FANUC Robot M-710iC MECHANICAL UNIT. OPERATOR'S MANUAL (B-82274EN/09)

B-82274EN/09

SAFETY PRECAUTIONS

Thank you for purchasing FANUC Robot.

This chapter describes the precautions which must be observed to ensure the safe use of the robot.

Before attempting to use the robot, be sure to read this chapter thoroughly.

Before using the functions related to robot operation, read the relevant operator's manual to become

familiar with those functions.

If any description in this chapter differs from that in the other part of this manual, the description given in

this chapter shall take precedence.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its

peripheral devices installed in a work cell.

In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.

1 WORKING PERSON

The personnel can be classified as follows.

Operator:

• Turns robot controller power ON/OFF

• Starts robot program from operator’s panel

Programmer or teaching operator:

• Operates the robot

• Teaches robot inside the safety fence

Maintenance engineer:

• Operates the robot

• Teaches robot inside the safety fence

• Maintenance (adjustment, replacement)

An operator cannot work inside the safety fence.

A programmer, teaching operator, and maintenance engineer can work inside the safety fence. The

working activities inside the safety fence include lifting, setting, teaching, adjusting, maintenance,

etc..

To work inside the fence, the person must be trained on proper robot operation.

During the operation, programming, and maintenance of your robotic system, the programmer, teaching

operator, and maintenance engineer should take additional care of their safety by using the following

safety precautions.

Use adequate clothing or uniforms during system operation

Wear safety shoes

Use helmet

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2 DEFINITION OF WARNING, CAUTION AND

NOTE

To ensure the safety of user and prevent damage to the machine, this manual indicates each precaution on

safety with "Warning" or "Caution" according to its severity. Supplementary information is indicated by

"Note". Read the contents of each "Warning", "Caution" and "Note" before attempting to use the

oscillator.

WARNING

Applied when there is a danger of the user being injured or when there is a

danger of both the user being injured and the equipment being damaged if the

approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the

approved procedure is not observed.

NOTE

Notes are used to indicate supplementary information other than Warnings and

Cautions.

• Read this manual carefully, and store it in a sales place.

3 WORKING PERSON SAFETY

Working person safety is the primary safety consideration. Because it is very dangerous to enter the

operating space of the robot during automatic operation, adequate safety precautions must be observed.

The following lists the general safety precautions. Careful consideration must be made to ensure

working person safety.

(1) Have the robot system working persons attend the training courses held by FANUC.

FANUC provides various training courses. Contact our sales office for details.

(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is

waiting for a signal. In this state, the robot is regarded as still in motion. To ensure working

person safety, provide the system with an alarm to indicate visually or aurally that the robot is in

motion.

(3) Install a safety fence with a gate so that no working person can enter the work area without passing

through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that

the robot is stopped as the safety gate is opened.

The controller is designed to receive this interlocking signal of the door switch. When the gate

is opened and this signal received, the controller stops the robot (Please refer to "STOP

TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). For connection, see

Fig.3 (a) and Fig.3 (b).

(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and Class D).

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(5) Try to install the peripheral devices outside the work area.

(6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools

such as a hand.

(7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm

that stops the robot when a working person enters the work area.

(8) If necessary, install a safety lock so that no one except the working person in charge can turn on the

power of the robot.

The circuit breaker installed in the controller is designed to disable anyone from turning it on

when it is locked with a padlock.

(9) When adjusting each peripheral device independently, be sure to turn off the power of the robot

(10) Operators should be ungloved while manipulating the operator’s panel or teach pendant. Operation

with gloved fingers could cause an operation error.

(11) Programs, system variables, and other information can be saved on memory card or USB memories.

Be sure to save the data periodically in case the data is lost in an accident.

(12) The robot should be transported and installed by accurately following the procedures recommended

by FANUC. Wrong transportation or installation may cause the robot to fall, resulting in severe

injury to workers.

(13) In the first operation of the robot after installation, the operation should be restricted to low speeds.

Then, the speed should be gradually increased to check the operation of the robot.

(14) Before the robot is started, it should be checked that no one is in the area of the safety fence. At the

same time, a check must be made to ensure that there is no risk of hazardous situations. If detected,

such a situation should be eliminated before the operation.

(15) When the robot is used, the following precautions should be taken. Otherwise, the robot and

peripheral equipment can be adversely affected, or workers can be severely injured.

- Avoid using the robot in a flammable environment.

- Avoid using the robot in an explosive environment.

- Avoid using the robot in an environment full of radiation.

- Avoid using the robot under water or at high humidity.

- Avoid using the robot to carry a person or animal.

- Avoid using the robot as a stepladder. (Never climb up on or hang from the robot.)

(16) When connecting the peripheral devices related to stop(safety fence etc.) and each signal (external

emergency , fence etc.) of robot. be sure to confirm the stop movement and do not take the wrong

connection.

(17) When preparing trestle, please consider security for installation and maintenance work in high place

according to Fig.3 (c). Please consider footstep and safety bolt mounting position.

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RP1

Pulsecoder

RI/RO,XHBK,XROT

RM1

Motor power/brake

EARTH

Safety fence

Interlocking device and safety plug that are activated if the

gate is opened.

Fig. 3 (a) Safety fence and safety gate

Dual chain

Emergency stop board

(Note)

or Panel board

EAS1

In case of R-30iB

Terminals EAS1,EAS11,EAS2,EAS21 are provided on the

EAS11

emergency stop board.

EAS2

In case R-30iA

EAS21

Terminals EAS1,EAS11,EAS2,EAS21 are provided on the

emergency stop board or connector panel

In case R-30iA Mate

Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2

Single chain

are provided on the emergency stop board or in the connector

Panel board

panel of CRM65 (Open air type).

FENCE1

Refer to the ELECTRICAL CONNCETIONS Chapter of

FENCE2

CONNECTION of controller maintenance manual for details.

Fig. 3 (b) Limit switch circuit diagram of the safety fence

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Hook for safety belt

Fence

Steps

Trestle

Footstep

for maintenance

Fig.3 (c) Footstep for maintenance

3.1

OPERATOR SAFETY

The operator is a person who operates the robot system. In this sense, a worker who operates the teach

pendant is also an operator. However, this section does not apply to teach pendant operators.

(1) If you do not have to operate the robot, turn off the power of the robot controller or press the

EMERGENCY STOP button, and then proceed with necessary work.

(2) Operate the robot system at a location outside of the safety fence

(3) Install a safety fence with a safety gate to prevent any worker other than the operator from entering

the work area unexpectedly and to prevent the worker from entering a dangerous area.

(4) Install an EMERGENCY STOP button within the operator’s reach.

