 tool fixing bolts in the wrist not deeper than the screw depth in the mounting face.
  • Page 8 ■ Left side of wrist unit Ancillary equipment can be mounted on the left side of wrist unit. The equipment to be mounted on the wrist should be selected so that the sum of those masses (including the end-effecter and the work-piece) is less than the payload mass of the wrist.

  • Page 9: Wiring And Piping Diagram For Application

    Wiring and piping diagram for application Use air pressure from -101.3 [KPa] to 690 [KPa]. ■ Upper part of forearm - wiring and piping diagram for application [LP130-01] [LP180-01] [LP210-01] ■ Base frame - Wiring and piping diagram for application [LP130-01] [LP180-01] [LP210-01]...
  • Page 10 ■ Details of application connectors (1) BJ1 side (connector) Connectors for application cables Wire-side shell : JFM-WSA-4-A (JST) or JFM-WSA-4-C (JST) Guide plate A kit : JFM-GPAK-4 (JST) Receptacle housing : JFM2FDN-22V-K (JST) Receptacle contact : a : SJ2F-01GF-P1.0 (JST) (0.20 - 0.50sq) b : SJ2F-21GF-P1.0 (JST) (0.30 - 0.75sq) Manual crimp tool : a : YRS-8861...

  • Page 11: Operating Range Adjustment

    Operating range adjustment With stoppers dismounted, do not operate the robot. Doing so may result in damage to the peripheral equipment and the like, or death or serious injury. When changing the mechanical stopper’s position, change the position of the over- travel limit switch and the setting of the software limit also.
  • Page 12 ■ J2-axis adjustable stopper (option) NEVER mount a stopper only on the front (lower) side or the rear (upper) side. It is possible to adjust the operating angle of J2 axis. (1) Unscrew the setscrews from the standard stopper B on the adjustable side, and then dismount the stopper B from the standard stopper A.
  • Page 13 ■ J3-axis adjustable stopper (option) It is possible to adjust the movement of J3 axis. (1) Mount the adjustable dog (option) of the limit switch according to the adjusted angle. (2) Adjust the software limit according to the angle adjusted. (Refer to Instruction manual “INSTALLATION”...

  • Page 14: Coordinate Systems For Manual Operation

    Coordinate systems for manual operation When moving a robot in manual mode, it is possible to select a coordinate system which is used as a reference coordinate system. Joint coordinate system (J1, J2, J3, J4) Tool coordinate system Machine coordinate system User coordinate system (Pallet coordinate system)

  • Page 15: Precautions For Tool Setting

    (NOTE 2) - In case of this robot (LP-01 series), only "Weight" is calculated and set when executing "Automatic COG Setting" function ("COG" values will not change). Those COG coordinates should be calculated referring to the drawing ■...
  • Page 16 ■ (Reference) The initial setting of the tool coordinate system The position and the direction of the tool coordinate system when "Length" and "Angle" are the initial settings are shown in the following picture. In the initial setting, the origin of the tool coordinate system is located on the center (0,0,0) of the tool flange.

  • Page 17: Brake Release Switch (Option)

    Brake release switch (option) Only needed switches (same quantity as axis number) are mounted on the brake release switch (option). Pay utmost attention to operate these switches. Please refer to “AX20 controller maintenance manual” or “FD controller instruction manual / Controller Maintenance”.
  • Page 18 NOTE 1-14...

  • Page 19: Precautions For Handling

    Chapter 2 Precautions for handling 2.1 Names of robot components 製造銘板 MFG. Name plate The over travel limit switches are redundant circuit type as standard. (Robot shipped before February 2012 has single circuit type.) The balancer device is internally compressed even in the normal state. Never attempt to dismount or disassemble this device.

  • Page 20: Transport Procedure

    2.2 Transport procedure The robot must be transported by personnel who have licenses required for slinging work, crane operation, forklift truck operation, and others. When the transportation work is covered by the personnel who does not have necessary skill, it will cause the robot to topple over or drop during transport, thus resulting in hazards.
  • Page 21 If hanging wires push the encoder connectors and the wires/tubes, the connectors or the wires/tubes may be broken when hanging the robot. When hanging a robot, please pay attention not to make the wires touch the encoder connectors and the wires/tubes. COG position for transporting posture (without a wrist load) is shown below.

