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

B-82274EN/09

9.TROUBLESHOOTING

9 TROUBLESHOOTING

9.1

OVERVIEW

The cause of a failure in the mechanical unit may be difficult to localize, because failures can arise from

many interrelated factors. If you fail to take the correct measures, the failure may be aggravated.

Therefore, it is necessary to analyze the symptoms of the failure precisely so that the true cause can be

found.

9.2

FAILURES, CAUSES AND MEASURES

Table 9.2 lists the major failures that may occur in the mechanical unit and their probable causes. If you

cannot pinpoint a failure cause or which measures to apply, contact FANUC.

Table 9.2 Failures, causes and measures

Symptom

Description

Cause

Measure

Vibration

-The J1 base lifts off the floor

[J1 base fastening]

-If a bolt is loose, apply

noise

plate as the robot operates.

-It is likely that the robot J1 base is not

LOCTITE and tighten it to the

-There is a gap between the J1

securely fastened to the base plate.

appropriate torque.

base and floor plate.

-Probable causes are a loose bolt, an

-Adjust the base plate surface

-A J1 base-retaining bolt is

insufficient degree of surface flatness,

flatness to within the specified

loose.

or foreign material caught between the

tolerance.

base plate and floor plate.

-If there is any foreign material

-If the robot is not securely fastened to

between the J1 base and base

the base plate, the J1 base lifts the

plate, remove it.

base plate as the robot operates,

-As the robot operates, the

allowing the base and floor plates to

rack or floor on which the robot

strike each other, which, in turn, leads

is mounted vibrates.

to vibration.

-Apply epoxy to the floor

[Rack or floor]

-Reinforce the rack or floor to

surface and re-install the plate.

-It is likely that the rack or floor is not

make it more rigid.

sufficiently rigid.

-If it is impossible to reinforce

-If the rack or floor is not sufficiently

the rack or floor, modify the

rigid, reaction from the robot deforms

robot control program; doing

the rack or floor, leading to vibration.

so might reduce the amount of

vibration.

-Vibration becomes more

[Overload]

-Check the maximum load that

serious when the robot adopts

-It is likely that the load on the robot is

the robot can handle once

a specific posture.

greater than the maximum rating.

more. If the robot is found to

-If the operating speed of the

-It is likely that the robot control

be overloaded, reduce the

robot is reduced, vibration

program is too demanding for the

load, or modify the robot

stops.

robot hardware.

control program.

-Vibration is most noticeable

-It is likely that the ACCELERATION

-Vibration in a specific portion

when the robot is accelerating.

value is excessive.

can be reduced by modifying

-Vibration occurs when two or

the robot control program while

more axes operate at the same

slowing the robot and reducing

time.

its acceleration (to minimize

the influence on the entire

cycle time).

- 103 -

9.TROUBLESHOOTING

B-82274EN/09

Symptom

Description

Cause

Measure

Vibration

-Vibration or noise was first

[Broken gear, bearing, or reducer]

-Operate one axis at a time to

Noise

noticed after the robot collided

- It is likely that collision or overload

determine which axis is

(Continued)

with an object or the robot was

applied an excessive force on the

vibrating.

overloaded for a long period.

drive mechanism, thus damaging the

-Remove the motor, and

-The grease of the vibrating or

geartooth surface or rolling surface of

replace the gear , the bearing,

noise occurring axis has not

a bearing, or reducer.

and the reducer. For the spec.

been exchanged for a long

- It is likely that prolonged use of the

of parts and the method of

period.

robot while overloaded caused fretting

replacement, contact FANUC.

-There is vibration or unusual

of the gear tooth surface or rolling

-Using the robot within its

sound just after replacing

surface of a bearing, or reducer due to

maximum rating prevents

grease or oil or parts.

resulting metal fatigue.

problems with the drive

- It is likely that foreign material

mechanism.

caught in a gear, bearing, or within a

-Regularly changing the grease

reducer caused damage on the gear

with a specified type can help

tooth surface or rolling surface of the

prevent problems.

bearing, or reducer.