The robot controller is designed to be connected to an external EMERGENCY STOP button.

With this connection, the controller stops the robot operation (Please refer to "STOP TYPE

OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type), when the external

EMERGENCY STOP button is pressed. See the diagram below for connection.

Dual chain

(Note)

External stop button

Connect EES1 and EES11, EES2 and EES21 or EMGIN1

Emergency stop board

and EMGIN2

or Panel board

EES1

In case R-30iB

EES1,EES11,EES2,EES21 are on the emergency stop board

EES11

EES2

In case R-30iA

EES1,EES11,EES2,EES21 or EMGIN1, EMGIN2 are on the

EES21

panel board.

In case R-30iA Mate

Single chain

Terminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2

External stop button

are provided on the emergency stop board or in the connector

Panel board

panel of CRM65 (Open air type).

EMGIN1

Refer to the ELECTRICAL CONNCETIONS Chapter of

EMGIN2

CONNECTION of controller maintenance manual for details.

Fig.3.1 Connection diagram for external emergency stop button

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3.2

SAFETY OF THE PROGRAMMER

While teaching the robot, the operator must enter the work area of the robot. The operator must ensure

the safety of the teach pendant operator especially.

(1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area.

(2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal

operating condition.

(3) If it is inevitable to enter the robot work area to teach the robot, check the locations, settings, and

other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN

switch on the teach pendant) before entering the area.

(4) The programmer must be extremely careful not to let anyone else enter the robot work area.

(5) Programming should be done outside the area of the safety fence as far as possible. If programming

needs to be done in the area of the safety fence, the programmer should take the following

precautions:

－ Before entering the area of the safety fence, ensure that there is no risk of dangerous situations

in the area.

－ Be prepared to press the emergency stop button whenever necessary.

－ Robot motions should be made at low speeds.

－ Before starting programming, check the entire system status to ensure that no remote instruction

to the peripheral equipment or motion would be dangerous to the user.

Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the

automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety

fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent

other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened

with the automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY

PRECAUTIONS for detail of stop type). After the switch is set to a teach mode, the safety gate is disabled. The

programmer should understand that the safety gate is disabled and is responsible for keeping other people from

entering the inside of the safety fence. (In case of R-30iA Mate Controller standard specification, there is no mode

switch. The automatic operation mode and the teach mode is selected by teach pendant enable switch.)

Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button. These button and

switch function as follows:

(1) Emergency stop button: Causes an emergency stop (Please refer to "STOP TYPE OF ROBOT" in SAFETY

PRECAUTIONS for detail of stop type) when pressed.

(2) DEADMAN switch: Functions differently depending on the teach pendant enable/disable switch setting

status.

(a)

Disable: The DEADMAN switch is disabled.

(b)

Enable: Servo power is turned off when the operator releases the DEADMAN switch or when the

operator presses the switch strongly.

Note) The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or

presses the pendant strongly in case of emergency. The R-30iB/R-30iA/ R-30iA Mate employs a

3-position DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN switch is

pressed to its intermediate point. When the operator releases the DEADMAN switch or presses the

switch strongly, the robot stops immediately.

The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the

teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator

should make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely.

The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the

validity of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator

panel, the teach pendant enable switch and the remote condition on the software.

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In case of R-30iB/R-30iA controller or CE or RIA specification of R-30iA Mate controller

Software

Teach pendant

Mode

remote

Teach pendant

Operator panel

Peripheral device

enable switch

condition

Local

Not allowed

AUTO

Remote

Not allowed

mode

Local

Not allowed

Allowed to start

Not allowed

Off

Remote

Not allowed

Allowed to start

Local

Allowed to start

Not allowed

T1, T2

Remote

Allowed to start

Not allowed

mode

Local

Not allowed

Off

Remote

Not allowed

T1,T2 mode: DEADMAN switch is effective.

In case of standard specification of R-30iA Mate controller

Teach pendant enable switch

Software remote condition

Teach pendant

Peripheral device

Ignored

Allowed to start

Not allowed

Off

Local

Not allowed

Remote

Not allowed

Allowed to start

(6)

(Only when R-30iB/R-30iA Controller or CE or RIA specification of R-30iA Mate controller is

selected.) To start the system using the operator’s panel, make certain that nobody is the robot work

area and that there are no abnormal conditions in the robot work area.

(7) When a program is completed, be sure to carry out a test operation according to the procedure

below.

(a) Run the program for at least one operation cycle in the single step mode at low speed.

(b) Run the program for at least one operation cycle in the continuous operation mode at low

speed.

speed and check that no abnormalities occur due to a delay in timing.

(d) Run the program for one operation cycle in the continuous operation mode at the normal

operating speed and check that the system operates automatically without trouble.

(e) After checking the completeness of the program through the test operation above, execute it in

the automatic operation mode.

(8) While operating the system in the automatic operation mode, the teach pendant operator should

leave the robot work area.

3.3

SAFETY OF THE MAINTENANCE ENGINEER

For the safety of maintenance engineer personnel, pay utmost attention to the following.

(1) During operation, never enter the robot work area.

(2) A hazardous situation may arise when the robot or the system, are kept with their power-on during

maintenance operations. Therefore, for any maintenance operation, the robot and the system should

be put into the power-off state. If necessary, a lock should be in place in order to prevent any other

person from turning on the robot and/or the system. In case maintenance needs to be executed in the

power-on state, the emergency stop button must be pressed.

(3) If it becomes necessary to enter the robot operation range while the power is on, press the

emergency stop button on the operator panel, or the teach pendant before entering the range. The

maintenance personnel must indicate that maintenance work is in progress and be careful not to

allow other people to operate the robot carelessly.

(4) When entering the area enclosed by the safety fence, the maintenance worker must check the entire

system in order to make sure no dangerous situations exist. In case the worker needs to enter the

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safety area whilst a dangerous situation exists, extreme care must be taken, and entire system status

must be carefully monitored.

(5) Before the maintenance of the pneumatic system is started, the supply pressure should be shut off

and the pressure in the piping should be reduced to zero.

(6) Before the start of teaching, check that the robot and its peripheral devices are all in the normal

operating condition.

(7) Do not operate the robot in the automatic mode while anybody is in the robot work area.

(8) When you maintain the robot alongside a wall or instrument, or when multiple workers are working

nearby, make certain that their escape path is not obstructed.

(9) When a tool is mounted on the robot, or when any moving device other than the robot is installed,

such as belt conveyor, pay careful attention to its motion.

(10) If necessary, have a worker who is familiar with the robot system stand beside the operator panel

and observe the work being performed. If any danger arises, the worker should be ready to press

the EMERGENCY STOP button at any time.

