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Fanuc R30iA LR Mate 200 IC J3 Motor and Reducer Replacement

This document provides instructions for replacing the J3-axis motor and reducer on an industrial robot. The motor replacement procedure involves 14 steps including removing covers, disconnecting cables and air tubes, loosening belts, and removing mounting bolts. Specific replacement parts are listed with part numbers. The reducer replacement involves 11 steps following a similar process of disassembly, replacement, and reassembly while taking care to properly install seals, grease components, and adjust tensions. Precautions are provided to prevent damage and ensure proper installation.

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Andrés M. Reyes
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940 views5 pages

Fanuc R30iA LR Mate 200 IC J3 Motor and Reducer Replacement

This document provides instructions for replacing the J3-axis motor and reducer on an industrial robot. The motor replacement procedure involves 14 steps including removing covers, disconnecting cables and air tubes, loosening belts, and removing mounting bolts. Specific replacement parts are listed with part numbers. The reducer replacement involves 11 steps following a similar process of disassembly, replacement, and reassembly while taking care to properly install seals, grease components, and adjust tensions. Precautions are provided to prevent damage and ensure proper installation.

Uploaded by

Andrés M. Reyes
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 5

B-82585EN/02 4.

REPLACING PARTS

4.6 REPLACING J3-AXIS MOTOR

Replacing procedure
1 Turn off the power of the controller.
2 Remove bolt/plated bolt (3) and J2 arm cover (4). When packing
is attached, remove packing (14), too.
3 Loosen a bolt (6) a little and lower the tension of the belt (5) and
remove belt (5).

CAUTION
When removing the belt, put the part beyond the
J3 housing on a workbench to prevent the arm
from dropping

4 According to Section 5.3.1, remove J2 base cover and relay of


cable K101 and air tube. (Referring to Fig.5.3.1 (a), (b))
5 According to Section 5.3.1, remove clamp J2-1 and cut the nylon
band, which connect cable and air tube to clamp. (Referring to
Fig.5.3.1 (a), (b))
6 Remove seal bolt (1) and guide arm (2). Do not add power
forcibly when you remove guide arm. When packing is attached,
remove packing (13), too. Pay attention that the load doesn’t rest
upon cable and air tube so that an upper cable and the air tube
may work from guide arm without removing.
7 Remove clamp J2-2 referring to Fig.5.3.2 (e) of Section 5.3.2. (It
is not necessary to cut nylon band.)
8 Pull lower cable from guide arm from J2 base to guide arm.
In this time, pull out the cable after it pushes into the robot on the
tip of the part of the relayed connector and it passes it.
9 Remove bolt (12) and motor (11).
10 Remove seal bolt (7), washer plate (8) and pulley (9).
11 Remove cable K104 and K105 from motor (11).
12 Assemble it in the opposite procedure after exchanging Motor and
packing for the new article. In this time, pay attention to the
following.
・ Adjust the tension of the belt referring to Section 6.1 after the
installation of the belt.
・ When installing guide arm, assemble it horizontally so as not
to damage oil seal.
13 Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATOR’S MANUAL.).

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4.REPLACING PARTS B-82585EN/02

VIEW
3 4 5

6 7 9
11 12 13

8 10
14 1

Fig. 4.6 Replacing J3-axis motor

Parts Name Specifications Number Loctite Torque N-m (kgf-cm)


A97L-0218-0423#051616(*1) 4 5.6Nm (57kgfcm)
1 SEAL BOLT A97L-0218-0546#051616BC(*2) 4 5.6Nm (57kgfcm)
A97L-0218-0546#051616EN(*3) 4 5.6Nm (57kgfcm)
2 GUIDE ARM A290-7139-X304 1
BOLT A97L-0218-0504#M4X10 (*1) 3 2.0Nm (20kgfcm)
3 PLATED BOLT A97L-0218-0496#M4X12BC (*2) 8 4.5Nm (46kgfcm)
PLATED BOLT A97L-0218-0496#M4X12EN (*3) 8 4.5Nm (46kgfcm)
A290-7139-X306 (*4) 1
A290-7139-X308 (*2) 1
4 J2 ARM COVER
A290-7139-Y308 (*5) 1
A290-7139-Z308 (*6) 1
5 BELT A98L-0040-0190#007-098 1
6 BOLT A97L-0218-0504#M5X12 3 5.6Nm (57kgfcm)
7 SEAL BOLT A97L-0218-0423#030606 3
8 WASHER PLATE A290-7139-X231 1
9 PULLEY A290-7139-X311 1
10 KEY JB-HKY-3X3X12B 1
11 MOTOR A06B-0115-B855#0048 1
12 BOLT A6-BA-5X12 4
13 PACKING A290-7139-X353 (*7) 1
14 PACKING A290-7139-X355 (*7) 1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC,LR Mate 200iC/5H,5Lis specified
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.
(*7)When severe dust/liquid protection specification of LR Mate 200iC,LR Mate 200iC/5L,5H or LR Mate
200iC/5LC,5WP 5C is specified.

