FANUC Robot Series 120ib 10L Operator's Manual

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MECHANICAL UNIT
OPERATOR'S MANUAL
B-81764EN/01
© FANUC CORPORATION, 2021

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

Before using the Robot, be sure to read the "FANUC Robot series 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-81764EN/01 SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
This chapter describes the precautions which must be followed to enable the safe use of the robot. Before
using the robot, be sure to read this chapter thoroughly.
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 series
SAFETY HANDBOOK (B-80687EN)”.
1 PERSONNEL
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 safeguarded space
Maintenance technician:
• Operates the robot
• Teaches the robot inside the safeguarded space
• Performs maintenance (repair, adjustment, replacement)
- The operator is not allowed to work in the safeguarded space.

- The programmer or teaching operator and maintenance technician are allowed to work in the
safeguarded space. Works carried out in the safeguarded space include transportation, installation,
teaching, adjustment, and maintenance.
- To work inside the safeguarded space, the person must be trained on proper robot operation.
s-1
SAFETY PRECAUTIONS B-81764EN/01
Table 1 (a) lists the work outside the safeguarded space. In this table, the symbol “{” means the work
allowed to be carried out by the specified personnel.
Table 1 (a) List of work outside the Safeguarded Space

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 {
During robot operation, 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. Read the contents of each
"WARNING", "CAUTION" before attempting to use 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.
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-J370 (5m)
Robot connection cable
A05B-2450-J371 (10m)
A05B-2525-J010 (5m) (AC100-115V Power plug) (*)
A05B-2525-J011 (10m) (AC100-115V Power plug) (*)
Power cable
A05B-2450-J364 (5m) (No power plug)
A05B-2450-J365 (10m) (No power plug)
(*) These do not support CE marking.
(2) Prepare and store adequate numbers of brake release units which are ready 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 neither in compliance with EN ISO 10218-1 nor with 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 releasing J2-axis motor brake In case of releasing J3-axis motor brake
Fall down
Fall down Fall down
Method of supporting robot arm
Sling
(*)This figure is example of floor mount.

The direction of fall is different
according to the installation angle,so
please support robot appropriately in
consideration of the influence of
gravity.
Fig. 3 (a) Releasing J2 and J3 motor brake and measures
s-4
4 WARNING LABEL
(1) Greasing and degreasing label
Fig. 4 (a) Greasing and Degreasing Label
Description
When greasing and degreasing, observe the instructions indicated on this label.
1) When greasing, be sure to keep the grease outlet open.

2) Use a manual pump to grease.
3) Be sure to use a specified grease.
CAUTION
See Chapter 3″ PERIODIC MAINTENANCE” for explanations about specified
greases, the amount of grease to be supplied, and the locations of grease and
degrease outlets for individual models.
(2) Step-on prohibitive label
Fig. 4 (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. 4 (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
Fig. 4 (d) Transportation label
Description
When transporting the robot, observe the instructions indicated on this label. The above label indicates
the following:
1) Using a crane
• Use a crane having a load capacity of 300 kg or greater.
• Use at least two slings each having a withstand load of 2450 N (250 kgf) or greater.
• Use at least two eyebolts each having a withstand load of 1470 N (150 kgf) or greater.
CAUTION
See section 10.1 TRANSPORTATION for explanations about the posture a
specific model should take when it is transported.
s-6
(5) Operating space and payload mark label

Below label is added when CE specification is specified.
-170deg (-180deg)
+170deg
(+180deg) Motion range
of J5-axis
rotation center
A
J5-axis
rotation
center
B
C D
A B C D MAX. PAYLOAD
(mm) (mm) (mm) (mm) kg
ARC Mate 120iB,ARC Mate 120iBe,
M-16iB/20 2042 945 1367 1667 20
ARC Mate 120iB/10L,M-16iB/10L 2260 1164 1585 1885 10
Fig.4 (e) Operating space and payload mark label
s-7
B-81764EN/01 PREFACE
PREFACE
This manual explains the operation procedures for the mechanical units (R-J3iB and R-30iA controller) of
the following robots. Before replacing the parts, determine the specification number of the mechanical
unit.:
Mechanical unit
Model name Abbreviation CONTROLLER
specification No.
FANUC Robot ARC Mate 120iB ARC Mate 120iB A05B-1216-B201
FANUC Robot M-16iB/20 M-16iB/20 A05B-1216-B202
FANUC Robot M-16iB/20 (Integrated cables) M-16iB/20 A05B-1216-B203 R-J3iB
FANUC Robot ARC Mate 120iB/10L ARC Mate 120iB/10L A05B-1216-B301
FANUC Robot M-16iB/10L M-16iB/10L A05B-1216-B302
FANUC Robot ARC Mate 120iB ARC Mate 120iB A05B-1216-B401
FANUC Robot M-16iB/20 M-16iB/20 A05B-1216-B402
FANUC Robot M-16iB/20 (Integrated cables) M-16iB/20 A05B-1216-B403 R-30iA
FANUC Robot ARC Mate 120iB/10L ARC Mate 120iB/10L A05B-1216-B501
FANUC Robot M-16iB/10L M-16iB/10L A05B-1216-B502
CAUTION
Note that the models for the R-J3iB controller and those for the R-30iA controller
partly differ in the specifications of mechanical unit cables and motors.
Position of label indicating mechanical unit specification number

(1) (2) (3) (4) (5)
WEIGHT
CONTENTS MODEL TYPE No. DATE (Without
controller)
A05B-1216-B201
FANUC Robot ARC Mate 120iB
A05B-1216-B401
A05B-1216-B202
A05B-1216-B402 PRODUCTION
FANUC Robot M-16iB/20 SERIAL
A05B-1216-B203 YEAR AND
LETTERS NO. IS 220 kg
A05B-1216-B403 MONTH
PRINTED
A05B-1216-B301 ARE PRINTED
FANUC Robot ARC Mate 120iB/10L
A05B-1216-B501
A05B-1216-B302
FANUC Robot M-16iB/10L
A05B-1216-B502
- p-1 -
PREFACE B-81764EN/01
Specification
ARC Mate 120iB ARC Mate 120iB/10L
Item
M-16iB/20 M-16iB/10L
Type Articulated type
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6)
Installation Floor, Upside-down (Wall & Angle mount) (NOTE 1)
J1 axis 340º (5.93rad)
J3 axis 460º (8.03rad) 455º (7.94rad)
Motion range
J6 axis 900º (15.71rad)
J1 axis 165º/s (2.88rad/s)
Maximum speed J3 axis 175º/s (3.05rad/s)
(NOTE 2) J4 axis 350º/s (6.11rad/s)
Max. load capacity at wrist 20kg 10kg
Max. load capacity on J3 arm 12kg
39.2N･m 22.0N･m
J4 axis
(4.0kgf･m) (2.2kgf･m)
Allowable load moment at 39.2N･m 22.0N･m
J5 axis
wrist (4.0kgf･m) (2.2kgf･m)
19.6N･m 9.8N･m
J6 axis
(2.0kgf･m) (1.0kgf･m)
2 2
0.88kg･m 0.63kg･m
J4 axis 2 2
(9.0kgf･cm･s ) (6.4kgf･cm･s )
2 2
Allowable load inertia at 0.88kg･m 0.63kg･m
J5 axis 2 2
wrist (9.0kgf･cm･s ) (6.4kgf･cm･s )
2 2
0.25kg･m 0.15kg･m
J6 axis 2 2
(2.5kgf･cm･s ) (1.5kgf･cm･s )
Drive method Electric servo drive by AC servo motor
Repeatability ±0.08 mm ±0.10 mm
Weight of mechanical unit 220kg
Acoustic noise level less than 70dB (NOTE 3)
Ambient temperature: 0 to 45℃
Ambient humidity: Normally 75%RH or less (No dew or frost allowed)
Short time 95%Rh or less
Installation environment (Within 1 month)
Permissible altitude: Above the sea 1000m or less
2
Vibration acceleration : 4.9m/s (0.5G) or less
Free of corrosive gases (NOTE 4)
Required facilities Average power consumption: 1.0 kW
(when no option is provided) Input power supply capacity: 3.0 kVA
NOTE
1 Under the installation condition given in parentheses, the motion ranges of the J1 and
J2 axes are limited.
2 During short distance motions, the axis speed may not reach the maximum value
stated.
3 This value is equivalent continuous A-weighted sound pressure level, which applied with
ISO11201 (EN31201). This value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
4 Contact the service representative, if the robot is to be used in an environment or a
place subjected to severe vibrations, heavy dust, cutting oil splash and or other foreign
substances.
- p-2 -
B-81764EN/01 PREFACE
Severe dust/liquid protection performance of M-16iB/20/10L
Normal specification Severe dust/liquid protection option

Wrist+J3 arm IP67 IP67
Other part IP54 IP55
NOTE
Definition of IP code
Definition of IP 67
6= Dust-tight: Complete protection against contact
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.
Definition of IP 55
5= Dust-tight: Ingress of dust is not entirely prevented, but it must not enter in
sufficient quantity to interfere with the satisfactory of the equipment.
5= Protection from water jet：Water direct jet against the enclosure from any
direction shall have no harmful effect.
Definition of IP 54
5= Dust-tight: Ingress of dust is not entirely prevented, but it must not enter in
sufficient quantity to interfere with the satisfactory of the equipment.
4= Protection from water immersion: Water splashing against the enclosure from
any direction shall have no harmful effect.
Performance of resistant chemicals and resistant solvents

(1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids
because there is fear that rubber parts (gasket, oil seal, O ring etc.) will corrode.
(a) Organic solvents
(b) Coolant including chlorine / gasoline
(c) Amine type detergent
(d) Acid, alkali and liquid causing rust
(e) Other liquids or solutions, that will harm NBR or CR rubber
(2) When the robots work in the environment, using water or liquid, complete draining of J1 base must
be done. Incomplete draining of J1 base will make the robot break down.
(3) Don not use unconfirmed liquid.
- p-3 -
PREFACE B-81764EN/01
RELATED MANUALS
For the FANUC Robot series, the following manuals are available:
Safety handbook B-80687EN Intended readers :

All persons who use FANUC Robot, system designer
All persons who use the FANUC Robot and system Topics :
designer must read and understand thoroughly this Safety items for robot system design, operation,
handbook maintenance
R-J3iB controller Setup and Operations manual Intended readers :
Operator, programmer, maintenance technician,
HANDLING TOOL system designer
B-81464EN-2 Topics :
ARC TOOL Robot functions, operations, programming, setup,
B-81464EN-3 interfaces, alarms
SEALING TOOL Use :
B-81464EN-4 Robot operation, teaching, system design
Maintenance manual Intended readers :
B-81465EN Maintenance technician, system designer
Topics :
B-81465EN-1 Installation, start-up, connection, maintenance
(For Europe) Use :
Installation, start-up, connection, maintenance
R-30iA controller Setup and Operations manual Intended readers :
Operator, programmer, maintenance technician,
HANDLING TOOL system designer
ARC TOOL Robot functions, operations, programming, setup,
B-83124EN-3 interfaces, alarms
DISPENSE TOOL Use :
B-83124EN-4 Robot operation, teaching, system design
Alarm code list
B-83124EN-6
Maintenance manual Intended readers :
B-82595EN Maintenance technician, system designer
(For Europe) Installation, start-up, connection, maintenance
B-82595EN-2 Use :
(RIA) 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-4 -
B-81764EN/01 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1 CONFIGURATION .................................................................................. 1
2 CHECKS AND MAINTENANCE ............................................................. 2
2.1 DAILY INSPECTION ..................................................................................... 2
2.2 FIRST 1-MONTH (320 HOURS) CHECKS .................................................... 3
2.3 FIRST 3-MONTH (960 HOURS) CHECKS .................................................... 3
2.4 3-MONTH (960 HOURS) CHECKS ............................................................... 7
2.5 1-YEAR (3840 HOURS) CHECKS................................................................. 7
2.6 1.5 YEARS PERIODIC INSPECTION (5760 hours) ...................................... 8
2.7 3 YEARS PERIODIC INSPECTION (11520 hours) ....................................... 8
3 PERIODIC MAINTENANCE .................................................................... 9
3.1 GREASING.................................................................................................... 9
3.2 GREASE REPLACEMENT .......................................................................... 11
3.3 PROCEDURE FOR RELEASING THE GREASE REMAINING PRESSURE
..................................................................................................................... 14
3.4 BATTERY REPLACEMENT ........................................................................ 15
4 TROUBLESHOOTING .......................................................................... 16
4.1 TROUBLESHOOTING................................................................................. 16
4.2 COMPONENT REPLACEMENT AND ADJUSTMENT ITEMS .................... 22
5 ADJUSTMENTS.................................................................................... 23
5.1 ZERO POINT POSITION AND MOTION LIMIT........................................... 23
5.2 AXIS LIMIT SETUP ..................................................................................... 29
5.2.1 CHANGE MOTION LIMIT BY SOFTWAR........................................................30
5.2.2 CHANGE MOTION LIMIT BY ADJUSTABLE MECHANICAL STOPPER
(OPTION)...............................................................................................................31
5.2.3 MAX STOPPING DISTANCE OF ADJUSTABLE MECHANICAL STOPPER 36
5.3 J1-AXIS LIMIT SWITCH ADJUSTMENT (OPTION) .................................... 38
5.4 MASTERING ............................................................................................... 39
5.4.1 Overview ................................................................................................................39
5.4.2 Resetting Alarms and Preparing for Mastering ......................................................40
5.4.3 Zero Position Mastering .........................................................................................41
5.4.4 Quick Mastering .....................................................................................................44
5.4.5 Single Axis Mastering ............................................................................................46
5.4.6 Mastering Data Entry .............................................................................................49
5.4.7 Confirming Mastering ............................................................................................50
5.5 BRAKE RELEASE ....................................................................................... 51
6 PIPING AND WIRING ........................................................................... 52
c-1
TABLE OF CONTENTS B-81764EN/01
6.1 PIPING DRAWING ...................................................................................... 52

6.2 CABLE MOUNTING DIAGRAM................................................................... 54
7 SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)............ 56
7.1 SEVERE DUST/LIQUID PROTECTION OPTION CHARACTERISTICS..... 56
7.2 CONFIGURATION OF THE SEVERE DUST/LIQUID PROTECTION
OPTION PACKAGE..................................................................................... 57
7.3 NOTES ON SPECIFYING THE SEVERE DUST/LIQUID PROTECTION
PACKAGE ................................................................................................... 58
8 ROBOT OUTLINE DRAWING AND OPERATING SPACE DIAGRAM 59
8.1 OUTLINE DRAWING AND OPERATING SPACE ....................................... 59
8.2 OPERATING SPACE OF THE ROBOT INSTALLED ON A WALL OR
INCLINED SURFACE.................................................................................. 74
9 MOUNTING DEVICES ON THE ROBOT .............................................. 80
9.1 WRIST SECTION END EFFECTOR MOUNTING SURFACE ..................... 80
9.2 WRIST LOAD CONDITIONS ....................................................................... 81
9.3 EQUIPMENT MOUNTING SURFACES ...................................................... 83
9.4 LOAD SETTING .......................................................................................... 88
9.5 END EFFECTOR AIR PIPING..................................................................... 90
9.6 OPTION CABLE .......................................................................................... 90
9.6.1 OPTION CABLE INTERFACE ............................................................................90
9.6.2 OPTION CABLE PIN LAYOUT ..........................................................................93
9.6.3 OPTION CABLE PIN LAYOUT ..........................................................................96
9.7 INSULATION BETWEEN THE ARC WELDING ROBOT END EFFECTOR
MOUNTING PLATE AND WELDING TORCH ............................................. 98
9.7.1 Overview ................................................................................................................98
9.7.2 Wrist Section Insulation .........................................................................................98
10 TRANSPORTATION AND INSTALLATION ......................................... 99

