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FANUC Robotics FANUC series R-J3iB Controller For Europe PARTS MANUAL

B-81466EN-1/06 ©FANUC, 2004

FANUC Robotics FANUC series R-J3iB Controller Parts Manual B-81466EN-1/06

This publication contains proprietary information of FANUC Robotics Europe S.A. furnished for customer use only. No other uses are authorized without the express written permission of FANUC Robotics Europe S.A.

FANUC Robotics Europe S.A. Zone Industrielle 6466 Echternach Luxemburg Phone: +(352) 72 7777-1 Fax: +(352) 72 7777-403 website: www.fanucrobotics.lu

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The descriptions and specifications contained in this manual were in effect at the time this manual was approved for printing. FANUC Robotics Europe S.A., hereinafter referred to as FANUC Robotics, reserves the right to discontinue models at any time or to change specifications or design without notice and without incurring obligations.

Copyright ©2004 by FANUC Robotics Europe S.A. All Rights Reserved The information illustrated or contained herein is not to be reproduced, copied, translated into another language, or transmitted in whole or in part in any way without the prior written consent of FANUC Robotics.

Conventions Used in this Manual This manual includes information essential to the safety of personnel, equipment, software, and data. This information is indicated by headings and boxes in the text.

WARNING Information appearing under WARNING concerns the protection of personnel. It is boxed to set it apart from other text.

CAUTION Information appearing under CAUTION concerns the protection of equipment, software, and data. It is boxed to set it apart from other text.

NOTE Information appearing next to NOTE concerns related information or useful hints.

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TABLE OF CONTENTS

B-81466EN-1/06

PREFACE ............................................................................................................... 7 1 HOW TO READ THE PARTS MANUAL ........................................................ 9

1.1 INTRODUCTION .........................................................................................................9 1.2 READING PARTS LIST AND ASSEMBLY DRAWINGS ......................................10

2 CONFIGURATION .......................................................................................... 13 3 CONTROL UNIT PARTS LIST AND DRAWING ......................................... 21

3.1 CABINET ....................................................................................................................21 3.1.1 A-CABINET ..................................................................................................................... 21 3.1.2 B-CABINET ..................................................................................................................... 22

3.2 BACKPLANE .............................................................................................................23 3.2.1 2-SLOT BACKPLANE .................................................................................................... 23 3.2.2 4-SLOT BACKPLANE .................................................................................................... 24

3.3 3.4 3.5 3.6

POWER SUPPLY UNIT .............................................................................................25 MAIN BOARD ............................................................................................................27 EMERGENCY STOP UNIT .......................................................................................29 PROCESS I/O BOARD................................................................................................31

3.6.1 3.6.2 3.6.3 3.6.4 3.6.5 3.6.6 3.6.7 3.6.8

PROCESS I/O CA ............................................................................................................ 31 PROCESS I/O CB ............................................................................................................. 32 PROCESS I/O DA ............................................................................................................ 33 PROCESS I/O EA ............................................................................................................ 34 PROCESS I/O EB ............................................................................................................ 35 PROCESS I/O FA ............................................................................................................ 36 PROCESS I/O GA............................................................................................................ 37 PROCESS I/O HA ............................................................................................................ 38

3.7 6-AXIS SERVO AMPLIFIER ....................................................................................39 3.7.1 6-AXIS SERVO AMPLIFIER ......................................................................................... 39 3.7.1 6-AXIS SERVO AMPLIFIER (FOR M-900iA/600) ....................................................... 42

3.8 OPERATION BOX .....................................................................................................43 3.9 OPERATION BOX CABLE .......................................................................................45 3.10 OPERATOR’S PANEL............................................................................................. 47 3.11 FAN UNIT .................................................................................................................51 3.11.1 FAN UNIT FOR A-CABINET ...................................................................................... 51 3.11.2 FAN UNIT FOR B-CABINET ...................................................................................... 52

3.12 BREAKER-NOISE FILTER UNIT ..........................................................................53 3.12.1 BREAKER-NOISE FILTER UNIT FOR A-CABINET ................................................ 53 3.12.2 BREAKER-NOISE FILTER UNIT FOR B-CABINET ................................................ 54

3.13 I/O UNIT MODEL A ................................................................................................55 3.14 TEACH PENDANT ..................................................................................................61 3.14.1 TEACH PENDANT ....................................................................................................... 61 3.14.2 i PENDANT ................................................................................................................... 63

