Nachi Mc350-01 Manipulator Instruction Manual

2106, MMCEN-247-012, 001
INSTRUCTION MANUAL
MANIPULATOR
MC350-01,-02 [FD11]
MC280L-01,-02 [FD11]
12th edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with safety
issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to
any of the service centers listed on the back cover.
This manual explains the robot specifications, structure of each part and the basic handling precautions
for inspection and maintenance to maintain function of the robot for a long period.
It is recommended that this manual is read by robot utilization planners and installation staff as well as
inspectors and maintenance staff for robot operation and the robot is handled only after understanding
this manual completely.
Chapter 1 Basic specifications ................................................................................................................. 1-1

1.1 List of basic specifications ....................................................................................................... 1-1
1.2 Dimensions and motion range ................................................................................................. 1-2
1.3 Details of load mounting face .................................................................................................. 1-4
1.4 Wiring and piping diagram for application ............................................................................... 1-6
Chapter 2 Precautions for handling .......................................................................................................... 2-1

2.1 Names of robot components ................................................................................................... 2-1
2.2 Transport procedure ................................................................................................................ 2-2
2.3 Installation procedure .............................................................................................................. 2-4
2.4 Allowable load ....................................................................................................................... 2-11
2.5 Execution of encoder correction ............................................................................................ 2-15
2.6 Restricting of motion range.................................................................................................... 2-15
2.7 Start to operate after the long time posing ............................................................................ 2-15
2.8 Brake release switch ............................................................................................................. 2-16
Chapter 3 Inspection ................................................................................................................................ 3-1

3.1 Inspection items and periods ................................................................................................... 3-1
3.2 Inspection of wirings ................................................................................................................ 3-2
3.3 Inspection of grease ................................................................................................................ 3-3
3.4 Inspection of balancer unit and filling gas ............................................................................... 3-4
3.5 Lubrication ............................................................................................................................... 3-9
3.6 Grease exchange .................................................................................................................. 3-13
3.7 Battery replacement .............................................................................................................. 3-18
3.8 Balancer protection cover replacement ................................................................................. 3-19
Chapter 4 Troubleshooting ....................................................................................................................... 4-1

4.1 Motor replacement ................................................................................................................... 4-2
4.1.1 Motor replacement (Axis 1, 2 and 3)................................................................................ 4-3
4.1.2 Motor replacement (Axis 4, 5 and 6)................................................................................ 4-7
4.1.3 Encoder reset................................................................................................................... 4-9
4.1.4 Encoder correction ........................................................................................................... 4-9
4.1.5 More accurate encoder correction ................................................................................. 4-12
4.2 Encoder replacement ............................................................................................................ 4-16
4.3 Wrist unit replacement ........................................................................................................... 4-19
Chapter 5 Recommended spare parts and special tools for maintenance .............................................. 5-1
Chapter 6 Wiring Diagrams ...................................................................................................................... 6-1

For safe use of the robot
Read this manual and other concerning manuals carefully prior to installation, operation, maintenance, or
inspection and use equipment correctly. Use the robot only after fully understanding the equipment, all safety
points, and comments/suggestions. ( “Precautions for handling industrial robots” or “Instruction
Manual SETUP”, ”Chapter 1 Point on Safety”)
Safety information to prevent the injury to personnel and/or damage to equipment is classified by the
following symbols.
Cases where a mistake made in handling is likely to cause the user to be exposed to the danger
of death or serious injury and where the degree of the urgency (imminence) of the warning given
DANGER for the danger to occur is at the high end of the scale (including high-level danger).
Cases where a mistake made in handling is likely to cause the user to be exposed to the
danger of death or serious injury.
WARNING
Cases where a mistake made in handling is likely to cause the user to be exposed to the danger
of minor injuries or of property damage only.
CAUTION
The following symbol is also used for important checkpoints.
A particularly important checkpoint is shown.

IMPORTANT
Labels and marks on manipulator
Following labels and marks are affixed on manipulator. Their location and their existence itself may vary
according to the robot type.
This mark indicates a power supply inlet for the robot. Motor power and
detecting device power is supplied to connectors and terminal blocks under
various connector covers on the robot baring this mark.
Do not touch connectors or terminal blocks directly or indirectly with
conductive items with mains power supplied, as electric shock may occur. If
connectors or terminal blocks are removed with mains power on, electric
shock or malfunction of the robot may result. Turn OFF main power on the
controller when performing any maintenance.
This mark indicates hot parts on the robot.

Carelessly touching labeled hot parts may result in serious burns.
This mark indicates area operators may get caught by the robot.
Places bearing this mark should never be touched. Brakes can be released
not only during teaching but also while the motors are OFF. Take adequate
steps to prevent your hands or other parts of your body from being pinched
when these areas are touched during maintenance work, etc.
Another caution and warning labels;

If these labels are ignored and, for example, some part is disassembled, this may cause fatal or serious
accidents.
Protection labels;
Chapter 1 Basic specifications
1.1 List of basic specifications
Item Specifications
Robot type MC350-01, -02 MC280L-01, -02
Structure Articulated
Degree of Freedom 6
Drive system AC servo motor
Axis 1 ±3.14 rad （±180°）
Axis 2 -1.75 ～ +0.70rad （-100 ～ +40°）
Maximum Axis 3 -3.14 ～ +2.27 rad （-180 ～ +130°） -2.57 ～ +2.27 rad （-147 ～ +130°）
motion range Axis 4 ±6.28 rad （±360°）
Axis 5 ±2.18 rad （±125°）
Axis 6 ±6.28 rad （±360°）
Axis 1 1.83 rad/s （105°/s）
Axis 2 1.66 rad/s （95°/s） 1.83 rad/s （105°/s）
Maximum Axis 3 1.66 rad/s （95°/s）

Velocity Axis 4 1.92 rad/s （110°/s） 2.09 rad/s （120°/s）
Axis 5 1.92 rad/s （110°/s） 2.09 rad/s （120°/s）
Axis 6 3.14 rad/s （180°/s） 3.49 rad/s （200°/s）
Wrist 350 kg 280 kg
Maximum payload
Forearm *1 50 kg at maximum 25 kg at maximum
Axis 4 2750 N･m 1921 N･m
Maximum
Axis 5 2750 N･m 1921 N･m
static load torque
Axis 6 1235 N･m 988 N･m
Axis 4 400 kg･m2
Maximum
Axis 5 400 kg･m2
moment of inertia *2
Axis 6 250 kg･m2
Position repeatability *3 ±0.2 mm
Mounting Condition Floor
Temperature: 0 to 45 ºC *4
Ambient conditions Humidity: 20 to 85%RH (No dew, nor frost allowed)
Vibration to the installation face: Not more than 0.5G (4.9 m/s2)
Protection class Wrist ; IP67 equivalent, Body ; IP54 equivalent,
Robot weight 1,620 kg 1660 kg
1[rad] = 180/π[°], 1[N･m] = 1/9.8[kgf･m]
- Axis 1 - Axis 6 are displayed as J1-J6 each on the controller screen.
- Specifications are subject to change without prior notice for technical changes
- Explosion-proof version is not available.
- Only part of application wire differs between -01 type and -02 type.
*1: This value changes by placement and load conditions of a wrist. *2: Maximum moment of inertia of a wrist changes due to
the load condition. *3: JIS B 8432 conformance. *4: Using at 1000m or lower sea level. Ambient temperature has limitations
when allowable altitude is exceeded.
1-1
1.2 Dimensions and motion range
[MC350-01, -02]
1-2
[MC280L -01, -02]
1-3
1.3 Details of load mounting face
■ Wrist
Be sure to screw the M12 end effecter fixing bolts in the wrist not deeper than the screw
depth in the mounting face. Screwing the bolts deeper than the screw depth may damage
CAUTION the wrist.
[MC350-01, -02] [MC280L-01, -02]

Tightening torque of
M12 Hex. socket head cap screw
JIS: Strength class 10.9 96 N・m
JIS: Strength class 12.9 116 N・m
1-4
■ Upper part of forearm
[MC350-01, -02] [MC280L-01, -02]
1-5
1.4 Wiring and piping diagram for application
Use air pressure not more than 0.49MPa.