10.1 TRANSPORTATION.................................................................................... 99
10.2 STORING THE ROBOT ............................................................................ 104
10.3 INSTALLATION ......................................................................................... 105
10.4 MAINTENANCE AREA .............................................................................. 109
10.5 ASSEMBLING THE ROBOT FOR INSTALLATION................................... 110
10.6 AIR PIPING ............................................................................................... 110
10.7 INSTALLATION CONDITIONS.................................................................. 111
11 CONNECTION WITH THE CONTROLLER ........................................ 112
APPENDIX
A PERIODIC INSPECTION TABLE........................................................ 115
B STRENGTH OF BOLT AND BOLT TORQUE LIST............................ 118
c-2
B-81764EN/01 1. CONFIGURATION
1 CONFIGURATION
Fig. 1 (a) shows the configuration of the mechanical unit.
J3 アーム
J3 arm
J4 軸用 AC サーボ
AC servo motor
for J4-axis (M4) J3 ケーシング
J3casing
モータ（M4）
AC servoAC
J5 軸用 motor
サーボ
for J5-axis (M5)
モータ（M5）
J3 軸用ACACservo
サーボ motor
for J3-axis (M3)
モータ（M3）
手首ユニット
Wrist unit
J1 軸用
ACAC サーボ
servo motor
AC軸用
J6 servo
AC motor
サーボ
モータ（M1）
for J1-axis (M1)
for J6-axis (M6)
モータ（M6） J2 アーム J2 arm
J2 ベース
J2 base
J1 ベース
J1 base
ACJ2 軸用motor
servo AC サーボ
forモータ（M2）
J2-axis (M2)
Fig 1 (a) Mechanical unit configuration
-1-
2. CHECKS AND MAINTENANCE B-81764EN/01
2 CHECKS AND MAINTENANCE

Performing daily inspection, periodic inspection, and maintenance can keep the performance of robots in
a stable state for a long period.
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.
2.1 DAILY INSPECTION

Clean and maintain each component of robots during everyday system operations. At the same time,
check the components to see if there is a crack or break in them. Also check and maintain the following
items as required.
(a) Before turning on power

No. Inspection item Inspection procedure
Make a pneumatic pressure check, using the three-piece
pneumatic option shown in Fig. 2.1 (a).
Pneumatic pressure
1 If the measured pneumatic pressure does not fall in the range
check
between 0.5 and 0.7 MPA (5 and 7 kg/cm2), make adjustments,
using the regulator pressure setting handle.
Put the pneumatic pressure system in operation and check the
For machines with amount of oil dripping. If the measured amount of oil dripping
Check on the
2 a three-piece does not meet the rating (one drop/10 to 20 seconds), make
amount of oil mist
pneumatic option adjustments, using the oil adjustment knob. The oiler becomes
empty after 10 to 20 days of normal operation.
Check on the Check to see if the amount of oil in the three-piece option is
3
amount of oil within the rated level shown in Fig. 2.1 (a).
Check to see if a joint or hose leaks.
Check for leakage
4 If you find a problem, tighten the joint or replace any defective
from the piping
component.
Whether cables are abnormal See Chapter 6.
5
Mechanical unit
Make sure that when the power is turned on, the BLAL alarm
6 Battery voltage check has not been raised. If the BLAL alarm has been raised, replace
the battery as directed in Section 3.4.
Component cleaning Clean and maintain each component. At the same time, check
7
and inspection the components to see if there is a crack or break in them.
-2-
B-81764EN/01 2. CHECKS AND MAINTENANCE
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
レギュレータ
Regulator pressure
setting
圧力設定 handle
ハンドル
ドレインポート
Drain port
Fig. 2.1 (a) Air control set (option)
(b) After turning on power

No. Check items Check points
Check whether the robot moves along and about the axes smoothly without
Vibration, abnormal
1 unusual vibration or sounds. Also check whether the temperature of the
noises, and motor heating
motors are excessively high.
Check to see that the stop positions of the robot have not deviated from the
2 Changing repeatability
previous stop positions.
Peripheral devices for Check whether the peripheral devices operate properly according to
3
proper operation commands from the robot.
4 Brakes for each axis Check that the end effector drops within 5 mm when the power is cut off.
2.2 FIRST 1-MONTH (320 HOURS) CHECKS

Inspect the following items at after 1-month (320 hours).

Check the robot cable Check whether the teach pendant and control box connection cable and robot
1
and teach pendant cable connection cable are unevenly twisted or damaged.
2.3 FIRST 3-MONTH (960 HOURS) CHECKS

Check the following items at the first quarterly (960 hours) inspection, then every year (3840 hours)
thereafter. (See Section 2.5.)
Item Check items Check points

Check whether the jackets of the mechanical unit cables and welding cables
Abnormality of the
are damaged. Also check whether the cables are excessively bent or
1 mechanical unit cable
unevenly twisted. Check that the connectors of the motors and connector
and welding cable
panels are securely engaged. (NOTE 1)
Retightening external Further tighten the end effector mounting bolts and external main bolts.
2
main bolts (NOTE 2)
Check the mechanical Check the looseness of mounting bolts of mechanical stopper and adjustable
3 stopper and adjustable mechanical stopper. Particular, check swing stopper of J1-axis rotates
mechanical stopper smoothly (NOTE3)
-3-

Cleaning and checking Clean each part (remove chips, etc.) and check component parts for cracks
4
each part and flaws. (NOTE 4)
Check the end effector
5 If cables etc. are attached, confirm whether there is damage in the cable.
(hand) cable
Check the teach pendant,
Check whether the teach pendant and control box connection cable and robot
6 control box cable and
connection cable are unevenly twisted or damaged.
robot connection cable
Note 1) Inspection points and check items of the mechanical unit cables and
connectors
Inspection points of the mechanical unit cables and welding cable

Check the cable for damage that has been exposed.
Clean it when the spatter adheres.
Fig. 2.3 (a) Inspection points of the mechanical unit cables and welding cable
-4-
Inspection points of the connectors

- Power/brake connectors of the motor exposed externally
- Robot connection cables, earth terminal and user cables
Check items
- Circular connector : Check the connector for tightness by turning it manually.
- Square connector : Check the connector for disengagement of its lever.
- Earth terminal : Check the terminal for tightness.
Fig. 2.3 (b) Inspection points of connectors
Note 2) Points to be retightened

- The end effector mounting bolts, robot installation bolts, and bolts to be removed for inspection need
to be retightened.
- The bolts exposed to the outside of the robot need to be retightened.
For the tightening torque, see the recommended bolt tightening torque shown in the Appendix.
A loose prevention agent (adhesive) is applied to some bolts. If the bolts are tightened with greater
than the recommended torque, the loose prevention agent may be removed. So, follow the
recommended tightening torque when retightening them.
-5-
Note 3) Check of Fixed Mechanical Stopper and Adjustable Mechanical

Stopper
- Check the tightness of the stopper mounting bolts. If they are loose, retighten them.
J5軸機械式ストッパ
J5-axis mechanical stopper
J3-axisJ3軸機械式ストッパ
mechanical stopper
J2-axis mechanical stopper
J1-axis mechanical
stopper
Fig. 2.3 (c) Check of mechanical stopper and adjustable mechanical stopper
Note 4) Cleaning
- Necessary cleaning points, dust on the flat part, sedimentation of spatters
Clean sediments periodically.
In particular, clean the following points carefully.
Vicinity of the wrist axis and oil seal
→ If chippings or spatters are attached to the oil seal, an oil leak may be caused.
Vicinity of the welding torch and wrist flange
→ The insulation failure occurs when the spatter has collected around the wrist flange or
welding and there is a possibility of damaging the robot mechanism by the welding
current. (See Section 9.7)
- Check if the vicinity of the necessary inspection points, wrist part, and J3 arm significantly wears
due to rubbing against the welding cable or hand cable.
- Check if there is a trace of a collision around the gun or hand.
- Check the reducer or grease bath for an oil leak.
→ If oil can be found a day after wiping oil, an oil leak may be caused.
-6-
Fig. 2.3 (d) Cleaning points
2.4 3-MONTH (960 HOURS) CHECKS

Check the following item at the intervals based on 3 months or 960 hours, whichever comes first.

If the ventilation portion of the controller is dusty, turn off power
1 Ventilation portion of controller
and clean the unit.
Check whether the teach pendant and control box connection
Check the teach pendant, control box
2 cable and robot connection cable are unevenly twisted or
cable and robot connection cable
damaged.
2.5 1-YEAR (3840 HOURS) CHECKS

Check the following item at the intervals based on 1 year or 3840 hours, whichever comes first.

Abnormality of the mechanical unit cable
1 (See Section 2.3.)
And welding cable
2 Retightening external main bolts (See Section 2.3.)
Check the mechanical stopper and
adjustable mechanical stopper
4 Cleaning and checking each part (See Section 2.3.)
5 Check the end effector (hand) cable (See Section 2.3.)
6 Greasing to the J6-axs (See Section 3.1.)
Check the teach pendant, control box
cable and robot connection cable
-7-
2.6 1.5 YEARS PERIODIC INSPECTION (5760 hours)

Check the following item at the intervals based on 1.5 year or 5760 hours, whichever comes first.

1 Battery replacement Replace the battery in the mechanical unit. (See Section 3.4.)
2.7 3 YEARS PERIODIC INSPECTION (11520 hours)

Check the following item at the intervals based on 3 year or 11520 hours, whichever comes first.

1 J1-J5 Grease replacement (See Section 3.2.)
-8-
B-81764EN/01 3. PERIODIC MAINTENANCE
3 PERIODIC MAINTENANCE
3.1 GREASING
Following is greasing for J6-axis reducer. When greasing the robot, keep its power turned off.
i) Replenish the robot with grease every 12 months under normal operating condition (or 3840 hours
operating).
ii) See Fig. 3.1 (a) and Table 3.1 (a) for greasing points and the method.
iii) After applying grease, release the remaining pressure within the grease bath as described in the
procedure in Section 3.3.
Table 3.1 (a) Greasing points

No Greasing Specified Amount Gun tip
Greasing method
. point grease of grease pressure
Replace the flat-head bolts and sealing washers of
the J6-axis grease inlet and outlet, and attach the
0.1 MPa
J6-axis Specification: supplied grease nipple to the grease inlet of the
1 40 ml or less
reducer A98L-0040-0110 J6-axis. After greasing, remove the grease
(NOTE)
nipple, and attach the flat-head bolts and sealing
washers to the grease inlet and outlet.
NOTE
When a manual pump is used for greasing, the standard rate is one pumping
cycles per two seconds.
CAUTION
If you grease incorrectly, the pressure in the grease bath may increase steeply,
leading to a broken seal, which will eventually cause grease leakage or
malfunction. When greasing, be sure to follow the cautions stated in Section 3.2.
-9-
3. PERIODIC MAINTENANCE B-81764EN/01
J5-axis gearbox
Grease outlet
J5-axis gearbox J5軸ギヤボックス排脂口
Bolt M6 x 8 + Seal washer
J5軸ギヤボックス給脂口ボルトM6X8＋シールワッシャ J4-axis gearbox
Grease inlet J4軸ギヤボックス排脂口
ボルトM6X8＋シールワッシャ J6-axis reducer grease outlet
ボルトM6X8＋シールワッシャ
Bolt M6 x 8 + J6軸減速機排脂口
grease outlet
ボルトM6X8＋シールワッシャ Bolt + Seal washer
Seal washer Bolt M6 x 8+ Seal washer
J3-axis reducer grease outlet

Taper plugJ3軸減速機排脂口
R1/8
テーパプラグ
J6-axis reducer grease inlet
J6軸減速機給脂口
ボルトM6X8＋シールワッシャ
Bolt M6 x 8+ Seal washer
J1-axis reducer
J1軸減速機排油口
grease outlet
シールボルトM8X10 J2-axis reducer
J2軸減速機排脂口
J1-axis reducer
J1軸減速機給脂口シールボルトM8X10
Seal bolt M8 x 10 grease outlet
Grease inlet
グリースニップル
Seal bolt M8 x 10
Grease nipple
J4-axis gearbox
J4軸ギヤボックス給脂口
Grease inlet
Grease nipple
J3-axis reducer
Grease
グリースニップルinlet
Grease nipple
J2-axis reducer
Grease inlet
Grease nipple
Fig 3.1 (a) Greasing points
Table 3.1 (b) Specification of grease nipple, seal bolt and seal washer
Parts name Specification
Grease nipple (J1) A97L-0218-0013#B110
Grease nipple (J2) A97L-0218-0013#A110
Grease nipple (J3) A97L-0218-0013#A610
Taper plug R1/8 A97L-0001-0436#2-1D
Seal bolt (M8) A97L-0218-0417#081010
Seal washer (M6) A30L-0001-0048#6M
- 10 -
3.2 GREASE REPLACEMENT

Follow the procedure stated below to replace the grease in the J1, J2, and J3-axis reducers and the J4 and
J5-axis gearboxes at the intervals based on every 3 years or 11520 hours, whichever comes first. See Fig.
3.1 (a) for greasing points.
1 Remove the seal bolts from the J1, J2, and J3-axis grease outlets shown in Fig. 3.1 (a). Also remove
the flat-bolts and sealing washers from the J4 and J5-axis grease outlets.
2 Remove the grease nipple caps at the J1, J2, J3, and J4-axis grease inlets. For J5-axis, remove the
flat-head bolt and the washer and attach the grease nipple of the appendix.
3 Supply the grease specified in Table 3.2 (a) to the J1, J2, J3, J4, and J5 axes through their respective
grease nipples. For the J1, J2, J3, and J4 axes, keep greasing until the new grease pushes out the
old grease and comes out of each grease outlet. Ensure that the amount of the drained grease is
equal to the amount specified in the table so that the grease bath will not become full. For the J5
axis, the grease may not come out of the grease outlet because the specified grease amount is small.
If a larger amount of grease is supplied, however, the gearbox performance may be adversely
affected. Do not supply a larger amount of grease than specified.
4 After applying grease, release the remaining pressure within the grease bath as described in the
procedure in Section 3.3.
5 Wind sealing tape around the J1, J2-axis seal bolts and the J3-axis taper plug you removed, and
attach them to the J1, J2, and J3-axis grease outlets.
6 Attach the J4 and J5-axis flat-head bolts and the J4 and J5-axis sealing washers to the J4-axis grease
outlets and the J5-axis grease inlet and outlet.
7 Be sure to cap the grease nipple for each axis. When reusing a grease nipple once used, wind sealing
tape around the screw.
Table 3.2 (a) Grease to be replaced at regular intervals of three years (11520 hours)
Specified grease Amount of grease Robot posture
Gun tip pressure
Kyodo Yushi to be applied (ml) when greased
J1-axis reducer 980ml －
J2-axis reducer 550ml J2=0°
Specification: 0.1 MPa or less
J3-axis reducer 550ml J3=0°
A98L-0040-0174 (NOTE)
J4-axis gearbox 1030ml J3=0°
J5-axis gearbox 400ml J3=－90°
NOTE
When a manual pump is used for greasing, the standard rate is one pumping
cycles per two seconds.
WARNING
Hot grease might eject suddenly when you open the grease outlet. Attach bags
for collecting grease, and use appropriate protective equipment such as
heat-resistant gloves, protective glasses, a face shield, or a body suit if
necessary.
- 11 -
CAUTION
If you grease incorrectly, the pressure in the grease bath will increase, leading to a
broken seal, which will eventually cause grease leakage or malfunction.
When greasing, be sure to follow the cautions stated below.
1 Before starting greasing, open the bolts to allow the grease to come out.
2 A grease inlet may optionally have a plug. Replace the plug with the attached
grease nipple and then start greasing.
3 Using a manual greasing pump, grease gently and slowly.
4 Avoid using a pneumatic pump driven from a factory pneumatic line as much as
possible. Even when using a of Table 3.1 (a), 3.2 (a) or less during application of
grease.
5 Be sure to use the specified grease. Otherwise, damage to reducers or a
similar abnormality may occur.
6 After applying grease, release the remaining pressure within the grease bath as
described in the procedure in Section 3.3.
7 To prevent the accident like fall, fire, remove all the excess grease from the floor
and robot.
When replacing or supplying grease, we suggest keeping the robot in the posture shown in Fig. 3.2 (a).
- 12 -
J1 toJ1～J4
J4-axis軸給脂姿勢
greasing posture
J5 軸給脂姿勢
J5-axis greasing posture
Fig. 3.2 (a) Robot posture for greasing
- 13 -
3.3 PROCEDURE FOR RELEASING THE GREASE

