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Transport and Installation

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TRANSPORT AND INSTALLATION


B-83734EN/01 1.TRANSPORTATION AND INSTALLATION

1 TRANSPORTATION AND INSTALLATION


1.1 TRANSPORTATION
Use a crane to transport the robot. 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 member 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.

Fig. 1.1 (a) Caution for installation

WARNING
1 Robot becomes unstable when it is transported with the end effector or
equipment is installed, and it is dangerous. Make sure to remove end effector
when robot is transported. (Except light cargo )
2 Before transport the robot by using crane, check and tighten if there is any loose
bolts on the forklift member left.

Transportation using a crane (Fig. 1.1 (b))


Fasten special transport equipment to two points of the robot base and lift the robot with two slings.
In this case, arrange and hoist two Slings crossed referring to the figure below.

CAUTION
When transporting a robot, be careful not to damage a motor connector with a
sling for lifting the robot.
Careful not to make a fierce shock in installing. These may cause the crash of
sensor.

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1.TRANSPORTATION AND INSTALLATION B-83734EN/01

CAUTION
Do not attach eyebolt directly to the transport equipment. May cause the Eyebolt
break and robot drop.

Transport member installing procedure (Fig. 1.1 (b) )

1 Set the robot in transportation posture, and remove all bolts.


2 Clean the mounting both surface of robot side and transport member side. In this case, make sure that
no foreign material will not tuck.
3 Hoist the robot with crane attaching Eyebolt to the transport member (60kg), and attach A,B,C,D
parts temporarily tighten with bolts. In this case, tighten the bolt until just before the bolt fully
buried.㸧(Avoid the bolt axis force acting on each parts)
4 According to a turn of C2 Ѝ D2 Ѝ C1 Ѝ D1,firm bolts with regulated 80 Nm diagonal line
equally. At first, firm arbitrary 1 bolt of each part with regulated 80 Nm diagonal line equally. Then
firm other bolts.
5 According to a turn of A2 Ѝ B2 Ѝ A1 Ѝ B1,firm bolts with regulated 80 Nm diagonal line
equally. At first, firm arbitrary 1 bolt of each part with regulated 80 Nm diagonal line equally. Then
firm other bolts.
6 Remove the Eyebolt attached to the transport member.

NOTE
Avoid attaching the transport member without removing the robot mounting
bolts.
Internal sensor may be damaged. Placing the bolt in wrong order may damage
the internal sensor.
Note)
ὀ䠅 Crane䜽䝺䞊䞁
1.㻌㻌㻌䚷㻝䠊䝻䝪䝑䝖⥲㔜㔞㻔㍺㏦㒊ᮦྵ䜐㻕㻌㻌㻦㻌㻌㻝㻝㻟㻜㼗㼓
See the list of the specification for robot mass. ྍᦙ㔜㔞䠖䚷㻝㻡㻜㻜㼗㼓䚷௨ୖ
2. Quantity sling 4 pcs Capacity min.: 2.5 ton
㻌㻌㻌㻌㻞䠊ᩘ㔞㻌㻌䝇䝸䞁䜾㻌㻌㻌㻌㻌㻞ಶ Sling
䝇䝸䞁䜾
Capacity min. : 1.0 ton/sling
ྍᦙ㔜㔞䠖䚷㻝㻞㻜㻜㼗㼓䚷௨ୖ
Robot posture on transportation Sling㛗䛥䠖㻌㻌㻟㼙௨ୖ
length :3m or more
㍺㏦ጼໃ
㻶㻝㻦㻌㻌㻌㻜㼻
㻶㻞㻦㻙㻟㻜㼻
㻶㻟㻦㻙㻟㻞㼻
㻶㻠㻦㻌㻌㻌㻜㼻
㻶㻡㻦㻙㻡㻤㼻
㻶㻢㻦㻌㻌㻌㻜㼻
㻝㻜㻣㻥