IMPORTANT
■ Upper part of forearm - Wiring and piping for application

Applicable tube
[MC350-01, -02] [MC280L-01, -02] Outer diameter: φ12
01 type； CN81C
02 type； CNLANC
(NOTE) In wiring box BJ3, there are application connectors shown the next page
When connecting cables inside BJ3, select the adequate hole that corresponds to the cable size.
■ Base frame block - Wiring and piping for application

[MC350-01, -02] [MC280L-01, -02]
(NOTE) In wiring box BJ1, there are application connectors shown in next page. In order to connect
application wires (01 type; Devicenet, 02 type; Ethernet), BJ1 panel needs to be processed by customer.
1-6
■ Details of application connectors (standard) [MC350-01, -02] [MC280L-01, -02]
BJ1-side (Connectors)
User-side Connectors
Wire-side shell : JFM-WSA-4-A (JST)
CONNECTOR
JFM-WSA-4-C (JST)
Guide plate A kit : JFM-GPAK-4 (JST)
Receptacle housing : JFM2FDN-22V-K (JST)
Receptacle contact
CONNECTOR
a SJ2F-01GF-P1.0 (JST) 0.20~0.50sq
b: SJ2F-01GF-P1.0 (JST) 0.30~0.75sq
Manual crimp tool
a: YRS-8861
CONNECTOR b: YRF-1120
Cable diameter suitable for wire-side shell
JFM-WSA-4-A : φ26.2~φ28.0
JFM-WSA-4-C : φ15.5~φ16.5
CONNECTOR
(Pin location shows the connector mounted on robot body
and is the view from connecting side.)
Specification of Application wires

Rated voltage maximum AC/DC 115 V
Rated ampere maximum 1 A
BJ3-side (Joint connectors)

Connector models (CN61,CN63)
Housing SMP-10V-BC (JST)
User-side connectors
Housing SMR-10V-B (JST)
Contact SYM-001T-P0.6
(Suitable cable: AWG#22~28)
Manual crimp tool: YRS-121
Connector models (CN62,CN64)

Housing SMP-11V-BC (JST)
User-side connectors
Housing SMR-11V-B (JST)
Contact SYM-001T-P0.6
(Suitable cable: AWG#22~28)
Manual crimp tool: YRS-121
1-7
■ Details of DeviceNet connectors (standard) [MC350-01] [MC280L-01]
Connector Connector
in wiring box BJ1 in wiring box BJ3
CN81A CN81C
Connector 231-635/010-DM 231-305/037/010-DM
User-side Connector 231-305/037/010-DM 231-635/010-DM
connector Crimp tool 231-131
Contact CAN_L, CAN_H ：216-301
V-, V+ ：216-201
Drain ：216-201
Crimp tool ：206-204
■ Details of Ethernet connectors (standard) [MC350-02] [MC280L-02]
Connector Connector
CNLANA CNLANC
Connector RJ45 plug co
nnector 5-569552-3 5-569552-3
User-side conn Hood
ector RJ45 type connector RJ45 type connector
■ Details of 24V power connectors (standard) [MC350-01,-02] [MC280L-01,-02]
Connector Connector
CN71A CN71C
Connector Housing VLR-04V VLP-04V
User-side Housing VLP-04V VLR-04V
connector Contact SVF-61T-P2.0 (0.5～2.0 mm2) SVM-61T-P2.0 (0.5～2.0 mm2)
SVF-42T-P2.0 (0.3～1.25 mm2) SVM-42T-P2.0 (0.3～1.25 mm2)
Retainer VLS-02V
Crimp tool YC-590（SV*-61T-P2.0）
YC-592（SV*-42T-P2.0）
(NOTE) (Pin location shows the connector mounted on robot body and is the view from connecting side.)
Adequate contact and manual crimp tool should be used for each cable.
User-side connectors need to be prepared by customer.
Do not apply external force or connect other cables to the robot cables.
CAUTION
1-8
Chapter 2 Precautions for handling
2.1 Names of robot components
The balancer device is internally compressed even in the normal state. Never attempt to
dismount or disassemble this device. Otherwise it will result in a highly hazardous
WARNING situation.
■ Operating axis name
Axis 5
Axis 4
Axis 1 Manufacturing plate
Axis 6 Axis 3
Manufacturing number
Date of manufacture
Serial robot number
Mass of robot
Axis 2
(Mass is typed only for CE specification.)
On controller display, axis 1 to 6 is displayed as J1 to J6 for each.
2-1
2.2 Transport procedure
The robot must be transported by personnel who have licenses required for slinging
work, crane operation, forklift truck operation, and others. The weight of the robot and
controller is listed in the Operating Manual and the Maintenance Manual. Check for the
WARNING
weight, and then handle them according to procedures suitable for the weight.
To lift the robot or the controller, follow the procedures specified in the Maintenance
Manual. Following any procedures other than those specified will cause the robot to topple
WARNING over or drop during transport, thus resulting in accidents.
During transport or installation work of the robot, pay utmost care not to cause damage
to wirings. Furthermore, after installing the robot, take protective measures such as using
protective guards so that the wirings will not be damaged by workers or other persons, or
CAUTION
forklift trucks or else.
Please pay utmost care not to hurt the motor and encoder cables by hanging wires.
CAUTION
To transport the robot, make it Never use taps

a rule to use a crane. marked ※ to hang
At first, move the robot to the the robot. (4-M20)
configuration shown in figure
and mount four M20 hanger
bolts to the robot frame. Then,
be sure to lift the robot using four
hanging wires (recommended Eyebolt
length is 3.5m). Protect areas installation holes
that contact the robot by rubber (4-M20)
hoses to cover the wire ropes.
For the areas to be covered,
please refer to figure.
[MC350-01, -02]
To avoid damage to the wirings

and pipes, place the wire ropes
between the robot body and the
wiring and pipes when
transporting the robot.
2-2
[MC280L-01, -02]
To avoid damage to the wirings

and pipes, place the wire ropes
between the robot body and the
wiring and pipes when
transporting the robot.
2-3
2.3 Installation procedure
The installation location and the installation procedure of the robot are critical factors to maintain
robot functions. The ambient conditions of installation location not only have influence on the life of
mechanical sections of the robot, but also get involved in safety issues. Consequently, strictly
observe the environmental conditions shown below. Furthermore, utmost care should be exerted for
the installation procedure and the foundation for the robot in order to maintain the robot performance.
Strictly observe the installation procedure for the robot provided below.
Installation
To install the robot, give it first priority to thoroughly consider safety of workers and take safety
measures. The following section describes precautions for this purpose.
Safety measures against entry in the robot operating area

While the robot is in operation, workers are in danger of coming in contact with the
robot. To avoid that, install a guard fence so as to keep the worker away from the robot.
Not doing so will cause the workers or other persons to accidentally enter the operating
WARNING
area, thus resulting in accidents.
Guard fence
Refer to information in ISO13857: Safety of machinery – Safety distances to prevent
hazard zones being reached by upper and lower limbs
This figure shows the image of the
guard fence. (Robot appearance
may be different from that of this
manual.)
DANGER
Stop time and angle of axis 1 for a maximum travel

(After emergency stop signal occurred under maximum speed and maximum moment of inertia)
MC350-01, -02 MC280L-01, -02
Stop time 1.61 [sec] 1.42 [sec]
Stop angle 1.35 [rad] 1.11 [rad]
The guard fence must have construction by which no one can easily get over or move
the guard fence. Provide an access door for the guard fence that must be equipped with a
safety plug and designed not to open unless the safety plug is unplugged.
WARNING If above construction is not secured, someone can get in the guard fence, thus inducing
a hazardous situation.
Design the system so that motor power is turned OFF when safety plug is unplugged
or access door is opened. This can make it possible to detect the entry of a person and
atop the robot automatically. (The controller has an input signal of safety plug and to turn
WARNING
off the motor power.)
Design the system so that low-speed playback mode will become functional in order
to operate the robot with the safety plug unplugged. If the robot is operated at a high
speed under the said condition, no one can escape from the robot, thus resulting in
WARNING
accidents. (The controller has an input signal to select low-speed playback mode.)
Mount Emergency Stop buttons for the robot in locations where workers are able
to immediately press them. If the workers are unable to immediately press the switch,
WARNING accidents may result. (The controller has an input signal of emergency stop.)
2-4
If no guard fence is installed, mount photoelectronic switches and/or mat switches,
etc. at all entrances to the robot operating area in stead of safety plug. These switches
WARNING make it possible to automatically stop the robot when anyone enters the guard fence.
Coat the floor of the hazardous area (the robot operating area) with color paint to
facilitate discrimination of the hazardous area.
WARNING
Safety measures against the robot and peripheral equipment

