FANUC Robot M-900iA/350

FANUC Robot M-900iA/260L

FANUC Robot M-900iA/150P
MECHANICAL UNIT
MAINTENANCE MANUAL

MARMI935009041E REV. F
This publication contains proprietary information
of FANUC Robotics America Corporation furnished for
customer use only. No other uses are authorized
without the express written permission of
FANUC Robotics America Corporation

FANUC Robotics America Corporation

3900 W. Hamlin Road
Rochester Hills, Michigan 48309–3253

B-82135EN/07
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION

3 TRANSPORTATION AND INSTALLATION

3.1 TRANSPORTATION
CAUTION
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 strongly.

1. Transportation using a crane the robot can be transported by lifting it. When transporting the robot,
be sure to change the posture of the robot to that shown in Fig. 3.1 (a), (b) and lift by attaching
slings to the four M20 eyebolts.

CAUTION
When lifting the robot, take notice so that the motor, connectors, or cables of the
robot are not scratched by slings.

2. Transportation using a forklift the robots can also be transported using a forklift (refer to Fig.3.1
(c),(d)). Transport materials are available as an option.

NOTE
Detach the end effectors and base plate before transporting the robot. If the robot
must necessarily be transported with the base plate attached, take the following
precautions:
- If the end effectors and base plate are attached, the center of gravity of the entire
robot changes. When lifting the robot, be extremely careful to keep the robot in
balance.
- The end effectors may oscillate due to, for example, vibrations during transportation,
possibly overloading the robot. Fasten the end effectors securely referring to
subsection 3.1.1.
- If the base plate is attached, lift the base plate instead of the robot.

CAUTION
Use the forklift transport bracket only when carrying the robot with a forklift. Do not
use the forklift transport bracket for other transport means. Do not use the transport
bracket for fastening the robot. Before transporting the robot with the transport
brackets, check the fastening bolts of the brackets for looseness. Tighten the loose
bolts, if any.

CAUTION
M-900iA/150P may fall down if it is not fixed when a fall prevention member,
because center of gravity is before of it.
If you transport or install it, keep attention below.
1 Be sure to install a fall prevention member when robot is not fixed, and be sure tom
make all surface of a fall prevention member contact floor.
2 If a fall prevention member does not contact floor, hang robot by crane etc. and
keep it horizontally. when you attach or remove robot mounting bolts.

- 167 -
3.TRANSPORTATION AND INSTALLATION CONNECTION B-82135EN/07

A fall prevention member

- 168 -
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION

㪚㫉㪸㫅㪼
㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪊㩷㫋㫆㫅
㪪㫃㫀㫅㪾
㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪈㪅㪇㩷㫋㫆㫅㪆㫊㫃㫀㫅㪾

㪍㪉㪉 㪍㪉㪉 㪈㪏㪉㪉

㪚㪼㫅㫋㪼㫉㩷㫆㪽
㪾㫉㪸㫍㫀㫋㫐

㪉㪈㪐㪎
㪚㪼㫅㫋㪼㫉㩷㫆㪽
㪾㫉㪸㫍㫀㫋㫐

㪥㫆㫋㪼㪀䇭㪈㪅㩷㪩㫆㪹㫆㫋㩷㫄㪼㪺㪿㪸㫅㫀㪺㪸㫃㩷㫌㫅㫀㫋㩷㫎㪼㫀㪾㪿㫋㩷㩷㪑㪈㪎㪉㪇㫂㪾䋮 㪊㪋㪏 㪋㪎㪍㪅㪌

㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪅㩷㪜㫐㪼㪹㫆㫃㫋㩷㪺㫆㫄㫇㫃㫀㪻㪼㩷㫎㫀㫋㪿㩷㪡㪠㪪㩷㪙㩷㪈㪈㪍㪏㪅
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪊㪅㩷㪨㫌㪸㫅㫋㫀㫋㫐㩷㩷㪼㫐㪼㪹㫆㫃㫋㩷㪋
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㫊㫃㫀㫅㪾㩷㩷㪋 㪜㫐㪼㪹㫆㫃㫋㫊㩷㩿㪤㪉㪇㪀
㪠㫅㫊㫋㪸㫃㫃㩷㫋㫆㩷㫋㪿㪼㩷㫆㫌㫋㩷㫋㪸㫇㫊㪅

㪪㫇㫉㪼㪸㪻㪼㫉㩷㪹㪸㫉

㪩㫆㪹㫆㫋㩷㫇㫆㫊㫋㫌㫉㪼㩷㫆㫅㩷㫋㫉㪸㫅㫊㫇㫆㫉㫋㪸㫋㫀㫆㫅
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q