  • Page 22: Installation Procedure

    2.3 Installation procedure The installation location and the installation procedure of the robot are critical factors to maintain robot functions. The ambient conditions of installation location not only have influence on the life of mechanical sections of the robot, but also get involved in safety issues. Consequently, strictly observe the environmental conditions shown below.
  • Page 23 Mount Emergency Stop buttons for the robot in locations where workers are able to immediately press them. If the workers are unable to immediately press the switch, accidents may result. (The controller has an input signal of emergency stop.) If no guard fence is installed, mount photoelectronic switches and/or mat switches, etc.
  • Page 24 Safety measures against installation work To install the robot, it is important to position the robot so that no workers will get pinched by the robot inside or around a device to use the robot. The robot must not come into contact with any peripheral equipment when operating in the maximum operating range with a tool mounted on it.
  • Page 25 ■ Installation space To install the robot, lock the swiveling base of the robot. The mechanical stopper end is located in a position exceeding the specified operating range (software limit) of the J1 axis by 3 degrees. To install the guard fence, consider the motion range specification, the wrist configuration and the shape of end effecter etc.
  • Page 26 ■ Accuracy of installation surface When installing the robot, strictly observe precautions listed below to cause no deformation in the swiveling base. (1) Ensure that the flatness of the four plates on the installation surface of the robot is within 1.0 (2) Make the deviation in height between the four robot installation surface plates and the installation surface fall in the range of 1.0 (±0.5 mm).

  • Page 27: Allowable Load

    2.4 Allowable load The wrist load is regulated by the allowable pay load mass, allowable static load torque, and allowable moment of inertia. If wrist load exceeds these allowable values, this robot is out of guarantee. Please refer to “1.1 List of basic specifications” and following figures for detail. Before using the robot, please register the "weight", "COG (center of gravity) position"...
  • Page 28 ■ Load on the forearm Ancillary equipment can be mounted to the upper part of robot forearm. If the wrist load mass is maximum, use the ancillary equipment on the load condition that the load gravity center falls in the shaded range, referring to the figure below.

  • Page 29: Performing Encoder Correction

    2.5 Performing encoder correction At NACHI factory, encoder correction is performed under the load condition and robot posture specified by NACHI. This load condition and robot posture may have influence on the reference position. So please perform encoder correction for all axes...
  • Page 30 NOTE 2-12...

  • Page 31: Chapter 3 Inspection

    For high frequency of works in which the estimated lifespan becomes 20,000 hours or less, it is recommended to perform inspections at approximately 1/2 of the periods specified. Should you have any questions, contact your NACHI representative. Inspection items and periods (1)
  • Page 32 Inspection items and periods (2) Period Inspection Item Inspection Method Criterion Remark Related to J1, J2, and J3 axes  Grease in bearings  Check for grease steel dust density 10  Reduction gears  Check by hearing for any abnormal sounds ...

  • Page 33: Inspection Of Major Bolts

    3.2 Inspection of major bolts Recommended torque is shown in the figure below. Be sure to use a torque wrench to fasten the bolts to proper torque, and then apply a coating of paint lock to them. Furthermore, be careful not to needlessly refasten bolts that are not unfastened. [LP130-01] [LP180-01] [LP210-01] To fix the bracket for wiring To install...

  • Page 34: Inspection Of Wirings

    To purchase any manipulator wiring, contact to your local service center. NEVER attempt to use any cables other than specified by NACHI. For the replacement, order to your local service center ■ Inspection points: Cables cover (hook tube) and clamp portion Check for the following items.
  • Page 35 ■ Inspection points : Cables and hoses around the fore arm Check for the following items.  Check if the connectors of the motors or encoders loosen or not.  Check if the relay connector loosens or not.  Check if the relay connector is securely installed on the installation panel. ...
  • Page 36 ■ Inspection points : J1 axis wiring Open the wiring cover at the center of the frame from the lower side and visually inspect the wiring inside the cover. Check for the items below;  Check if any cable cover has scratches or fractures. ...