Transport
㍺㏦㒊ᮦ
member
㻞㻝㻝㻟

Center of
㔜ᚰ఩⨨ Transport
Transport member gravity Center of ㍺㏦㒊ᮦ
㍺㏦㒊ᮦྲྀ௜䛡䝪䝹䝖 member
M12X155 (4) 㔜ᚰ఩⨨
gravity 㻮㻝
㻹㻝㻞㼄㻝㻡㻡㻌㻔㻠㻕 ㍺㏦㒊ᮦྲྀ௜䛡䝪䝹䝖
Transport member
Tightening
⥾௜䝖䝹䜽㻌㻤㻜㻺㼙 torque 80Nm 㻮㻞
㻭㻝 㻭㻞 㻹㻝㻞㼄㻝㻡㻡㻌㻔㻠㻕
M12X155 (4)
㻠㻜㻞 㻟㻤㻤 ⥾௜䝖䝹䜽㻌㻤㻜㻺㼙
Tightening torque 80Nm
Transport member
㍺㏦㒊ᮦྲྀ௜䛡䝪䝹䝖
㻹㻝㻞㼄㻣㻡㻌㻔㻤㻕
M12X75 (8) ㍺㏦㒊ᮦྲྀ௜䛡䝪䝹䝖
Transport member
⥾௜䝖䝹䜽㻌㻤㻜㻺㼙 㻹㻝㻞㼄㻣㻡㻌㻔㻤㻕
M12X75 (8)
Tightening torque 80Nm ⥾௜䝖䝹䜽㻌㻤㻜㻺㼙
Tightening torque 80Nm

㻯㻝 㻯㻞 㻰㻝 㻰㻞

Fig. 1.1 (b) Transportation using a crane


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B-83734EN/01 1.TRANSPORTATION AND INSTALLATION
Robot is shipped with special skid. Adopt this kid for transportation.

CAUTION
During transportation, hook the lashing belt on the skid. Do not hook the lashing
belt directly on the transport member. Or, it may cause damage of the internal
sensor.

Special skid

Fig. 1.1 (c) Robot shipment status

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1.TRANSPORTATION AND INSTALLATION B-83734EN/01

1.2 INSTALLATION
Fig. 1.2 (a) shows the robot base dimensions. Avoid placing any object in front of the robot on the
mounting face to facilitate the installation of the mastering fixture.

The strength of the chemical anchor depends on that of concrete. Refer to the design guideline of the
manufacturer for the execution of the chemical anchor and consider the safety ratio sufficiently before
installation.

㻢㻡㻜
㻟㻞㻡
㻡㻜 㻡㻜㻜 㻡㻜
㻟㻜㻜
㻝㻞㻙O㻝㻤㻌㈏㏻
through
Welding bead
⁐᥋䝡䞊䝗
㻞㻜

㻡㻜
㻟㻞㻡
㻟㻜㻜 㼼㻜㻚㻜㻡 㻟㻜㻜 㼼㻜㻚㻜㻡

㻟㻜㻜
㻞㻡㻡

㻝㻥㻡 㼼㻜㻚㻜㻡
㻶㻝㍈ᅇ㌿୰ᚰ
J1-axis rotation center
㻡㻝㻜

㻢㻡㻜
㻡㻜㻜
㻝㻥㻡 㼼㻜㻚㻜㻡

Robot
䝻䝪䝑䝖ṇ㠃front
㻡㻜
㻞㻜

⁐᥋䝡䞊䝗
Welding bead
㻗㻜㻚㻜㻞㻞
㻞㻡㻡 㻞㻙 O 㻝㻜 㻴㻤 㻜 ㈏㏻
through

㻞㻜 㻡㻝㻜 㻞㻜
⁐᥋䝡䞊䝗
Welding bead ⁐᥋䝡䞊䝗
Welding bead
㻟㻜

Fig. 1.2 (a) Dimensions of the robot base

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B-83734EN/01 1.TRANSPORTATION AND INSTALLATION
Arrange the recommended Installation plate for delivering high performance referring to Fig. 1.2(b).
Make sure that the area of Ƒ650mm㸩Įwhich considered to be installed the robot base must not be
painted or fabricated for secure the leveling of mounting area.

CAUTION
The robot may not deliver the high performance if its installed area was not flat
enough after installation on the floor. If there is a gaps between the installation
plate and the floor, fill it up with shim (spacer) so that the installation plate is not
warped.