- It is likely that foreign material

caught in a gear, bearing, or within a

reducer cause 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.

These factors all generate cyclic

vibration and noise.

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B-82274EN/09

9.TROUBLESHOOTING

Symptom

Description

Cause

Measure

Vibration

-The cause of problem cannot

[Controller, cable, and motor]

-Refer to the Controller

Noise

be identified from examination

-If a failure occurs in a controller

Maintenance Manual for

(Continued)

of the floor, rack, or

circuit, preventing control commands

troubleshooting related to the

mechanical section.

from being supplied to the motor

controller and amplifier.

normally, or preventing motor

-Replace the Pulsecoder for

information from being sent to the

the motor of the axis that is

controller normally, vibration might

vibrating, and check whether

occur.

the vibration still occurs.

-If the Pulsecoder develops a fault,

-Also, replace the motor of the

vibration might occur because

axis that is vibrating, and

information about the motor position

check whether vibration still

cannot be transferred to the controller

occurs. For the method of

accurately.

replacement, contact FANUC.

-If the motor becomes defective,

-Check that the robot is

vibration might occur because the

supplied with the rated voltage.

motor cannot deliver its rated

-Check whether the sheath of

performance.

the power cord is damaged. If

-If a power line in a movable cable of

so, replace the power cord,

the mechanical section has an

and check whether vibration

intermittent break, vibration might

still occurs.

occur because the motor cannot

-Check whether the sheath of

accurately respond to commands.

the cable connecting the

-If a Pulsecoder wire in a movable part

mechanical section and

of the mechanical section has an

controller is damaged. If so,

intermittent break, vibration might

replace the connection cable,

occur because commands cannot be

and check whether vibration

sent to the motor accurately.

still occurs.

-If a connection cable between them

-If vibration occurs only when

has an intermittent break, vibration

the robot assumes a specific

might occur.

posture, it is likely that a cable

-If the power supply cable is about to

in the mechanical unit is

be snapped, vibration might occur.

broken.

-If the power source voltage drops

-Shake the movable part cable

below the rating, vibration might

while the robot is at rest, and

occur.

check whether an alarm

-If a robot control parameter is set to

occurs. If an alarm or any other

an invalid value, vibration might occur.

abnormal condition occurs,

replace the mechanical unit

cable.

-Check that the robot control

parameter is set to a valid

value. If it is set to an invalid

value, correct it. Contact

FANUC for further information

if necessary.

- 105 -

9.TROUBLESHOOTING

B-82274EN/09

Symptom

Description

Cause

Measure

Vibration

-There is some relationship

[Noise from a nearby machine]

-Connect the grounding wire

Noise

between the vibration of the

-If the robot is not grounded properly,

firmly to ensure a reliable

(Continued)

robot and the operation of a

electrical noise is induced on the

ground potential and prevent

machine near the robot.

grounding wire, preventing commands

extraneous 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.

- There is an unusual sound

- There may be an unusual sound

- Use the specified grease.

after replacement of grease.

when using other than the specified

- When there is an unusual

- There is an unusual sound

grease.

sound even for specified

after a long period.

- Even for the specified grease, there

grease, perform operation

- There is an unusual sound

may be an unusual sound during

for one or two days on an

during operation at low

operation at low speed immediately

experiment. Generally, a

speed.

after replacement or after a long

usual sound will disappear.

period.

Rattling

-While the robot is not supplied

[Mechanical section coupling bolt]

-Check that the following bolts

with power, pushing it with the

-It is likely that overloading or a

for each axis are tight. If any of

hand causes part of the

collision has loosened a mounting bolt

these bolts is loose, apply

mechanical unit to wobble.

in the robot mechanical section.