REMAINING PRESSURE
After applying grease, operate the robot as instructed below with the grease nipple of the grease inlet and
the seal bolt of the grease outlet uncapped to release the residual pressure within the grease bath. Attach a
recovery bag below the grease inlet and outlet to prevent output grease from splattering.
Table 3.3 (a) Releasing the remaining pressure of the axis

Axis name
J1 J2 J3 J4 J5 J6
A A A B B A
A
Perform program operation for the time specified below leave the grease inlet and outlet open in order to
release the residual pressure. (J2-axis has two outlets, uncap both of the two outlets.) Perform repetitive
operation with an axis angle of at least 60 degrees and OVR100% for 10 minutes or more
B
To release remaining pressure, after remove the tube for applying grease leave the grease inlets and
outlets open for three minutes. Install the bolts or seal bolts in the grease inlets and outlets, and perform
repetitive operation with an axis angle of at least 60 degrees and OVR100% for 10 minutes or more.
After the operation is completed, remove the plugs or bolts from the grease inlets and outlets, and leave
the grease inlets and outlets open for three minutes to release internal pressure.
When the above operation is impossible due to ambient conditions, adjust the operating time according to
the operating angle. (When the maximum allowable axis angle is 30 degrees, perform the twice operation
for 20 minutes or more.) Upon completion of the above operation, attach the grease nipple or the seal
bolt to each the grease inlet and outlet. When reusing the grease nipple and the seal bolt, be sure to seal
it with seal tape.
- 14 -
3.4 BATTERY REPLACEMENT

A backup battery is used to keep the reference-position data for each axis of the robot.
The battery needs to be replaced at regular intervals of one year and half. Follow this procedure for
battery replacement.
1 Press the EMERGENCY STOP button to prohibit the robot motion.
CAUTION
Be sure to keep the power supply turning on. Replacing the batteries with the
power supply turned off causes all current position data to be lost. Therefore,
mastering will be required again.
2 Remove the battery case cap. (Fig. 3.4 (a))

3 Take out the old batteries from the battery case.
4 Insert new batteries into the battery case. Pay attention to the direction of batteries.
5 Close the battery case cap.
Battery
Battery spec.
spec. :A98L-0031-0005
: A98L-0031-0005
(D battery
(1.5V (alkali) 4 pcs)
size-D)
Fig. 3.4 (a) Battery replacement
- 15 -
4. TROUBLESHOOTING B-81764EN/01
4 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, it is necessary to
keep an accurate record of problems and to take proper corrective actions.
4.1 TROUBLESHOOTING
Table 4.1 (a) shows the troubleshooting. If a cause of remedy is unclear, please contact your FANUC
service representative.
Table 4.1 (a) Troubleshooting

Symptom Description Cause Measure
Vibration - The J1 base lifts off the [J1 base fastening] - If a bolt is loose, apply
Noise floor 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 floor plate. - Adjust the floor plate
J1 base and floor 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
or contamination caught contamination, remove it.
between the J1 base and
floor plate.
- If the robot is not securely
fastened to the floor plate,
the J1 base lifts the floor
plate as the robot operates,
allowing the base and floor
plates to strike each other
which, 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 sufficiently rigid. - If it is impossible to
- If the rack or floor is not reinforce the rack or floor,
sufficiently rigid, reaction modify the robot control
from the robot deforms the program; doing so might
rack or floor, leading to reduce the amount of
vibration. vibration.
- Vibration becomes more [Overload] - Check the maximum load
serious when the robot - It is likely that the load on that the robot can handle
adopts a specific posture. the robot is greater than the once more. If the robot is
- If the operating speed of maximum rating. found to be overloaded,
the robot is reduced, - It is likely that the robot reduce the load, or modify
vibration stops. control program is too the robot control program.
- Vibration is most noticeable demanding for the robot - Vibration in a specific
when the robot is hardware. portion can be reduced by
accelerating. It is likely that the modifying the robot control
- Vibration occurs when two ACCELERATION value is program while slowing the
or more axes operate at the excessive. robot and reducing its
same time. acceleration (to minimize
the influence on the entire
cycle time).
- 16 -
B-81764EN/01 4. TROUBLESHOOTING

Vibration - Vibration or noise was first [Gear, bearing, or reducer] - Operate one axis at a time
Noise noticed after the robot - It is likely that the collision to determine which axis is
(continued) collided with an object or or overload applied an vibrating.
the robot was overloaded excessive force to the drive - Remove the motor, and
for a long period. mechanism, thus damaging replace the gear, the
- The grease of the vibrating the geartooth surface or bearing, and the reducer.
or noise occurring axis has rolling surface of a bearing, For the spec. of parts and
not been replaced for a or reducer. the method of replacement,
long period. - Prolonged overloaded use contact your local FANUC
- Periodic vibration and noise may cause fretting fatigue representative.
occurs. on the gear tooth surface or - Using the robot within its
rolling surface of the maximum rating prevents
bearing and reducer. problems with the drive
- It is likely that a mechanism.
contamination caught in a - Supplying the specified
gear, bearing, or within a grease at the
reducer has damaged the recommended interval will
gear tooth surface or rolling prevent problems.
surface of the bearing, or
reducer.
- It is likely that a
contamination caught in a
gear, bearing, or within a
reducer is causing
vibration.
- It is likely that, because the
grease 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 or inadequate
lubrication.
- There is an unusual sound - There may be an unusual - Use the specified grease.
after replacing grease. sound when using other - When there is an abnormal
- There is an unusual sound than the specified grease. noise even when using the
after a long time pause. - Even for the specified specified grease, operate
- There is an unusual sound grease, there may be an for one or two days as an
during operation at low unusual sound during experiment. Generally, any
speed. operation at low speed abnormal noise will
immediately after disappear.
replacement or after a long
period of time.
- There is an unusual sound - There is a possibility of - Stop the robot, and confirm
when operating right grease has not been the damage situation at
immediately the replacing replaced accurately. The once.
part, grease. amount of grease may be Replenish grease when
insufficient. they are insufficient.
- 17 -

Vibration - The cause of problem [Controller, cable, and motor] - Refer to CONTROLLER
Noise cannot be identified from - If a failure occurs in a MAINTENANCE MANUAL
(Continued) examination of the floor, controller circuit, preventing for troubleshooting related
rack, or mechanical control commands from to the controller and
being supplied to the motor amplifier.
section.
normally, or preventing - Replace the motor of the
motor information from axis that is vibrating, and
being sent to the controller check whether vibration still
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 send - If vibration occurs only
the accurate position to the when the robot assumes a
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 is ground potential and
machine near the robot. induced on the grounding prevent extraneous
wire, preventing commands electrical noise.
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
leading to vibration.
- 18 -

Rattling - While the robot is not [Mechanical section coupling - Check that the following
supplied with power, bolt] bolts for each axis are tight.
pushing it with the hand - It is likely that overloading If any of these bolts is
causes part of the or a collision has loosened loose, apply loctite and
mechanical unit to wobble. a mounting bolt in the robot tighten it to the appropriate
- There is a gap on the mechanical section. torque.
mounting surface of the - Motor retaining bolt
mechanical unit. - Reducer retaining bolt
- Reducer shaft retaining
bolt
- Base retaining bolt
- Arm retaining bolt
- Casting retaining bolt
- End effector retaining
bolt
Motor - The ambient temperature of [Ambient temperature] - The teach pendant can be
overheating the installation location - It is likely that a rise in the used to monitor the
increases, causing the ambient temperature or average current. Check the
motor to overheat. attaching the motor cover average current when the
- After a cover was attached prevented the motor from robot control program is
to the motor, the motor releasing heat efficiently, running. The allowable
overheated. thus leading to overheating. average current is specified
- After the robot control [Operating condition] for the robot according to
program or the load was - It is likely that the robot was its ambient temperature.
changed, the motor operated with the maximum Contact FANUC for further
overheated. average current exceeded. information.
- Relaxing the robot control
program and conditions can
reduce the average current,
thus preventing
overheating.
- Reducing the ambient
temperature is the most
effective means of
preventing overheating.
- Having the surroundings of
the motor well ventilated
enables the motor to
release heat efficiently,
thus preventing
overheating. Using a fan to
direct air at the motor is
also effective.
- If there is a source of heat
near the motor, it is
advisable to install
shielding to protect the
motor from heat radiation.
- After a control parameter [Parameter] - As for load setting, Input an
was changed, the motor - If data input for a workpiece appropriate parameter
overheated. is invalid, the robot cannot referring to Section 9.4.
be accelerate or decelerate
normally, so the average
current increases, leading
to the motor overheating.
- 19 -

Motor - Symptom other than stated [Mechanical section problems] - Repair the mechanical unit
overheating above - It is likely that problems while referring to the above
(Continued) 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 - If the average current falls
an excessive load on the after the motor is replaced,
motor. it indicates that the first
- It is likely that a failure of motor was faulty.
the motor prevented it from
delivering its rated
performance, thus causing
an excessive current to flow
through the motor.
Grease - Grease is leaking from the [Poor sealing] - If a crack develops in the
leakage mechanical unit. - Probable causes are a casting, sealant can be
crack in the casting, a used as a quick-fix to
broken O-ring, a damaged prevent further grease
oil seal, or a loose seal bolt. leakage. However, the
- A crack in a casting can component should be
occur due to excessive replaced as soon as
force that might be caused possible, because the crack
in collision. might extend.
- An O-ring can be damaged - O-rings are used in the
if it is trapped or cut during locations listed below.
disassembling or - Motor coupling section
re-assembling. - Reducer (case and
- An oil seal might be shaft) coupling section
damaged if extraneous dust - J3 arm coupling
scratches the lip of the oil section
seal. - Inside the wrist
- A loose seal bolt might - Oil seals are used in the
allow grease to leak along locations stated below.
the threads. - J1-axis cable pipe
- Problems with the grease - Inside the reducer
nipple or threads. - Inside the wrist
- Seal bolts are used in the
locations stated below.
- Grease drain outlet
- Replace the grease nipple.
- 20 -

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 or grease
soak through the motor,
causing the brake to slip.
Displace- - The robot moves to a point [Mechanical unit problems] - If the robot is not
ment other than the taught - If the robot is not repeatable, repair the
position. repeatable, probable mechanical unit by referring
- The repeatability is not causes are a failure in the to the above descriptions of
within the tolerance. drive mechanism or a loose vibration, noise, and
bolt. rattling.
- If the robot is repeatable, it - If the robot is repeatable,
is likely that a collision correct the taught program.
caused slip on the sting The problem will not
surface of each axis arm, reoccur unless another
and reducer. collision occurs.
- It is likely that the - If the Pulsecoder is faulty,
Pulsecoder is faulty. replace the motor.
Displace- - Displacement occurs only [Peripheral unit displacement] - Correct the setting of the
ment in a specific peripheral unit. - It is likely that an external peripheral unit position.
(Continued) force was applied to the - Correct the taught program.
peripheral unit, 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 mastering data, which is
changed. data was rewritten in such a known to be correct.
way that the robot origin - If correct mastering data is
was shifted. unavailable, perform
mastering again.
BZAL alarm - BZAL is displayed on the - It is likely that the voltage of - Replace the batteries.
occurred teach pendant screen. the memory backup battery - Replace the cable.
is low.
- It is likely that the
Pulsecoder cable is
defective.
Table 4.1 (b) Allowable arm drop (ARC Mate 120iB, M-16iB/20)
At power turn-off time 5mm
At emergency stop time 5mm
Table 4.1 (c) Allowable arm drop (ARC Mate 120iB/10L, M-16iB/10L)
At power turn-off time 5mm
At emergency stop time 5mm
- 21 -
4.2 COMPONENT REPLACEMENT AND ADJUSTMENT ITEMS

Adjustments are needed after a component is replaced. The following table lists components and the
adjustment items that must be made after their replacement. After replacing a component, make necessary
adjustments according to this table.
Component replacement or
Adjustment item
function change
Cable replacement (a) Cable dressing
(b) Quick mastering
Change to J1-axis stroke (a) Change to stopper position
(b) Change to parameter
Battery replacement Replace the battery with the power kept on.
(The battery should be replaced once 1.5 years.) No adjustment is needed.
- 22 -
B-81764EN/01 5. ADJUSTMENTS
5 ADJUSTMENTS
Each part of the robot mechanical units is set to the best condition before the robot is shipped to the
customer. The customer does not need to make adjustments on the robot when it is delivered.
If a mechanical unit of the robot has a large backlash because of a long-term use or component
replacement, make adjustments using to this section.
5.1 ZERO POINT POSITION AND MOTION LIMIT

Each controlled axis is provided with a reference position and operation limit.
A state in which a controlled axis has reached its operation limit is known as overtravel (OT). For each
axis, an overtravel condition can be detected at the both ends of it. As long as the robot does not
encounter a servo section error or system error that causes a reference position to be lost, the robot is
controlled in such a way that it will not go out of its operation area.
In addition, the motion range limit by a mechanical stopper is also prepared to improve safety.
Fig. 5.1 (a) to (g) show the zero point and motion limit, and maximum stopping distance (stopping
distance in condition of maximum speed and maximum load) of each axis. Only in case of J1 to J3-axis,
robot stops by transforming mechanical stopper. For motion limit change by the software, refer to
Subsection 5.2.1. For the adjustable mechanical stoppers (option), refer to Subsection 5.2.2.
+170°Stroke end
+179°The maximum stopping

distance ( position )
-179°The maximum stopping

-170°Stroke end
Fig. 5.1 (a) J1-axis swiveling (standard 340º)
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5. ADJUSTMENTS B-81764EN/01
-90°Stroke end
-94.8°The maximum stopping

+168.3°The maximum stopping

+160°Stroke end
Fig. 5.1 (b) J2-axis rotation
-170°Stroke end
+290°Stroke end (ARC Mate 120iB, M-16iB/20)

+285°Stroke end (ARC Mate 120iB/10L, M-16iB/10L)
Fig. 5.1 (c) J3-axis rotation
- 24 -
+200°Stroke end -200°Stroke end
Fig. 5.1 (d) J4-axis rotation
+140°Stroke end
+147.6°The maximum stopping
-147.6°The maximum stopping

-140°Stroke end
Fig. 5.1 (e) J5-axis wrist rotation
- 25 -
-450°Stroke end +450°Stroke end
Fig. 5.1 (f) J6-axis wrist rotation
J2+J3= +244.6°Stroke end

J2+J3= -80°Stroke end
J2+J3= +251.8°The maximum stopping
J2+J3= -87.2°The maximum stopping distance ( position )
Fig. 5.1 (g) J2/J3 limit interference angle
- 26 -
Fig. 5.1 (h), (i) show the operation directions (+/- directions) of each axis.
J3-axis
J4-axis
- +
J6-axis
+ + -
- - J2-axis
J5-axis
+
-
-
+
J1-axis
+
Fig. 5.1 (h) Operation directions of each axis
ARC Mate 120iB, M-16iB/20
J3-axis
J4-axis
- +
J6-axis
+ + -
J2-axis
- -
J5-axis
+
-
-
+
J1-axis
+
Fig. 5.1 (i) Operation directions of each axis
ARC Mate 120iB/10L, M-16iB/10L
- 27 -
Fig. 5.1 (j) shows the position of mechanical stopper.
J5 axis mechanical stopper
Fig. 5.1 (j) Position of mechanical stopper
- 28 -
5.2 AXIS LIMIT SETUP

Axis limits define the motion range of the robot. The operating range of the robot axes can be restricted
because of:
 Used motion range of the robot is limited.
 There is an area where tool and peripheral devices interfere with the robot.
 The length of cables and hoses attached for application is limited.
The two methods used to prevent the robot from going beyond the necessary motion range.
 Axis limit software settings (All axes)
 Axis limit adjustable mechanical stopper ((J1 to J3 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 the J1, J2, and J3 axes, do not count merely on software-based limits to the
movable range when changing the movable range of the robot. Use adjustable
mechanical stoppers together so that damage to peripheral equipment and
injuries to human bodies can be avoided. In this case, make the
software-specified limits match the limits based on the adjustable mechanical
stoppers.
3 Mechanical stoppers are physical obstacles. For J1 to J3-axis, it is possible to
re-position the adjustable mechanical stoppers. But the robot cannot move
beyond them. For J5-axis, the mechanical stoppers are fixed. For the J4 and
J6-axes, only software limits are available.
4 For changing J2 andJ3 axes interference angles, only mechanical stoppers are
available; a software-specified movable range cannot be changed.
5 Adjustable mechanical stoppers (J1, J2, and J3-axes) are 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.
Upper Limits
Displays the upper limits of each axis, or the axis limits in a positive direction.
Lower Limits
Displays the lower limits of each axis, or the axis limits in a negative direction.
- 29 -
5.2.1 CHANGE MOTION LIMIT BY SOFTWAR

Axis limit software settings are upper and lower motion degree limitations. The limits can be set for all
robot axes and will stop robot motion if the robot is calibrated.
Procedure
1 Press the [MENUS] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select Axis Limits. The following screen will be displayed.
System Axis Limits JOINT 100%

1/16
AXIS GROUP LOWER UPPER
1 1 -150.00 150.00 dg
2 1 -60.00 75.00 dg
3 1 -110.00 50.00 dg
4 1 -240.00 240.00 dg
5 1 -120.00 120.00 dg
6 1 -360.00 360 00 dg
7 0 0.00 0.00 mm
8 0 0.00 0.00 mm
9 0 0.00 0.00 mm
[ TYPE ]
CAUTION
1 0.00 indicates the robot does not have these axes.
2 For the J1,J2-J3-axis, do not count merely on software-based limits to the
movable range when changing the movable range of the robot. Use adjustable
mechanical stoppers together. In this case, make the software-specified limits
match the limits based on the adjustable mechanical stoppers.
5 Move the cursor to the desired axis range and type the new value using the numeric keys on the
teach pendant.
System Axis Limits

2/16
AXIS GROUP LOWER UPPER
2 1 -50.00 75.00 deg
[ TYPE]
6 Perform the setting for all axes.