In order to connect the primary power supply to the controller and the peripheral
equipment, check to be sure that the power on the supply side is turned OFF. Otherwise it
will create a hazardous situation resulting in electric shocks since high voltages such as
WARNING
100VAC, 200VAC, or 400VAC are applied.
Do not install the operation part and the adjustment part in the robot operating area,
such as locations in which a person can get caught in the robot.
Install the robot control panel, interlock panel, and all other operation panels so that they
WARNING
can be operated outside the guard fence.
To install an operation stand, mount an Emergency Stop button on the operation
stand. If any abnormality occurs while the robot is being operated by operation stand, the
WARNING robot will be able to make an emergency stop through pressing this switch.
Do not route wirings, piping, and the like among the robot, control panel, interlock
panel, and others in such a manner that workers will stub their toes over them or forklift
trucks will directly tread them. Otherwise it may cause workers to topple over or the
WARNING
wirings to be broken, thus resulting in accidents.
Do not install the control panel, interlock panel, operation stand, or else in places from
which the movements of the robot are out of sight. When the robot movements go out of
sight, even if an abnormality occurs in any movement, you will delay in taking notice of the
WARNING abnormality, thus resulting in a disaster. Furthermore, you will not find someone near the
robot to cause an accident.
If the robot operating area required is smaller than the operable area possessed by the
robot, limit the robot operating area. The area can be limited by using the software
limit, limit switch, and mechanical stopper. Even if the robot exceeds the normal
WARNING operating area due to an abnormality, this function will enable the robot to stop before
initiating operation.
Install light shielding boards, enclosures, and others to the extent that robot
movement can be seen in directions in which workers may be exposed to spatters during
WARNING welding. Otherwise it may cause injury to workers with welding arcs, spatters, or else.
Provide a large and highly visible display of automatic and manual mode indicating
the operating status of the robot so that it can be recognized even from locations at some
distance. Furthermore, it is effective to provide audible alarm using a buzzer or
WARNING announcement to alert workers to the initiation of automatic operation, thus facilitating
awareness of automatic operation in progress from distant locations.
Eliminate protrusions from the peripheral equipment and the like of the robot to a
minimum. If necessary, be sure to cover them up. Otherwise it may induce a hazardous
situation when a worker touches them or is surprised with a sudden movement of the
WARNING
robot to topple over.
Do not attempt to install the robot so that a worker will need to put his/her hands in the
guard fence to carry in or out workpieces. There may be cases where the robot moves
WARNING when the worker put his/her hands in the guard fence.
2-5
Safety measures against installation work
To install the robot, it is important to position the robot so that no workers will get
pinched by the robot inside or around a device to use the robot. The robot must not come
into contact with any peripheral equipment when operating in the maximum operating
WARNING
range with a tool mounted on it.
Be sure to install the robot according to the specified procedure. Otherwise it will cause
the robot to move or topple over while in operation, thus inducing an imminent hazardous
WARNING situation.
To make wire connections between the robot and the controller or the peripheral equipment,
fully understand the connection procedure for proper wire connections. Making wire
WARNING connections according to improper procedure will cause the robot to malfunction.
Be sure to establish a proper ground for the robot. If equipment such as a welder that
causes substantial noises is needed to use, establish the specified ground for the
WARNING equipment.
During transport or installation of the robot, pay utmost care not to cause damage to
wirings. Furthermore, after installing the robot, take protective measures such as using
protective guards so that the wirings will not be damaged by workers or other persons, or
WARNING
forklift trucks or else.
Installation structures (robot raiser, etc.) may cause problems such as vibration and
servo tracking error.
If such problem occurs, please promptly improve the installation structure. If installation
structures are kept using as they are, reliability and lifetime of not only the robot but also
WARNING
the installation structures may be damaged, due to the vibration and sudden braking of
robot.
■ Installation location and ambient conditions
Conditions (temperature, humidity, height and vibration) are written in “Chapter 1 Basic
Specifications”. Further ambient conditions listed below must be observed.
(1) Location with the drainage structure so that swivel base is not flooded, when the liquid such
as water or cutting fluid is splashed on the robot body
(2) Location with no flammable or corrosive fluid or gas.
(3) Type D grounding (the grounding resistance is 100 or less) is necessary.
Our company's robot, controller and related option equipment are designed for general
industrial use. Unless otherwise specified in the specifications or manuals, operations in
special conditions and environments such as outdoor, X-ray environment, radiation
environment, nuclear power control, aerospace equipment, public transportation, medical
IMPORTANT equipment, etc. are not assumed. Our company and its subsidiaries are not liable for any
accidents, failures, etc., that may occur if the robot is used in such an environment without
asking our company to do so.
Using mounting condition that does not comply with specifications may cause the robot
system to malfunction or fail prematurely. In that case, robot will be out of warranty.
IMPORTANT Please understand it in advance.
2-6
■ Installation procedure
While robot moves, large reaction force is applied to the swiveling base from all directions.
Consequently, the robot should be installed in such a manner that the foundation endures not
only the static loads but also the reaction force caused by robot movement.
Repair uneven spots, cracks, and others on the floor, and then install the robot by following to
the table below. If thickness of floor concrete is less than needed level, an independent
foundation should be constructed. Inspect the foundation prior to the robot installation, and then
construct the foundation, if necessary.
Robot Model All

Thickness of floor concrete Not less than 160 mm
8 bolts of M20 (JIS: Strength class 12.9) not less than 65mm
Installation parts *1 8 plain washers of not less than 4.5 mm in thickness
and HRC35 in hardness
Tightening torque *2 560  30 Nm
Allowable repeated tensile *3 Appx. 47,000 N

*1 : Installation parts are not accessory of robot.
*2 : Apply a coating of lubricating oil to the threaded parts of bolts, and then tighten bolts by using torque wrench to the
specified tightening torque.
*3 : This tensile is per installation bolt when robot is installed with all bolts written in table above.
2-7
■ Installation space
To install the robot, lock the swiveling base of the robot.
The mechanical stopper end is located in a position exceeding the specified operating
range (software limit) of axis 1 by 3. To install the guard fence, refer to the figures in this
WARNING section with consideration given to the wrist configuration and the shape of end effector.
On axis 1, 2 and 3, the robot operating range can be regulated for safety (optional
function). Since optional parts (e.g. limit switches or additional stopper blocks) should be
installed to enable this function, do not independently move the standard parts (e.g.
WARNING
stopper block).
If mechanical stopper collides and robot stops, it’s possible that some parts are already
damaged, for example, mechanical stopper is transformed or fixing bolts are broken. In
this case, sufficient intensity and function can not been kept. Mechanical stopper and
WARNING
reduction gear of collided joint are needed to be replaced to the new one.
[MC350-01, -02]
2-8
[MC280L-01, -02]
[MC350-01, -02] [MC280L-01, -02]
2-9
■ Accuracy of installation surface
For installing robot, strictly observe precautions below to cause no deformation in the swiveling base.
(1) Make the deviation from the flatness of 4 plates on the installation surface within 1.0 mm
(2) Make the deviation in height between the 4 places of each base plate installation surface
and the installation surface fall in the range of 1.0(0.5) mm.
(3) If the two precautions above

cannot be observed, use jack bolts
to bring the four places into even
contact with the installation surface
■ Welding the base plates
The internal wirings inside the robot base unit may be burned or damaged because of welding
spatters or sparks. Therefore, when welding the base plates with attaching to the robot base unit,
please cover the gaps (4 portions) shown below in advance. After welding the outer side, remove
robot and weld the inside of base plates
Put the robot temporary to fix its position, and weld Remove the robot, and weld the inside of
the outside of base plates. base plates.
4 base plates Install

→ → the
robot
weld the outside of

base plate
Also weld the inside
of base plate
These gaps should be covered
before welding
(Front, back, left, right)
■ Maximum robot generative force
Max. vertical Max. horizontal Max. vertical Max. horizontal