(11) When replacing a part, please contact FANUC service center. If a wrong procedure is followed, an

accident may occur, causing damage to the robot and injury to the worker.

(12) When replacing or reinstalling components, take care to prevent foreign matter from entering the

system.

(13) When handling each unit or printed circuit board in the controller during inspection, turn off the

circuit breaker to protect against electric shock.

If there are two cabinets, turn off the both circuit breaker.

(14) A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction

or damage would occur. Especially, a fuse that is not recommended by FANUC should not be used.

Such a fuse may cause a fire.

(15) When restarting the robot system after completing maintenance work, make sure in advance that

there is no person in the work area and that the robot and the peripheral devices are not abnormal.

(16) When a motor or brake is removed, the robot arm should be supported with a crane or other

equipment beforehand so that the arm would not fall during the removal.

(17) Whenever grease is spilled on the floor, it should be removed as quickly as possible to prevent

dangerous falls.

(18) The following parts are heated. If a maintenance worker needs to touch such a part in the heated

state, the worker should wear heat-resistant gloves or use other protective tools.

－ Servo motor

－ Inside the controller

－ Reducer

－ Gearbox

－ Wrist unit

(19) Maintenance should be done under suitable light. Care must be taken that the light would not cause

any danger.

(20) When a motor, reducer, or other heavy load is handled, a crane or other equipment should be used to

protect maintenance workers from excessive load. Otherwise, the maintenance workers would be

severely injured.

(21) The robot should not be stepped on or climbed up during maintenance. If it is attempted, the robot

would be adversely affected. In addition, a misstep can cause injury to the worker.

(22)When performing maintenance work in high place, secure a footstep and wear safety belt.

(23) After the maintenance is completed, spilled oil or water and metal chips should be removed from the

floor around the robot and within the safety fence.

(24) When a part is replaced, all bolts and other related components should put back into their original

places. A careful check must be given to ensure that no components are missing or left not mounted.

(25) In case robot motion is required during maintenance, the following precautions should be taken :

- Foresee an escape route. And during the maintenance motion itself, monitor continuously the

whole system so that your escape route will not become blocked by the robot, or by peripheral

equipment.

- Always pay attention to potentially dangerous situations, and be prepared to press the emergency

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stop button whenever necessary.

(26) The robot should be periodically inspected. (Refer to the robot mechanical manual and controller

maintenance manual.) A failure to do the periodical inspection can adversely affect the performance

or service life of the robot and may cause an accident

(27) After a part is replaced, a test operation should be given for the robot according to a predetermined

method. (See TESTING section of “Controller operator’s manual”.) During the test execution, the

maintenance staff should work outside the safety fence.

4 SAFETY OF THE TOOLS AND

PERIPHERAL DEVICES

4.1

PRECAUTIONS IN PROGRAMMING

(1) Use a limit switch or other sensor to detect a dangerous condition and, if necessary, design the

program to stop the robot when the sensor signal is received.

(2) Design the program to stop the robot when an abnormal condition occurs in any other robots or

peripheral devices, even though the robot itself is normal.

(3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care

must be taken in programming so that they do not interfere with each other.

(4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect

the states of all devices in the system and can be stopped according to the states.

4.2

PRECAUTIONS FOR MECHANISM

(1)

Keep the component cells of the robot system clean, and operate the robot in an environment free of

grease, water, and dust.

(2)

Don’t use unconfirmed liquid for cutting fluid and cleaning fluid.

(3)

Employ a limit switch or mechanical stopper to limit the robot motion so that the robot or cable does

not strike against its peripheral devices or tools.

(4)

Observe the following precautions about the mechanical unit cables. When theses attentions are not

kept, unexpected troubles might occur.

•

Use mechanical unit cable that have required user interface.

•

Don’t add user cable or hose to inside of mechanical unit.

•

Please do not obstruct the movement of the mechanical unit cable when cables are added to

outside of mechanical unit.

•

In the case of the model that a cable is exposed, Please do not perform remodeling (Adding a

protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the

cable.

•

Please do not interfere with the other parts of mechanical unit when install equipments in the

robot.

(5)

The frequent power-off stop for the robot during operation causes the trouble of the robot. Please

avoid the system construction that power-off stop would be operated routinely. (Refer to bad case

example.) Please execute power-off stop after reducing the speed of the robot and stopping it by

hold stop or cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in

SAFETY PRECAUTIONS for detail of stop type.)

(Bad case example)

•

Whenever poor product is generated, a line stops by emergency stop.

•

When alteration was necessary, safety switch is operated by opening safety fence and

power-off stop is executed for the robot during operation.

•

An operator pushes the emergency stop button frequently, and a line stops.

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•

An area sensor or a mat switch connected to safety signal operate routinely and power-off stop

is executed for the robot.

(6) Robot stops urgently when collision detection alarm (SRVO-050) etc. occurs. The frequent urgent

stop by alarm causes the trouble of the robot, too. So remove the causes of the alarm.

5 SAFETY OF THE ROBOT MECHANISM

5.1

PRECAUTIONS IN OPERATION

(1) When operating the robot in the jog mode, set it at an appropriate speed so that the operator can

manage the robot in any eventuality.

(2) Before pressing the jog key, be sure you know in advance what motion the robot will perform in the

jog mode.

5.2

PRECAUTIONS IN PROGRAMMING

(1) When the work areas of robots overlap, make certain that the motions of the robots do not interfere

with each other.

(2) Be sure to specify the predetermined work origin in a motion program for the robot and program the

motion so that it starts from the origin and terminates at the origin.

Make it possible for the operator to easily distinguish at a glance that the robot motion has

terminated.

5.3

PRECAUTIONS FOR MECHANISMS

(1) Keep the work areas of the robot clean, and operate the robot in an environment free of grease, water,

and dust.

5.4

PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER

IN EMERGENCY OR ABNORMAL SITUATIONS

(1) For emergency or abnormal situations (e.g. persons trapped in or by the robot), brake release unit

can be used to move the robot axes without drive power.

Please order following unit and cable.

Name

Specification

A05B-2450-J350

(Input voltage AC100-115V single phase)

Brake release unit

A05B-2450-J351

(Input voltage AC200-240V single phase)

A05B-2450-J360

(5m)

Robot connection cable

A05B-2450-J361

(10m)

A05B-2525-J010

(5m) (AC100-115V Power plug) (*)

A05B-2525-J011

(10m) (AC100-115V Power plug) (*)

Power cable

A05B-2450-J364

(5m) (No power plug)

A05B-2450-J365

(10m) (No power plug)

(*) These do not support CE marking.