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B-82585EN/02 4.REPLACING PARTS

4.7 REPLACING J3-AXIS REDUCER

Replacing procedure
1 Turn off the power of the controller.
2 Remove guide arm referring to Section 4.6.
3 Remove J2 arm cover and belt referring to section 4.6.

CAUTION
When removing the belt, put the part beyond the
J3 housing on a workbench to prevent the arm
from dropping

4 Remove seal bolt (1), washer (2) and pulley (3).


5 Remove bolt (4) andJ2 arm to which reducer (8) attach. Note that
there is a possibility that grease goes out.
6 Remove bolt/seal bolt (6) and reducer (8).
7 Replace reducer to new one and install to J3 arm unit horizontally.
In this time, put wave washer (10) and O-ring (9) without
forgetting.
8 Fill grease to the reducer. It is total 10ml greasing in inside of
reducer, gear and bearing of wave generator
9 Attach wave generator (7) to reducer.
10 When severe dust/liquid protection specification of LR Mate
200iC, LR Mate 200iC/5L,5H or LR Mate 200iC/5LC,5WP,5C is
specified, spread sealant to the reducer referring to Fig.4.7 (b)
11 Attach J3 arm unit to which reducer attach to the J2 arm. In this
time, put O-ring (11) without forgetting.

CAUTION
Do not apply grease to the O-ring (11).
Otherwise, hardening of sealant is prevented,
causing a grease leak.

12 Install pulley (3) and belt.


13 Adjust the tension of the belt referring to Section 6.1 after the
installation of the belt.
14 Install J2 arm cover referring to Section 4.6.
15 Perform mastering (See sub section 6.2 and refer to section 8 of
OPERATOR’S MANUAL.).

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4.REPLACING PARTS B-82585EN/02

1
2
3
4

11
5
7
6

8
9
12
10

Fig. 4.7(a) Replacing J3-axis reducer

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B-82585EN/02 4.REPLACING PARTS

Parts Name Specifications Number Loctite Torque N-m (kgf-cm)


1 SEAL BOLT A97L-0218-0423#030606 1 1.3Nm (13kgfcm)
2 WASHER A290-7210-X532 1
3 PULLEY A290-7139-X312 1
4 BOLT A6-BA-3X16 16 2.0Nm (20kgfcm)
5 KEY (Attached to J3 REDUCER) 1
BOLT A6-BA-3X25(*1) 12 2.0Nm (20kgfcm)
6 SEAL BOLT A97L-0218-0546#032504BC(*2) 12 2.0Nm (20kgfcm)
SEAL BOLT A97L-0218-0546#032504EN(*3) 12 2.0Nm (20kgfcm)
7 WAVE GENERATOR (Attached to J3 REDUCER) 1
A97L-0218-0814#100 (*4) 1
8 J3 REDUCER
A97L-0218-0814#100C (*3) 1
9 O-RING (Attached to J3 REDUCER) 1
10 WAVE WASHER (Attached to J3 REDUCER) 1
11 O-RING (Attached to J3 REDUCER) 1
A290-7139-X401 (*4) 1
12 J3 HOUSING A290-7139-Y401 (*5) 1
A290-7139-Z401 (*6) 1
(*1) When not severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*2) When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L,5H is specified.
(*3) When LR Mate 200iC/5LC,5WP,5C is specified.
(*4) When LR Mate 200iC, LR Mate 200iC/5H,5L is specified
(*5) When LR Mate 200iC/5LC,5C is specified.
(*6) When LR Mate 200iC/5WP is specified.

APPLY LOCTITE 518 TO THE PART


OF THE PULLEY SIDE.
DON'T PUT LOCTITE INSIDE THE REDUCER.
Fig. 4.7 (b) Range to J3-axis reducer of sealant spreading
(When severe dust/liquid protection specification of LR Mate 200iC, LR Mate 200iC/5L or LR Mate
200iC/5C,5LC,5WP is specified)

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