3.15 TEACH PENDANT CABLE ....................................................................................67 3.15.1 TEACH PENDANT CABLE FOR A-CABINET .......................................................... 67 3.15.2 TEACH PENDANT CABLE FOR B-CABINET .......................................................... 67

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TABLE OF CONTENTS

B-81466EN-1/06

3.16 TRANSFORMER ..................................................................................................... 69 3.16.1 TRANSFORMER FOR A-CABINET ........................................................................... 69 3.16.2 TRANSFORMER FOR B-CABINET ............................................................................ 70

3.17 HOUR METER ......................................................................................................... 71 3.18 ROBOT CONNECTION CABLE / RCC I/F UNIT ................................................. 73 3.18.1 ROBOT CONNECTION CABLE FOR A-CABINET .................................................. 73 3.18.2 ROBOT CONNECTION CABLE FOR B-CABINET ................................................... 74

3.19 DOOR INTERLOCK ................................................................................................ 77 3.20 PERIPHERAL DEVICE CONNECTION CABLE .................................................. 79 3.20.1 PERIPHERAL DEVICE CONNECTION CABLE FOR A-CABINET ........................ 79 3.20.2 PERIPHERAL DEVICE CONNECTION CABLE FOR B-CABINET ........................ 80

3.21 REGENERATIVE RESISTOR UNIT...................................................................... 81 3.21.1 REGENERATIVE RESISTOR UNIT FOR A-CABINET ............................................ 81 3.21.2 REGENERATIVE REGISTOR UNIT FOR B-CABINET ............................................ 82

3.22 OPTION BOARD ..................................................................................................... 83