㻝㻜㻜㻜
㻢㻜 㻤㻤㻜 㻔㻌㻌㻌㻌㻕
㻠㻙O㻞㻤㻌㈏㏻
through
㻞㻜㻜 㻡㻜 㻡㻜㻜 㻡㻜
㻢㻜

㻝㻞㻙㻹㻝㻢㻌㈏㏻
through
㻞㻜㻜
㻡㻜
㻝㻜㻜㻜
㻡㻜㻜
㻤㻤㻜
㻡㻜

㻠㻙
㻯㻝
r 㻜㻚㻡 Robot installing surface
䝻䝪䝑䝖タ⨨㠃 㻜
㻟㻡

Fig. 1.2 (b) Recommended Installation Plate

Transport member removal and robot installation. (Fig. 1.2 (c) )

1 According to the cautions in Section 1.2, install the installation plate on the floor during securing
flatness of robot installation part. Confirm that a setting plate does not have a distortion with levels.
2 Hang the robot with a crane according to caution of Section 1.1, and put it on the installation surface.
During installation, clean the robot base lower side and installation surface upper side to prevent
foreign materials from sandwiched. Hoist the Robot with crane and mount on the robot installation
3 Install the robot on the installation plate, and then insert the mounting bolts. At this chance, tighten
the bolts until just before they contact the surface. (Avoid the bolt axis force acting on each parts)
4 Remove the bolt A and B of the transport member.
5 Attach the eyebolt on the transport member, hang the robot with a crane to prevent from falling
during removing the transport member. Remove the bolts of C, then remove the transport member (60
kg).
-5-
1.TRANSPORTATION AND INSTALLATION B-83734EN/01

6 Install the eyebolt on the opposite side transport member, hang it with a crane to prevent it from
falling during removing the transport member. Remove the bolts of D, then remove the transport
member (60 kg).
7 Tighten robot mounting all bolts with small torque according to the order of Fig. 1.2 (d), then tighten
them with regulated torque 319Nm.

NOTE
Use twelve hexagon hole bolt M16 (Tensile strength 1200N/mm2 or more), and
tighten them with regulated 319Nm.

NOTE
If the transport member is removed after tightening the robot mounting bolts, the
robot cannot deliver its rated performance if the transport members are
removed. Remove the transport member according to the above procedure.

Eyebolt
mounting
䜰䜲䝪䝹䝖
ྲྀ௜఩⨨
position
B
A㻭 㻮
䝪䝹䝖㻌㻹㻝㻞㼄㻝㻡㻡㻔㻠㻕
Bolt M12X155 (4) 䝪䝹䝖㻌㻹㻝㻞㼄㻝㻡㻡㻔㻠㻕
Bolt M12X155 (4)

C
㻯 D

䝪䝹䝖㻌㻹㻝㻞㼄㻣㻡㻔㻤㻕
Bolt M12X75 (8) 䝪䝹䝖㻌㻹㻝㻞㼄㻣㻡㻔㻤㻕
Bolt M12X75 (8)

Fig. 1.2 (c) Removing the transport member

WARNING
If procedure is not followed, safety function may lost , and it may cause injury or
the personnel.
'SPN4FJMFS $MBVEF '"/6$-VYFNCPVSH

4FOU.POEBZ "QSJM 1.
5P&MJBT 7BMFOUJO '"/6$*CFSJB

5IFNBOVBMJTDPSSFDU
8IBUUIFOPUFJOUIFNBOVBMNFBOTJT UIBUJGZPV
 5JHIUFOUIFSPCPUNPVOUJOHCPMUT
 5IFOSFNPWFUIFUSBOTQPSUNFNCFST
5IFOUIFSBUFEQFSGPSNBODFJTOPUBDIJFWFEBGUFSTUFQ
4PUIFOPUFJOEJSFDUMZTBZT UIBUUIFDPSSFDUPSEFSJT
 3FNPWFUIFUSBOTQPSUNFNCFST
 5IFOUJHIUFOUIFSPCPUNPVOUJOHCPMUT Front

Fig. 1.2 (d) Tightening order of the robot mounting bolts

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B-83734EN/01 1.TRANSPORTATION AND INSTALLATION
7 Attach the cover on the transport member mounting position according to the following procedure.
A) Loosen the appended cover bolts M5X12, and make a clearance between the pressure plate and
the cover. (Fig. 1.2 (f)㸧
B) Tilt the cover according to Fig. 1.2(g), and then attach the cover on the transport member
mounting portion. (Refer to Fig. 1.2 (f) for the cover direction.㸧In this case, hold the cone part
with a pressure plate and the cover.
C) Move the cover until the transport member mounting portion disappear, then tighten the bolts and
fix it.㸦Fig. 1.2 (g)㸧

Bolt M5X12 (2)


Upper side

Cover

Pressure plate

Lower side

Fig. 1.2 (e) Cover

Cone part

Tilt the cover and attach it.