(2) Please make sure that adequate numbers of brake release units are available and readily accessible

for robot system before installation.

(3) Regarding how to use brake release unit, please refer to Robot controller maintenance manual.

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NOTE

Robot systems installed without adequate number of brake release units or

similar means are not in compliance with EN ISO 10218-1 and the Machinery

Directive and therefore cannot bear the CE marking.

CAUTION

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.

In case of releasing J2-axis motor brake

In case of releasing J3-axis motor brake

Fall down

Method of supporting Robot Arm

(M-710iC/50, /70, /50H, /50E)

(M-710iC/50S)

Slings

Eyebolt(M8)

Slings

Eyebolt(M8)

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. 5.4 Releasing J2 and J3 motor brake and measures

6 SAFETY OF THE END EFFECTOR

6.1

PRECAUTIONS IN PROGRAMMING

(1) To control the pneumatic, hydraulic and electric actuators, carefully consider the necessary time

delay after issuing each control command up to actual motion and ensure safe control.

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(2) Provide the end effector with a limit switch, and control the robot system by monitoring the state of

the end effector.

7 STOP TYPE OF ROBOT

The following three robot stop types exist:

Power-Off Stop (Category 0 following IEC 60204-1)

Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is

moving, and the motion path of the deceleration is uncontrolled.

The following processing is performed at Power-Off stop.

An alarm is generated and servo power is turned off.

The robot operation is stopped immediately. Execution of the program is paused.

Controlled stop (Category 1 following IEC 60204-1)

The robot is decelerated until it stops, and servo power is turned off.

The following processing is performed at Controlled stop.

The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. Execution of the

program is paused.

An alarm is generated and servo power is turned off.

Hold (Category 2 following IEC 60204-1)

The robot is decelerated until it stops, and servo power remains on.

The following processing is performed at Hold.

The robot operation is decelerated until it stops. Execution of the program is paused.

WARNING

The stopping distance and stopping time of Controlled stop are longer than the

stopping distance and stopping time of Power-Off stop. A risk assessment for

the whole robot system, which takes into consideration the increased stopping

distance and stopping time, is necessary when Controlled stop is used.

When the emergency stop button is pressed or the FENCE is open, the stop type of robot is Power-Off

stop or Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop

pattern is different according to the controller type or option configuration.

There are the following 3 Stop patterns.

Emergency

External

Stop

Servo

Mode

stop

Emergency

FENCE open

SVOFF input

pattern

disconnect

button

stop

AUTO

P-Stop

C-Stop

P-Stop

C-Stop

P-Stop

C-Stop

P-Stop

AUTO

P-Stop

AUTO

C-Stop

P-Stop

C-Stop

P-Stop

C-Stop

P-Stop

P-Stop: Power-Off stop

C-Stop: Controlled stop

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Disable

The following table indicates the Stop pattern according to the controller type or option configuration.

Option

R-30iB

Standard

A (*)

Controlled stop by E-Stop

(A05B-2600-J570)

C (*)

(*) R-30iB does not have servo disconnect.

R-30iA

R-30iA Mate

Option

Standard

RIA

Standard

(Single)

(Dual)

type

Standard

B (*)

A (**)

Stop type set (Stop pattern C)

N/A

(A05B-2500-J570)

(*) R-30iA standard (single) does not have servo disconnect.

(**) R-30iA Mate Standard does not have servo disconnect, and the stop type of SVOFF input is

Power-Off stop.

The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please

refer to "Software version" in operator's manual of controller for the detail of software version screen.

"Controlled stop by E-Stop" option

When "Controlled stop by E-Stop" (A05B-2600-J570) option (In case of R-30iA/R-30iA Mate, it is Stop

type set (Stop pattern C) (A05B-2500-J570)) is specified, the stop type of the following alarms becomes

Controlled stop but only in AUTO mode. In T1 or T2 mode, the stop type is Power-Off stop which is

the normal operation of the system.

Alarm

Condition

SRVO-001 Operator panel E-stop

Operator panel emergency stop is pressed.

SRVO-002 Teach pendant E-stop

Teach pendant emergency stop is pressed.

SRVO-007 External emergency stops

External emergency stop input (EES1-EES11, EES2-EES21) is

open. (R-30iA/R-30iB controller)

SRVO-194 Servo disconnect

Servo disconnect input (SD4-SD41, SD5-SD51) is open.

(R-30iA controller)

SRVO-218 Ext. E-stop/Servo Disconnect

External emergency stop input (EES1-EES11, EES2-EES21) is

open. (R-30iA Mate/R-30iB controller)

SRVO-408 DCS SSO Ext Emergency Stop

In DCS Safe I/O connect function, SSO[3] is OFF.

SRVO-409 DCS SSO Servo Disconnect

In DCS Safe I/O connect function, SSO[4] is OFF.

Controlled stop is different from Power-Off stop as follows:

In Controlled stop, the robot is stopped on the program path. This function is effective for a system

where the robot can interfere with other devices if it deviates from the program path.

In Controlled stop, physical impact is less than Power-Off stop. This function is effective for

systems where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be

minimized.

The stopping distance and stopping time of Controlled stop is longer than the stopping distance and

stopping time of Power-Off stop, depending on the robot model and axis. Please refer to the

operator's manual of a particular robot model for the data of stopping distance and stopping time.

In case of R-30iA or R-30iA Mate, this function is available only in CE or RIA type hardware.

When this option is loaded, this function cannot be disabled.

The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.

s-13

SAFETY PRECAUTIONS

B-82274EN/09

WARNING

The stopping distance and stopping time of Controlled stop are longer than the

stopping distance and stopping time of Power-Off stop. A risk assessment for

the whole robot system, which takes into consideration the increased stopping

distance and stopping time, is necessary when this option is loaded.

8 WARNING LABEL

(1) Greasing and degreasing label

必ず排脂口を開けて給脂して下さい。

Ｏｐｅｎｔｈｅｇｒｅａｓｅｏｕｔｌｅｔ

ａｔｇｒｅａｓｉｎｇ．

必须在排脂口打开的状态下供脂。

手動式ポンプを使用して給脂を行って

下さい。

　Ｕｓｅａｈａｎｄｐｕｍｐａｔ

ｇｒｅａｓｉｎｇ．

请使用手动式供脂泵进行供脂。

3）必ず指定グリスを使用して下さい。

　Ｕｓｅｄｅｓｉｇｎａｔｅｄｇｒｅａｓｅ

ａｔｇｒｅａｓｉｎｇ．

必须使用指定的润滑脂。

Fig. 8 (a) Greasing and degreasing label

Description

When greasing and degreasing, observe the instructions indicated on this label.