7 Cycle the power of the controller in the cold start mode so the new settings are enabled.
WARNING
You must turn off the controller and then turn it back on to use the new
information; otherwise injury to personnel or damage to equipment could occur.
- 30 -
5.2.2 CHANGE MOTION LIMIT BY ADJUSTABLE MECHANICAL

STOPPER (OPTION)
For the J1,J2,J3 axis, it is possible to re-position mechanical stopper.
Change the position of the mechanical stopper according to the desired movable range.
Item Movable range

J1 axis adjustable Upper limit Settable in steps of 30° degrees in a range of +20° to +170° degrees
mechanical stopper Lower limit Settable in steps of 30° degrees in the range of -170° to -20° degrees
Settable in steps of 20° degrees in the range of 0° to +100° degrees A
Upper limit mechanical stopper is also provided at the upper limit +163° of the
J2 axis adjustable standard movable range.
mechanical stopper Settable in steps of 20° degrees in the range of -60° to 0° degrees A
Lower limit mechanical stopper is also provided at the upper limit -91° of the
standard movable range.
J3 (J2+J3)axis adjustable Upper limit Settable in steps of 20° degrees in a range of 0° to +180° degrees
mechanical stopper Lower limit Settable in steps of 20° degrees in a range of -60° to 0° degrees
NOTE
If the newly set operation range does not include 0°, it is necessary to change it
by zero degree mastering so that 0° is included.
J1 AXIS STROKE MODIFICATION

A stroke modification can be performed at an arbitrary position in steps of 30° within the range -170° to
+170°.
Fig. 5.2.2 (a) J1 axis stroke modification
- 31 -

Install in plus side
ADAPTOR 1 ADAPTOR 2
BASE
Bolt M20X40(2) Bolt M12X50(2) Bolt M12X65(2)
Conical spring washer M12H(2) Conical spring washer M12H(2)
J2 AXIS STROKE J2 AXIS STROKE J2 AXIS STROKE

～ +100 DEG ～ +80 DEG ～ +60 DEG

～ +40 DEG ～ +20 DEG ～ 0 DEG
Install in minus side
When this option is installed, remove the following part.
Stopper

-40 DEG ～ -20 DEG ～ 0 DEG ～
Fig. 5.2.2 (b) J2 axis stroke modification (option)
- 32 -
CAUTION
1 High sensitive collision detection is required when using this option.
2 Stroke of J2-axis depends on the angle of J3-axis.
3 Assemble the mechanical stopper without a gap between the base and the
adapter and between adapters.
4 Assemble mechanical stopper as figure. The operation of the mechanical
stopper cannot be secured at the installations other than figure.
5 Setting the stopper, robot can not reach to hatched area. Please do not access
hatched area.
+ 204°
J2=+30°
J3=+204°
+ 30
°
+
60
°
1
35
R
R3
72
J2 arm 31 °
- 1
J2=+60°
J3=-131°
J3 axis arm
Restricted area
Motion range of
J5 axis rotation center
- 33 -

When BASE1 installed
ADAPTOR 4 ADAPTOR 3
Bolt M8X40(2) Bolt M8X40(2)
BASE 1
Bolt M16X30(2)
J3 AXIS STROKE J3 AXIS STROKE J3 AXIS STROKE J3 AXIS STROKE

～ +180DEG ～ +160DEG ～ +140DEG ～ +120DEG
When BASE2 installed

BASE 2 ADAPTOR 1
Conical spring washer M8H(2)
J3 AXIS STROKE
～ +100DEG J3 AXIS STROKE J3 AXIS STROKE
～ +80DEG ～ +60DEG
ADAPTOR 2
Bolt M8X80(2)
Conical spring washer M8H(2) When this option is installed, remove the following part.
Stopper

～ +40DEG ～ +20DEG ～ 0DEG
Fig. 5.2.2 (c) J3 axis stroke modification (option)
CAUTION
1 These figures show the case of J2 = 0 deg. Stroke limit of J3-axis depends on
the J2-axis angle.
2 Assemble the mechanical stopper without a gap between the base and the
adapter and between adapters.
3 Assemble mechanical stopper as figure. The operation of the mechanical
stopper cannot be secured at the installations other than figure.
- 34 -
When BASE3 and BASE4 installeded

Install in plus side
ADAPTOR 4 ADAPTOR 3
BASE 3
Bolt M16X30(2)

～ +180DEG ～ +160DEG ～ +140DEG ～ +120DEG
ADAPTOR 1
Bolt M8X80(2)
BASE 4 Conical spring washer M8H(2)
Bolt M16X30(2)
J3 AXIS STROKE J3 AXIS STROKE

～ +100DEG ～ +80DEG J3 AXIS STROKE
ADAPTOR 2 ～ +60DEG
Bolt M8X80(2)
Conical spring washer M8H(2) When this option is installed, remove the following part.
Stopper
J3 AXIS STROKE J3 AXIS STROKE

J3 AXIS STROKE ～ 0DEG
～ +40DEG ～ +20DEG
Install in minus side

-60DEG ～ -40DEG ～ -20DEG ～ 0DEG ～
Fig. 5.2.2 (d) J3 axis stroke modification (option)
- 35 -
5.2.3 MAX STOPPING DISTANCE OF ADJUSTABLE MECHANICAL

STOPPER
The adjustable mechanical stopper is a thing that the stopper is transformed, a mechanism that the robot is
stopped, and the robot works up to the stopping distance shown in Table 5.2.3 (a) in the maximum
compared with the set range of motion when the stopper collides.
Table 5.2.3 (a) Max. stopping distance (position) of adjustable mechanical stopper
Item Plus side Minus side
ARC Mate 120iB J1 +9.0° -9.0°
M-16iB/20
J2 +7.1° -5.9°
ARC Mate 120iB/10L
M-16iB/10L J3 +8.8° -8.8°
Robot front
Specified motion range

of plus side Specified motion range
of minus side
9°
Max stopping distance

(position)
9°
Max stopping distannce

(position)
J1-axis adjustable
mechanical stopper
Fig. 5.2.3 (a) Max. stopping distance (position) of adjustable mechanical stopper (J1-axis)
- 36 -

of minus side

(position)
of plus side
7.1°
5.
9°

(position)
Fig. 5.2.3 (b) Max. stopping distance (position) of adjustable mechanical stopper (J2-axis)

ofr plus side
Specified motion range 8.8° 8.8°
of minus side Max stopping distance
(position)
(position)
Fig. 5.2.3 (c) Max. stopping distance (position) of adjustable mechanical stopper (J3-axis)
- 37 -
5.3 J1-AXIS LIMIT SWITCH ADJUSTMENT (OPTION)

A limit switch is an overtravel switch. When a limit switch is actuated, the power to the servo motor is
turned off to stop the robot. Two types of limit switches are available as options for the J1 axis only:
• Specification of the option for the operation range 360° (+/- 180°): A05B-1216-H313
Adjustment procedure
1 Set the system variable $MOR_GRP.$CAL_DONE to FALSE. This setting cancels the
software-based stroke end limits, and enables axis operation to be performed by jogging beyond
each stroke end.
2 Loosen the two M4×8 bolts used to secure a dog (block).
3 Adjust the position of the limit switch so that the limit switch is actuated at a position about 1° from
the stroke end.
4 When an OT is detected with the switch actuated, the robot stops, and the error message
"OVERTRAVEL" is displayed. To move the robot again, press the [RESET] key while holding
down the [SHIFT] key. Furthermore, while holding down the [SHIFT] key, move the axis under
adjustment away from the limit by jogging.
5 If the adjustment allowance of 2 is insufficient, loosen the M4 x 6 bolts (2 pcs) on the J1 base used
for securing the limit switch and adjust the position of the limit switch itself in order to facilitate
adjustment:
6 Check that the switch on the opposite side is also actuated normally at a position about 1° from the
stroke end. If the switch is not actuated normally, readjust the position of the switch.
7 Reset the system variable $MOR_GRP.$CAL_DONE to TRUE.
8 Cycle power of the controller.
NOTE
The J1-axis limit switch option cannot be used with the integrated type controller.
Dog bracket
Dog block
Pin bolt
Dog Limit switch cover
Adusting direction of
Screw　M4X20(4pcs) limit switch
Limit switch
Bolt:M4X8(2) Bolt　M4X6 (2)
Washer(2) Plane washer (2)
Plate spring washer(2)
Bolt M10X16(2)
Fig. 5.3 (a) J1-axis limit switch adjustment (operation range 360º)
- 38 -
5.4 MASTERING
Mastering is an operation performed to associate 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.
5.4.1 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:
 Motor replacement.
 Pulsecoder replacement
 Reducer replacement
 Cable replacement
 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 go dead.
Replace the batteries in the control and mechanical units periodically. An alarm
will be issued to warn the user of a low battery voltage.
Mastering method
There are following five methods of mastering.
Table 5.4.1 (a) Mastering method

Fixture position This is performed using a mastering fixture before the machine is shipped from the
mastering factory.
Zero-position This is performed with all axes set at the 0-degree position. A zero-position mark (eye
mastering (eye mark mark) is attached to each robot axis. This mastering is performed with all axes aligned to
mastering) their respective eye marks.
Quick mastering This is performed at a user-specified position. The corresponding count value is obtained
from the rotation speed of the Pulsecoder connected to the relevant motor and the
rotation angel within one rotation. Quick mastering uses the fact that the absolute value of
a rotation angel within one rotation will not be lost.
Single axis mastering This is performed for one axis at a time. The mastering position for each axis can be
specified by the user. This is useful in performing mastering on a specific axis.
Mastering data entry Mastering data is entered directly.
Once performing the mastering, the positioning (calibration) is indispensable. The Positioning is an
operation which recognizes the robot current position loading the pulse count value.
This section describes zero-position mastering, quick mastering, single-axis mastering, and mastering data
entry. For more detailed mastering, contact your local FANUC representative.
- 39 -
CAUTION
1 If mastering is performed incorrectly, the robot may behave unexpectedly. This is
very dangerous. For this reason, the Master/Cal screen is designed to appear
only when the $MASTER_ENB system variable is 1 or 2. After performing
positioning, press F5 ([DONE]) on the Master/Cal screen. The $MASTER_ENB
system variable is then reset to 0 automatically, and the Master/Cal screen will
disappear.
2 Before performing mastering, it is recommended that you back up the current
mastering data.
5.4.2 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.
- 40 -
5.4.3 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. This mastering is performed with all
axes set at the 0-degree position using their respective eye marks.
Zero-position mastering involves a visual check. It cannot be so accurate. It should be used only as a
quick-fix method.
Procedure Mastering to Zero Degrees

Step
1 Press the [MENUS] key.
2 Select NEXT and press SYSTEM.
3 Press F1, [TYPE].
4 Select Master/Cal.
AUTO
SYSTEM Master/Cal JOINT 1%

TORQUE = [ON ]
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Press 'ENTER' or number key to select.
[ TYPE ] LOAD RES_PCA DONE
5 Release brake control, and jog the robot into a posture for mastering.
NOTE
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, switch the controller power off and on
again.
- 41 -
6 Select [2 Zero Position Master].
AUTO
TORQUE = [ON ]

3 QUICK MASTER
6 CALIBRATE
Robot Mastered! Mastering Data:

<0> <11808249> <38767856>
<9873638> <122000309> <2000319>
7 Select “6 CALIBRATE”, then press F4, YES. Mastering will be performed automatically.
Alternatively, switch the power off and on again. Switching the power on always causes positioning
to be performed.
AUTO
TORQUE = [ON ]
3 QUICK MASTER
6 CALIBRATE
Robot Calibrated! Cur Jnt Ang(deg):
< 0.0000> < 0.0000> < 0.0000>
< 0.0000> < 0.0000> < 0.0000>
8 After positioning is completed, press F5 [DONE].

DONE
F5
- 42 -
9 Reset the brake control release settings to the original state. Set system variables
$PARAM_GROUP, $SV_OFF_ALL, and $SV_OFF_ENB to their original values, then turn off
then back on the power.
Table 5.4.3 (a) Witness mark position

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
J4-axis
J6-axis
J3-axis
J2-axis
J5-axis
J1-axis
Fig.5.4.3 (a) Zero degree position arrow mark for each axis (ARC Mate 120iB, M-16iB/20)
- 43 -
J4-axis
J6-axis
J3-axis
J2-axis
J5-axis
J1-axis
Fig.5.4.3 (b) Zero degree position arrow mark for each axis (ARC Mate 120iB/10L, M-16iB/10L)
5.4.4 Quick Mastering

Quick mastering is performed at a user-specified position. The corresponding count value is obtained
from the rotation speed 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. 5.4.3 (a). Do not change the
setting unless there is any problem. If it is impossible to set the robot at the position mentioned above, it
is necessary to 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.
- 44 -
Procedure Recording the Quick Mastering Reference Position

1 Select [6 SYSTEM].
2 Select [Master/Cal]. The positioning screen will be displayed.
SYSTEM Master/Cal AUTO JOINT 10 %

TORQUE = [ON ]
3 QUICK MASTER
6 CALIBRATE
3 Release brake control, and jog the robot to the quick mastering reference position.
4 Select [5 SET QUICK MASTER REF] and press F4 [YES]. Quick mastering reference position is
saved.

6 CALIBRATE
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 is required to restore mastering data.
Procedure of Quick Mastering

Step
1 Display the Master/Cal screen.

TORQUE = [ON ]
3 QUICK MASTER
6 CALIBRATE
Robot Not Mastered!
Quick master? [NO]

[ TYPE ] YES NO
- 45 -
2 Release brake control, and jog the robot to the quick mastering reference position.
3 Move the cursor to [QUICK MASTER] and press the [ENTER] key. Press F4, [YES]. Quick
mastering data is memorized.