Bolt M5X12 (2)


Fig. 1.2 (f) Cover attaching method

Fig. 1.2 (g) Cover attaching figure


-7-
1.TRANSPORTATION AND INSTALLATION B-83734EN/01

Fig. 1.2 (h) shows an example of installing the robot. In this example, the recommended installation plate
is fixed with four M20 chemical anchors (tensile strength 400N/mm2 or more). Then the robot base is
fastened to the recommended installation plate with twelve M16x55 bolts (tensile strength 1200N/mm2 or
more). If compatibility must be maintained in teaching the robot after the robot mechanical unit
replacement, utilize the mounting face.

Front
ṇ㠃 㻶㻝㍈ᅇ㌿୰ᚰ
J1-axis rotation center

㻠㻙O㻞㻤㻌㈏㏻
4-ȭ28 through

㻤㻤㻜
㻤㻤㻜

䝻䝪䝑䝖䝧䞊䝇
Robot base

Recommended installation Robot mounting bolts


䝻䝪䝑䝖ᅛᐃ䝪䝹䝖
᥎ዡタ⨨䝥䝺䞊䝖 M16X55 (12 pcs)
plate 㻹㻝㻢㼄㻡㻡㻌㻔㻝㻞ᮏ㻕
Chemical anchor Tensile 㻞 2
strength 1200N/mm
ᘬᙇᙉᗘ䠖㻝㻞㻜㻜㻺㻛㼙㼙㻌㻌௨ୖ
䜿䝭䜹䝹䜰䞁䜹
M20 (4 pcs) or more
㻹㻞㻜㻔㻠ᮏ㻕 2 ⥾௜䝖䝹䜽䠖㻟㻝㻤㻌㻺㼙
Tensile 㻞 or more
strength 400N/mm
ᘬᙇᙉᗘ䠖㻠㻜㻜㻺㻛㼙㼙㻌㻌௨ୖ
Tightening torque 318Nm
Tightening torque 186Nm
⥾௜䝖䝹䜽䠖㻝㻤㻢㻺㼙
㻔ᇙ䜑㎸䜏῝䛥㻕
(Depth)
㻞㻜㻜
200

Fig. 1.2 (h) Example of installing the robot

CAUTION
The customer must arrange for the positioning pin, anchor bolts, and floor plate.
Don’t perform leveling at the robot base directly using a push bolt or a wedge.
For fixing the robot base, use four hexagon socket head bolt M16X55 (tensile
strength 1200N/mm2 or more) and tighten them with regulated tightening torque
318Nm.

-8-
B-83734EN/01 1.TRANSPORTATION AND INSTALLATION
Fig. 1.2 (i), Table 1.2 (a) - (c) indicate the force and moment applied to the robot base.
Table 1.2 (d)- (e) indicate the stopping distance and time of the J1 through J3 axes until the robot stopped
by Power-Off stop or Controlled stop (contact stop) after input the stop signal.
Refer to the data below in considering the strength of the installation plane.

㻹㼂

㻲㻴
㻲㼂

㻹㻴
Fig. 1.2 (i) Force and moment that acts on the robot base

Table 1.2 (a) Force and moment that act on J1 base


Vertical moment Force in vertical Horizontal moment Force in horizontal
MV [Nm](kgfm direction MH Nm (kgfm) direction
FV N (kgf) FH N (kgf)
During stillness 2064 (211) 10050 (1026) 0 (0) 0 (0)
During acceleration or
4056 (414) 10851 (1107) 1505 (154) 1047 (107)
deceleration
During Power-Off stop 13095 (1336) 13855 (1414) 4779 (488) 3305 (337)

Table 1.2 (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 [ms] 36 36 36
CR-35iA max speed 250mm/sec
Stopping angle [deg] (rad) 0.17(0.002) 0.19(0.002) 0.32(0.003)
Stopping time [ms] 108 100 60
CR-35iA max speed 750mm/sec
Stopping angle [deg] (rad) 1.27(0.011) 1.00(0.009) 1.33(0.012)
*Max payload