  • Page 37: Inspection Of Grease

    3.5 Inspection of grease Please check the density of steel dust in the grease in designated interval written in “3.1 Inspection items and periods”. If the measurement result exceeds its criterion, please contact our service center for grease replacement or reduction gear replacement. Required tools ・...
  • Page 38 ■ Grease inspection of reduction gear Inspection Applied Inspection Tightening Purpose Type Size Criterion points Grease type amount torque J1 axis 12.7 N･m Air release Plug Rc-1/8 MOLYWHITE Reduction 10 cc RE No.00 gear 29.4 N･m Discharge Plug Rc-1/4 grease steel J2 axis dust density 12.7 N･m...
  • Page 39 ■ Grease inspection of link support points Applied Inspection Tightening No. Inspection points Purpose Type Size Criterion Grease type amount torque Air release Grease nipple Rc-1/8 12.7 N･m Upper link MOLYWHITE 10 cc wrist side RE No.00 Discharge Plug Rc-1/8 12.7 N･m Air release Grease nipple...
  • Page 40 ■ Grease inspection of balancer support points Applied Inspection Inspection Tightening Purpose Type Size Criterion Grease type points amount torque Balancer support Air release Grease nipple Rc-1/8 12.7 N･m MOLYWHITE point 10 cc RE No.00 Discharge Plug Rc-1/8 12.7 N･m (forward) grease steel Balancer support...

  • Page 41: Inspection Of Cooling Fan

    3.6 Inspection of cooling fan Perform inspections for J1 axis cooling fan referring to the following descriptions. (Cooling fan is optional for the robots shipped on July 2012 or before, standard for the robots shipped on August 2012 or after.) ...
  • Page 42 NOTE 3-12...

  • Page 43: Chapter 4 Maintenance

    Chapter 4 Maintenance To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF the power supply. Furthermore, in order to prevent other workers from improperly turning ON the power supply, post the warning signs such as “DON’T POWER ON” at the primary power supply switch and others.

  • Page 44: Grease Replacement

    Grease replacement For lubrication and grease replacement, never use grease other than specified type. Specified type of grease is written in this manual. If grease other than specified type is used, chemical reaction with original grease occurs and grease will change in quality. Insufficient lubricating efficiency may cause the unexpected shortening of robot life time.
  • Page 45 [LP130-01] [LP180-01] [LP210-01] Recommended posture for grease replacement J1 reduction gear -90° J2 reduction gear 90° J3 reduction gear 90° -90° Other portion 90° -90° Grease replacement portions...
  • Page 46 Tools required (prepared by customer) Name Specification Q’ty Grease gun with a nozzle of not more than 17 mm in diameter, with lubrication amount counter Drain connector Rc-1/4,φ12 Drain hose φ12X9 0.2m Maximum 0.2Mpa and adjustable every approx. 0.01Mpa Air precision regulator SMC “PRECISION REGULATOR IR2000-02BG-X1”...
  • Page 47 Connection of the drain tube and the connector Air supply Precision regulator for air supply SMC PRECISION REGULATOR IR2000-02BG-X1 (SMC) Max. supply pressure 1.0Mpa Output pressure 0.005 ～ 0.2MPa (or equivalent) Connection of a precise regulator for air supply 5 times for 60° range J1 axis low speed motion range...
  • Page 48 Grease replacement procedure of J2 axis reduction gear (1) Place a container to receive grease ejected under the ejection outlet. In advance, confirm the weight of the container. (2) Unplug the socket head plug [Rc-1/4] from the ejection outlet. To prevent the robot from getting dirty, attach a drain connector [Rc-1/4, φ12] and a drain tube [φ12×9, maximum length is 0.2m] (3) Unplug the socket head plug [Rc-1/8] from the inlet, and attach the grease nipple [Rc-...
  • Page 49 the grease that is pushed out from the ejection outlet change to a color of new grease. (5) When the lubricated (fed) amount reaches the designated values, confirm the (a):lubricated amount and the (b):ejected amount. (a) can be calculated by comparing the grease can’s weight before and after the lubrication work or checking the counter display on the grease gun.

  • Page 50: Battery Replacement

    Battery replacement The robot uses lithium batteries for the backup of encoder data. If the battery voltage drops below the given limit, the data will not be kept normal. Replace batteries every 8 years, under the condition that operation time length is 8h/day and shut down the power 16h/day.
  • Page 51 Disconnect the connecters CNBAT1 - CNBAT4. CNBAT1 – CNBAT4 Although warning message encoder battery voltage is displayed, there is no problem. Please proceed with the next procedures. Remove the cable tie C to remove the battery unit from the case. vinyl bag Do not cut the orange cable tie.
  • Page 52 NOTE 4-10...