3 QUICK MASTER
4 Move the cursor to [6 CALIBRATE] and press the [ENTER] key. Calibration is executed.
Calibration is executed by power on again.
5 After completing the calibration, press F5, DONE.
DONE
F5
6 Reset the brake control release settings to the original state. Set system variables
$PARAM_GROUP, $SV_OFF_ALL, and $SV_OFF_ENB to their original values, then turn off
then back on the power.
7 After mastering, update the mastering data listed in the factory-supplied data sheet with new
mastering datA ($DMR_GROUP.$MASTER_COUN [1] to [6]).
5.4.5 Single Axis Mastering

Single-axis mastering is performed for one axis at a time. When mastering is required only for a specific
axis, perform single axis mastering as described below. New position information is then stored only for
that axis, and the previous position information is preserved for the other axes. The mastering position for
each axis can be specified by the user.
Single 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.
Note that mastering of the J2 and J3 axes must always be performed simultaneously because there is an
interaction between the two axes.
SINGLE AXIS MASTER JOINT 30%

1/9
ACTUAL POS (MSTR POS) (SEL) [ST]
J1 25.255 (0.000) (0) [2]
J2 25.550 (0.000) (0) [2]
J3 -50.000 (0.000) (0) [2]
J4 12.500 (0.000) (0) [2]
J5 31.250 (0.000) (0) [2]
J6 43.382 (0.000) (0) [2]
E1 0.000 (0.000) (0) [2]
E2 0.000 (0.000) (0) [2]
E3 0.000 (0.000) (0) [2]
[ TYPE ] GROUP EXEC
- 46 -
Table 5.4.5 (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.
Mastering position A mastering position is specified for an axis to be subjected to single axis mastering.
It is typically useful to specify a 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 one-axis mastering has been completed for the corresponding
axis. It cannot be rewritten directly by the user.
The value of the item is reflected in
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

1 Select [6 SYSTEM].
2 Select [Master/Cal].

TORQUE = [ON ]
3 QUICK MASTER
6 CALIBRATE
3 Select [4 SINGLE AXIS MASTER]. The following screen will be displayed.
SINGLE AXIS MASTER AUTO JOINT 10%

1/9
J1 25.255 ( 0.000) (0) [2]
J2 25.255 ( 0.000) (0) [2]
J3 -50.000 ( 0.000) (0) [2]
J4 12.500 ( 0.000) (0) [2]
J5 31.250 ( 0.000) (0) [2]
J6 43.382 ( 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
4 For the axis to which to perform single axis mastering, set (SEL) to “1.” Setting of [SEL] is
available for one or more axes.
5 Turn off brake control, then jog the robot to the mastering position.
6 Enter axis data for the mastering position.
7 Press F5 [EXEC]. Mastering is performed. So, [SEL] is reset to 0, and [ST] is re-set to 2 or 1.
- 47 -
SINGLE AXIS MASTER AUTO JOINT 10%

1/9
J1 25.255 ( 0.000) (0) [2]
J2 25.255 ( 0.000) (0) [2]
J3 50.000 ( 0.000) (0) [2]
J4 12.500 ( 0.000) (0) [2]
J5 0.000 ( 0.000) (0) [2]
J6 90.000 ( 90.000) (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 When single axis mastering is completed, press the [PREV] key to resume the previous screen.

TORQUE = [ON ]
3 QUICK MASTER
6 CALIBRATE
9 Select [6 CALIBRATE], then press F4 [YES]. Positioning is performed. Alternatively, turn off the
controller power and on again. Positioning is performed.
10 After positioning is completed, press F5 [DONE].
DONE
F5
11 Restore brake control. Reset system variables $PARAM_GROUP.$SV_OFF_ALL and

$PARAM_GROUP.$SV_OFF_ENB to their original values, and turn the power off and then back
on.
- 48 -
5.4.6 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 will be displayed.
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.
SYSTEM Variables AUTO JOINT 10%

1/669
135 $DMR_GRP DMR_GRP_T
136 $ENC STAT [2] of ENC STATT
[ TYPE ]
4 Select $DMR_GRP.

$DMR_GRP 1/1
1 [1] DMR_GRP_T

$DMR_GRP 1/1
1 $MASTER_DONE FALSE
2 $OT_MINUS [9] of BOOLEAN
3 $OT_PLUS [9] of BOOLEAN
4 $MASTER_COUN [9] of INTEGER
5 $REF_DONE FALSE
6 $REF_POS [9] of Rea
7 $REF COUNT [9] of Integer
8 $BCKLSH SIGN [9] of Boolean
- 49 -
5 Select $MASTER_COUN, and enter the mastering data you have recorded.

$DMR_GRP[1].$MASTER_CO UN 1/9
1 [1] 95678329
2 [2] 10223045
3 [3] 3020442
4 [4] 30405503
5 [5] 20497709
6 [6] 2039490
7 [7] 0
8 [8] 0
9 [9] 0
[ TYPE ]
6 Press the [PREV] key.

7 Set $MASTER_DONE to TRUE.

$DMR_GRP 1/29
1 $MASTER_DONE TRUE
2 $OT_MINUS [9] of BOO LEAN
[ 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
5.4.7 Confirming Mastering

1) Confirming that mastering was performed normally
Usually, positioning is performed automatically when the power is turned on. To confirm that
mastering was performed normally, check that the current-position display matches the actual
position of the robot, using this procedure.
a) Replay the taught operation of the robot to set each axis to zero degrees, and visually check that
the zero-degree position marks shown in Fig. 5.4.3 (a) and (b) are aligned.
b) Replay a specific portion of the program, and check that the robot has moved to the taught
position.
2) Possible alarms in positioning
The following paragraphs describe alarms that may occur in positioning and explain how to handle
them.
a) BZAL alarm
This alarm is raised if the voltage of the pulsecoder backup battery becomes 0V when the
controller power is off. Mastering must be performed again because the counter has already
lost data.
b) BLAL alarm
This alarm indicates that the voltage of the pulsecoder backup battery is too low to run the
pulsecoder. If this alarm is issued, replace the backup battery soon while keeping the power
on, and check whether the current-position data is correct, using a method described in item (1).
- 50 -
c) CKAL, RCAL, PHAL, CSAL, DTERR, CRCERR, STBERR, and SPHAL alarms
If any of these alarms is issued, contact your FANUC service representative. A motor may
have to be replaced.
5.5 BRAKE RELEASE

When the robot power is off, the brakes of the robot can be released using the brake release unit (option).
In this case, the robot can be put in a different position. Observe Notes 1 to 4 given below.
CAUTION
1 When releasing the brakes of the J2-axis or J3-axis motor (M2 or M3), support
the robot with a crane as shown in Fig. 5.5 (a).
2 When releasing the brakes of the J4-axis to J6-axis motor (M4 to M6), support
the end effector with a crane so that it will not fall.
3 When releasing the brakes of motors, use slings having a sufficient tensile
strength.
4 Do not release the brakes of more than one motor simultaneously.
Fig. 5.5 (a) Brake release for J2-axis motor
- 51 -
6. PIPING AND WIRING B-81764EN/01
6 PIPING AND WIRING

6.1 PIPING DRAWING
Fig. 6.1 (a) to (c) show the diagram of piping in the mechanical unit.
The piping diagram of ARC Mate 120iB/10L and M-16iB/10L are same configurations.
Panel union
Rc 3/8 female
Air tube
Outside diameter : 8mm
Inside diameter : 5mm
Panel union
Rc 3/8 female
Fig. 6.1 (a) Piping diagram (standard)
- 52 -
B-81764EN/01 6. PIPING AND WIRING
Panel union
NPT 1/4 female (2pcs)
Air tube (2pcs)

Outside diameter : 6.35mm (1/4I)
Inside diameter : 4.23mm
Panel union
NPT 1/4 female (2pcs)
Fig. 6.1 (b) Piping diagram (LECO W/F)
Panel union
Air tube Rc 1/4 female
Outside：6mm
Inside：4mm
Air relay
Air tube
Outside：8mm
Inside：5mm
Panel union
Rc 3/8 female
Fig. 6.1 (c) Piping diagram (Integrated cable type)
- 53 -
6. PIPING AND WIRING B-81764EN/01
6.2 CABLE MOUNTING DIAGRAM

Make the following visual checks to see if there are any cable abnormalities:
1) Whether the swiveling motion of the robot has caused any local torsion or bending in the swiveling
section.
2) Whether the cables leading to the J2- or J3-axis sections have worn each other during operation.
3) Whether the route of cables leading to the end effector is appropriate for the operation of the wrist
and the service operation of the robot.
Fig. 6.2 (a) and (b) are the mounting diagram of cables in the mechanical unit.
K302
K201
K202
K101, K102
K113, K301
Fig. 6.2 (a) Cables in the mechanical unit

(ARC Mate 120iB, M-16iB/20)
- 54 -
B-81764EN/01 6. PIPING AND WIRING
K302
K201
K202
K131, K132
K301
Fig. 6.2 (b) Cables in the mechanical unit

(ARC Mate 120iB/10L, M-16iB/10L)
- 55 -
7. SEVERE DUST/LIQUID PROTECTION
PACKAGE (OPTION) B-81764EN/01
7 SEVERE DUST/LIQUID PROTECTION

PACKAGE (OPTION)
The package is intended to improve the Severe dust/Liquid protection characteristics of the robot so that it
can be used in a severe environment. It is also intended to improve the rust resistance of the robot so
that it can be used for a longer time.
CAUTION
The Severe dust/Liquid protection option is supported for M-16iB/20 and
M-16iB/10L only, and is not supported for ARC Mate 120iB and ARC Mate
120iB/10L. Note also that this option cannot be modified by addition to the
standard specification.
7.1 SEVERE DUST/LIQUID PROTECTION OPTION

CHARACTERISTICS
The following table lists the IEC60529-based Severe dust/Liquid protection option characteristics of the
M-16iB/20, M-16iB/10L.See the Preface for additional information.
Severe dust/liquid protection package

J3 arm and wrist section IP67
Main body IP55
IP67 IP55
Fig. 7.1 (a) Severe dust/Liquid protection option characteristics of the M-16iB
- 56 -
B-81764EN/01 PACKAGE (OPTION)
7.2 CONFIGURATION OF THE SEVERE DUST/LIQUID

PROTECTION OPTION PACKAGE
The following table lists the major differences between the M-16iB/20, M-16iB/10L standard
specification and severe dust/liquid protection option package.
Standard specification Severe dust/liquid protection option

Painting Polyurethane resin enamel painting or Polyurethane resin enamel painting
melamine resin enamel painting
Bolts Black oxide coating FR coating bolt
Stainless bolt
Black chrome plated washer
Cover Option With a J2 cover
With a J4 cover
With a battery box cover
EE connector Non-waterproof connector Waterproof connector
Others Tap seal
J4J4カバー
cover End effector waterproof
エンドエフェクタ用
connector
防水コネクタ
J2J2カバー
cover
Battery box cover

バッテリボックスカバー
Fig. 7.2 (a) Configuration of the severe dust/liquid protection option package
- 57 -
PACKAGE (OPTION) B-81764EN/01
7.3 NOTES ON SPECIFYING THE SEVERE DUST/LIQUID

PROTECTION PACKAGE
1 The liquids below cannot be applied because they may cause deterioration or corrosion of the rubber
parts (such as gaskets, oil seals, and O-rings) used in the robot.
(a) Organic solvents
(b) Cutting fluid including chlorine / gasoline
(c) Amine type detergent
(d) Acid, alkali and liquid causing rust
(e) Other liquids or solutions, that will harm NBR or CR rubber
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 Do not use unconfirmed liquid.
- 58 -
8. ROBOT OUTLINE DRAWING AND
B-81764EN/01 OPERATING SPACE DIAGRAM
8 ROBOT OUTLINE DRAWING AND

OPERATING SPACE DIAGRAM
8.1 OUTLINE DRAWING AND OPERATING SPACE
Fig. 8.1 (a), (d) show the outline drawing and operating space of a robot with a separate controller.
Fig. 8.1 (b), (c), (e), (f) show the operation diagrams of the robot with the separate controller.
Fig. 8.1 (g), (l) show the outline drawing and operating space of a robot with a integral controller.
Fig. 8.1 (h) to (k) and (m) to (p) show the operation diagrams of the robot with the integral controller.
Operating space of J5-axis

rotation center
Operating space of
J5-axis rotation center
Motion limit
Motion limit
Fig. 8.1 (a) Outline drawing and operating space of a robot with a separate controller
- 59 -
OPERATING SPACE DIAGRAM B-81764EN/01
Fig. 8.1 (b) Operation diagram of a robot with a separate controller (No.1)
- 60 -
Fig. 8.1 (c) Operation diagram of a robot with a separate controller (No.2)
- 61 -
Operating space of J5-axis

rotation center
Operating space of
Motion limit
Motion limit
Fig. 8.1 (d) Outline drawing and operating space of a robot with a separate controller
- 62 -
Fig. 8.1 (e) Operation diagram of a robot with a separate controller (No.1)
- 63 -
Fig. 8.1 (f) Operation diagram of a robot with a separate controller (No.2)
- 64 -
Operating space of
F
ig. 8.1 (g) Outline drawing and operating space of a robot with a integral controller
- 65 -
Fig. 8.1 (h) Operation diagram of a robot with a integral controller (No.1)
- 66 -
Fig. 8.1 (i) Operation diagram of a robot with a integral controller (No.2)
- 67 -
Fig. 8.1 (j) Operation diagram of a robot with a integral controller (No.3)
- 68 -
Fig. 8.1 (k) Operation diagram of a robot with a integral controller (No.4)
- 69 -
Operating space of
Fig. 8.1 (l) Outline drawing and operating space diagram of a robot with a integral controller
- 70 -
Fig. 8.1 (m) Operation diagram of a robot with a integral controller (No.1)
- 71 -
Fig. 8.1 (n) Operation diagram of a robot with a integral controller (No.2)
- 72 -
Fig. 8.1 (o) Operation diagram of a robot with a integral controller (No.3)
- 73 -
Fig. 8.1 (p) Operation diagram of a robot with a integral controller (No.4)
8.2 OPERATING SPACE OF THE ROBOT INSTALLED ON A

WALL OR INCLINED SURFACE
When the robot is installed on a wall or an inclined surface, its range of motion is limited according to the
installation angle. Fig. 8.2 (a) to 8.2 (f) show the installation angle ranges and corresponding motion
interferences. Take care that the robot can not stop in out of areas shown to Fig. 8.2 (b) to 8.2 (f).
Fig. 8.2 (a) Robot installation angle ranges

- 74 -
NO LIMITATION
Fig. 8.2 (b) Motion interference in robot installation angle range (1)
- 75 -
-120°< 0 ≦ -60° -70° -110°

60°< 0 ≦ 120°
1595
Ｒ
16
67
1595
+70° +110°
IN CASE OF J1=±90°
1595
Fig. 8.2 (c) Motion interference in robot installation angle range (2)
- 76 -
Fig. 8.2 (d) Robot installation angle ranges

- 77 -
NO LIMITATION
Fig. 8.2 (e) Motion interference in robot installation angle range (1)
- 78 -
-120°< 0 ≦ -60°
60°< 0 ≦ 120° -70° -110°
1813
Ｒ
18
85
1813
＋70° +110°
IN CASE OF J1=±90°
1813
Fig. 8.2 (f) Motion interference in robot installation angle range (2)
- 79 -
9. MOUNTING DEVICES
ON THE ROBOT B-81764EN/01
9 MOUNTING DEVICES ON THE ROBOT

9.1 WRIST SECTION END EFFECTOR MOUNTING SURFACE
Fig. 9.1 (a) shows the end effector mounting surface at the tip of the wrist. The end effector is engaged
using a φ50h7 spigot or φ25H7 socket, positioned using a 1-φ6H7 reamed hole, and fastened using four
M6 self-tapping screws. As for the M6 self-tapping screws, select those not longer than the tapping
depth (10 mm).
CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.
depth 10
depth 10
equally spaced
on circumference
Fig. 9.1 (a) Mounting surface for the ISO flange type end effector
- 80 -
9. MOUNTING DEVICES
B-81764EN/01 ON THE ROBOT
9.2 WRIST LOAD CONDITIONS