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

Use a manual pump to grease.

Be sure to use specified grease.

CAUTION

See Chapter 7 CHECKS AND 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. 8 (b) Step-on prohibitive label

s-14

B-82274EN/09

SAFETY PRECAUTIONS

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.

(3) High-temperature warning label

Fig. 8 (c) Step-on prohibitive 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. 8 (d) Step-on prohibitive label

Description

When transporting the robot, observe the instructions indicated on this label.

Using a forklift

•

Use a forklift having a load capacity of 1,000 kg or greater.

•

Keep the total weight of the robot to be transported to within 1,000 kg, because the withstand load of

the forklift bracket (option) is 4,900 N (500 kgf).

Using a crane

•

Use a crane having a load capacity of 1,000 kg or greater.

•

Use at least four slings each having a withstand load of 4,900 N (500 kgf) or greater.

•

Use at least four eyebolts each having a withstand load of 4,410 N (450 kgf) or greater.

CAUTION

Transportation labels are model-specific. Before transporting the robot, see the

transportation label affixed to the J2 base side.

See Sub-section 1.1 TRANSPORTATION for explanations about the posture a

specific model should take when it is transported.

s-15

SAFETY PRECAUTIONS

B-82274EN/09

(5)

Range of motion and payload mark label

Below label is added when CE specification is specified.

+180deg.

0deg.

-180deg.

Motion range

J5-axis

of J5-axis

rotation

rotation center

center

J5轴旋转中心

动作范围

(M-710iC/50,

(M-710iC/50,50E,

50E,70,

70,50S,20L)

50S,20L)

Motion range

J4-axis

of J4-axis

rotation

rotation center

center

J4轴旋转中心

动作范围

(M-710iC/50H)

MAX. PAYLOAD

(mm)

(kg)

M-710iC/50,50E

2050

1750

2465

1080

M-710iC/70

2050

1750

2465

1080

M-710iC/50S

1359

962

1774

269

M-710iC/20L

3110

2810

3525

2058

M-710iC/50H

2003

1703

2418

1033

Fig. 8 (e) Range of motion and payload mark label

(6) Transportation prohibitive label

(When transport equipment option is specified.)

アイボルトを横引

輸送部材に衝撃を

輸送部材にチェーン

しないこと

与えないこと

などを掛けないこと

Do not pull eyebolt

Do not have impact

Do not chain, pry,

sideways

on this part

or strap on this part

禁止横向拉拽吊环螺钉

禁止撞击搬运用部件

禁止在搬运用部件上使用锁链

等物品固定或者搬运机器人

Fig. 8 (f) Transportation prohibitive label

Description

Keep the following in mind when transporting the robot.

Do not pull eyebolts sideways

Prevent the forks of the forklift from having impact on a transport equipment.

Do not thread a chain or the like through a transport equipment.

s-16

B-82274EN/09

PREFACE

This manual explains the operation procedures for the mechanical units of the following robots:

Model name

Mechanical unit specification No.

Maximum load

FANUC Robot M-710iC/50

A05B-1125-B201

50kg

FANUC Robot M-710iC/70

A05B-1125-B202

70kg

FANUC Robot M-710iC/50H

A05B-1125-B204

50kg

FANUC Robot M-710iC/50S

A05B-1125-B207

50kg

FANUC Robot M-710iC/50E

A05B-1125-B251

50kg

The label stating the mechanical unit specification number is affixed in the position shown below.

Before reading this manual, determine the specification number of the mechanical unit.

(1)

TYPE

(2)

NO.

(3)

WEIGHT

DATE

(4)

(5)

TABLE 1)

(1)

(2)

(3)

(4)

(5)

WEIGHT kg

CONTENTS

TYPE

No.

DATE

(Without controller)

FANUC Robot M-710iC/50

A05B-1125-B201

560

FANUC Robot M-710iC/70

A05B-1125-B202

560

LETTERS

FANUC Robot M-710iC/50H

A05B-1125-B204

PRODUCTION

540

SERIAL NO.

YEAR AND MONTH

FANUC Robot M-710iC/50S

A05B-1125-B207

545

FANUC Robot M-710iC/50E

A05B-1125-B251

560

Position of label indicating mechanical unit specification number

p-1

PREFACE

B-82274EN/09

RELATED MANUALS

For the FANUC Robot series, the following manuals are available:

Safety handbook B-80687EN

Intended readers:

All persons who use the FANUC Robot and system

All persons who use FANUC Robot, system designer

designer must read and understand thoroughly this

Topics:

handbook

Safety items for robot system design, operation,

maintenance

R-30iA

Setup and Operations manual

Intended readers:

controller

Operator, programmer, maintenance person, system

SPOT TOOL+

designer

B-83124EN-1

Topics:

HANDLING TOOL

Robot functions, operations, programming, setup,

B-83124EN-2

interfaces, alarms

ARC TOOL

Use:

B-83124EN-3

Robot operation, teaching, system design

DISPENSE TOOL

B-83124EN-4

ALARM CODE LIST

B-83124EN-6

SERVO GUN FUNCTION

B-82634EN

Maintenance manual

Intended readers:

B-82595EN

Maintenance person, system designer

Topics:

B-82595EN-1

Installation, connection to peripheral equipment,

(For Europe)

maintenance

Use:

B-82595EN-2

Installation, start-up, connection, maintenance

(For RIA)

R-30iB

OPERATOR'S MANUAL (Basic

Intended readers :

controller

Function)

Operator, programmer, maintenance person, system

B-83284EN

designer

OPERATOR'S MANUAL

Topics :

(Alarm Code List)

Robot functions, operations, programming, setup,

B-83284EN-1

interfaces, alarms

Optional Function OPERATOR'S

Use :

MANUAL

Robot operation, teaching, system design

B-83284EN-2

Spot Welding Function

OPERATOR'S MANUAL

B-83284EN-4

Dispense Function

OPERATOR'S MANUAL

B-83284EN-5

Maintenance manual

Intended readers :

B-83195EN

Maintenance person, system designer

Topics :

Installation, connection to peripheral equipment,

maintenance

Use :