Table1.2 (c) Stopping time and distance until the robot stopping by Controlled stop (contact stop)
after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [ms] 564 564 588
CR-35iA max speed 250mm/sec
Stopping angle [deg] (rad) 2.42(0.021) 2.62(0.023) 4.75(0.042)
Stopping time [ms] 580 580 596
CR-35iA max speed 750mm/sec
Stopping angle [deg] (rad) 7.23(0.063) 7.85(0.069) 14.2(0.124)
*Max payload

-9-
1.TRANSPORTATION AND INSTALLATION B-83734EN/01

-Stopping time and distance until the robot stopping by contact stop after input of stop signal

When contact stop is performed, robot stops in stopping time/ stopping distance which is shorter than
the controlled stop. For the examination of the system, please use a value at the time of the controlled
stop mentioned above.

1.3 MAINTENANCE AREA


Fig. 1.3 shows the maintenance area of the mechanical unit. Make sure to secure enough room for
mastering. Refer to Chapter 8 for the mastering.

㻤㻡㻜 㻥㻜㻜
Mastering
䝬䝇䝍䝸䞁䜾㡿ᇦ area
㻡㻜㻜

㻟㻜㻜
㻟㻜㻜
㻡㻜㻜

Maintenance area 㻝㻝㻣㻡


ಖᏲ䝇䝨䞊䝇
(mechanical unit)
Fig. 1.3 Maintenance area

1.4 INSTALLATION CONDITIONS


Refer to specification of Section 3.1 about installation conditions.

- 10 -
B-83734EN/01 2.CONNECTION WITH THE CONTROLLER

2 CONNECTION WITH THE CONTROLLER


2.1 CONNECTION WITH THE CONTROLLER
The robot is connected with the controller (NC) via the power and signal cable and earth cable. Connect
these cables to the connectors on the back of the base.
For details on air and option cables, see refer to Chapter 5.

WARNING
Before turning on controller power, make sure to connect robot mechanical unit
and controller with the earth line. Otherwise, may result in electrical shock.

CAUTION
1 Make sure to turn off the power before starting the cable connection work.
2 Don’t use 10m or longer coiled cable without untying. The long coiled cable will
be heated and be damaged depending on the robot operation.

1 Detach the cover.

Cover
Bolts M5X8 (4)

Fig. 2.1 (a) Cable connection (1/4)

- 11 -
2.CONNECTION WITH THE CONTROLLER B-83734EN/01

2 Connect the Force sensor cable connector shown in Fig. 2.1 (b).
3 Fix the force sensor cable shield part with a pressure plate shown in Fig. 2.1 (b) and then drop it to
the earth. In this case, avoid cable disconnection by tucking the cable into other than the deficient
part of the pressure plate. Be careful not to drop the bolts inside of the cover during attaching the
pressure plate.

Force sensor cable


connection part

Pressure plate
Bolt M3X8 (4)

Force sensor cable shield part

Fig. 2.1 (b) Cable connection (2/4)

- 12 -
B-83734EN/01 2.CONNECTION WITH THE CONTROLLER
4 Connect each cable to the connector part behind the robot base following Fig. 2.1 (c) and Fig. 2.1 (d).
Be careful not to apply excessive force on the cables, and fix the cables on the lower side clamp with
cable ties.
5 Assemble the cover back in place according to Fig. 2.1 (a).

Do not pull out cable with


Excessive force.

Fix them with cable ties

Fig. 2.1 (c) Cable connection (3/4)

Controlle
ไᚚ⿦⨨ r 䝻䝪䝑䝖
Robot
mechanical
ᶵᵓ㒊 unit

Robot connection cable


䝻䝪䝑䝖᥋⥆䜿䞊䝤䝹
(power, signal cable , earth line)
㻔ືຊ䚸ಙྕ䜿䞊䝤䝹䚸ຊ䝉䞁䝃䜿䞊䝤䝹䚸
㻌䜰䞊䝇⥺㻕

Ai
䜶䜰r

Option
䜸䝥䝅䝵䞁

Connector
ືຊ⥺ for
Power line and
ಙྕ⥺䜿䞊䝤䝹
⏝䝁䝛䜽䝍
Signal line
䜰䞊䝇➃Ꮚ
Earth terminal

Fig. 2.1 (d) Cable connection (4/4)

- 13 -

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