Fig. 9.2 (a) and (b) are the allowable load curves of the wrist of the robot.
Apply the conditions of the allowable load moment and the allowable load inertia.
Z(cm)
40
4kg
36.8
30
8kg
22.9
20
12kg
16.7
16kg
12.9
10 20kg
10.0
10 20 30 X,Y(cm)
9.8 13.8 17.4 25.0

10cm
11.5
Fig. 9.2 (a) Wrist section allowable load conditions (ARC Mate 120iB, M-16iB/20)
- 81 -
9. MOUNTING DEVICES
Z(cm)
40
30 4kg
29.5
22.1 6kg
20
8kg
17.5
10kg
12.0
10
10 20 30 X,Y(cm)
11.3 15.2 18.9

10cm
12.9
Fig. 9.2 (b) Wrist section allowable load conditions (ARC Mate 120iB/10L, M-16iB/10L)
- 82 -
9. MOUNTING DEVICES
ARC Mate 120iB ARC Mate 120iB/10L

Item
M-16iB/20 M-16iB/10L
Max. load capacity at wrist Wrist 20kg 10kg
39.2N･m 22.0N･m
J4-axis
(4.0kgf･m) (2.2kgf･m)
39.2N･m 22.0N･m
Allowable load moment at wrist J5-axis
(4.0kgf･m) (2.2kgf･m)
19.6N･m 9.8N･m
J6-axis
(2.0kgf･m) (1.0kgf･m)
2 2
0.88kg･m 0.63kg･m
J4-axis
(9.0kgf･cm･s2) (6.4kgf･cm･s2)
2 2
0.88kg･m 0.63kg･m
Allowable load inertia at wrist J5-axis
2 2
0.25kg･m 0.15kg･m
J6-axis
9.3 EQUIPMENT MOUNTING SURFACES

CAUTION
1 Never perform additional machining operations such as drilling or tapping on the
robot body. This can seriously affect the safety and functions of the robot.
2 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.
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.
(1) ARC Mate 120iB, M-16iB/20

As shown in Fig. 9.3 (a), there are two device mounting surfaces.
1 Keep the gravity center of devices mounted on equipment mounting faces A and B within the area
shown by hatching in Fig. 9.3 (b).
2 The mass of each equipment mounted on a equipment mounting face shall satisfy the condition in
Fig. 9.3 (a):
W: Mass (kg) of the equipment on the end effector mounting face
A : Mass (kg) of the equipment on device mounting face A
B : Mass (kg) of the equipment on device mounting face B
3 As for the mass (W) of equipment on the end effector mounting surface, observe the conditions
stated in Section 9.2.
- 83 -
9. MOUNTING DEVICES
4-M6 depth 10
Center of J4-axis
rotation
Center of J3-axis
rotation
Mounting surface A
3-M6 depth 10
Center of J4-axis rotation
Mounting surface B
Fig. 9.3 (a) Equipment mounting surface dimensions (ARC Mate 120iB, M-16iB/20)
- 84 -
9. MOUNTING DEVICES
Mounting surface B
Mounting surface A
Fig. 9.3 (b) Gravity center dimensions of equipment mounting surface (ARC Mate 120iB, M-16iB/20)
(2) ARC Mate 120iB/10L, M-16iB/10L

As shown in Fig. 9.3 (c), there are two device mounting surfaces.
1 Keep the gravity center of equipment mounted on equipment mounting surfaces A and B within the
area shown by hatching in Fig. 9.3 (d).
2 The mass of each device mounted on a equipment mounting surface shall satisfy the following
condition:
A+ B ≦ 12 (kg）
Where A : Mass (kg) of the equipment on equipment mounting surface A
B : Mass (kg) of the equipment on equipment mounting surface B
3 As for the mass (W) of equipment on the end effector mounting surface, observe the conditions
stated in Section 9.2.
- 85 -
9. MOUNTING DEVICES
4-M6 depth 10
Mounting surface A
3-M6 depth 10
Center of J4-axis
rotation
Mounting surface B
Fig. 9.3 (c) Equipment mounting surface dimensions (ARC Mate 120iB/10L, M-16iB/10L)
- 86 -
9. MOUNTING DEVICES
Mounting surface B
Mounting surface A
Fig. 9.3 (d) Gravity center dimensions of equipment mounting surface (ARC Mate 120iB/10L, M-16iB/10L)
- 87 -
9. MOUNTING DEVICES
9.4 LOAD SETTING

CAUTION
Remember to set load condition parameter. Otherwise, there is a possibility that
trouble occurs such as reducer life reduction. Don’t exceed allowable payload
including connection cables and its swing.
The operation performance screens include the list screen, load setting screen, and device setting screen.
These screens are used to set up information about loads and that about devices on the robot.
1 Press the [MENU] key to display the screen menu.

2 Select SYSTEM on the next page.
3 Press F1 TYPE. The screen switching menu appears.
4 Press F1 Motion Performance. The list screen appears.
MOTION PERFORMANCE JOINT 10%

Group1
No. PAYLOAD[kg] Comment
1 20.00 [ ]
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 >
IDENT >
5 On this screen, you can set up ten different types of load information (condition No. 1 to No. 10).
Place the cursor on the line of a desired condition number, and press F3 DETAIL. The load setting
screen appears.
MOTION PAYLOAD SET JOINT 100%
Group 1
Schedule No[ 1]:[Comment ]
1 PAYLOAD [kg] 20.00
2 PAYLOAD CENTER X [cm] -10.00
3 PAYLOAD CENTER Y [cm] 0.00
4 PAYLOAD CENTER Z [cm] 7.30
5 PAYLOAD INERTIA X [kgfcms^2] 0.633
6 PAYLOAD INERTIA Y [kgfcms^2] 0.727
7 PAYLOAD INERTIA Z [kgfcms^2] 0.644
[TYPE] GROUP NUMBER DEFAULT HELP
- 88 -
9. MOUNTING DEVICES
X
Center of robot X
flange
y
Z mass m(kg)
xg (cm) Iy (kgf・cm・s 2) Center of

Center of gravity
gravity
Iz (kgf・cm・s2 )
yg (cm)
Ix (kgf・cm・s2 )
zg (cm)
Fig. 9.4 (a) Standard tool coordinate
6 On this screen, specify the mass and gravity center position of the load and the inertia around the
gravity center. The X, Y, and Z directions displayed on the screen correspond to the standard tool
coordinates (with no tool coordinate system set up). When you enter values, the confirmation
message "Path and Cycle time will change. Set it?" appears. Select F4 YES or F5 NO.
7 Pressing F3 NUMBER brings you to the load setting screen for another condition number. In a
multigroup system, pressing F2 GROUP brings you to the setting screen for another group.
8 Press the previous page key to return to the list screen. Press F5 SETIND, and enter a desired load
setting condition number.
9 On the list screen, pressing F4 ARMLOAD brings you to the device setting screen.
MOTION ARMLOAD SET JOINT 100%
Group 1
1 ARM LOAD AXIS #1 [kg] 0.00
2 ARM LOAD AXIS #3 [kg] 12.00
[ TYPE ] GROUP DEFAULT HELP
10 Specify the mass of the loads on the J2 base and J3 arm.

When you enter
ARMLOAD AXIS #1[kg] : Mass of the load on the J2 base and
ARMLOAD AXIS #3[kg] : Mass of the load on the J3 arm,
the confirmation message "Path and Cycle time will change. Set it?" appears. Select F4 YES or F5
NO.
Once the mass of a device is entered, it is put in effect by turning the power off and on again.
- 89 -
9. MOUNTING DEVICES
9.5 END EFFECTOR AIR PIPING

In the robot mechanical unit, an air pipe whose inlet is on the J1-axis connector panel and outlet is behind
the J3 casing is provided. See Fig. 6.1 (a) to (c), for explanations about the piping routes. The joint
diameter for the air pipe inlet and outlet is Rc3/8 female. (When Lincoln W/F is specified, the joint
diameter is NPT1/4 female. When the integrated cable type, the inlet is Rc3/8 and the outlet Rc1/4) No
joint is supplied together with the option. The customer shall arrange for the joints that match the tubes to
be used. See the table below for the outside and inside diameters of the air tubes.
Mechanical unit cable Outside and inside diameters

specification and number of air tubes
A05B-1216-H203, H206 2 tubes with an outside diameter of 6.35 mm and an inside diameter of 4.23
H216, H406, H436 mm
2 tubes with an outside diameter of 6 mm and an inside diameter of 4 mm
A05B-1216-H215
2 tubes with an outside diameter of 8 mm and an inside diameter of 5 mm
Other than above
1 tube with an outside diameter of 8 mm and an inside diameter of 5 mm
A05B-1216-H202, H204 etc.
9.6 OPTION CABLE
9.6.1 OPTION CABLE INTERFACE

Fig. 9.6.1 (a) to (c) show the option cable interface and position.
J3ケーシング分線板
J3 casing
手首分線箱
Wrist axis connector plate
connector box
J1ベース分線板
J1 base
connector plate
Fig 9.6.1 (a) Position of option cable interface
- 90 -
9. MOUNTING DEVICES
A05B-1216-H201,H202,H204,H231,H232,H234,H402,H432
RM1
Air supply
Air supply RP1
Endeffector
End effector
AIR2
interface
interface
AIR1
EE
J1 base connector plate

J1-axis base connector plate J3J3-axis
casingcasing connector
connector plate
plate
(input
（input side)
side）（outputside)
side）
(output
A05B-1216-H203,H233
RP1
Air supply
Wire feeder cable End
Welding gas
Endeffector
effector
interface
interface
RM1
Air supply Wire feeder cable

AIR GAS
Welding gas
AIR
GAS EE W/F3
W/F1
J1 basebase
J1-axis connector
connectorplate
plate J3-axis casing connectorplate
plate
J3 casing connector
(inputside）
（input side) （output side)
side）
(output
A05B-1216-H206,H406
Air supply RP1

RP1 User cable （signal）
interface User cable (signal)
Air supply interface
AIR A1
RP1 AIR B1
User cable (power) User cable (power)
inferface AS3
infeterface
AIR A2 AIR B2
EE AP3
RM1
AS1 AP1
J1 basebase
J1-axis connector
connectorplate
plate J3-axis
J3 casingcasing connectorplate
connector plate
（input side）
(input side) （output side）
(output side)
A05B-1216-H207,H237
Air supply
Additional axis
motor cable
Additional axis motor （power,brake） Additional axis motor cable
（pulsecoder） Air supply （pulsecoder）
interface
interface interface
Endeffector
End effector
AIR
interface
interface Additional axis motor cable
(power, brake)
AIR M7P3 interface
RM1 EE M7M3
M7P1 M7M1
J1J1-axis
base base
connector plate
connector plate J3J3-axis
casingcasing connector
connector plate
plate
（inputside)
(input side）（outputside)
(output side）
Fig. 9.6.1 (b) Option cable interface
- 91 -
9. MOUNTING DEVICES
A05B-1216-H209,H239,H409,H439
Camera cable
interface
Air supply
CAM1 Camera cable
interface
3DV sensor
RP1
Air supply
AIR1
3DV sensor End effector
Endeffector
interface
interface
CAM2 SEN2
SEN1/3DV
RM1 AIR2
EE
J1 base connector plate Wrist axis connector

J1-axis base connector plate J3-axis connector plateplate
(input
（iuputside)
side）（outputside)
(output side）
A05B-1216-H213
LED lighting
interface Additional axis motor cable
（power,brake） Additional axis motor cable
Camera cable interface (pulsecoder)
interface LMP1
inferface
Camera cable
LED lighting interface
A RP2
interface
ARM2
Air supply CAM1
3DV sensor Force sensor interface
CAM2
LMP2
FS2
Air supply Endeffector interface
3DV2
End effector interface
3DV sensor
AIR1
AIR2
EE
SEN1/3DV1
RM1
J1 base connector plate Wrist

J1-axis base connector plate Wristaxis
axis connector plate
connector box
(input side)
（iuput side） (output
（outputside)
side）
A05B-1216-H215
Air supply
Air supply
AIR C2
AIR A2
EndEndeffector
effector
AIR A1
interface
interface
AIR D2
AIR B2
AIR B1
EE2
RM1
AIR C1 AIR D1
J1 basebase
J1-axis connector plate
connector plate Wrist
Wristaxis
axis connector plate
connector box
(input side)
（iuput side）（outputside)
(output side）
A05B-1216-H216
RP1 Air supply

Wire feeder cable Welding gas
Wire feeder cable
Endeffector
End effector
RM1 Air supply AIR GAS interface
interface
Welding gas W/F3 EE
AIR
W/F GAS
J1 base connector plate Wrist axis connector plate

J1-axis base connector plate J3-axis connector plate
(input
（iuputside)
side） (output side)
（output side）
Fig. 9.6.1 (c) Option cable interface
- 92 -
9. MOUNTING DEVICES
9.6.2 OPTION CABLE PIN LAYOUT

1) End effector interface(RDI/RDO, RI/RO)
Fig. 9.6.2 (a) to Fig. 9.6.2 (e) show the pin arrangement of end effector interface (RDI/RDO,
RI/RO).
WARNING
The RDO signal for the R-J3iB controller and the RO signal for the R-30iA
controller are incompatible with each other because different output formats are
used. For details, refer to the maintenance manuals for the controllers.
CAUTION
For the R-30iA controller, read RDO1 and RDI1 as RO1 and RI1.
機構部
Mechanical unit
EE
エンド
1 2 3
エフェクタ
End effector
RDO1 XHBK 0V
4 5
RDI1 +24V
XHBK :Hand broken
XHBK:手首破断信号
Fig. 9.6.2 (a) End effector signal arrangement (one RDI signal and one RDO signal)
Mechanical unit
EE
1 2 3 4
RDO1 RDO2 RDO3 RDO4
5 6 7 8 9
RDO5 RDO6 XHBK 0V RDI1
End Effector
10 11 12 13 14 15
RDI2 RDI3 RDI4 XPPABN
RDI8 RDI5
16 17 18 19 20
RDI6 +24V +24V +24V +24V XHBK:Hand broken
21 22 23 24
XPPABN:
RDO7 RDO8 RDI7 Pneumatic pressure abnormal
Fig. 9.6.2 (b) End effector signal arrangement (eight RDI signals and eight RDO signals) (R-J3iB controller)
- 93 -
9. MOUNTING DEVICES
機構部
Mechanical unit EE
5 11
RDO5 RDI3
1 6 12 17
RDO1 RDO6 RDI4 +24V
2 7 13 18 エンド
End
RDO2 RDO7 RDI5 +24V エフェクタ
Effector
3 8 14 19
RDO3 RDO8 RDI6 +24V
4 9 15 20
RDO4 RDI1 RDI7 0V
10 16
RDI2 RDI8
Fig. 9.6.2 (c) End effector signal arrangement (eight RDI signals and eight RDO signals)
(M-16iB integrated cable type)
Mechanical unit
EE
1 2 3 4
RO1 RO2 RO3 RO4
5 6 7 8 9
RO5 RO6 XHBK 0V RI1
End Effector
10 11 12 13
14 15
RI2 RI3 RI4 XPPABN
RI8 RI5
16 17 18 19 20
RI6 +24V +24V +24V +24V
XHBK:Hand broken
21 22 23 24
RO7 RO8 0V RI7 XPPABN:
Pneumatic pressure abnormal
Fig. 9.6.2 (d) End effector signal arrangement (eight RI signals and eight RO signals)
(R-30iA Controller)
Mechanical unit
EE
1 2 3 4
RDO1 RDO2 RDO3 RDO4
5 6 7 8 9
RDO5 RDO6 XHBK 0V RDI1
End Effector
10 11 12 13
14 15
RDI2 RDI3 RDI4 XPPABN
RDI8 RDI5
16 17 18 19 20
RDI6 +24V +24V +24V +24V
21 22 23 24 XHBK:Hand broken
RDO7 RDO8 RDI7 XPPABN:
Pneumatic pressure abnormal
Fig.9.6.2 (e) End effector signal arrangement (eight RDI signals and eight RDO signals)
(Severe dust/liquid protection option)
- 94 -
9. MOUNTING DEVICES
2) User cable (signal line) interface (option)