Installation, start-up, connection, maintenance

p-2

B-82274EN/09

TABLE OF CONTENTS

SAFETY PRECAUTIONS

s-1

PREFACE

p-1

TRANSPORTATION AND INSTALLATION

1.1

TRANSPORTATION

1.1.1

Transportation with an End Effector Attached

1.2

INSTALLATION

1.2.1

Actual Installation Example

1.3

MAINTENANCE AREA

1.4

INSTALLATION SPECIFICATIONS

CONNECTION WITH THE CONTROLLER

2.1

CONNECTION WITH THE CONTROLLER

BASIC SPECIFICATIONS

3.1

ROBOT CONFIGURATION

3.2

MECHANICAL UNIT OPERATION AREA AND INTERFERENCE

AREA

3.3

ZERO POINT POSITION AND MOTION LIMIT

3.4

WRIST LOAD CONDITIONS

3.5

LOAD CONDITIONS ON J3 CASING

3.6

MOTION RANGE FOR WALL/INCLINED SURFACE MOUNTED

ROBOTS

MECHANICAL COUPLING TO THE ROBOT

4.1

MECHANICAL COUPLING OF END EFFECTOR TO WRIST

4.2

EQUIPMENT MOUNTING FACE

4.3

LOAD SETTING

PIPING AND WIRING TO THE END EFFECTOR

5.1

AIR SUPPLY (OPTION)

5.2

AIR PIPING (OPTION)

5.3

INTERFACE FOR OPTION CABLE (OPTION)

AXIS LIMIT SETUP

6.1

SOFTWARE SETTING

6.2

ADJUSTABLE MECHANICAL STOPPER AND LIMIT SWITCH

SETTING (OPTION)

6.3

CHANGING THE MOTION RANGE BY THE LIMIT SWITCH

(OPTION)

6.4

ADJUSTING LIMIT SWITCH (OPTION)

CHECKS AND MAINTENANCE

7.1

PERIODIC MAINTENANCE

7.1.1

Daily Checks

7.1.2

First 1-Month (320 hours operating) Check

c-1

TABLE OF CONTENTS

B-82274EN/09

7.1.3

First 3-month (960 hours) Checks

7.1.4

3-month (960 hours) Checks

7.1.5

1-year (3,840 hours) Checks

7.1.6

1.5-year (5,760 hours) Checks

7.1.7

3-year (11,520 hours) Checks

7.1.8

4-year (15,360 hours) Checks

7.2

MAINTENANCE

7.2.1

Replacing the Batteries (1.5 Years checks)

7.2.2

Replacing the Grease of the Drive Mechanism (3 years (11,520 hours)

checks)

7.2.3

Grease Replacement Procedure of the J1, J2, J3-Axis Reducer

7.2.4

Grease Replacement Procedure for the J4/J5/J6-Axis Gearbox (J4/J5-axis

gearbox)

7.2.5

Grease Replacement Procedure for the Wrist

7.2.6

Procedure for Releasing Remaining Pressure within the Grease Bath

7.3

STORAGE

MASTERING

8.1

GENERAL

8.2

RESETTING ALARMS AND PREPARING FOR MASTERING

8.3

ZERO POSITION MASTERING

8.4

QUICK MASTERING

8.5

SINGLE AXIS MASTERING

8.6

MASTERING DATA ENTRY

8.7

CHECKING THE MASTERING

101

TROUBLESHOOTING

103

9.1

OVERVIEW

103

9.2

FAILURES, CAUSES AND MEASURES

103

SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)

110

10.1

OVERVIEW

110

10.2

SEVERE DUST/LIQUID PROTECTION CHARACTERISTICS

110

10.3

CONFIGURATION OF THE SEVERE DUST/LIQUID PROTECTION

PACKAGE

111

10.4

NOTES ON SPECIFYING SEVERE DUST/LIQUID PROTECTION

PACKAGE

112

CORRESPOND TO WASHING APPLICATION (OPTION)

113

11.1

ABOUT CORRESPOND TO WASHING APPLICATION

113

11.2

NOTES OF CORRESPOND TO WASHING APPLICATION

113

11.3

INSTALLING THE AIR PURGE KIT

114

MOTOR AIR BLOW OPPTION (OPTION)

116

APPENDIX

A PERIODIC MAINTENANCE TABLE

119

B STRENGTH OF BOLT AND BOLT TORQUE LIST

124

C INSULATION ABOUT ARC WELDING ROBOT

125

c-2

B-82274EN/09

1.TRANSPORTATION AND INSTALLATION

1 TRANSPORTATION AND INSTALLATION

1.1

TRANSPORTATION

The robot can be transported by a crane or a forklift. When transporting the robot, be sure to change the

posture of the robot to that shown below and lift by using the eyebolts and the transport equipment at

their points.

CAUTION

When hoisting or lowering the robot with a crane or forklift, move it slowly with

great care. When placing the robot on the floor, exercise care to prevent the

installation surface of the robot from striking the floor strongly.

WARNING

1 It is recommended to transport robot detaching the end effector and the

incidental equipment from the robot because there is the following possibilities

when transported with the end effector and the incidental equipment installed.

・ It becomes unstable by the change in the position of the center of the gravity

of the robot while transporting it.

・ The end effector acts by the vibration when transported and an excessive

load acts on far movement and the robot.

2 Please firmly fix the end effector referring to clause 1.1.1 when it is difficult to

detach the end effector and transport it.

3 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.

4 Before moving the robot by using forklift pockets, check and tighten any loose

bolts on the forklift pockets.

(1) Transportation using a crane (Fig. 1.1 (b) ,Fig. 1.1 (d) and Fig. 1.1 (f))

Fasten the M16 eyebolts to the four points of the robot base plate and lift the robot by the four

slings.

CAUTION

When lifting the robot, take notice so that the motor, connectors, or cables of the

robot are not damaged by slings.

(2) Transportation using a forklift (Fig. 1.1 (c) , Fig. 1.1 (e) and Fig. 1.1 (g))

The specific transport equipment must be attached. Transport equipment is prepared as an option.

- 1 -

1.TRANSPORTATION AND INSTALLATION

B-82274EN/09

Fig. 1.1 (a) Position of the eyebolts and transportation equipment

㪚㫉㪸㫅㪼

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪈㪅㪇㩷㫋㫆㫅

㪥㫆㫋㪼㪀㩷㪈㪅㩷㪤㪸㪺㪿㫀㫅㪼㩷㫎㪼㫀㪾㪿㫋㩷㩷㪌㪍㪇㫂㪾㪅

䇭䇭䇭䇭㪉㪅㩷㪜㫐㪼㪹㫆㫃㫋㩷㪺㫆㫄㫇㫃㫀㪼㪻㩷㫎㫀㫋㪿㩷㪡㪠㪪㩷㪙㩷㪈㪈㪍㪏㪅

䇭䇭䇭䇭㪊㪅㩷㪨㫌㪸㫅㫋㫀㫋㫐㩷㪋㩷㫊㫃㫀㫅㪾㫊

㪪㫃㫀㫅㪾

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪇㪅㪌㩷㫋㫆㫅

Robot posture on transportation

J1-axis

-30°

J2-axis

-30°

J3-axis

-50°

J4-axis

0°

J5-axis

-40°

J6-axis

0°

㪚㪼㫅㫋㪼㫉㩷㫆㪽㩷

㫋㪿㪼㩷㪾㫉㪸㫍㫀㫋㫐

㪜㫐㪼㪹㫆㫃㫋㩷㩿䌍㪈㪍䋩

Fig. 1.1 (b) Transportation using a crane (M-710iC/50, /70 ,/50E)

- 2 -

B-82274EN/09

1.TRANSPORTATION AND INSTALLATION

Fig. 1.1 (c) Transportation using a forklift (M-710iC/50, /70, /50E)

CAUTION

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

strongly.