Fig. 3.1 (a) Transportation using a crane (M-900iA/350)

- 169 -
3.TRANSPORTATION AND INSTALLATION CONNECTION B-82135EN/07

㪚㫉㪸㫅㪼
㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪊㩷㫋㫆㫅
㪪㫃㫀㫅㪾
㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪈㪅㪇㩷㫋㫆㫅㪆㫊㫃㫀㫅㪾
㪍㪉㪉 㪍㪉㪉 㪉㪊㪈㪊

㪚㪼㫅㫋㪼㫉㩷㫆㪽
㪾㫉㪸㫍㫀㫋㫐

㪈㪎㪏㪈
㪚㪼㫅㫋㪼㫉㩷㫆㪽
㪾㫉㪸㫍㫀㫋㫐

㪊㪋㪏 㪋㪎㪍㪅㪌

㪥㫆㫋㪼㪀䇭㪈㪅㩷㪩㫆㪹㫆㫋㩷㫄㪼㪺㪿㪸㫅㫀㪺㪸㫃㩷㫌㫅㫀㫋㩷㫎㪼㫀㪾㪿㫋㩷㩷㪑㪈㪏㪇㪇㫂㪾䋮 㪜㫐㪼㪹㫆㫃㫋㫊㩷㩿㪤㪉㪇㪀
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪅㩷㪜㫐㪼㪹㫆㫃㫋㩷㪺㫆㫄㫇㫃㫀㪻㪼㩷㫎㫀㫋㪿㩷㪡㪠㪪㩷㪙㩷㪈㪈㪍㪏㪅 㪠㫅㫊㫋㪸㫃㫃㩷㫋㫆㩷㫋㪿㪼㩷㫆㫌㫋㩷㫋㪸㫇㫊㪅
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪊㪅㩷㪨㫌㪸㫅㫋㫀㫋㫐㩷㩷㪼㫐㪼㪹㫆㫃㫋㩷㪋
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㫊㫃㫀㫅㪾㩷㩷㪋

㪩㫆㪹㫆㫋㩷㫇㫆㫊㫋㫌㫉㪼㩷㫆㫅㩷㫋㫉㪸㫅㫊㫇㫆㫉㫋㪸㫋㫀㫆㫅
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q

Fig. 3.1 (b) Transportation using a crane (M-900iA/260L)

- 170 -
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION

㪚㫉㪸㫅㪼
㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪊㩷㫋㫆㫅

㪪㫃㫀㫅㪾
㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪈㪅㪇㩷㫋㫆㫅㪆㫊㫃㫀㫅㪾

㪚㪼㫅㫋㪼㫉㩷㫆㪽
㪾㫉㪸㫍㫀㫋㫐
㪉㪇㪐㪐

㪌㪈㪊 㪏㪐㪎
㪈㪌㪋㪋 㪍㪎㪌 㪍㪎㪌

㪥㫆㫋㪼㪀䇭㪈㪅㩷㪩㫆㪹㫆㫋㩷㫄㪼㪺㪿㪸㫅㫀㪺㪸㫃㩷㫌㫅㫀㫋㩷㫎㪼㫀㪾㪿㫋㩷㩷㪑㪈㪏㪍㪇㫂㪾䋮
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪉㪅㩷㪜㫐㪼㪹㫆㫃㫋㩷㪺㫆㫄㫇㫃㫀㪻㪼㩷㫎㫀㫋㪿㩷㪡㪠㪪㩷㪙㩷㪈㪈㪍㪏㪅
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪊㪅㩷㪨㫌㪸㫅㫋㫀㫋㫐㩷㩷㪼㫐㪼㪹㫆㫃㫋㩷㪋
㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㫊㫃㫀㫅㪾㩷㩷㪋

㪪㫇㫉㪼㪸㪻㪼㫉㩷㪹㪸㫉
㪩㫆㪹㫆㫋㩷㫇㫆㫊㫋㫌㫉㪼㩷㫆㫅㩷㫋㫉㪸㫅㫊㫇㫆㫉㫋㪸㫋㫀㫆㫅
,#:+5 qQTrq
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q
,#:+5 q

Fig. 3.1 (c) Transportation using a crane (M-900iA/150P)

- 171 -
3.TRANSPORTATION AND INSTALLATION CONNECTION B-82135EN/07

Fig. 3.1 (d) Transportation using a forklift (M-900iA/350)

Fig. 3.1 (e) Transportation using a forklift (M-900iA/260L)