Fig. 9.6.2 (f) shows pin layout for user cable (signal line) interface.
UserUser
cable(signal) interface(output
cable (signal side)side)
line) interface (output
MS3102A20-27SY
MS3102A20-27SY
J A
S10 S1
I K B End
S9 S11
H N L
S2
C
effector
S8 S14 S12 S3 etc.
G M D
S7 S13 S4
F E
S6 S5
Outside FANUC delivery scope
UserUser
cable(signal) interface(input
cable (signal side)side)
line) interface (input
MS3102A20-27PY
MS3102A20-27PY
A J
S1 S10
B K I
S2 S11 S9
C L N H
S3 S12 S14 S8
S4
D
S13
M
S7
G
AScable
AS cable
2
0.2mm×14pcs
2
E F 0.2mm x 14 pcs
S5 S6

Fig. 9.6.2 (f) Pin layout for user cable (signal line) interface (option)
3) User cable (power line) interface (option)

Fig. 9.6.2 (g) shows pin layout for user cable (power line) interface.
User cable (power) interface (output side)

MS3102A20-27S
J A
P10 P1
I K B End
P9
H N L
P2
C
effector
P8 P3
G M D
P7 P4
F E
P6 P5
User cable (power) interface (input side)

MS3102A20-27P
A J
P1 P10
B K I
P2 P9
C L N H
P3 P8
D M G
P4 P7 AP cable
1.25mm×10pcs
2
E F
P5 P6

Fig.9.6.2 (g) Pin layout for user cable (power line) interface (option)
- 95 -
9. MOUNTING DEVICES
9.6.3 OPTION CABLE PIN LAYOUT

Table 9.6.3 (a), (b) list the makers and models of the connectors used on the robot mechanical unit. Table
9.6.3 (c) lists the makers and models of the connectors to be used on user-prepared devices.
Table 9.6.3 (d) lists the makers and models of the connectors used on the robot mechanical unit when the
M-16iB/20 integrated cable type is specified, and Table 9.6.3 (e) lists the makers and models of the
connectors used on the user side.
Table 9.6.3 (f) lists the makers and models of the connectors used on the robot mechanical unit when the
M-16iB/20, M-16iB/10L severe dust/liquid protection option is specified, and Table 2.6.3 (g) lists the
makers and models of the connectors used on the user side.
Table 9.6.3 (a) Connector specifications (on the mechanical unit side)
Cable name Model Maker/dealer
RDI/O x 1
or JMWR1305F Fujikura Ltd.
RI/O x 1
RDI/O x 8
or JMWR2524F Fujikura Ltd
RI/O x 1
AP (J1-side) MS3102A20-27P
Fujikura Ltd.
AS (J1-side) MS3102A20-27PY
Japan Aviation Electronics
AP (J3-side) MS3102A20-27S
Industry, Ltd. etc.
AS (J3-side) MS3102A20-27SY
Table 9.6.3 (b) Connector specifications (on the mechanical unit side)
Lincoln MS3100A20-27 SY
W/F (J1 base) Japan Aviation Electronics
cable MS3100A20-27 PY Industry, LTD.
(J3 casing)
Table 9.6.3 (c) Connector specifications (on the user side)

Maker/
Cable name Model
dealer
RDI/O x 1
JMSP1305M
Or Fujikura Ltd.
(FANUC specification: A63L-0001-0234#S1305M)
RI/O x 1
RDI/O x 8
JMSP2524M
Or Fujikura Ltd.
(FANUC specification: A63L-0001-0234#S2524M)
RI/O x 1
Connector
Fujikura Ltd.
Straight plug : MS3106B20-27S
Japan Aviation Electronics
AP (J1-side) Elbow plug : MS3108B20-27S
Industry, Ltd.
Or a compatible model
etc.
Clamp MS3057-12A
Connector
Straight plug : MS3106B20-27SY
AS (J1-side) Elbow plug : MS3108B20-27SY
Clamp MS3057-12A
Connector
Straight plug : MS3106B20-27P
AP (J3-side) Elbow plug : MS3108B20-27P
Clamp MS3057-12A
- 96 -
9. MOUNTING DEVICES
Maker/
Cable name Model
dealer
Connector
Straight plug : MS3106B20-27P
AS (J3-side) Elbow plug : MS3108B20-27PY
Clamp: MS3057-12A
Note : Select appropriate models for the wires to be used.
Table 9.6.3 (d) Connector specifications

(on the mechanical unit side when M-16iB integrated cable type)
RDI/O x 8 HR22-12WTRA-20S Hirose Electric Co. Ltd.
PLUG HOUSING
LED SMP-03V-B J.S.T.MFG.Co.,Ltd
SOCKET HOUSING SHF-001T-0.8BS
Table 9.6.3 (e) Connector specifications

(on the user side when M-16iB integrated cable type)
HR22-12TPD-20P
RDI/O x 8 Hirose Electric Co. Ltd.
(FANUC specification : A63L-0001-0509#201P)
RECEPTACLE HOUSING
SMR-03V-B
(FANUC specification : A63L-0001-0974#SMR03V)
LED J.S.T.MFG.Co.,Ltd
PIN CONTACT
SYM-001T-P0.6
(FANUC specification : A63L-0001-0974#SYM001T)
Table 9.6.3 (f) Connector specifications

(on the mechanical unit side when severe dust/liquid protection option is specified)
Parts name Model Maker/dealer
Receptacle JL05-2A24-28SC-F0 Japan Aviation Electronics
Industry. Ltd.
Socket contact ST-JL05-16S-C3-100 Japan Aviation Electronics
Industry. Ltd.
Table 9.6.3 (g) Connector specifications

(on the user side when severe dust/liquid protection option is specified)
Component name Model Maker/dealer
Plug JL05-6A24-28PC-F0-R Japan Aviation Electronics
(FANUC specification : A63L-0001-0463#P2424P) Industry. Ltd.
End bell JL05-24EB3B (21) Japan Aviation Electronics
(FANUC specification : A63L-0001-0463#24EB3B2) Industry. Ltd.
Pin contact ST-JL05-16P-C3-100 Japan Aviation Electronics
(FANUC specification : A63L-0001-0463#16PC3) Industry. Ltd.
NOTE
For detailed descriptions of the dimensions of the connectors, contact your local
FANUC representative or refer to the respective catalogs available from the
maker.
- 97 -
9. MOUNTING DEVICES
9.7 INSULATION BETWEEN THE ARC WELDING ROBOT

END EFFECTOR MOUNTING PLATE AND WELDING
TORCH
9.7.1 Overview
The arc welding robot performs welding, using a welding torch attached to its end effector via a bracket.
As is well known, a high welding current flows through the welding torch, so the insulation between the
end effector and torch is dualized.
If no due consideration is taken, a poor insulation caused by a pileup of spatter can allow the welding
current to leak into robot mechanical sections, possibly resulting in the motor being damaged or the
sheaths of cables in the mechanical sections melting.
Cautions to be taken insulating between the end effector and welding torch are explicitly given below.
9.7.2 Wrist Section Insulation

Design the insulation between the end effector and welding torch so that no current will leak from the end
effector. Concretely, when fastening the insulating material (A) inserted between the end effector and
torch bracket, use different bolts on the insulation material and torch bracket.Insert also the insulating
material (B) between the torch and torch bracket so that the insulation is dualized. When installing the
insulating material (B), be sure to set the crack in the torch holder away from that of the insulating
material (B) so as to prevent spatter from getting in the cracks.
Allow a sufficient distance (at least 5 mm) at the insulating materials in case a pileup of spatter should
occur.
See the following example given for reference purposes.
Even after the insulation is reinforced, it is likely that, if a pileup of spatter grows excessively, current
may leak. Periodically remove spatter when the robot is in service.
Fig. 9.7.2 (a) Insulation
- 98 -
10. TRANSPORTATION
B-81764EN/01 AND INSTALLATION
10 TRANSPORTATION AND INSTALLATION

10.1 TRANSPORTATION
1) Installation procedure
1 Using JOINT, rotate the J3-axis section in the positive direction to such a position that the
transportation stopper can be removed.
2 Remove the J3 transportation stopper (red).
3 Using JOINT, rotate the J2-axis section in the positive direction to such a position that the
J2-axis transportation stopper can be removed.
4 Remove the J2-axis transportation stoppers(red).
5 Remove the two M10 eyebolts from the J2 base. Now you are ready to install the robot.
CAUTION
Be sure to remove the M10 eyebolt from the J2 base. If it is not removed, it will
interfere with the operation of the robot main body, possibly resulting in the robot
being damaged.
NOTE
If an overtravel alarm is issued at 3, hold down the shift key and press the alarm
reset key. Then, while holding down the shift key, feed the J2-axis section to
such a position, using JOINT, that the overtravel condition is released.
2) Carrying the robot with a crane

The robot can be carried by suspending it with a crane.
When lifting a robot of the controller remote type, book a strap on the two M10 eyebolts. (See Fig.
10.1 (a).)
When lifting a robot of the controller remote type with the J2 cover installed, attach a dedicated
transportation support (A05B-1215-J403) to the backward portion of the J2 base to prevent the J2
cover from being damaged. (See Fig. 10.1 (b).)
When lifting a robot of the controller integrated type, attach a dedicated transportation support
(A05B-1215-H501). (See Fig. 10.1 (c).)
The stoppers are painted or plated in red. Before starting to operate the robot, be sure to remove
these stoppers.
CAUTION
1 Be careful not to let the suspending sling get caught on the connectors of the
motors; the connectors may be damaged if the sling get caught on it.
2 When transporting a robot of the controller integrated type, place the teach box
on the controller (because the controller and teach box are connected with each
other via a cable).
- 99 -
10. TRANSPORTATION
AND INSTALLATION B-81764EN/01
WARNING
1 When an end effector and peripherals are installed on a robot, the center of
gravity of the robot changes and the robot might become unstable while being
transported.
If the robot becomes unstable, remove the tooling and place the robot into the
transportation position. This will position the unit center of gravity correctly. It is
recommended to transport the end effector and peripherals separately from the
robot.
2 Use the forklift pockets only to transport the robot with a forklift. Do not use the
forklift pockets for any other transportation method. Do not use the forklift
pockets to secure the robot.
3 Do not pull eyebolts sideways.
4 Be careful not to strike the transport equipment with the forklift forks.
5 Do not put a chain or any other object on the forklift pockets.
6 Before moving the robot by using transport equipment, check and tighten any
loose bolts on the transport equipment.
3) Carrying the robot with a forklift

When carrying a robot with a forklift, specify the following option (Fig. 10.1 (d)):
Controller remote type Forklift bracket: A05B-1216-J051
When carrying a robot, be sure to observe the cautions described in (2) above.
- 100 -
10. TRANSPORTATION
Position during shipment Note)

輸送姿勢注） 1. unit
1. Robot mechanical ロボット機構部質量:220kg
mass: 220kg
J1 J1軸 0º 0° 2. Eyebolt complied2.with
アイボルトはJIS
JIS B 1168. B1168に準処のこと。
J2 J2軸 -36º -36° 　　[許容荷重:150kg/1個]
[Load capacity :150kg/1 pc]
J3 J3軸 -19º -19° 3. Quantity eyebolt3.4 pcs
数量　アイボルト：2個
sling 4 pcs
J4 J4軸 -90º -90° ロープ：2本
J5 J5軸 -90º -90° Crane
J6 -0º クレーン
J6軸 -0°
可搬質量
Load ：300kg
capacity：300kg
ロープ
Sling
可搬質量
Load capacity：250kg
：250kg
900
1386
185 180 186 185
ARC Mate120iB, M-16iB/20
1112
1386
185 180 186 185
ARC Mate120iB/10L, M-16iB/10L

Fig. 10.1 (a) Transportation with a crane
- 101 -
10. TRANSPORTATION
Bracket
eye bolt
Hexagonal bolt (2 pcs)
Fig. 10.1 (b) Transport equipment with J2 cover
- 102 -
10. TRANSPORTATION
Note)
Robot posture on transportation
Position during shipment Note）
1. 1. Weight
Robot mechanical unitof machine
mass: 320kg unit : 220 kg
J1-axis 0° 2. Eyebolt2.
complied with JIScomply
Eye bolts B 1168. with JIS B1168
J1 0º
[Load capacity :150kg/1 pc
J2-axis
J2 -36º -36° [Load
3. Quantity eyebolt capacity : 150kg/1pcs]
1 pc
J3 -19º
J3-axis -19° 3. Quantity
sling 2 pcs eye bolt : 2pcs
J4 -90º transport equipment 1 pc
J4-axis
J5 -90º -90° Sling : 2pcs
J5-axis
J6 -0º -90°
J6-axis -0°
Crane
Load capacity：400kg
Sling
J3 casing Load capacity：350kg
Transport materials
Capacity MAX : 300kg eye bolt
ARC Mate 120iB, M-16iB/20
Fig. 10.1 (c) Carrying the robot with a crane controller integrated type
- 103 -
10. TRANSPORTATION
Position during shipment

J1-axis 0°
J2-axis -36°
J3-axis -19°
J4-axis -90°
J5-axis -90°
J6-axis -0° フォークリフト許容荷重
Forklift capacity
フォークリフトブラケット許容荷重
Forklift bracket capacity Max:300kg
300kg
300kg
91
91
191 191
ブラケット
Bracket
375.5 375.5 A290-7216-X271（2個）
(2 pcs)
ワッシャ付きボルト:M12X35（4個）
Bolt with washer (4 pcs)
Fig. 10.1 (d) Carrying the robot with a forklift controller integrated type
CAUTION
Be careful not to strike the transport equipment with the forklift forks.
10.2 STORING THE ROBOT

When storing the robot, keep it in the posture shown in Section 10.1.
Be very careful when the robot is in any other posture, because it can fall down.
If it is likely that the robot may fall down, fix it or take any other measure to keep it in place.
- 104 -
10. TRANSPORTATION
10.3 INSTALLATION
Fig. 10.3 (a) shows the dimensions of the base of the robot main body.
Locating surface
Mounting face
4-f18 through
Φ26 c’boredepth
f26 facing depth 5
Front
J1 rotation center
Locating
Mountingsurface
face
Fig. 10.3 (a) Dimensions of the base of the robot main body
- 105 -
10. TRANSPORTATION
Fig. 10.3 (b) shows an example of installing the robot. In this example, the floor plate is fixed with four
M20 chemical anchors (Tensile strength 400N/mm2 or more), and the robot base is fastened to the floor
plate with four M16 x 40 bolts (Tensile strength 1200N/mm2 or more). If compatibility must be
maintained in teaching the robot after the robot mechanical unit is replaced, use the locating surface.
4-f24
4-Φ24through
through Locating surface
Mounting face
4-M16 through
J1 rotation center
Mounting face
Locating surface
Chemical anchor Robot J1 base