LOCTITE and tighten it to the

-There is a gap on the

appropriate 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 effecter retaining bolt

- 106 -

B-82274EN/09

9.TROUBLESHOOTING

Symptom

Description

Cause

Measure

Motor

-The ambient temperature of

[Ambient temperature]

The teach pendant can be

overheating

the installation location

-It is likely that a rise in the ambient

used to monitor the average

increases, causing

temperature or attaching the motor

current. Check the average

the motor to overheat.

cover prevented the motor from

current when the robot control

-After a cover was attached to

releasing heat efficiently, thus leading

program is running. The

the motor, the motor

to overheating.

allowable average current is

overheated.

[Operating condition]

specified for the robot

-After the robot control

-It is likely that the robot was operated

according to its ambient

program or the load was

with the maximum average current

temperature. Contact FANUC

changed, the motor

exceeded.

for further information.

overheated.

-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 was

[Parameter]

-Input an appropriate

changed, the motor

-If data input for a workpiece is invalid,

parameter as described in

overheated.

the robot cannot be accelerated or

CONTROLLER OPERATOR’S

decelerated normally, so the average

MANUAL.

current increases, leading to

overheating.

-Symptom other than stated

[Mechanical section problems]

Repair the mechanical unit

above

-It is likely that problems occurred in

while referring to the above

the mechanical unit drive mechanism,

descriptions of vibration, noise,

thus placing an excessive load on the

and rattling.

motor.

-Check that, when the servo

[Motor problems]

system is energized, the brake

-It is likely that a failure of the motor

is released.

brake resulted in the motor running

-If the brake remains applied to

with the brake applied, thus placing an

the motor all the time, replace

excessive load on the motor.

the motor.

-It is likely that a failure of the motor

-If the average current falls

prevented it from delivering its rated

after the motor is replaced, it

performance, thus causing an

indicates that the first motor

excessive current to flow through the

was faulty.

motor.

- 107 -

9.TROUBLESHOOTING

B-82274EN/09

Symptom

Description

Cause

Measure

Grease

-Grease is leaking from the

[Poor sealing]

-If a crack develops in the

leakage

mechanical unit.

-Probable causes are a crack in the

casting, sealant can be used

casting, a broken O-ring, a damaged

as a quick-fix to prevent further

oil seal, or a loose seal bolt.

grease leakage. However, the

-A crack in a casting can occur due to

component should be replaced

excessive force that might be caused

as soon as possible, because

in collision.

the crack might extend.

-An O-ring can be damaged if it is

-O-rings are used in the

trapped or cut during disassembling or

locations listed below.

re-assembling.

-Motor coupling section

-An oil seal might be damaged if

-Reducer (case and shaft)

extraneous dust scratches the lip of

coupling section

the oil seal.

-Wrist coupling section

-A loose seal bolt might allow grease

-J3 arm coupling section

to leak along the threads.

-Inside the wrist

-Problems with the grease nipple or

-Oil seals are used in the

threads.

locations stated below.

-Inside the reducer

-Inside the wrist

-Seal bolts are used in the

locations stated below.

-Grease drain outlet

-Replace the grease nipple.

Dropping

-An axis drops because the

[Brake drive relay and motor]

-Check whether the brake drive

axis

brake does not function.

-It is likely that brake drive relay

relay contacts are stuck to

-An axis drops gradually when

contacts are stuck to each other to

each other. If they are found to

it should be at rest.

keep the brake current flowing, thus

be stuck, replace the relay.

preventing the brake from operating

-If the brake shoe is worn out,

when the motor is deenergized.

if the brake main body is

-It is likely that the brake shoe has

damaged, or if oil or grease

worn out or the brake main body is

has entered the motor, replace

damaged, preventing the brake from

the motor.

operating efficiently.

-It is likely that oil or grease has

entered the motor, causing the

brake to slip.