㪚㫉㪸㫅㪼

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪈㪅㪇㩷㫋㫆㫅

㪥㫆㫋㪼㪀㩷㪈㪅㩷㪤㪸㪺㪿㫀㫅㪼㩷㫎㪼㫀㪾㪿㫋㩷㩷㪌㪋㪇㫂㪾㪅

䇭䇭䇭䇭㪉㪅㩷㪜㫐㪼㪹㫆㫃㫋㩷㪺㫆㫄㫇㫃㫀㪼㪻㩷㫎㫀㫋㪿㩷㪡㪠㪪㩷㪙㩷㪈㪈㪍㪏㪅

䇭䇭䇭䇭㪊㪅㩷㪨㫌㪸㫅㫋㫀㫋㫐㩷㪋㩷㫊㫃㫀㫅㪾㫊

㪪㫃㫀㫅㪾

Robot posture on transportation

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪇㪅㪌㩷㫋㫆㫅

J1-axis

-30°

J2-axis

-30°

J3-axis

-48°

J4-axis

-42°

J5-axis

0°

㪚㪼㫅㫋㪼㫉㩷㫆㪽

㪾㫉㪸㫍㫀㫋㫐

㪚㪼㫅㫋㪼㫉㩷㫆㪽

㪾㫉㪸㫍㫀㫋㫐

㪜㫐㪼㪹㫆㫃㫋㩷㩿㪤㪈㪍㪀

Fig. 1.1 (d) Transportation using a crane (M-710iC/50H)

- 3 -

1.TRANSPORTATION AND INSTALLATION

B-82274EN/09

㪚㪼㫅㫋㪼㫉㩷㫆㪽

㪾㫉㪸㫍㫀㫋㫐

㪝㫆㫉㫂㫃㫀㪽㫋

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㪅㩷㪈㪅㪇㩷㫋㫆㫅

㪈㪐㪈

㪎㪍㪌

㪈㪐㪈

Fig. 1.1 (e) Transportation using a forklift (M-710iC/50H)

CAUTION

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

strongly.

㪚㫉㪸㫅㪼

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪈㪅㪇㩷㫋㫆㫅

㪪㫃㫀㫅㪾

㪥㫆㫋㪼㪀㩷㪈㪅㩷㪤㪸㪺㪿㫀㫅㪼㩷㫎㪼㫀㪾㪿㫋㩷㩷㪌㪋㪌㫂㪾㪅

㪚㪸㫇㪸㪺㫀㫋㫐㩷㫄㫀㫅㩷㪑㩷㪇㪅㪌㩷㫋㫆㫅

䇭䇭䇭䇭㪉㪅㩷㪜㫐㪼㪹㫆㫃㫋㩷㪺㫆㫄㫇㫃㫀㪼㪻㩷㫎㫀㫋㪿㩷㪡㪠㪪㩷㪙㩷㪈㪈㪍㪏㪅

䇭䇭䇭䇭㪊㪅㩷㪨㫌㪸㫅㫋㫀㫋㫐㩷㪋㩷㫊㫃㫀㫅㪾㫊

Robot posture on transportation

J1-axis

-30°

J2-axis

-25°

J3-axis

-15°

J4-axis

0°

J5-axis

-75°

㪚㪼㫅㫋㪼㫉㩷㫆㪽

J6-axis

0°

㫋㪿㪼㩷㪾㫉㪸㫍㫀㫋㫐

㪜㫐㪼㪹㫆㫃㫋㩷㩿䌍㪈㪍䋩

Fig. 1.1 (f) Transportation using a crane (M-710iC/50S)

- 4 -

B-82274EN/09

1.TRANSPORTATION AND INSTALLATION

1.2.1

Actual Installation Example

Fig. 1.2.1 (a) shows the actual example of the robot installation.

The floor plate is imbedded in concrete and fastened with four M20 (strength classification 4.8) chemical

anchors. Also, fasten the base plate to the robot base using four M20×50 bolts (strength classification

12.9). Next, position the robot, and weld the base plate to the floor plate. (Floor length is 10 to 15mm.)

㪧㪸㫉㫋㫊㩷㫋㫆㩷㪹㪼㩷㫇㫉㪼㫇㪸㫉㪼㪻㩷㪹㫐㩷㪺㫌㫊㫋㫆㫄㪼㫉㪅

㪩㫆㪹㫆㫋㩷㫄㫆㫌㫅㫋㫀㫅㪾㩷㪹㫆㫃㫋㩷㩷㩷㪤㪉㪇㪯㪌㪇㩷㩷㩷㩿㪪㫋㫉㪼㫅㪾㫋㪿㩷㪺㫃㪸㫊㫊㫀㪽㫀㪺㪸㫋㫀㫆㫅㩷㪈㪉㪅㪐㪀㩷㩷㩷㪋㩷㫇㪺㫊㪅

㪚㪿㪼㫄㫀㪺㪸㫃㩷㪸㫅㪺㪿㫆㫉㩷㩷㩷㩷㩷㩷㩷㩷㪤㪉㪇㩿㪪㫋㫉㪼㫅㪾㫋㪿㩷㪺㫃㪸㫊㫊㫀㪽㫀㪺㪸㫋㫀㫆㫅㩷㪋㪅㪏㪀㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪋㩷㫇㪺㫊㪅

㪙㪸㫊㪼㩷㫇㫃㪸㫋㪼㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪫㪿㫀㪺㫂㫅㪼㫊㫊㩷㪊㪉㫋

㪋㩷㫇㪺㫊㪅

㪝㫃㫆㫆㫉㩷㫇㫃㪸㫋㪼㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪫㪿㫀㪺㫂㫅㪼㫊㫊㩷㪊㪉㫋㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㩷㪈㩷㫇㪺㫊㪅