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PREFACE

B-81466EN-1/06

PREFACE This manual describes the following product: Name of product

Abbreviation

Abbreviation

Control Unit

FANUC Robot R-2000iA/165F

R-2000iA/165F

R-2000iA

R-J3iB

FANUC Robot R-2000iA/200F

R-2000iA/200F

R-2000iA

R-J3iB

FANUC Robot R-2000iA/200FO

R-2000iA/200FO

R-2000iA

R-J3iB

FANUC Robot R-2000iA/210F

R-2000iA/210F

R-2000iA

R-J3iB

FANUC Robot R-2000iA/165EA

R-2000iA/165EA

R-2000iA

R-J3iB

FANUC Robot R-2000iA/165EW

R-2000iA/165EW

R-2000iA

R-J3iB

FANUC Robot R-2000iA/200EW

R-2000iA/200EW

R-2000iA

R-J3iB

FANUC Robot R-2000iA/165R

R-2000iA/165R

R-2000iA

R-J3iB

FANUC Robot R-2000iA/200R

R-2000iA/200R

R-2000iA

R-J3iB

FANUC Robot R-2000iA/125L

R-2000iA/125L

R-2000iA

R-J3iB

FANUC Robot R-2000iA/100P

R-2000iA/100P

R-2000iA

R-J3iB

FANUC Robot R-2000iA/130U

R-2000iA/130U

R-2000iA

R-J3iB

FANUC Robot R-2000iA/165CF

R-2000iA/165CF

R-2000iA

R-J3iB

FANUC Robot R-2000iA/200T

R-2000iA/200T

R-2000iA

R-J3iB

FANUC Robot ARC Mate 100iB

ARC Mate 100iB

ARC Mate 100iB

R-J3iB

FANUC Robot ARC Mate 100iB/6S

ARC Mate 100iB/6S

ARC Mate 100iB

R-J3iB

FANUC Robot ARC Mate 120iB

ARC Mate 120iB

ARC Mate 120iB

R-J3iB

FANUC Robot ARC Mate 120iB/10L

ARC Mate 120iB/10L

ARC Mate 120iB

R-J3iB

FANUC Robot ARC Mate 120iB/20T

ARC Mate 120iB/20T

ARC Mate 120iB

R-J3iB

FANUC Robot ARC Mate 120iB/10LT

ARC Mate 120iB/10LT

ARC Mate 120iB

R-J3iB

FANUC Robot M-6iB

M-6iB

M-6iB

R-J3iB

FANUC Robot M-6iB/6T

M-6iB/6T

M-6iB

R-J3iB

FANUC Robot M-6iB/6S

M-6iB/6S

M-6iB

R-J3iB

FANUC Robot M-6iB/2HS

M-6iB/2HS

M-6iB

R-J3iB

FANUC Robot M-6iB/6C

M-6iB/6C

M-6iB

R-J3iB

FANUC Robot M-16iB/20

M-16iB/20

M-16iB

R-J3iB

FANUC Robot M-16iB/10L

M-16iB/10L

M-16iB

R-J3iB

FANUC Robot M-16iB/20T

M-16iB/20T

M-16iB

R-J3iB

FANUC Robot M-16iB/10LT

M-16iB/10LT

M-16iB

R-J3iB

FANUC Robot M-420iA

M-420iA

M-420iA

R-J3iB

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PREFACE

B-81466EN-1/06

Name of product

Abbreviation

Abbreviation

Control Unit

FANUC Robot M-421iA

M-421iA

M-421iA

R-J3iB

FANUC Robot M-900iA/260L

M-900iA/260L

M-900iA

R-J3iB

FANUC Robot M-900iA/350

M-900iA/350

M-900iA

R-J3iB

FANUC Robot M-900iA/600

M-900iA/600

M-900iA

R-J3iB

FANUC Robot M-710iB/45

M-710iB/45

M-710iB

R-J3iB

FANUC Robot M-710iB/45E

M-710iB/45E

M-710iB

R-J3iB

FANUC Robot M-710iB/45T

M-710iB/45T

M-710iB

R-J3iB

FANUC Robot M-710iB/70

M-710iB/70

M-710iB

R-J3iB

FANUC Robot M-710iB/70T

M-710iB/70T

M-710iB

R-J3iB

FANUC Robot M-410iB/160

M-410iB/160

M-410iB

R-J3iB

FANUC Robot M-410iB/300

M-410iB/300

M-410iB

R-J3iB

FANUC Robot M-410iB/450

M-410iB/450

M-410iB

R-J3iB

FANUC Robot F-200iB

F-200iB

F-200iB

R-J3iB

FANUC Robot S-500iB

S-500iB

S-500iB

R-J3iB

FANUC Robot S-900iB/400

S-900iB/400

S-900iB

R-J3iB

FANUC Robot S-900iB/200

S-900iB/200

S-900iB

R-J3iB

FANUC Robot S-900iB/220L

S-900iB/220L

S-900iB

R-J3iB

FANUC Robot LR Mate 200iB

LR Mate 200iB

LR Mate 200iB

R-J3iB

FANUC Robot LR Mate 200iB/3L

LR Mate 200iB/3L

LR Mate 200iB

R-J3iB

NOTE • No part of this manual may be reproduced in any form. • All specification and designs are subject to change without notice. In this manual we have tried a much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as "impossible".

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1. HOW TO READ THE PARTS MANUAL

B-81466EN-1/06

1 HOW TO READ THE PARTS MANUAL 1.1 INTRODUCTION This manual contains parts lists and assembly drawings for the major assemblies and subassemblies for the robot. It also contains lists and drawings of small parts such as screws and bolts which are common to the various assemblies and subassemblies. Instructions for reading the parts lists and assembly drawings appear in para. 1.2. Instructions for reading the small parts lists and drawings are given in para 1.3.

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1. HOW TO READ THE PARTS MANUAL

B-81466EN-1/06

1.2 READING PARTS LIST AND ASSEMBLY DRAWINGS The parts list identifies the subassemblies and parts for a specific unit or major assembly. The assembly drawing indicates the location at which the parts are installed. For example, the parts list shown at the next page identifies the major assemblies and parts for the total assembly. This list identifies the major assembly and its specification number. It then shows the item number, quantity, parts name, specification number and includes any special remarks that will be helpful to the user.

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1. HOW TO READ THE PARTS MANUAL

B-81466EN-1/06

Notice that the lit in the example shown above has three sections labeled A, B and C. The information given in these three section is as follows: 1. Section A UNIT Unit identification symbol ASSEMBLY NAME Name of assembly SPECIFICATION The specification number 2. Section B (/) The total number of pages in the series in which parts for an assembly are listed and the number of the specific page being read. The example given here (1/1) is page 1 of 1. 3. Section C UNIT Unit identification symbol NO Serial number of parts Q’TY The number of parts used in assembly or subassembly PARTS NAME The name of parts SPECIFICATION The specification number (part number) Use this number to order the parts PAGE The page number of drawing on which parts is identified REMARKS Additional information useful to the reader

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1. HOW TO READ THE PARTS MANUAL

B-81466EN-1/06

The relationship between data in the parts list and that in the illustration is illustrated below.