- 108 -

B-82274EN/09

9.TROUBLESHOOTING

Symptom

Description

Cause

Measure

Displace-

-The robot operates at a point

[Mechanical section problems]

-If the repeatability is unstable,

ment

other than the taught position.

-If the repeatability is unstable,

repair the mechanical section

-The repeatability is not within

probable causes are a failure in the

by referring to the above

the tolerance.

drive mechanism or a loose bolt.

descriptions of vibration, noise,

-If the repeatability becomes stable, it

and rattling.

is likely that a collision imposed an

-If the repeatability is stable,

excessive load, leading to slipping on

correct the taught program.

the base surface or the mating

Variation will not occur unless

surface of an arm or reducer.

another collision occurs.

-It is likely that the Pulsecoder is

-If the Pulsecoder is abnormal,

abnormal.

replace the motor or the

Pulsecoder.

-Displacement occurs only in a

[Peripheral unit displacement]

-Correct the setting of the

specific peripheral unit.

-It is likely that an external force was

peripheral unit position.

applied to the peripheral unit, thus

-Correct the taught program.

shifting its position relative to the

robot.

-Displacement occurred after a

[Parameter]

-Re-enter the previous

parameter was changed.

-It is likely that the mastering data was

mastering data, which is known

rewritten in such a way that

to be correct.

the robot origin was shifted.

-If correct mastering data is

unavailable, perform mastering

again.

BZAL alarm

-BZAL is displayed on the

-It is likely that the voltage of the

-Replace the battery.

occurred

controller screen

memory backup battery is low.

-Replace the cable.

-It is likely that the Pulsecoder cable is

defected.

- 109 -

10.SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)

B-82274EN/09

10 SEVERE DUST/LIQUID PROTECTION

PACKAGE (OPTION)

10.1 OVERVIEW

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.

Model

Severe dust/liquid protection specification

M-710iC/50, M-710iC/70

A05B-1125-J801 (*1)

A05B-1125-J811 (*2)

A05B-1125-J823 (*3)

A05B-1125-J829 (*4)

M-710iC/50S

A05B-1125-J802 (*1)

A05B-1125-J812 (*4)

A05B-1125-J824 (*5)

(*1) When mechanical unit cable for camera is not selected.

(*2) When mechanical unit cable for camera A05B-1125-H403 is selected.

(*3) When mechanical unit cable for camera A05B-1125-H404 is selected.

(*4) When mechanical unit cable for camera A05B-1125-H405 is selected.

(*5) When mechanical unit cable for camera A05B-1125-H421 is selected.

(*6) When mechanical unit cable for camera A05B-1125-H422 is selected.

10.2 SEVERE DUST/LIQUID PROTECTION CHARACTERISTICS

The following table lists the IEC529-based Severe dust/liquid protection characteristics of the M-710iC.

Standard

Severe dust/liquid protection package

J3 arm and wrist section

IP67

Drive unit of the main body

IP66

IP67

Main body

IP54

IP67

- 110 -

B-82274EN/09

10.SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)

Main body

J3 arm + Wrist unit

Fig. 10.2 Severe dust/liquid protection characteristics of the M-710iC

10.3 CONFIGURATION OF THE SEVERE DUST/LIQUID

PROTECTION PACKAGE

The following table lists the major differences between the M-710iC standard specification and Severe

dust/liquid protection package.

Standard specification

Severe dust/liquid protection option

Bolts

Dyed black steel bolt

FR coating bolt

Stainless bolt

Washer

Dyed black washer

Black chrome washer

Cover

J2 cover

Battery box cover

EE(RI/RO) connector

Non-waterproof connector

Waterproof connector

Others

Gasket

Packing is added.

- 111 -

10.SEVERE DUST/LIQUID PROTECTION PACKAGE (OPTION)

B-82274EN/09

EE (RI/RO) waterproof

connector

J2 cover

Battery box cover

Back

Front

Fig. 10.3 Configuration of the severe dust/liquid protection package of M-710iC

10.4 NOTES ON SPECIFYING SEVERE DUST/LIQUID

PROTECTION PACKAGE

The liquids below cannot be applied because they may cause deterioration or corrosion of the rubber

parts (such as packings, oil seals, and O-rings) used in the robot.