- 172 -
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION

㪩㫆㪹㫆㫋㩷㫇㫆㫊㫋㫌㫉㪼㩷㫆㫅㩷㫋㫉㪸㫅㫊㫇㫆㫉㫋㪸㫋㫀㫆㫅
,#:+5 qQTrq
,#:+5 q
,#:+5 q
,#:+5 q
㪥㫆㫋㪼㪀䇭㪈㪅㩷㪩㫆㪹㫆㫋㩷㫄㪼㪺㪿㪸㫅㫀㪺㪸㫃㩷㫌㫅㫀㫋㩷㫎㪼㫀㪾㪿㫋㩷㩷㪑㪈㪏㪍㪇㫂㪾䋮 ,#:+5 q
,#:+5 q

㪝㫆㫉㫂㫃㫀㪽㫋
㪚㪸㫇㪸㪺㫀㫋㫐㩷㪑㩷㪊㩷㫋㫆㫅㩷㫆㫉㩷㫄㫆㫉㪼

㪚㪼㫅㫋㪼㫉㩷㫆㪽
㪾㫉㪸㫍㫀㫋㫐
㪏㪉

㪈㪏㪉

㪋㪌㪊 㪋㪌㪊

Fig. 3.1 (f) Transportation using a forklift (M-900iA/150P)

CAUTION
Exercise care to prevent the fork of the forklift from striking transport equipments
strongly.

Fig. 3.1 (g) Eyebolt installation location (M-900iA/350,260L only)

- 173 -
3.TRANSPORTATION AND INSTALLATION CONNECTION B-82135EN/07

㪍㪄㪤㪈㪍㩷㫋㪿㫉㪼㪸㪻㪼㪻㩷㪿㫆㫃㪼㩷㪻㪼㫇㫋㪿㩷㪉㪌
㩿㪙㫆㫋㪿㩷㫊㫀㪻㪼㪀

Fig. 3.1 (h) Transport equipment installation location

3.1.1 Transportation with an End Effector Attached

When transporting a robot with an end effector such as a welding gun or 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, thus imposing a large impact load on the reducer of the robot and damaging the reducer at
an earlier stage.

㪮㫆㫆㪻㫊

㪧㪸㫃㫃㪼㫋

㪮㫆㫆㪻㫊

Fig. 3.1.1 Example of securing the arm during transportation when an end effector is attached

- 174 -
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION

3.2 INSTALLATION
Fig. 3.2 (a) shows the robot base dimensions. Fig. 3.2 (b) shows actual examples of robot installations. In
Fig. 3.2 (b), the floor plate is imbedded in concrete and fastened with twelve M20 (strength classification
4.8) chemical anchors. Also, fasten the base plate to the robot base using eight M20x60 bolts (strength
classification 12.9). Next, position the robot, and weld the base plate to the floor plate. (Foot length is 10
to 15mm.)
(The base plate is prepared as an option.)
Avoid placing any object in front of the robot on the mounting face to facilitate the installation of the
mastering fixture, as shown in Fig. 3.2 (a).

Fig. 3.2 (a) Dimensions of the robot base

- 175 -
3.TRANSPORTATION AND INSTALLATION CONNECTION B-82135EN/07

Fig. 3.2 (b) Actual installation example

NOTE
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.

NOTE
1. Parts to be provided by the customer:

Robot mounting bolts: M20 x 60 (strength classification 12.9 8pcs.

Chemical anchors: M20 (strength classification 4.8) 12pcs.
Base plates: Thickness 32t 4pcs.
Floor plate: Thickness 32t 1pcs.

2. Installation work (welding, anchoring, etc.) is repaired by the customer.

3. If the robot is operated with any combination other than stated above, it is likely
to be damaged.

- 176 -
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION
Fig. 3.2 (c) and Table 3.2 (a), (b) show the force and moment applied to the base plate at the time of
emergency stop. Table 3.2 (c),(d) indicate the stopping distance and time of the J1 through J3 axes until
the robot stopping by Power-Off stop or by Controlled stop after input of the stop signal. Refer to the data
when considering the strength of the installation face.