Robot Model generative force generative force generative moment generative moment
FV FH MV MH
all 64,900 N 47,300 N 147,700 N･m 122,200 N･m
2-10
2.4 Allowable load
The wrist load is regulated by the allowable pay load mass, allowable static load
torque, and allowable moment of inertia. If wrist load exceeds these allowable
values, this robot is out of guarantee.
CAUTION
Please refer to “1.1 List of basic specifications” and following figures for detail.
Before using the robot, please register the "weight", "COG (center of gravity) position"
and "inertia Moment" of wrist payload as the load condition. Robot is controlled to
minimize the operating time according to the registered value.
Therefore, even if the load condition was within the specifications, if that is incorrect,
excessive acceleration will be generated, and reliability and life may be damaged.
Even if the correct value is registered, vibration or servo tracking error may occur due to
CAUTION the insufficient rigidity of the payload. If such problem occurs, please adjust the “speed”,
“acceleration” and “smoothness”. Those factors can be adjusted in every step. See the
instruction manual for details.
FD controller instruction manual BASIC OPERATIONS (TCFEN-002）
4.3 Teaching
2-11
■ Torque map for the wrist load
Use the robot under condition that COG of wrist load falls in the range shown in the torque map.
[MC350-01]
[MC350-02]
[MC280L-01]
[MC280L-02]
2-12
■ Moment of inertia map for the wrist load
Use the robot under condition that static load torque and moment of inertia fall in the range shown
in the figures below.
If the moment of inertia exceeds the specification, maximum speed is automatically

IMPORTANT limited by the software to protect the robot.
[MC350-01]
[MC350-02]
(2529,400)
(646,250) (2750,250)
(1235,100)
[MC280L-01]
[MC280L-02]
(1921,400)
(646,250)
(988,163)
2-13
■ Load on the forearm
Use the robot under condition that COG of the ancillary equipment on the forearm falls in the
range shown below.
[MC350-01]
[MC350-02]
[MC280L-01]
[MC280L-02]
2-14
2.5 Execution of encoder correction
At NACHI factory, encoder correction is performed under both the load condition and the
robot posture specified by NACHI. It may get influenced if the load condition and robot
posture differs from the reference position. So before staring the teaching procedure,
please make sure to conduct “encoder correction” FOR ALL AXES WITH ALL THE
LOADS ARE EQUIPPED on the wrist and the upper arm.
CAUTION (*Refer to information in “4.1.4 Encoder Correction”. (At this time, resetting encoder
procedure is not required.) If encoder correction is carelessly performed after teaching is
done, it would make a big change on T.C.P. (Tool Center Point), then all the points which
you taught are needed to be modified.
Also encoder correction is necessary when motor / encoder is replaced.
At this time, encoder correction must be performed under the same load condition and
same robot posture as the first encoder correction. (That was performed
immediately after the tool was equipped.) BECAUSE the load condition and the robot
posture may have the possibilities to influence on the reference position. Therefore, the
“reference posture” (where all axes are in “reference position” by using zeroing pin or like
that) is recommended as the posture of encoder correction. ( “4.1.4 Encoder
CAUTION
Correction”)
Furthermore, sometimes there is a case when bigger tool is equipped (or something
else.) normal encoder correction is not sufficient to recover the taught positions precisely.
In such case, more accurate encoder correction procedure is recommended by referring
to “4.1.5 More accurate encoder correction”.
2.6 Restricting of motion range
In case that the actual robot motion range is limited, operating range of each axis can be changed
from the standard range. Two methods are available to do this. Before that read through warnings.
Do not operate the robot without stoppers on. It may cause some damages to the
peripheral equipment and other kind of equipments, or leads to death or serious injury.
WARNING
Software itself can not regulate the motion range (the range which cannot go beyond, no
matter what failure or miss operation occurred). Restriction of main axis needs to be
WARNING changed by the mechanical stopper and over-travel limit switch (*option).
If mechanical stopper collides and robot stops, it’s possible that some parts are already
damaged, for example, mechanical stopper is disfigured or fixing bolts are broken. In this
case, it’s impossible to keep sufficient intensity and function. Mechanical stopper and
WARNING
reduction gear of collided joint are needed to be replaced to the new one.
(1) Restriction of motion range by software C

Refer to “FD controller instruction manual C
SETUP” “Chapter 4 Setup” for this operation.
(2) Restriction of motion range by adjustable stopper (option)

Motion range is restricted by changing the position of mechanical
stopper. Applicable axis is limited. Over-travel limit switch (another
option) and software limit is needed to be changed at the same
time. Please refer to the option manual for detail.
Image of “adjustable stopper”
2.7 Start to operate after the long time posing
After the long time posing, then start to operate, abnormal sound may happen to occur sometimes.
This happens because of the condensation of additive material in grease. If abnormal sound
occurred, please try the test running of corresponding axis referring at “3.7 Grease replacement”
procedure. By doing so, condensation of additive material and abnormal sound will be resolved.
This test running never affects the reliability of reduction gear, so do not concerned.
2-15
2.8 Brake release switch
Pay following attentions for operating brake release switch of this robot.
When operating brake release switch of axis 2,

two brakes of axis 2-1 and axis 2-2 are released
at the same time and forearm will fall down or
will jump up quickly.
Same as other type of robot, never forget that robot
arm must be held using a crane, chain hoist or
WARNING other means before releasing. Forgetting these
actions may possibly result in serious injury.
< Supplement >
・In case of using the brake release switch of

portable type （FD11-OP90-B or FD11-OP90-
E）, please connect CNSW cable from box to
“BRAKE RELEASE” connector written in figure.
BRAKE
RELEASE
・If your robot has additional axis such as travel unit, please used “J8” terminal to release the
additional axis. “J7” terminal can not be used.
・Following option part can support (fix) robot arm when replacing motor or using brake release
switch.
“H-AXIS FIX JIG” KP-ZD-006 (Axis 2 fixing jig set)
2-16
Chapter 3 Inspection
To perform daily inspection, repairing, or replacing the part of the robot, be sure to TURN
OFF the power supply. Furthermore, in order to make sure that other workers not to
WARNING turning on the power supply carelessly, set the warning signs such as “DON’T TURN ON”
at the primary power supply switch and others.
3.1 Inspection items and periods
The inspection should be performed in order to maintain the high performance of the robot for an
extended period of time. Personnel who are engaged in the inspection must create and implement
the inspection program.
Furthermore, perform overhauls every 40,000 operating hours or every 8 years, whichever comes
earlier. For high duty work where the temperature in reduction gear case is higher than 55 degree,
it is recommended to perform inspections at approximately half of the periods specified.
Should you have any questions, contact your closest NACHI representative.
Inspection items and periods

Period
Quarterly
Inspection Item Inspection Method Target

Yearly
Daily
○ Robot body Confirming that playback position is same as before. Whole body
○ Cleaning of robot Wiping off dirt, removing off accumulated spatter, dust, Whole body
cutting chips.
○ Wiring Refer to “3.2 Inspection of wirings” Whole body
○ Major bolts Retightening and coating of paint lock to all of exposed Whole body
bolts (refer to “Specified tightening torque” table)
Also for the tool fixing bolts.
○ Limit switch dogs Activate and deactivate the limit switch. Axis 1, 2 and 3
(option) Retightening and coating of paint lock to the fixing bolts.
○ Motor Checking the abnormal heat generation and abnormal All axis
sounds
○ Brake Confirming that robot arm and tool never drop when All axis
motor power is turned ON/OFF.
○ Confirming that robot arm and tool never drop when the All axis
brake release switch (note) is set to OFF.
○ Reduction gear Confirming of no abnormal vibration, no abnormal so All axis
unds and no oil leakage.
○ Steel dust of grease Refer to “3.3 Inspection of grease” Axis 2 and 3
in reduction gears
○ Balancer unit Refer to “3.4 Inspection of balancer unit and filling
○ Balancer fulcrum gas”
bearing
○ Backlash Confirming of no backlash by pushing the tool in Axis 4, 5 and 6
forward/backward, right/left, and upward/downward with
hand.
（Note） Brake release switch is option. When operating this switch to ON, robot arm or operated axis drops. Pay
utmost care when operating. Please refer to the instruction manual “Controller” for more detail.
Specified tightening torque of bolts

Hexagon socket Hexagon socket cross Hexagon socket Hexagon socket cross
head cap screw recessed button head screw head cap screw recessed button head screw
M3 1.77 N・m M10 67 N・m
M4 4.0 N・m M12 116 N・m
M5 8.1 N・m 4.02 N・m M16 287 N・m
M6 13.8 N・m 9.8 N・m M20 560 N・m
M8 33.3 N・m 13.8 N・m M24 804 N・m
Tightening torque of hexagon socket head cap screw is for JIS: strength class 12.9 (up to M20) and for JIS: strength class 10.9 (M24).
And tightening torque may vary according to the material and the kind of bolt. Unless specified in drawing, refer to the value in this table.
3-1
3.2 Inspection of wirings
■ Cables cover (hook tube) and clamps

・ Check whether any cable cover is damaged
or not, and joined section is opened or not.
(Pay utmost attention not to let any dusts get Cable cover
into the inside of the cover.） (silver cover)
・ Check whether the cable clamp fixing bolts Inspection point
are loosened or not, or lost or not. (M6 bolts;
tightening torque 9.9 N・m) Foreign parts
Inspection point
・ No foreign parts are found in bracket, fixing
bolt and cable cover (silver cover) clearance.
・ If any damage is found, repair or replace it.
■ Wirings around axis 3 motor

・Whether or not any cable sharply bends over
Wiring around axis
or gets crushed.
3 motor
・Whether or not any cable shield has scratches
or fractures. Inspection
・Whether or not any cable has foreign parts. point
・Whether or not any cable tie is broken.
・If any damage is found, repair or replace them.
■ Wirings around axis 1 motor

・Open the wiring cover at the center frame from the lower side and visually inspect the wiring
inside the cover, whether any cable cover has scratches or fractures or not, and the clamp bolts
are loosened or not.・If any damage is found, repair or replace it.
・After the inspection, re-attach the cover.
Wiring cover at the

center of frame
Inspection
point
Never attempt to use any cables other than specified by NACHI.