(a) Organic solvent

(b) Chlorine- or gasoline-based cutting fluid

(d) Liquid or solution that includes a corrosive such as an acid or alkali or causes rust

(e) Some other liquid or solution to which nitrile rubber (NBR) does not have resistance

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.

This option can be used only when the J2 cover is selected.

Please be sure to exchange it for the new article when you remove the gasket or packings by the

component replacement and the check.

- 112 -

B-82274EN/09

11.CORRESPOND TO WASHING APPLICATION (OPTION)

11 CORRESPOND TO WASHING

APPLICATION (OPTION)

11.1 ABOUT CORRESPOND TO WASHING APPLICATION

CORRESPOND TO WASHING APPLICATION is intended to improve the Severe dust/liquid protection

characteristics of the robot so that it can be used in a severe environment like wet scrubber.

This option includes Severe dust/liquid protection option.

Model

Severe dust/liquid protection specification

M-710iC/50, M-710iC/70

A05B-1125-J809

11.2 NOTES OF CORRESPOND TO WASHING APPLICATION

CORRESPOND TO WASHING APPLICATION specifies cleaning liquids usable with the robot.

(Always keep all the liquids at or below 60°C.)

Liquid model name

Manufacturer name

Permissible concentration

5.0%

CleanMate MS-1

TOHO Chemical Industry Co., LTD.

Diluted to 20 parts of water

2.0%

Toyosol ST-91P

Toyoda Chemical Industry Co., Ltd.

Diluted to 50 parts of water.

5.0%

Toyosol SE-78P

Toyoda Chemical Industry Co., Ltd.

Diluted to 20 parts of water.

3.0%

TOYOKNOCK RE-777P

Toyoda Chemical Industry Co., Ltd.

Diluted to 33 parts of water.

3.0%

MP-70

Henkel Japan

Diluted to 33 parts of water.

5.0%

Pakuna FD-800

YUKEN Industry CO., LTD.

Diluted to 20 parts of water.

3.3%

Yushiro cleaner W51H

YUSHIRO CHEMICAL INDUSTRY CO., LTD.

Diluted to 30 parts of water.

3.3%

Yushiro cleaner W80

YUSHIRO CHEMICAL INDUSTRY CO., LTD.

Diluted to 30 parts of water.

5.0%

SP-414

PLODUCTOCHEMIHALS

Diluted to 20 parts of water.

5.0%

SP-424

PLODUCTOCHEMIHALS

Diluted to 20 parts of water.

5.0%

SP-260

PLODUCTOCHEMIHALS

Diluted to 20 parts of water.

Note that applying a cleaning liquid not included in the specification or one beyond its permissible

concentration or temperature even if it is included in the specification to the robot may results in

serious damage to the robot.

The cables connecting the robot, controller, and external battery are not resistant to any cleaning

liquid. So, install them in such a way that no cleaning liquid will be splashed to the cables.

- 113 -

11.CORRESPOND TO WASHING APPLICATION (OPTION)

B-82274EN/09

11.3 INSTALLING THE AIR PURGE KIT

Use the prepared air purge kit.

Set the air purge pressure to 10 kPa (0.1 kgf/cm²).

NOTE

1 It is recommended that a dedicated air pressure source be used for an air purge. Do not

use the same air pressure source for both the air purge kit and others. Otherwise, the

dryer capacity is exceeded and water or oil remains in air, causing serious damage to

the robot.

2 After installing the robot, perform an air purge at all times.

Even when the robot is not operating, an air purge is required if it is placed in a bad

condition.