㪊㪏㪇

㪈㪐㪇

㪋㪄㪤㪉㪇

㪈㪌㪇

㪈㪈㪌

㪎㪇㪈㪌㪇

㪩㫆㪹㫆㫋㩷㪽㫉㫆㫅㫋

㪮㪼㫃㪻㫀㫅㪾㩷

㪋㪄O㪉㪋

㪙㪸㫊㪼㩷㫇㫃㪸㫋㪼

㫇㪸㫉㫋

㪝㫃㫆㫆㫉㩷㫇㫃㪸㫋㪼

㪌㪇㪇

㪩㫆㪹㫆㫋㩷㫄㫆㫌㫅㫋㫀㫅㪾㩷㪹㫆㫃㫋

㪤㪉㪇㪯㪌㪇㩿㪋㫇㪺㫊㪀

㪙㪸㫊㪼㩷㫇㫃㪸㫋㪼

㪪㫋㫉㪼㫅㪾㫋㪿㩷㪺㫃㪸㫊㫊㫀㪽㫀㪺㪸㫋㫀㫆㫅㩷㩷㪈㪉㪅㪐

㪮㪼㫃㪻㫀㫅㪾㩷㪸㪽㫋㪼㫉㩷㫇㫆㫊㫀㫋㫀㫆㫅㫀㫅㪾

㪫㫀㪾㪿㫋㪼㫅㫀㫅㪾㩷㫋㫆㫉㫈㫌㪼㩷㪌㪉㪐㪅㪉㪥㫄㩿㪌㪋㫂㪾㪽㫄㪀

㪈㪇䌾㪈㪌

㪝㫃㫆㫆㫉㩷㫇㫃㪸㫋㪼

O㪉㪋

㪚㪿㪼㫄㫀㪺㪸㫃㩷㪸㫅㪺㪿㫆㫉㩷㪤㪉㪇䋨㪋㫇㪺㫊䋩

㪪㫋㫉㪼㫅㪾㫋㪿㩷㪺㫃㪸㫊㫊㫀㪽㫀㪺㪸㫋㫀㫆㫅㩷㪋㪅㪏

㪫㫀㪾㪿㫋㪼㫅㫀㫅㪾㩷㫋㫆㫉㫈㫌㪼㩷㪈㪏㪍㪅㪉㪥㫄㩿㪈㪐㪅㪈㫂㪾㪽㫄㪀

㩿㪥㫆㫋㪼㩷㪈㪀㪠㫅㫊㫋㪸㫃㫃㪸㫋㫀㫆㫅㩷㫎㫆㫉㫂㩷㩿㫎㪼㫃㪻㫀㫅㪾㪃㩷㪸㫅㪺㪿㫆㫉㫀㫅㪾㪅㪼㫋㪺㪀㩷㪸㫉㪼㩷㫇㫉㪼㫇㪸㫉㪼㪻㩷㪹㫐㩷㪺㫌㫊㫋㫆㫄㪼㫉㪅

㩿㪥㫆㫋㪼㩷㪉㪀㩷㩷㪙㫌㫉㫉㫐㩷㫋㪿㪼㩷㪽㫃㫆㫆㫉㩷㫇㫃㪸㫋㪼㩷㫀㫅㩷㪺㫆㫅㪺㫉㪼㫋㪼㪅

Fig. 1.2.1 (a) Actual installation example

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1.TRANSPORTATION AND INSTALLATION

B-82274EN/09

Fig. 1.2.1 (b), Table 1.2.1 (a) to Table 1.2.1 (c) indicate the force and moment applied to the base plate at

the time of Power off stop of the robot and indicate the stopping distance and time of the J1 through J3

axes until the robot stopping by Power-Off stop or by Controlled stop after input of the stop signal.

Refer to the data when considering the strength of the installation face.

Table1.2.1 (a) Force and moment during Power-Off stop

Force in horizontal

Vertical moment

Force in vertical direction

Horizontal moment

Model

direction

MV [kNm (kgfm)]

FV [kN (kgf)]

MH [kNm (kgfm)]

FH [kN (kgf)]

M-710iC/50, /50E

17.6 (1800)

14.7 (1500)

5.9 (600)

8.0 (820)

M-710iC/70

18.6 (1900)

16.0 (1630)

5.9 (600)

8.0 (820)

M-710iC/50H

17.6 (1800)

14.7 (1500)

5.9 (600)

8.0 (820)

M-710iC/50S

13.2 (1350)

14.7 (1500)

5.9 (600)

7.4 (750)

Table 1.2.1 (b) Stopping time and distance until the robot stopping by Power-Off stop after input of stop signal

Model

J1-axis

J2-axis

J3-axis

Stopping time [msec]

310

281

212

M-710iC/50

Stopping distance [deg] (rad)

27.1

(0.47)

24.6

(0.43)

18.6

(0.32)

Stopping time [msec]

294

286

238

M-710iC/50E

Stopping distance [deg] (rad)

26.9(0.47)

23.3(0.41)

Stopping time [msec]

311

205

160

M-710iC/70

Stopping distance [deg] (rad)

24.9

(0.43)

12.3

(0.21)

9.6

(0.17)

Stopping time [msec]

284

252

220

M-710iC/50H

Stopping distance [deg] (rad)

28.9(0.50)

22.9(0.40)

21.5(0.38)

Stopping time [msec]

166

155

151

M-710iC/50S

Stopping distance [deg] (rad)

14.5

(0.25)

13.6

(0.24)

13.2

(0.23)

* override : 100%

* Max. payload, and max. inertia posture

Table1.2.1 (c) Stopping time and distance until the robot stopping by Controlled stop after input of stop signal

Model

J1-axis

J2-axis

J3-axis

Stopping time [msec]

636

644

628

M-710iC/50

Stopping distance [deg] (rad)

60.5

(1.06)

62.5

(1.09)

60.4

(1.05)

Stopping time [msec]

638

654

630

M-710iC/50E

Stopping distance [deg] (rad)

60.7(1.06)

61.1(1.07)

60.5(1.06)

Stopping time [msec]

756

764

708

M-710iC/70

Stopping distance [deg] (rad)

63.9

(1.11)

47.5

(0.83)

46.3

(0.81)

Stopping time [msec]

652

644

636

M-710iC/50H

Stopping distance [deg] (rad)

61.2(1.07)

61.6(1.07)

Stopping time [msec]

492

M-710iC/50S

Stopping distance [deg] (rad)

49.0

(0.85)

47.8

(0.83)

47.8

(0.83)

* override : 100%

* Max. payload, and max. inertia posture

Fig. 1.2.1 (b) Force during Power-Off Stop

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FANUC Robot M-710iC MECHANICAL UNIT. OPERATOR'S MANUAL (B-82274EN/09) - page 1