CAUTION For the replacement, please inquire your local service center.
3-2
3.3 Inspection of grease
Please check the density of steel dust in the grease of reduction gear every 5,000 hours or every
1 year (in case of high duty work that temperature in reduction gear case is higher than 55 degree,
every 2,500 hours or every half year).
If the measurement result exceeds the criterion, please contact our service center for grease
replacement of grease and reduction gear.
Tools required (*Customer preparation required.)

Name Specification Q’ty
Grease steel dust meter OM-810 (IDEMITSU Kosan Ltd.) is recommended 1
Seal tape (Purchase in market) 1
Immediately after removing the drain plug, grease may splash, because internal
pressure is still high, for example soon after robot stops.
CAUTION
Inspection Tightening Criterion of

Inspection points Grease type Purpose Type Size
amount torque steel dust
Axis 1 VIGO Air release
10 cc
Reduction gear RE No.0 Discharge
Axis 2-1 Air release

Same as above 10 cc
Reduction gear Discharge
Axis 2-2 Air release

Same as above 10 cc
Axis 3 Air release

Same as above 10 cc less than
Reduction gear Plug Rc-1/4 29.4 N･m
Discharge 0.1 %
Axis 4 Air release

Same as above 10 cc
Axis 5 Air release

Same as above 10 cc
Axis 6 Air release

Same as above 10 cc
Density of grease: VIGO RE No.0 (Nabtesco) 0.9 g/cc
Refer to the drawings of “3.5 Lubrication” for detail.
Grease inspection procedure

STEP Required work
1 In order to prevent the grease from splashing out caused by rising of internal pressure (e.g.
Due to rising of internal temperature), unplug the air release plug in advance. When releasing
the plug, loosen the plug slowly to release the remaining pressure slowly
2 Collect the grease and measure the density of steel dust by using grease steel dust meter.
3 Wipe grease came out from the lubrication port. Then, apply sealing tape around the
threaded part of the socket head plug to prevent the leakage of grease, and plug it again.
4 If the grease leaks excessively when inspecting, lubricate the same amount of grease, which
had leaked out. ( refer to “3.5 Lubrication”)
3-3
3.4 Inspection of balancer unit and filling gas
Gas balancer is installed inside the upper arm. If gas pressure in balancer unit falls, excessive
stress is applied on motor, thus, results in trouble.
Inspect the gas pressure every year.

If gas pressure falls, fill the gas. If gas pressure falls remarkably, balancer unit itself
IMPORTANT may be broken. Stop using robot immediately.
Gas has high pressure. Observe the adequate law to handle it.
CAUTION
To prepare the worst case, do not stand at the location where the gas is coming out.
CAUTION
Use nitrogen gas （N2）.

IMPORTANT (Purity 99.99V/V% or more, Industrial usage compressed nitrogen gas)
Nitrogen is suffocation gas. Secure the working space with good ventilation system.
CAUTION
Inspection of balancer unit appearance

STEP Required work
1 Check that foreign parts do not accumulate on balancer rod and no damage on it.
2 Check that balancer protection cover (silver cover) has no damage and no opening of joined
section. (Pay utmost attention not to let any dusts get into the inside part).
3 Check that foreign parts do not accumulate on the clearance of balancer protection cover.
4 If any damage is found, repair or replace it. (As for the replacement of protection cover, refer
to ”3.8 Balancer protection cover replacement”).
5 Check that no wearing dust is found from the fulcrum bearing of balancer.
バランサ保護カバー
異物状況
点検部位
バランサロッド
異物状況
点検部位
バランサ支持軸受
点検部位
3-4
Inspection of gas pressure
Required tools (prepared by customer)
Name Specification (Parts No.) Q’ty
M6 torque wrench (in market) 1
Thermometer (to measure the atmospheric temperature) (in market) 1
Gas inspection tool Analog service gauge (KP-ZJ-013)
1
(Select one among right list) Digital service gauge (KP-ZJ-014)
Gas inspection tool includes quick joint and analog (or digital) service gauge.
STEP Required work

Move axis 2 to 90 degree position. Other
1
axis is free (any position). Polyethylene ca
Push the emergency stop button to lock the Portion A
2
robot arm.
Remove the polyethylene cap and charge Charge port p
(M6 wrench)
port plug of “portion A”. If gas is released
3 continuously, please contact our service
center. Detail of “portion A”
Attach the quick joint to the place where the

4 charge port plug was attached.
Quick joint
Connect the analog service gauge or the digital service gauge to the quick joint. At this time, confirm the
click sound. Before connecting, confirm that release valve is surely closed.
In case of using the analog service gauge (KP-ZJ-013)
5 Release valve
In case of using the digital service gauge (KP-ZJ-014)
In case of using the

digital service gauge,
power switch is needed
to be ON.
Please refer to the
Release valve Power button manual of gauge.
Confirm that read pressure satisfy the criterion range written below.
Pressure 12.5 ± 1.0 MPa (at atmospheric temperature 20℃)
Pressure may change according to the atmospheric temperature. Please refer to the figure below.
Pressure
15
14
Criterion
range
13
圧力（Mpa）
6 12
11
10
0 5 10 15 20 25 30 35 40 45
周囲温度（℃） Atmospheric temperature
If gas pressure satisfies the criterion range, proceed with next step.
If higher than criterion→ How to release gas in case that pressure was higher than criterion range
If lower than criterion→ How to fill gas in case that pressure was lower than criterion range
7 Disconnect the analog service gauge or the digital service gauge from the quick joint.
8 Remove the quick joint and attach the charge port plug and polyethylene cap.
3-5
How to release gas in case that pressure was higher than criterion range
STEP Required work
Operate the release valve to adjust the gas pressure.
1 For the settlement of gas pressure, wait for 2 or 3 minutes before reading the pressure.
After gas pressure satisfies the criterion range, proceed with next step.
Remove the quick joint and attach the charge port plug and polyethylene cap.
2
How to fill gas in case that pressure was lower than criterion range
Recommended cylinder： 10L 1.5m3 cylinder
Nitrogen gas cylinder 1
(Purity 99.99V/V% or more, Industrial usage compressed nitrogen gas)
Select one “Charging equipment” among following list depending on the diameter of gas cylinder
Diameter of gas cylinder Specification (Parts No.) of Charging equipment Q’ty
W22, pitch 14, Male KP-ZJ-015
Right screw, Metal contacts (W22, pitch 14, Female, Right screw, Metal contacts)
W22, pitch 14, Female KP-ZJ-015 + KP-ZJ-019
1
Right screw, Metal contacts (W22, pitch 14, Female, Right screw, Metal contacts) + (Female->Male joint)
W23, pitch 14, Female KP-ZJ-016
Right screw, Metal contacts (W23, pitch 14, Male, Right screw, Metal contacts)
STEP Required work Check points

Confirm valve position of the charging equipment. Select the charging equipment
Valve 1 is CW (close) direction according to the size of nitrogen gas
Valve 2 is CCW (decrease) direction cylinder.
And connect the charging equipment to nitrogen gas cylinder.
Secondary pressure Source pressure
(this pressure is adjusted by valve 2) (nitrogen gas cylinder) Check list before connection
(charging equipment)
1 □Valve 1 = CW (close)
□Valve 2 = CCW (decrease)
(service gauge)
□Release valve 1 = CW (close)
CCW Valve 2
(Decrease)
Attach the charging equipment to analog (or digital) service gauge.
Service gauge Charging equipment
Analog service gauge Nitrogen

gas cylinder
Balancer
C AU TION
2 Release valve Valve 1 Do not use seal
or tape for charging
Digital service gauge Valve 2 equipment and
joint.
(Seal tape may
cause the air
Release valve
leakage)
3-6
STEP Required work Check points
Open the valve of nitrogen gas cylinder.
Open
Operate the valve 2 of the charging equipment to CW

(increase) direction and set the pressure a little higher than the
specified pressure.
CW
(Increase)
Open the valve 1 of the charging equipment slowly to CCW

(open) direction and fill gas of the analog service gauge or the
5
digital service gauge a little higher than the specified pressure.
Close the valve 1 and wait for 2 or 3 minutes for the settlement
6
of gas pressure.
Check whether or not gas pressure satisfies the criterion
range. If pressure is higher than the criterion range, release
7 valve to adjust gas pressure. If pressure is lower than the
criterion range, fill the nitrogen gas again.
Close the valve of nitrogen gas cylinder.