3 When removing the air tube from the air inlet of the J1 connector panel, replace the joint

together. Be careful to prevent cleaning fluids from entering into the joint. Otherwise,

rubbers in the joint are degraded and the robot may be damaged.

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Fig 11.3 (a) Air purge kit outside dimensions

- 114 -

12.MOTOR AIR BLOW OPPTION (OPTION)

B-82274EN/09

12 MOTOR AIR BLOW OPPTION (OPTION)

When motor air blow option is specified, inlet port is attached to the side of the J1 base.

When severe dust/liquid protection option is specified, exhaust port is attached ,too.

Supply air pressure is 0.49 to 0.69MPa(5 to 7kgf/cm²).

・ Use dry air.

・ Do not close the exhaust of J1 side when using both severe dust/liquid protection and air blow.

Inlet port for air blow

O　6

Fig.12(a) Inlet port for air blow

Inlet port for air blow

O　6

Outlet port for air blow

O　6

Fig.12(b) Inlet port and outlet port for air blow (When severe dust/liquid protection option is specified)

- 116 -

A.PERIODIC MAINTENANCE TABLE APPENDIX

B-82274EN/09

FANUC Robot M-710iC/50,70,50S,50E

Periodic Maintenance Table

First

Working time (H)

Check

Grease

check

months

year

years

time

amount

320

960

1920

2880

3840

4800

5760

6720

7680

8640

9600

10560

Items

Check the mechanical cable.

0.2H

○

(damaged or twisted)

Check the motor connector.

0.2H

○

(loosening)

Tighten the end effector bolt.

0.2H

○

Tighten the cover and main

2.0H

○

bolt.

Check the mechanical stopper

0.1H

○

Remove spatter and dust etc.

1.0H

○

Check the end effector (hand)

0.1H

○

cable

Check the fan

0.1H

○

Replacing battery.

0.1H

●

Replacing grease of J1 axis

0.5H

3300ml

reducer

Replacing grease of J2 axis

0.5H

1660ml

reducer

Replacing grease of J3 axis

0.5H

1060ml

reducer

Replacing grease of

0.5H

920ml

J4/J5/J6-axis gearbox

Replacing grease of wrist axis

0.5H

610ml

unit

(M-710iC/50, /70, /50S)

Replacing grease of wrist axis

0.5H

580ml

unit

(M-710iC/50E)

Replacing cable of mechanical

4.0H

unit

Check the robot cable, teach

pendant cable and robot

0.2H

○

connecting cable

Cleaning the ventilator

0.2H

○

Replacing battery *1

0.1H

*1 Refer to manual of controller.

●: requires order of parts

○: requires order of parts

- 120 -

B-82274EN/09

APPENDIX A.PERIODIC MAINTENANCE TABLE

years

11520

12480

13440

14400

15360

16320

17280

18240

19200

20160

21120

22080

23040

24000

24960

25920

26880

27840

28800

29760

30720

Item

○

●

○

●

- 121 -

A.PERIODIC MAINTENANCE TABLE APPENDIX

B-82274EN/09

FANUC Robot M-710iC/50H

Periodic Maintenance Table

First

Working time (H)

Check

Grease

check

months

year

years

time

amount

320

Items

960

1920

2880

3840

4800

5760

6720

7680

8640

9600

10560

Check the mechanical cable.

0.2H

○

(damaged or twisted)

Check the motor connector.

0.2H

○

(loosening)

Tighten the end effector bolt.

0.2H

○

Tighten the cover and main

2.0H

○

bolt.

Check the mechanical stopper

0.1H

○

Remove spatter and dust etc.

1.0H

○

Check the end effector (hand)

0.1H

○

cable

Check the fan

0.1H

○

Replacing battery.