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2. CONFIGURATION

B-81466EN-1/06

2 CONFIGURATION

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2. CONFIGURATION

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2. CONFIGURATION

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2. CONFIGURATION

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2. CONFIGURATION

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2. CONFIGURATION

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2. CONFIGURATION

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2. CONFIGURATION

B-81466EN-1/06

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3. CONTROL UNIT PARTS LIST

CABINET

3 CONTROL UNIT PARTS LIST AND DRAWING 3.1 CABINET 3.1.1 A-CABINET

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CABINET

3.1.2 B-CABINET

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

BACKPLANE

3.2 BACKPLANE 3.2.1 2-SLOT BACKPLANE

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BACKPLANE

3.2.2 4-SLOT BACKPLANE

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

POWER SUPPLY UNIT

3.3 POWER SUPPLY UNIT

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POWER SUPPLY UNIT

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

MAIN BOARD

3.4 MAIN BOARD

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MAIN BOARD

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

EMERGENCY STOP UNIT

3.5 EMERGENCY STOP UNIT

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EMERGENCY STOP UNIT

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

PROCESS I/O BOARD

3.6 PROCESS I/O BOARD 3.6.1 PROCESS I/O CA

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PROCESS I/O BOARD

3.6.2 PROCESS I/O CB

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

PROCESS I/O BOARD

3.6.3 PROCESS I/O DA

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PROCESS I/O BOARD

3.6.4 PROCESS I/O EA

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

PROCESS I/O BOARD

3.6.5 PROCESS I/O EB

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PROCESS I/O BOARD

3.6.6 PROCESS I/O FA

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

PROCESS I/O BOARD

3.6.7 PROCESS I/O GA

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PROCESS I/O BOARD

3.6.8 PROCESS I/O HA

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

6-AXIS SERVO AMPLIFIER

3.7 6-AXIS SERVO AMPLIFIER 3.7.1 6-AXIS SERVO AMPLIFIER

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6-AXIS SERVO AMPLIFIER

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3. CONTROL UNIT PARTS LIST

6-AXIS SERVO AMPLIFIER

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6-AXIS SERVO AMPLIFIER

3.7.1 6-AXIS SERVO AMPLIFIER (FOR M-900iA/600)

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

OPERATION BOX

3.8 OPERATION BOX

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OPERATION BOX

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

OPERATION BOX CABLE

3.9 OPERATION BOX CABLE

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OPERATION BOX CABLE

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

OPERATOR’S PANEL

3.10 OPERATOR’S PANEL

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OPERATOR’S PANEL

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

OPERATOR’S PANEL

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OPERATOR’S PANEL

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

FAN UNIT

3.11 FAN UNIT 3.11.1 FAN UNIT FOR A-CABINET

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FAN UNIT

3.11.2 FAN UNIT FOR B-CABINET

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

BREAKER-NOISE FILTER UNIT

3.12 BREAKER-NOISE FILTER UNIT 3.12.1 BREAKER-NOISE FILTER UNIT FOR A-CABINET

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BREAKER-NOISE FILTER UNIT

3. CONTROL UNIT PARTS LIST

3.12.2 BREAKER-NOISE FILTER UNIT FOR B-CABINET

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3. CONTROL UNIT PARTS LIST

I/O UNIT MODEL A

3.13 I/O UNIT MODEL A

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I/O UNIT MODEL A

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3. CONTROL UNIT PARTS LIST

I/O UNIT MODEL A

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I/O UNIT MODEL A

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

I/O UNIT MODEL A

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I/O UNIT MODEL A

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

TEACH PENDANT

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3.14 TEACH PENDANT 3.14.1 TEACH PENDANT

NOTE 1) Drive the unspecified screws with 0.5Nm (5.1kgfcm) torque. Put the lock paint "Three Bond NO.1401B" to all screw excepting screws driven from outside of the case. 2) Drive the mounting nut of cable with switch A05B-2351-D007 with 0.69Nm (7kgfcm) torque and A05B-2351-D008 with 0.49Nm (5.1kgfcm). After mounting the switches, paint the lock paint at 4 parts as figure 14.3. 3) Drive the mounting nut of connector to the teach pendant cable with 5.0Nm (51kgfcm) torque. Put LOCTITE No.242 to the thread. Mount the connector with attention about the key position. See figure 14.4.