Close
Disconnect the analog service gauge or the digital service Inside the balancer is already high
gauge from the quick joint. pressure, so you can hear the air leak
sound and it is difficult to disconnect
Quick joint the gauge. Do not fall down by pulling
9 reaction.
Remove the quick joint and attach the charge port plug and If polyethylene cap is forgotten, it is
polyethylene cap. possible that charge port plug can not
been removed.
10
Charge Port Plug
Open the valve 1 and valve 2 of the charging equipment to

11 release gas from the hose.
Then remove the charging equipment from the cylinder.
3-7
If gas leakage occurs from the connection of charging equipment and nitrogen gas cylinder
When gas leakage occurs from the connection of charging equipment and nitrogen gas cylinder, check the
shipping time from the shape of the connecting portion.
If connecting portion is hemispherical, it was shipped on January 2020 or before. If connecting portion is flat,
it was shipped on February 2020 or later.
Connecting portion with gas cylinder is hemispherical Connecting portion with gas cylinder is flat
No need to seal Sealed
Charging equipment Charging equipment

shipped on January 2020 or before shipped on February 2020 or later
Charging equipment shipped on February 2020 or later has a seal on the connection portion of the charging
equipment and nitrogen gas cylinder.
This seal is consumable. If the seal degradation or comes off, it may cause a gas leak from the connection
part with nitrogen gas cylinder, so it is necessary to replace the seal.
If you would like to purchase a replacement seal, please contact our company Service Department with the
product number below.
Charging equipment shipped on January 2020 or before does not require a seal.
Name Parts No. Specification
Seal NCJ-W22-SEAL Seal for replacing connection part of charging equipment
Seal is fixed by double side adhesive tape. When replacing the seal, remove the old tape and fix the new
tape firmly to the Charging equipment (double side adhesive tape is an accessory of the new seal).
If the charging equipment was shipped on January 2020 or before or if gas leakage can not stop even after
seal was replaced to the new one on the charging equipment shipped on February 2020 or later,
it's possible that the charging equipment itself has failure or the connecting portion of the nitrogen gas
cylinder is damaged.
Please replace the charging equipment or nitrogen gas cylinder, and check for gas leakage.
3-8
3.5 Lubrication
For lubrication and grease exchange, NEVER USE GREASE OTHER THAN
SPECIFIED TYPE. (*Specified type is written in this manual.)
CAUTION
If grease other than specified type is used, chemical reaction with original grease
occurs and grease quality will change. If the lubricating efficiency is not enough may
IMPORTANT cause the unexpected shortening of robot life time.
Periodical lubrication and grease exchange is needed for some specific parts of the
robot. Please read this manual carefully and do the correct maintenance. (Lubrication and
CAUTION grease exchange)
Make sure to unplug the air vent plug, to prevent rising of the internal pressure due to
the pressure caused by the lubrication, when lubricating. (Location of the air vent plug is
CAUTION written in this manual.)
Please lubricate every 5,000 hours or every 1 year (in case of high duty work that temperature in
reduction gear case is higher than 55 degree, every 2,500 hours or every half year). No lubrication
is required for any points other than those specified.
Tools required (*Customer preparation required.)

Tool Name Specification Q’ty
Grease gun Nozzle less than 17 mm in diameter 1
Use a grease gun with a nozzle of not more than 17 mm in diameter.

Note that lubricating grease more than the recommended amount may result in leakage
of grease or faulty robot locus. When making up the grease, feed the same amount of
IMPORTANT grease as the leaked one. When replacing the grease or lubrication, feed the specified
amount of grease.
Immediately after removing the drain plug, grease may splash, because internal
pressure is still high, for example soon after robot stops.
CAUTION
Lubrication
Lubrication point Lubrication port Applicable Grease Remark
amount
Bearing of balancer upper +1
Balancer upper fulcrum U4623 10 0 cc
portion
Bearing of balancer lower Same as
Balancer lower fulcrum Same as above
portion above
Refer to the figure on next page for detail.
Lubricating procedure
STEP Required work
1 In order to prevent the rising of internal pressure from rising due to pressure caused by the
lubrication, unplug the air vent plug. If the pressure caused by the lubrication is applied to
the oil seal part, it might cause leakage of grease.
2 Lubricate using grease gun.
3 Wipe grease coming from the lubrication port. Then, apply sealing tape around the threaded
part of the socket head plug to prevent the leakage of grease, and plug it again.
(Tightening torque of socket head plug: R-1/8 : 12.7 Nm)
3-9
■ Robot shipped on Oct. 2016 or before;
At balancer fulcrum lubrication port, grease label is printed “PD2”, but be sure to lubricate
“U4623” grease. “PD2” and “U4623” grease can be mixed.
CAUTION
■ Robot shipped on Nov. 2016 or after;
At balancer fulcrum lubrication port, grease label is printed “U4623”. Be sure to lubricate
“U4623” grease. “PD2” grease can not be used.
When lubricating grease, surplus grease may come out from the oil seal, please wipe it off
and carry out the following measure.
■ Robot shipped on Jul. 2018 or before;
It is unnecessary to refill the grease, because extra grease is already filled when shipped.
CAUTION Designated amount of grease needs to be added at the periodical maintenance.
■ Robot shipped on Aug. 2018 or later;
Refill the grease with the same amount as leaked. Also designated amount of grease
needs to be added at the periodical maintenance.
Lubrication port (and air release position)
Upper side support bearing
Lower side support bearing
Location of grease inspection, lubrication and grease replacement (1)
3-10
Grease replacement port (and drain port)
Grease inspection port (and air release position)
For grease inspection, open “給油口/LUB.PORT” and inspection point, and then collect grease. Now, air is
released from “給油口/LUB.PORT”.
In case of inspecting the grease of axis 2 reduction gear

Before inspecting, please confirm the lubrication port.
・ If the socket head plug is attached, please remove the socket head plug and release the air.
・ If the tube and half union is attached, it is unnecessary to release the air.
Axis 2 reduction gear This type has the socket This type has the tube and
Lubrication port head plug here half union here
Remove the socket head plug and It is unnecessary to release the air
release the air
3-11
3-12
3.6 Grease exchange
For lubrication and grease exchange, NEVER USE GREASE OTHER THAN
SPECIFIED TYPE. (*Specified type is written in this manual.)
CAUTION
If grease other than specified type is used, chemical reaction with original grease
occurs and grease quality will change. If the lubricating efficiency is not enough may
IMPORTANT cause the unexpected shortening of robot life time.
Periodical lubrication and grease exchange is needed for some specific parts of the
robot. Please read this manual carefully and do the correct maintenance. (Lubrication and
CAUTION grease exchange)
Lubricating work must be done keeping the feeding speed less than 40cc /10 seconds.
If lubricating is done rapidly, the oil seal may be broken and grease leakage may occur
CAUTION caused by pressure rise inside the robot.
Please exchange grease every 20,000 operating hours or every 4 years (in case of high duty work
that temperature in reduction gear case is higher than 55 degree, need to exchange every 10,000
operating hours or every 2 years).
Tools required (*Customer preparation required)