Table 3.2 (a) Force and moment during emergency stop

Model Vertical moment Force in vertical Horizontal moment Force in horizontal
MV [kNm (kgfm)] direction MH [kNm (kgfm)] direction
FV [kN (kgf)] FH [kN (kgf)]
M-900iA/350 84.28 (8600) 53.90(5500) 25.48 (2600) 32.34 (3300)
M-900iA/260L 94.08 (9600) 53.90(5500) 34.30(3500) 34.30(3500)

Table 3.2 (b) Force and moment applied during acceleration or deceleration
Model Vertical moment Force in vertical Horizontal moment Force in horizontal
MV [kNm (kgfm)] direction MH [kNm (kgfm)] direction
FV [kN (kgf)] FH [kN (kgf)]
M-900iA/350 34.30 (3500) 35.28 (3600) 9.80 (1000) 12.74 (1300)
M-900iA/260L 34.30 (3500) 33.32 (3400) 11.76 (1200) 11.76 (1200)
M-900iA/150P 39.20 (4000) 25.48 (2600) 11.76 (1200) 14.70 (1500)

Table 3.2 (c) Stopping time and distance until the robot stopping by power-off stop after input of stop signal
Model J1-axis J2-axis J3-axis
Coasting time [ms] 739 260 251
M-900iA/350
Coasting distance [deg] (rad) 36.0 (0.63) 13.9 (0.24) 10.8 (0.19)
Coasting time [ms] 754 193 373
M-900iA/260L
Coasting distance [deg] (rad) 33.3 (0.58) 10.5 (0.18) 15.6 (0.27)
Coasting time [ms] 892 188 276
M-900iA/150P
Coasting distance [deg] (rad) 43.8(0.76) 10.5(0.18) 12.8(0.22)
* Override : 100%
* Max. payload, and max. inertia posture

Table 3.2 (d) Stopping time and distance until the robot stopping by controlled stop after input of stop signal
Model J1-axis J2-axis J3-axis
Coasting time [ms] 768 708 718
M-900iA/350
Coasting distance [deg] (rad) 44.1 (0.77) 36.5 (0.64) 35.8 (0.62)
Coasting time [ms] 826 432 514
M-900iA/260L
Coasting distance [deg] (rad) 46.1 (0.80) 25.0 (0.44) 20.8 (0.36)
Coasting time [ms] 972 956 956
M-900iA/150P
Coasting distance [deg] (rad) 55.4(0.97) 48.4(0.84) 42.9(0.75)
* Override : 100%
* Max. payload, and max. inertia posture

- 177 -
3.TRANSPORTATION AND INSTALLATION CONNECTION B-82135EN/07

Fig. 3.2 (c) Force to the robot base

3.3 MAINTENANCE AREA

Fig. 3.3 (a),(b) show the maintenance area of the mechanical unit. In mastering, it needs to take the
posture in item 5.3.3 of Chapter I. Be sure to leave enough room for the robot to be mastered.

㪤㪸㫀㫅㫋㪼㫅㪸㫅㪺㪼㩷㪸㫉㪼
㩿㪤㪼㪺㪿㪸㫅㫀㪺㪸㫃㩷㫌㫅㫀㫋㪀
㪈㪎㪉㪇㩷㩿㪤㪄㪐㪇㪇㫀㪘㪆㪊㪌㪇㪀
㪉㪈㪏㪇㩷㩿㪤㪄㪐㪇㪇㫀㪘㪆㪉㪍㪇㪣㪀
㪌㪇㪇
㪍㪉㪋

㪌㪇㪇
㪌㪇㪇
㪍㪉㪋

㪤㪸㫊㫋㪼㫉㫀㫅㪾㩷㪸㫉㪼㪸
㪌㪇㪇

㪌㪇㪇 㪋㪎㪍㪅㪌 㪍㪌㪐 㪌㪇㪇

Fig. 3.3 (a) Maintenance area (M-900iA/350,260L)

- 178 -
B-82135EN/07 CONNECTION 3.TRANSPORTATION AND INSTALLATION

㪤㪸㫀㫅㫋㪼㫅㪸㫅㪺㪼㩷㪸㫉㪼㩷
䋨㪤㪼㪿㪺㪸㫅㫀㪺㪸㫃㩷㫌㫅㫀㫋䋩

㪌㪇㪇
㪈㪌㪍㪌
㪍㪎㪋㪅㪌

㪌㪇㪇
㪌㪇㪇
㪍㪎㪋㪅㪌

㪤㪸㫊㫋㪼㫉㫀㫅㪾㩷㪸㫉㪼㪸
㪌㪇㪇

㪌㪇㪇 㪋㪎㪐 㪎㪎㪇 㪈㪍㪈㪅㪌

Fig. 3.3 (b) Maintenance area (M-900iA/150P)

3.4 AIR PIPING (OPTION)

Fig. 3.4 (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. 3.4 (b).

- 179 -