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TEACH PENDANT

Fig. 14.1 TEACH PENDANT

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

TEACH PENDANT

3.14.2 i PENDANT

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TEACH PENDANT

3. CONTROL UNIT PARTS LIST

NOTE 1) Drive the unspecified screws with 0.5Nm (5.1kgfcm) torque. Put the lock paint "Three Bond NO.1401B" to all screw excepting screws driven from outside of the case. 2) Don’t use the packing appended to the cable with switch A05B-2490-D001, but use the packing used in the original i Pendant. 3) Drive the mounting nut of switch with 0.5Nm (5.1kgfcm) torque. After mounting the switches, paint the lock paint at 4 parts as figure 14.3. 4) Tie up the cable to the PCB plate near the connector with nylon band See Figure 14.2. 5) To exchange the rubber covers of dead man switches, dead man switches have to be taken off from back case of i Pendant. 6) Drive the screws fixing LCD plate with 0.15Nm (1.5kgfcm) torque. Drive the screws fixing LCD plate to the front case with 0.35Nm (3.6kgfcm) torque. 7) Assemble the belt with seams inward and buttons downward. 8) Tie up the cable to the nylon band holder on the back case with nylon band. See Figure 14.2. 9) Drive the mounting nut of connector with 5.0Nm (51kgfcm) torque. Put LOCTITE No.242 to the thread. Mount the connector with attention about the key position. See figure 14.4. 10) A20B-8100-0860 was stopped manufacturing. It can be replaced with A20B-8100-0861.

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3. CONTROL UNIT PARTS LIST

TEACH PENDANT

Fig. 14.2 i Pendant

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TEACH PENDANT

Fig. 14.3 LOCK PAINT FOR SWITCHES

Fig. 14.4 INTERFACE CABLE

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

TEACH PENDANT CABLE

3.15 TEACH PENDANT CABLE 3.15.1 TEACH PENDANT CABLE FOR A-CABINET

3.15.2 TEACH PENDANT CABLE FOR B-CABINET

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TEACH PENDANT CABLE

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

TRANSFORMER

3.16 TRANSFORMER 3.16.1 TRANSFORMER FOR A-CABINET

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TRANSFORMER

3.16.2 TRANSFORMER FOR B-CABINET

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

HOUR METER

3.17 HOUR METER

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HOUR METER

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

ROBOT CONNECTION CABLE / RCC I/F UNIT

3.18 ROBOT CONNECTION CABLE / RCC I/F UNIT 3.18.1 ROBOT CONNECTION CABLE FOR A-CABINET

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ROBOT CONNECTION CABLE / RCC I/F UNIT

3. CONTROL UNIT PARTS LIST

3.18.2 ROBOT CONNECTION CABLE FOR B-CABINET

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3. CONTROL UNIT PARTS LIST

ROBOT CONNECTION CABLE / RCC I/F UNIT

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ROBOT CONNECTION CABLE / RCC I/F UNIT

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

DOOR INTERLOCK

3.19 DOOR INTERLOCK

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DOOR INTERLOCK

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3. CONTROL UNIT PARTS LIST

3. CONTROL UNIT PARTS LIST

PERIPHERAL DEVICE CONNECTION CABLE

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3.20 PERIPHERAL DEVICE CONNECTION CABLE 3.20.1 PERIPHERAL DEVICE CONNECTION CABLE FOR A-CABINET

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PERIPHERAL DEVICE CONNECTION CABLE

3. CONTROL UNIT PARTS LIST

3.20.2 PERIPHERAL DEVICE CONNECTION CABLE FOR B-CABINET

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3. CONTROL UNIT PARTS LIST

REGENERATIVE RESISTOR UNIT

3.21 REGENERATIVE RESISTOR UNIT 3.21.1 REGENERATIVE RESISTOR UNIT FOR A-CABINET

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REGENERATIVE RESISTOR UNIT

3. CONTROL UNIT PARTS LIST

3.21.2 REGENERATIVE REGISTOR UNIT FOR B-CABINET

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3. CONTROL UNIT PARTS LIST

OPTION BOARD

3.22 OPTION BOARD

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OPTION BOARD

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3. CONTROL UNIT PARTS LIST

B-81466EN-1/06 ©FANUC, 2004