Product Name Specification Q’ty
Grease gun Nozzle less than 17 mm in diameter, with lubrication amount counter 1
Drain connector R-1/4,φ12 1
Drain hose φ12X9 0.2m 1
Maximum 0.2Mpa and adjustable every approx. 0.01Mpa
Air precision regulator 1
SMC “PRECISION REGULATOR IR2000-02BG-X1” is recommended
Air supply source (Purchase in market) 1
Weight meter (, which can measure the ejected grease amount and a container weight.) 1
Use a grease gun with lubrication amount counter, with a nozzle less than 17 mm in
diameter.
In case the grease gun described above can not be prepared, by measuring the amount
of grease before and after the lubrication work to confirm the remaining amount.
IMPORTANT Be aware that lubricating grease more than the recommended amount may result in
leakage of grease or defect of robot locus when operating. When re-supplying the grease,
supply the same amount of grease as same as the leaked amount. When exchanging the
grease or lubrication, supply the specified amount of grease.
Immediately after stop operating the robot, do not remove the drain plug. Since internal
pressure is still high, so the grease may splash around.
CAUTION
In case that robot operation with slow speed playback or teaching operation is
necessary, never get into the robot moving area while playback.
And perform above procedure with two persons in one pair. One should be ready to
CAUTION press the emergency button anytime; The other should operate the robot paying full
attention to the robot’s moving area. Please ensure the evacuation route in advance.
3-13
Replacement Applicable Lubrication Lubrication
Application Size Tightening torque
point grease amount port
Axis 1 VIGO More than Lubrication
reduction gear RE No.0 3,400 cc Drain
Axis 2-1 Same as More than Lubrication
reduction gear above 2,400 cc Drain
Axis 2-2 Same as More than Lubrication
Axis 3 Same as More than Lubrication
Plug Rc-1/4 29.4 Nm
reduction gear above 900 cc Drain
Density of grease : VIGO RE No.0 0.9 g/cc
Grease replacement procedure

STEP Required work
1 Move the robot to the adequate posture for the work. (refer to the figures on next page)
2 Place a container to receive grease ejected under the drain port *1.
3 Unplug the socket head plug [R-1/4] from the drain port. To prevent the robot from getting dirty,
attach a drain connector [R-1/4, φ12] and a drain tube [φ12×9, maximum length is 0.2m]
4 In case of lubricating other than axis 2 reduction gear
Unplug the socket head plug [R-1/4].from the lubrication port *1, and attach the grease n
ipple [R-1/4].
In case of lubricating axis 2 reduction gear
[If the socket head plug is attached at the [If the tube and half union is attached at the
lubrication port] lubrication port]
Unplug the socket head plug [R-1/4] from Remove the tube which is connected to the half
the lubrication port *1, and attach the union of the lubrication port *1.
grease nipple [R-1/4]. Then, remove the half union of the lubrication
port and attach the grease nipple [R-1/4].
Axis 2 reduction gear

Lubrication port
Remove the tube from the half union,
then remove the half union.
This type has the tube and half union at the lubrication port
5 Use a grease gun to feed grease. At this time, operation must be done keeping the feeding
speed to 40cc per 10 seconds or less. Keep the operation until the grease color that is
pushed out from the drain port change to a color of new grease.
6 When the lubricated amount reaches the specified amount, confirm lubricated amount and
ejected amount. Lubricated amount can be calculated by comparing the grease can’s weight
before and after the lubrication work or checking the counter display on the grease gun. Ejected
amount can be calculated by measuring the weight of the container.
*1: Refer to the figure of “3.5 Lubrication” for detail of lubrication port and drain port.
3-14
7 If lubricated amount is larger than ejected amount, too much (surplus) grease remains inside
the gear box. To make them same, use air to push the grease out. Supply air from the
lubrication port and eject the surplus grease from the drain port. Be sure that the air pressure
should be kept under 0.025Mpa by using precise regulator.
If only air comes out from the drain port and grease does not come out, move the target axis
slowly referring to the figure while supplying air, and push the grease out.
8 If lubricated amount is less than ejected amount, grease is lacked inside the gear box. To
make them same, swap the inlet and outlet, and feed the lacked amount of grease from the
drain port.
9 In case of lubricating other than axis 2 reduction gear
Attach the socket head plug [R-1/4] (seal tape wrapped) to the lubrication port.
In case of lubricating axis 2 reduction gear
[If the socket head plug was attached at the [If the socket head plug was attached at the
lubrication port] lubrication port]
Attach the socket head plug [R-1/4] (seal Attach the half union [R-1/4] (seal tape
tape wrapped) to the lubrication port. wrapped) to the lubrication port. Then, connect
the tube to half union.
10 Attach the socket head plug [R-1/4] (seal tape wrapped) to the drain port.
After grease exchange, abnormal sound may occur sometimes. If that occurs, please perform
practice running for grease by following the procedure below. Abnormal sound will be
resolved. This test running never affects the reliability of reduction gear, so do not concerned.
Running program example

Speed Interpolation ACC Angle of Angle of
Target axis other than target axis
Step 1 40% JOINT 1 (*) any
Step 2 40% JOINT 1 (*) any
Step 3 DELAY [0.5] FN50 Timer
Step 4 END FN92 Program End
[ Main axes ]
Only targe t axis moves
between 2 steps
Trave l distance ;
11 Appx. 10 0 degree
Sp eed ;
40 to 60%
Operating time ;
Appx. 1 hour Axis 1 moves Axis 2 move s Axis 3 moves
between 2 steps between 2 steps between 2 steps
( *) -50°~ +50° (*) +30°~ +130° (*) -60°~ +40 °
[ Wrist axes ]
Only targe t axis moves
between 2 steps Axis 5 moves
Trave l distance ; between 2 steps
Appx. 18 0 degree (*) -90°~ +90°
Sp eed ;
40% Axis 4 moves
Axis 6 moves between 2 steps
Operating time ;
between 2 steps (*) -90°~ +9 0°
Appx. 1 hour
(*) -90°~ +90°
If there is not enough travel distance (space), make operating time long er.
(Ex; if distance is half, operating time should be 2 times longer than above value.)
3-15
Recommended posture
Axis 1 0°
Moving range Axis 2 Any
in slow speed Axis 3 Any
Axis 1 Connection of drain hose and connector Axis 1 Recommended posture and moving range
Moving range
in slow speed Recommended posture
Axis 1 Any
Axis 2 90°
Axis 3 Any
Moving range
in slow speed
Recommended posture
Axis 1 Any
Axis 2 90°
Axis 3 0°
Recommended posture
Axis 1 Any
Axis 2 0° (*) (*) If axis 2 & 3 can not
Axis 3 90° (*) set in the posture written
Axis 4 0° in left table, at least lower
Axis 5 0° arm should be horizontal.
Axis 6 0°
Moving range
in slow speed
Axis 4,5,6 Connection of drain hose and connector

Axis 4,5,6 Recommended posture and moving range
3-16
Air supply
Air precision regulator
Pushing out the surplus grease using air pressure
3-17
3.7 Battery replacement
The robot uses lithium batteries for backing up the encoder data. If the battery voltage drops
below the given limit, the data will be lost.
Replace the batteries every 8 years. (Under a condition of 8 hours ON and 16 hours
IMPORTANT OFF every day)
The replacement period varies depending on usage environments (*Mainly
temperatures). Furthermore, if the battery voltage drops below the given limit, an error
IMPORTANT indicating the voltage drop will be displayed on the controller. In this case, make sure to
replace the battery applying to the error which was displayed.
Replace the batteries with controller power ON. Replacing the battery with controller
power OFF can result in encoder data error, thus requirement of the resetting encoder
IMPORTANT might happen.
Do not store the batteries in places where the temperature is high and humid. Store
them in well-ventilated places to avoid dew condensation. It is recommended to store the
IMPORTANT batteries in places with medium low temperature (20±15°C, less change on temperature)
and less than 70% of relative humidity.
Discarding lithium batteries according to your local trash separation rule
When discarding used lithium batteries, insulate the electrical terminals.
IMPORTANT And then follow the respective trash separation rules in your local district
and discard them separately as “Used lithium batteries”.