  • Page 53: Chapter 5 Troubleshooting

    Chapter 5 Troubleshooting Probing into causes of troubles To perform daily inspection, repair, or part replacement of the robot, turn OFF the power supply. Furthermore, in order to prevent other workers from improperly turning ON the power supply, post the warning signs such as “DON’T POWER ON”. If any abnormality occurs in the robot, do not attempt to directly operate the robot.
  • Page 54 Check and remedy by each part is explained after here. The brake release switch must be operated in order to move the robot without supplying power to its motors (in the Motors OFF status). An axis whose brake has been released is free to move, and since the arm may drop or move either backward / forward or up/down as a result, it must be supported by a crane, chain hoist or other means without fail before the brake release switch is operated.
  • Page 55 ■ Support bearing If support bearing is damaged, vibration or abnormal sounds will be produced, thus resulting in overload. And, if looseness occurs in the bearing nut that fixes the bearings, gap may occur in the bearing. This gap may cause damage to the bearing. (1) Checking method ...
  • Page 56 ■ Reduction gear If a reduction gear is damaged, vibration or abnormal sounds will be produced. In this case, normal operation will be impaired to cause overload or abnormal deviation, thus resulting in abnormal heat generation. Furthermore, the robot will completely stop or cause displacement. J1, J2, and J3 axes (1) Checking method ...
  • Page 57 Remedy  Check for brake wirings. Since the motor with an integrated brake for all axes is used, if no wirings are broken, replace the motor referring to information in “5.4 Motor Replacement”. ■ Motors If the motor causes an abnormality, malfunctions (e.g. shaking while in operation, sway when stopped, or irregular twitching) will result.

  • Page 58: Motor Replacement

    Motor replacement Never forget to hold robot arm or wrist/tool in advance. If motor is disengaged without supporting them, forearm will fall down to the front or to the backwards (due to the payload and robot posture) in case of axis 2, forearm will fall down in case of axis 3, wrist and tool will fall down or will rotate quickly in case of wrist axes, possibly resulting in serious injury.

  • Page 59: Motor Replacement (J1,J2,J3 Of Lp130/180 And J1,J2 Of Lp210)

    5.2.1 Motor replacement (J1,J2,J3 of LP130/180 and J1,J2 of LP210) STEP Required work Checkpoints Turn on the power of the controller, select the TEACH If Motors cannot be turned ON due to an mode, and turn the Motors ON. abnormality or axis operations cannot be performed, start from step 3.
  • Page 60 [Robots shipped on August 2012 or after] 2-M8X15 2-Washers for M8 STEP Required work Checkpoints Place a vinyl bag for catching the grease under the In the case of the J2 or J3 axis, motor. (In the case of J1 axis, it is not necessary to grease will ooze out when the motor attach the vinyl bag.) is removed.
  • Page 61 STEP Required work Checkpoints Remove the motor attachment bolt shown below, and Before removing bolts, while bolts remove the motor from the robot. are loosened, check that no stress exists toward the motor rotating J1,J2,J3 axis direction. If motor is stable even when 4-M12X30 rotated by hand, some stress still remains so motor...
  • Page 62 STEP Required work Checkpoints Apply a thin coating of ThreeBond 1801B to the shaft of When attaching the rings, make the new motor and two rings before attaching the gear- sure they are pointing in the proper assy to the new motor. direction.
  • Page 63 STEP Required work Checkpoints Attach the removed encoder plug cover to the new motor. J1,J2,J3 Attach the encoder plug cover with following bolts. At this time, apply one or two drops of locking agent (ThreeBond 1374) to the threads at the ends of the bolts, and then tighten the bolts.

  • Page 64: Motor Replacement (J2 Of Lp210)

    5.2.2 Motor replacement (J2 of LP210) STEP Required work Checkpoints Turn on the power of the controller, select the TEACH If Motors cannot be turned ON due to an mode, and turn the Motors ON. abnormality or axis operations cannot be performed, start from step 3.
  • Page 65 STEP Required work Checkpoints Remove the motor attachment bolt shown below, and Before removing bolts, while bolts remove the motor from the robot. are loosened, check that no stress exists toward the motor rotating 4-M12X30 direction. If motor is stable even when rotated by hand, some stress still remains so motor may rotate with...
  • Page 66 STEP Required work Checkpoints Apply a thin coating of ThreeBond 1801B to the shaft of When attaching the rings, make the new motor and two rings before attaching the gear- sure they are pointing in the proper assy to the new motor. direction.