Robot fixing bolt
M20M20 (4pcs)
(4 pcs)
Strength
Tensile class
strength 2
: 4.8
400N/mm or more M16
M16x 3540 (4 pcs)
(4pcs) 2
Tightening
Tightening torquetorque
186Nm : 186 Nm Tensile
Strengthstrength : 12.9 or more
class1200N/mm
Tightening torque 314Nm
Tightening torque : 314 Nm
Fig. 10.3 (b) Example of installing the robot
- 106 -
10. TRANSPORTATION
NOTE
1 The customer shall arrange for the positioning pin, anchor bolts, and floor plate.
Don’t perform leveling at the robot base directly using a push bolt or a wedge.
2 To secure the robot base, use four hexagon socket head bolt M16 x 40 (tensile
strength 1200N/mm2 or more) and tighten them with regulated tightening torque
318Nm.
3 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.
4 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.
Fig. 10.3 (c) and (d) and Table 10.3 (a) and (c) show the force and moment applied to the robot base.
Table 10.3 (b) and (d) indicate the stopping distance and time of the J1 to J3 axes until the robot stops by
Power-Off stop after input of the stop signal. Refer to the data when considering the strength of the
installation face.
Fig. 10.3 (c) Load and moment applied to the J1 base (ARC Mate 120iB, M-16iB/20)
Table 10.3 (a) Load and moment applied to the J1 base (ARC Mate 120iB, M-16iB/20)
Bending moment Vertical load Torsion moment Horizontal load
State
MV[kgfm](Nm) FV[kgf](N) MH[kgfm](Nm) FH[kgf](N)
At rest [126](1231) [259](2541) [0](0) [0](0)
Accelerating or
[471](4616) [380](3723) [177](1737) [244](3396)
decelerating
At Power-Off stop [1261](12359) [743](7282) [575](5633) [534](5231)
- 107 -
10. TRANSPORTATION
Table 10.3 (b) Stopping time and distance until the robot stopping
by Power-Off stop after input of stop signal (ARC Mate 120iB, M-16iB/20)
Model J1-axis J2-axis J3-axis
ARC Mate 120iB, Stopping time [msec] 205 148 102
M-16iB/20 Stopping distance [deg] (rad) 16.0 (0.28) 12.8 (0.22) 9.6 (0.17)
* Override 100%
* Max. payload, and max. inertia posture
Fig. 10.3 (d) Load and moment applied to the J1 base (ARC Mate 120iB/10L, M-16iB/10L)
Table 10.3 (c) Load and moment applied to the J1 base (ARC Mate 120iB/10L, M-16iB/10L)
Bending moment Vertical load Torsion moment Horizontal load
State
MV[kgfm](Nm) FV[kgf](N) MH[kgfm](Nm) FH[kgf](N)
At rest [126](1231) [259](2541) [0](0) [0](0)
Accelerating or
[471](4616) [380](3723) [177](1737) [244](3396)
decelerating
At Power-Off stop [1261](12359) [743](7282) [575](5633) [534](5231)
Table 10.3 (d) Stopping time and distance until the robot stopping
by Power-Off stop after input of stop signal (ARC Mate 120iB/10L, M-16iB/10L)
Model J1-axis J2-axis J3-axis
ARC Mate 120iB/10L, Stopping time [msec] 190 162 101
M-16iB/10L Stopping distance [deg] (rad) 15.5 (0.27) 12.8 (0.22) 10.6 (0.18)
* Override 100%
* Max. payload, and max. inertia posture
- 108 -
10. TRANSPORTATION
10.4 MAINTENANCE AREA

Fig. 10.4 (a), (b) show the maintenance area required in maintaining the robot.
650 900
Mastering
マスタリング領域 area
500
300
300
500
1150
保守スペースarea
Maintenance
Fig. 10.4 (a) Maintenance area (ARC Mate 120iB, M-16iB/20)
650 900
Mastering area
500
300
300
500
1310
Maintenance area
Fig. 10.4 (b) Maintenance area (ARC Mate 120iB/10L, M-16iB/10L)
- 109 -
10. TRANSPORTATION
10.5 ASSEMBLING THE ROBOT FOR INSTALLATION

If a separate controller is selected for the robot, the robot connection cables are detached from the
connector board of the mechanical unit (they are left connected to the controller) when the robot is
shipped. When installing the robot, attach the cables to the connector board of the mechanical unit
shown in Fig. 10.5 (a). When attaching the connectors, be careful not to pull the cables that have
HARTING connectors. The customer shall arrange for installation of cable ducts between the robot main
body and its controller.
Fig. 10.5 (a) Cable connection panel for the robot mechanical unit
10.6 AIR PIPING

Fig. 10.6 (a) shows the air piping of the robot.
If the three-piece pneumatic option is selected, it comes with the air pipe to be installed between it and the
mechanical unit. To use the option, the customer shall arrange for a three-piece pneumatic option
mounting section that has the self-tapping screw holes whose dimensions and layout are specified in Fig.
10.6 (b) and for its installation.
The following figure assumes that the FANUC three-piece pneumatic option is selected. When the
customer selects another option, refer to the interfaces in the following figure to prepare the required
parts.
- 110 -
10. TRANSPORTATION
エルボーニップル
Elbow nipple R3/8
R3/8
R3/8
Straight nipple R3/8
ストレートニップル
R3/8
エアチューブ　全長3m
Air tube All length 3m In dotted line
点線内
Outer 10mm Inside 6.5mm Air control set (option)
外径10mm 内径6.5mm エア3点セット（オプション）
Spec. : A05B-1302-J011
仕様： A05B-1302-J011
Fig. 10.6 (a) Air piping
Fill the oiler in the three-piece pneumatic option with any turbine oil between #90 and #140 to the
specified level. The customer shall arrange for mounting bolts.
4-M6
IN OUT 70
ルブリケータ
Lubricator 57
エアフィルタ
Air filter
Fig. 10.6 (b) Air control set option (option)
10.7 INSTALLATION CONDITIONS

Refer to specification of “PREFACE” about installation specifications.
- 111 -
11. CONNECTION WITH THE CONTROLLER B-81764EN/01
11 CONNECTION WITH THE CONTROLLER

In case of integrated controller type, cable of controller is connected to motor of robot directly.
In case of remote controller type, the robot is connected with the controller via the power cable, signal
cable, and the earth cable. Connect these cables to the connectors on the back of the base.
For details on air and option cables, see Chapter 9.
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 Do not use 10m or longer coiled cable without first untying it. The long coiled
cable could heat up and become damaged.
Controller
制御装置ロボットunit
Robot mechanical
機構部
Robot connection cable

ロボット接続ケーブル
(power, signal cable, earth line)
(動力、信号ケーブル、アース線)
Connector
信号線用コネクタ
for signal line
Connector
動力線用コネクタ
for power line
Earth terminal
アース端子用タップ
(M10 bolt)
(M10)
Fig. 11 (a) Cable connection
- 112 -
APPENDIX
B-81764EN/01 APPENDIX A. PERIODIC INSPECTION TABLE
A PERIODIC INSPECTION TABLE
- 115 -
A. PERIODIC INSPECTION TABLE APPENDIX B-81764EN/01
FANUC Robot ARC Mate 120iB/M-16iB Periodic Maintenance Table
Accumulated operating First 3 6 9 1 2

Check Grease
time (H) time amount check months months months year years
Items 320 960 1920 2880 3840 4800 5760 6720 7680 8640 9600 10560
Check the mechanical

1 cable. 0.2H ― ○ ○ ○
(damaged or twisted)
Check the motor connector.
2 0.2H ― ○ ○ ○
(loosening)
Tighten the end effector
3 0.2H ― ○ ○ ○
bolt.
Tighten the cover and main
4 1.0H ― ○ ○ ○
bolt.
Remove spatter and dust
5 1.0H ― ○ ○ ○
etc.
Mechanical unit
Check the end effector

6 0.1H ― ○ ○ ○
(hand) cable
7 Replacing batteries 0.1H ― ●
Greasing of J6 axis reducer
8 0.3H 40ml ● ●
NOTE 2)
Replacing grease of J5-axis
9 0.3H 400ml
gear box reducer NOTE 2)
Replacing grease of J4-axis
10 0.5H 1030ml
gear box reducer NOTE 2)
Replacing grease of J3 axis
11 0.5H 550ml
reducer NOTE 2)
12 0.5H 550ml
reducer NOTE 2)
13 0.5H 980ml
reducer NOTE 2)
Replacing cable of
14 4.0H
mechanical unit NOTE 3)
Check the robot cable and
15 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
teach pendant cable
Controller
Cleaning the ventilator

16 0.2H ― ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
NOTE 4)
Replacing batteries
17 0.1H ―
NOTE 5)
NOTE 1) Refer to Section 2.4.
NOTE 2) Refer to Fig.3.1 (a) in Section 3.1” according to greasing point.
NOTE 3) The replacement cycle is necessary to be shortened, depending on the use conditions.
NOTE 4) Clean the robot properly in case of using the robot under much dust existing.
NOTE 5) Refer to the manual of controller.
- 116 -
B-81764EN/01 APPENDIX A. PERIODIC INSPECTION TABLE
3 4 5 6 7 8
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 Item
○ ○ ○ ○ ○ 1
○ ○ ○ ○ ○ 2
○ ○ ○ ○ ○ 3
○ ○ ○ ○ ○ 4
○ ○ ○ ○ ○ 5
○ ○ ○ ○ ○ 6
● ● ● ● 7
● ● ● ● ● 8
Overhaul
● ● 9
● ● 10
● ● 11
● ● 12
● ● 13
● 14
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 15
○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ 16
● 17
●: requires order of parts

○: does not require order of parts
- 117 -
B. STRENGTH OF BOLT AND
BOLT TORQUE LIST APPENDIX B-81764EN/01
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. After you screw the bolts into the threaded holes,
remove any excess LOCTITE.
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.)
Tensile strength 400N/mm2 or more
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 steel) 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 ―――― ―――― ―――― ―――― ―――― ――――
- 118 -
B-81764EN/01 INDEX
INDEX
<Number> <L>
1.5 YEARS PERIODIC INSPECTION (5760 hours) ......8 LOAD SETTING...........................................................88
1-YEAR (3840 HOURS) CHECKS .................................7
3 YEARS PERIODIC INSPECTION (11520 hours) .......8 <M>
3-MONTH (960 HOURS) CHECKS ...............................7 MAINTENANCE AREA.............................................109
MASTERING ................................................................39
<A> Mastering Data Entry .....................................................49
ADJUSTMENTS ...........................................................23 MAX STOPPING DISTANCE OF ADJUSTABLE
AIR PIPING .................................................................110 MECHANICAL STOPPER .......................................36
ASSEMBLING THE ROBOT FOR INSTALLATION110 MOUNTING DEVICES ON THE ROBOT ..................80
AXIS LIMIT SETUP .....................................................29
<N>
<B> NOTES ON SPECIFYING THE SEVERE
BATTERY REPLACEMENT .......................................15 DUST/LIQUID PROTECTION PACKAGE .............58
BRAKE RELEASE........................................................51
<O>
<C> OPERATING SPACE OF THE ROBOT INSTALLED
CABLE MOUNTING DIAGRAM ................................54 ON A WALL OR INCLINED SURFACE.................74
CHANGE MOTION LIMIT BY ADJUSTABLE OPTION CABLE...........................................................90
MECHANICAL STOPPER (OPTION) .....................31 OPTION CABLE INTERFACE ....................................90
CHANGE MOTION LIMIT BY SOFTWAR ................30 OPTION CABLE PIN LAYOUT .............................93,96
CHECKS AND MAINTENANCE ..................................2 OUTLINE DRAWING AND OPERATING SPACE ....59
COMPONENT REPLACEMENT AND Overview...................................................................39,98
ADJUSTMENT ITEMS .............................................22
CONFIGURATION .........................................................1 <P>
CONFIGURATION OF THE SEVERE DUST/LIQUID PERIODIC INSPECTION TABLE .............................115
PROTECTION OPTION PACKAGE .......................57 PERIODIC MAINTENANCE .........................................9
Confirming Mastering ....................................................50 PIPING AND WIRING .................................................52
CONNECTION WITH THE CONTROLLER.............112 PIPING DRAWING.......................................................52
PREFACE .................................................................... p-1
<D> PROCEDURE FOR RELEASING THE GREASE
DAILY INSPECTION .....................................................2 REMAINING PRESSURE.........................................14
<E> <Q>
END EFFECTOR AIR PIPING .....................................90 Quick Mastering.............................................................44
EQUIPMENT MOUNTING SURFACES .....................83
<R>
<F> Resetting Alarms and Preparing for Mastering ..............40
FIRST 1-MONTH (320 HOURS) CHECKS ...................3 ROBOT OUTLINE DRAWING AND OPERATING
FIRST 3-MONTH (960 HOURS) CHECKS ...................3 SPACE DIAGRAM ...................................................59
<G> <S>
GREASE REPLACEMENT ..........................................11 SAFETY PRECAUTIONS ........................................... s-1
GREASING .....................................................................9 SEVERE DUST/LIQUID PROTECTION OPTION
CHARACTERISTICS................................................56
<I> SEVERE DUST/LIQUID PROTECTION PACKAGE
INSTALLATION.........................................................105 (OPTION) ..................................................................56
INSTALLATION CONDITIONS................................111 Single Axis Mastering....................................................46
INSULATION BETWEEN THE ARC WELDING STORING THE ROBOT .............................................104
ROBOT END EFFECTOR MOUNTING PLATE STRENGTH OF BOLT AND BOLT TORQUE LIST 118
AND WELDING TORCH .........................................98
<T>
<J> TRANSPORTATION ....................................................99
J1-AXIS LIMIT SWITCH ADJUSTMENT (OPTION) 38 TRANSPORTATION AND INSTALLATION.............99
TROUBLESHOOTING .................................................16
i-1
INDEX B-81764EN/01
<W>
WRIST LOAD CONDITIONS ......................................81
WRIST SECTION END EFFECTOR MOUNTING
SURFACE ..................................................................80
Wrist Section Insulation .................................................98
<Z>
ZERO POINT POSITION AND MOTION LIMIT .......23
Zero Position Mastering .................................................41
i-2
B-81764EN/01 REVISION RECORD
REVISION RECORD
Edition Date Contents
01 Feb., 2021
r-1
B-81764EN/01
* B - 8 1 7 6 4 E N / 0 1 *

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< Robot ARC Mate 120+B

< Robot ARC Mate 120+B/10L

© FANUC CORPORATION, 2021

Thank you very much for purchasing FANUC Robot.

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

Programmer or Teaching operator:

- The operator is not allowed to work in the safeguarded space.

Table 1 (a) List of work outside the Safeguarded Space

• Use clothes, uniform, overall adequate for the work

2 DEFINITION OF SAFETY NOTATIONS

3 PROCEDURE TO MOVE ARM WITHOUT

Method of supporting robot arm

(*)This figure is example of floor mount.

Fig. 3 (a) Releasing J2 and J3 motor brake and measures

Fig. 4 (a) Greasing and Degreasing Label

1) When greasing, be sure to keep the grease outlet open.

(2) Step-on prohibitive label

Fig. 4 (b) Step-on Prohibitive Label

(3) High-temperature warning label

Fig. 4 (c) High-temperature warning label

(4) Transportation label

Fig. 4 (d) Transportation label

(5) Operating space and payload mark label

Fig.4 (e) Operating space and payload mark label

Position of label indicating mechanical unit specification number

Normal specification Severe dust/liquid protection option

Performance of resistant chemicals and resistant solvents

Safety handbook B-80687EN Intended readers :

This manual uses following terms.

Name Terms in this manual

6.1 PIPING DRAWING ...................................................................................... 52

10 TRANSPORTATION AND INSTALLATION ......................................... 99

Fig 1 (a) Mechanical unit configuration

2 CHECKS AND MAINTENANCE

2.1 DAILY INSPECTION

(a) Before turning on power

(b) After turning on power

2.2 FIRST 1-MONTH (320 HOURS) CHECKS

No. Inspection item Inspection procedure

2.3 FIRST 3-MONTH (960 HOURS) CHECKS

Item Check items Check points

Item Check items Check points

Inspection points of the mechanical unit cables and welding cable

Inspection points of the connectors

Fig. 2.3 (b) Inspection points of connectors

Note 2) Points to be retightened

Note 3) Check of Fixed Mechanical Stopper and Adjustable Mechanical

Fig. 2.3 (d) Cleaning points

2.4 3-MONTH (960 HOURS) CHECKS

Item Check items Check points

2.5 1-YEAR (3840 HOURS) CHECKS

Item Check items Check points

2.6 1.5 YEARS PERIODIC INSPECTION (5760 hours)

No. Inspection item Inspection procedure

2.7 3 YEARS PERIODIC INSPECTION (11520 hours)

No. Inspection item Inspection procedure

Table 3.1 (a) Greasing points

J3-axis reducer grease outlet

Fig 3.1 (a) Greasing points