0.1H

●

Replacing grease of J1 axis

0.5H

3300ml

reducer

Replacing grease of J2 axis

0.5H

1400ml

reducer

Replacing grease of J3 axis

0.5H

1060ml

reducer

Replacing grease of

0.5H

650ml

J4/J5-axis gearbox

Replacing grease of wrist axis

0.5H

650ml

unit

Replacing cable of mechanical

4.0H

unit

Check the robot cable, teach

pendant cable and robot

0.2H

○

connecting cable

Cleaning the ventilator

0.2H

○

Replacing battery *1

0.1H

*1 Refer to manual of controller.

●: requires order of parts

○: requires order of parts

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B-82274EN/09

APPENDIX A.PERIODIC MAINTENANCE TABLE

years

11520

12480

13440

14400

15360

16320

17280

18240

19200

20160

21120

22080

23040

24000

24960

25920

26880

27840

28800

29760

30720

Item

○

●

○

●

- 123 -

B.STRENGTH OF BOLT AND BOLT TORQUE LIST APPENDIX

B-82274EN/09

B STRENGTH OF BOLT AND BOLT TORQUE LIST

NOTE

When applying LOCTITE to the important bolt tightening points, make sure that it

is applied to the entire longitudinal portion in the engaging section of the female

threads. If it is applied to the male threads, the bolts may be loosened because

sufficient adhesion cannot be obtained. Remove the dust within the bolts and taps

and wipe oil off the engaging section. Make sure that there is no solvent in the

taps. Be sure to wipe the excess LOCTITE after tightening bolt.

Use bolt which strengths are below.

But if it is specified in text, obey it.

Hexagon socket head bolt made by steel

Size is M22 or less : Tensile strength 1200N/mm²or more

Size is M24 or more : Tensile strength 1000N/mm²or more

All size of bolt of the plating : Tensile strength 1000N/mm²or more

Hexagon bolt, stainless bolt, special shape bolt (button bolt, low-head bolt, flush bolt .etc)

Tensile strength 400N/mm²or more

If no tightening torque is specified for a bolt, tighten it according to this table.

Recommended bolt tightening torques

Unit: Nm

Hexagon socket head

button bolt

Hexagon socket head

Hexagon bolt

bolt

Nominal

bolt (stainless)

flush bolt

(steel)

(Steel)

diameter

Low-head bolt

(steel)

Tightening torque

Upper limit

Lower limit

Upper limit

Lower limit

Upper limit

Lower limit

Upper limit

Lower limit

1.8

1.3

0.76

0.53

――――

―――

4.0

2.8

1.8

1.3

1.8

1.3

1.7

1.2

7.9

5.6

3.4

2.5

4.0

2.8

3.2

2.3

9.6

5.8

4.1

7.9

5.6

5.5

3.8

9.8

9.6

9.3

M10

M12

110

――――

(M14)

180

130

――――

M16

270

190

120

――――

(M18)

380

260

160

110

――――

140

M20

530

370

230

160

――――

190

130

(M22)

730

510

――――

M24

930

650

――――

(M27)

1400

960

――――

M30

1800

1300

――――

M36

3200

2300

――――

- 124 -

B-82274EN/09

APPENDIX C.INSULATION ABOUT ARC WELDING ROBOT

C INSULATION ABOUT ARC WELDING

ROBOT

C.1 ABSTRACT

The arc welding robot performs welding, using a welding torch attached to its end effector via a bracket.

Because a high welding current flows through the welding torch, 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.

C.2 INSULATION AT THE WRIST

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 inserted between the end

effector and torch bracket, use different bolts on the insulation material and torch bracket.

Insert the insulating material between the torch and torch bracket so that the insulation is dualized.

When installing the insulating material, be sure to set the crack in the torch holder away from that

of the insulating material to prevent spatter from getting in the cracks.

Insert the insulating material between the torch and torch bracket so that the insulation is dualized.

When installing the insulating material, be sure to set the crack in the torch holder away from that

of the insulating material 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.

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.

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FANUC Robot M-710iC MECHANICAL UNIT. OPERATOR'S MANUAL (B-82274EN/09) - page 5