  • Page 67: Motor Replacement (J4)

    5.2.3 Motor replacement (J4) STEP Required work Checkpoints Turn on the power of the controller, select the TEACH If Motors cannot be turned ON due to mode, and turn the Motors ON. an abnormality or axis operations cannot be performed, start from step 3. Refer to "5.2.5 Encoder correction"...
  • Page 68 STEP Required work Checkpoints Dismount the motor from the robot by removing the  Do not to apply excessive impact following bolts. to the motor shaft. 4-M8X30 (Supplement) To release the brake, add DC24V In some cases, it may be difficult to pull the motor out voltage between pin A and pin B in from the wrist unit because of a sheet packing (seal) that the CNMB* connector.
  • Page 69 STEP Required work Checkpoints Attach the gear, which was removed, to the new motor.  Clean the shaft of the new motor. (Remove dusts, redundant oil, etc.) (a) Attach the gear to the motor shaft using the  Do not to apply excessive impact following bolts.

  • Page 70: Encoder Reset

    5.2.4 Encoder reset When encoder data has been corrupted due to some problem or motor replacement it is necessary to reset an encoder and compensate for any offset between actual encoder position and pin (reference) position. In cases like this, encoder reset must be performed first so follow the steps below to initiate encoder reset.
  • Page 71 Align the cursor with the axis for which encoder reset is to be performed, and press [ENABLE] + [ON/1]. ＋ >> The check mark for the axis concerned is now set to ON. ＋ Point • To clear the check mark, press [ENABLE] + [OFF / 2]. •...

  • Page 72: Encoder Correction

    5.2.5 Encoder correction After performing encoder reset procedure, encoder correction must be implemented. This is to registering the “encoder correction value” so that encoder data becomes the pre-determined value at the pre-determined position (this is called reference position, zeroing pin / block can be inserted here).
  • Page 73 [LP130-01] [LP180-01] [LP210-01] Encoder data of reference position Ｊ4 axis 80,000[Hex] Reference position of J4 axis (Zeroing block insertion position) In cases where a motor has been damaged while the robot was moving, for instance, it may be necessary to replace the motor and implement encoder reset at a position where the zeroing pin/zeroing block cannot be inserted.
  • Page 74 Encoder correction procedure Tools required For this procedure, zeroing pin and block (OP-T2-*** ; option) is necessary. Please prepare these tools by referring to “Chapter 6 Recommended Spare Parts and Special Tools for Maintenance”. Select the [TEACH] mode, and turn the Motors ON. Switch the operator class to EXPERT or higher.
  • Page 75 Align the cursor with the axis whose reference position is adjusted (zeroing pin / zeroing block is inserted), press the [ENTER] key followed by the [O.WRITE/REC] key. >> The [Encoder correction value] is now adjusted so that the current machine position will be set as the encoder data of reference position. Encoder correction values If encoder correction is required for other axes as well, repeat steps 5) and 7) for the axes concerned.

  • Page 76: Encoder Replacement

    Encoder replacement Since encoder is separated from motor on all axes of this robot, the encoder is replaceable. This section describes the procedure when the robot is in good posture where encoder can be replaced. Tools Required (Prepared by customer) Part name Axis Part No.
  • Page 77 STEP Required work Checkpoints Attach the boss to the encoder aligning the phase of .the positioning plate. If the boss is sticking to the motor (a) Remove the boss from the encoder unit that was shaft, remove it from the shaft. pulled out from the motor.
  • Page 78 STEP Required work Checkpoints Fix the encoder to the motor. Pay attention not to damage the O- ring of the encoder when installing (a) After aligning the direction of the motor connector the encoder unit. and the encoder connector, insert the encoder unit so that the U-groove of the boss and the positioning plate shape fit in each other and the projection portion and the dent of the boss also fit in each other.
  • Page 79 STEP Required work Checkpoints Attach the removed encoder plug cover to the new motor. J1,J2,J3 Attach the encoder plug cover with the following bolts. At this point, apply one or two drops of locking agent (ThreeBond 1374) to the threads at the ends of the bolts, and then tighten the bolts.
  • Page 80 Encoder replacement procedure (J4 of LP130/180/210 and J2 of PL210) STEP Required work Checkpoints Turn ON the primary power of the controller, select the If the Motors cannot be turned ON TEACH mode, and turn Motors ON. axis operations cannot performed due to an abnormality, start the procedure from step 3.
  • Page 81 Positioning plate Encoder cover packing 2 - M3×10 Encoder cover Tightening torque after coating of screw lock: 0.59 to 0.88 Nm 2 - M3×4 (Coming with encoder) Tightening torque 0.59 to 0.88N・m U-slot of boss part Location pin Encoder Dismounting of encoder unit Cross-section of encoder cover STEP Required work...
  • Page 82 NOTE 5-30...
  • Page 83 Chapter 6 Recommended spare parts and special tools for maintenance Recommended spare parts are listed below. To purchase any parts, check the manufacturing No. and date of the robot, and then contact our Service Department. Classification A: Periodical maintenance parts B: Spare parts Recommended spare parts Robot model Part No.
  • Page 84 <Reference 1> Following seals and O rings are necessary for the motor replacement procedure. “COUPLING GEAR SET” include these parts. This list is just the reference when ordering them individually. Usage Name Type Notes Sheet packing for J1 motor replacement SEAL 037-0623-000 Sheet packing for J2 and J3 motor replacement...
  • Page 85 The fixtures listed below are required fixture for maintenance work or for efficient work. When purchasing these tools, please contact to your local service center while confirming the robot manufacturing no. and manufactured date. Special tools for maintenance (option) Robot model Part No.
  • Page 86 NOTE...

  • Page 87: Chapter 7 Wiring Diagrams

    Chapter 7 Wiring diagrams Robot parts layout...
  • Page 88 Wiring/piping connection diagram [Robots shipped on November 2012 or before]...
  • Page 89 Wiring/piping connection diagram [Robots shipped on December 2012 or after]...
  • Page 90 Wire connection diagram for motor and brake (1) [Robots shipped on November 2012 or before]...
  • Page 91 Wire connection diagram for motor and brake (1) [Robots shipped on December 2012 or after]...
  • Page 92 Wire connection diagram for motor and brake (2)
  • Page 93 Wire connection diagram for encoder (1)
  • Page 94 Wire connection diagram for encoder (2)
  • Page 95 Wire connection diagram for application...
  • Page 96 AX20 controller Wire harness connection (1) 7-10...
  • Page 97 AX20 controller Wire harness connection (2) 7-11...
  • Page 98 ロボット側 制御装置側 ROBOT SIDE CONTROLLER SIDE CNP1A CNP1B CNP3A CNR01 CNP3B CONNECTOR 11 (B1) (B6) (A1) (A6) CONNECTOR 12 (B1) (B6) (A1) (A6) CONNECTOR 13 (B1) (B6) (A1) (A6) CNBK1 CONNECTOR 14 未使用 / NOT USED FD11 controller Wire harness connection (1) 7-12...
  • Page 99 ロボット側 制御装置側 ROBOT SIDE CONTROLLER SIDE CNP4A CNP4B CNP6A CNR02 CNP6B CONNECTOR 21 (B1) (B6) (A1) (A6) CONNECTOR 22 (B1) (B6) (A1) (A6) CONNECTOR 23 (B1) (B6) (A1) (A6) CONNECTOR 24 (B1) (B6) (A1) (A6) CNBK2 FD11 controller Wire harness connection (2) 7-13...
  • Page 100 ロボット側 制御装置側 ROBOT SIDE CONTROLLER SIDE CNEC1 (10) P5E1 M5E1 P5E2 M5E2 LS1- LS2- LS1+ LS2+ CNR04 CNEC2 (10) P5E3 M5E3 P5E4 M5E4 S4+ S4- CONNECTOR 41 (B1) (B11) CNALM (A1) (A11) E24 M24 ALM CONNECTOR 42 (B11) (B1) M5E1 M5E2 M5E3 M5E4 (A11)
  • Page 102  Concerning the Contact list, please refer to “Contact list (TFDJP-254)”.  NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or reproduced in any form without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document may be modified without notice.

This manual is also suitable for:

Lp130-01Lp180-01Lp210-01

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