Torque wrench for M6 Tightening torque 13.8N・m 1
Double coated adhesive tape (in market) 1
Nipper (in market) 1
Cable tie (in market) 1
Battery replacement procedure

STEP Required work
1 Turn ON the controller power.
2 Lock the robot by pressing the emergency stop button.
Remove the bolts of the battery
unit fitting panel on BJ1 BOX
left side.
Pull out the battery unit from the BJ1 BOX.
Battery Unit KP-ZA-011

Disconnect the connecters.
Please go on to the next procedures, even
though a warning message is displayed,
5 “Encoder battery voltage down.” There is no
problem.
3-18
STEP Required work
Remove the cable tie C to remove the battery unit from the case.
Do not cut the orange

Double coated cable tie since it is vinyl bag
adhesive tape reusable.
6
C B case
7 Attach the new battery.
To replace battery unit To replace the respective batteries one by one

Connect 7 connectors. (1) Replace the concerned battery to a new one.
Install the battery unit to the case with (2) Fix each battery with double coated adhesive tape.
cable tie C. (3) Put the battery in the vinyl bag and fasten cable tie A.
(4) Fasten the vinyl bag with cable tie B.
8
Finally, set the battery unit to the case with cable tie C.
Connect to robot side (CNBAT1～7)
Place back the battery unit fitting plate to the original position and fix it with bolts.
9
If the battery unit fitting plate is damaged, please replace it.
10 Turn OFF the controller power and ON again.
3.8 Balancer protection cover replacement
Protection cover (silver Insert the remained cable tie

into the clearance between
cover) is used to protect the cable tie and hook tube.
balancer shaft from the Piling portion of protection
damage and the cover is backside of robot.
accumulating of welding
spatters or cutting dusts. Balancer
If any loosening or protection cover
transformation is found in (SP-CS-011)
inspection, please correct it.
And if remarkable damage
is found, please replace it. View of section A
3-19
NOTE
3-20
Chapter 4 Troubleshooting
■ Probing into causes of troubles
When any abnormality occurs in the robot movement or operation, if controller has no problem, it will the result
from mechanical cause. To promptly solve troubles, it is necessary to have a good grasp of symptoms and
then probe what part is defective to cause the trouble.
Step 1: What axis has caused the abnormality?

Judge what axis has caused the abnormal symptom, first. If it’s hard to find the axis, check abnormal sounds,
heat and backlash and play to find it.
Step 2: What part has damage?
If the axis causing the abnormality is probed, check what part is the cause. Plural parts can be the cause of
a single symptom.
Step 3: Measures against defective parts
If the defective parts are probed, take measures. Some measures can be taken by customers. For measures
hard to be taken, contact NACHI Service Department.
Symptom
S hak i ng w hi le in o per at io n
A bnor m al he at gen er at ion

G r av it y dr op of ax i s
S w ay w hen s t op pe d
A bnor m al de v iat i on
I r r egular t w it c hin g
A bnor m al s o und
D is pl ac e m ent
M alf u nc t io n
O v er lo ad
Checking method and remedy
Defective
Part
・If there are any points in which position data shows irregular change and wirings are no problem,
please replace the encoder.
Encoder ○ ○ ○ ○ ○
･When the drive unit is replaced with another controller and symptom is transferred, replace the drive
unit.
・Turn motors off, and check whether or not the brake produces click sound by operating the brake
release switch *1 (option) ON/OFF. If no click sound, brake line (wiring) may be broken. Manipulator
Brake ○ ○ ○ ○
wiring needs to be replaced. Please contact our Technical Department
・If click sound is heard, replace the motor because brake is inside motor body.
・Check whether or not abnormal vibration or heat or sound occurs while robot moves. If some
abnormality is found, check the density of steel dust in the grease of reduction gear (refer to "3.3
Motor ○ ○ ○ ○ ○ ○ ○ ○ ○
Inspection of grease") If density exceeds the criterion, reduction gear needs to be replaced. Please
contact our Technical Department.
・If density is no problem, replace the motor. If abnormality occurs in axis 2, balancer unit and their
bearings need to be checked also by referring to the explanation written below.
Reduction ・If possible, set the brake release switch (option) to ON and check whether or not abnormality is felt
○ ○ ○ ○ ○ by pushing robot arm with hand. If some abnormality is felt, replace the motor.
gear
・If trouble can not solved by replacing motor, reduction gear needs to be replaced. Please contact
our Technical Department.
・Check the pressure of nitrogen gas in balancer unit. If the pressure is out of criterion range, nitrogen
gas needs to be filled or released. If the pressure is within criterion range, replace the motor or the
reduction gear. If the pressure does not raise up sufficiently, balancer unit itself needs to be
Balancer replaced. Please contact our Technical Department. (Refer to "3.4 Inspection of balancer unit and
○ ○ ○ ○ ○ ○ ○
bearing filling gas")
・Check whether or not abnormal vibration or sound occurs from the bearings of balancer unit. If
some abnormality is found, bearings or balancer unit itself needs to be replaced. Please contact our
Technical Department.
・Check whether or not fixing bolts are loose. If they are loose, tight them with proper torque. Check
whether or not alien obstacles are caught in swivel base and base plates. If some parts are found,
remove them. Check whether or not base plates are distorted. If distortion is found, correct them
Installation plate,
○ ○ ○ ○ within the criterion level. (refer to "2.3 Installation procedure").
Raiser
・Check whether or not transformation is found in floor/raiser. If their stiffness is not sufficient, correct
the floor/raiser or modify the robot teaching program, i.e., reduce the step speed or record “smooth”
parameter. (Refer to “Basic Operations manual” ”Chapter 4 Teaching”)
・If the tool is not so rigid, tool itself may repeat oscillations several times near the stop position. In
this case, robot teaching program is needed to be modified. For example, reducing the step speed or
recording “smooth” parameter. (Refer to “Basic Operations manual” ”Chapter 4 Teaching”)
Tool ○
・investigate the weight, COG and inertia of the tool. If one of them does not satisfy the specification,
reduce the load of tool. Also if one of them does not coincides with tool parameter, modify tool
parameter.
*1 <Caution> When operating the brake release switch, never forget that robot arm must be held using a crane, chain hoist or other means before releasing.
If brake release switch is operated without supporting robot arm, forearm will fall down or will jump up (due to the payload and robot posture) in case of axis
2, forearm will fall down in case of axis 3, wrist and tool will fall down or will rotate quickly in case of wrist axes, possibly resulting in serious injury.
4-1
4.1 Motor replacement
Never forget to hold robot arm or wrist/tool in advance. If motor is dismounted without
supporting them, forearm will fall down or will jump up (due to the payload and robot
posture) in case of axis 2, forearm will fall down in case of axis 3, wrist and tool will fall
down or will rotate quickly in case of wrist axes, possibly resulting in serious injury.
To hold robot arm, use a crane
or chain block etc (*). In case of
axis 2 and 3, wooden blocks or
fixing jig set (option) can be used.
WARNING Note that zeroing pin and block
are not for supporting arm.
Furthermore, Never attempt to
hold robot arm with hands.
Dismounting motor
from robot without
holding arm...
When touching the motor immediately after robot stops, check that motor is not hot and
then touch it with care.
CAUTION
The motor mass is listed below. Consequently, handle the motor with care.
Robot type Axis 1,2-1,2-2,4,5,6 Axis 3
CAUTION All 20.7 kg 28.4 kg
This work includes some jobs that should be conducted with motors ON. Consequently,
be sure to conduct the work at least by a pair of two persons. One person must stay on
guard to press an Emergency Stop button at any time, while the other person must
CAUTION promptly finish the work with thorough attention paid to the robot operating area.
Furthermore, prior to starting the work, check for safe corridors.
(*) Please use a crane or chain block, which can endure the weight including robot body, end effecter, work piece and all other loads.
Tools required (prepared by customer)

Part name Axis Part No. (Model)
Axis 1 M3 torque wrench
Torque wrench
M5 torque wrench (Long type L>=220 mm)
Axis 1, 2 and 3
Or M5 L type torque wrench
Axis 5 and 6 M5 torque wrench
Torque wrench L type Torque wrench Axis 4, 5 and 6 M5 torque wrench (Long type L>=120 mm)
All axes M12 torque wrench (Long type L>=280 mm)
Locking agent Axis 4, 5 and 6 ThreeBond 1374
Axis 4, 5 and 6 LONGTIME PD2 (Compatible; ALVANIA RA-J)
Grease
Axis 1, 2 and 3 VIGO grease RE No.0
Lubrication All axes ThreeBond 1801B
DV24V power supply Axis 2 and 3 (in market)
Dial gauge Axis 2 and 3 (in market)
Be absolutely sure to use the torque wrench to tighten

the bolts with the specified torque.
In case of the bolts on circumference, tighten them
equally and gradually.
Order to tighten bolts
“Coupling gear set”, prepared as a spare part, is to enable the quick replacement of motor.
“Coupling gear set” includes motor fixing bolts, O-rings and sheet packing. When replacing a
motor, it is recommended to replace the old bolts, O-rings and sheet packing to the new ones that
are included in the set in spite of their damage level.
4-2
4.1.1 Motor replacement (Axis 1, 2 and 3)
STEP Work performed Checkpoints

If possible, operate the robot arm manually to the If zeroing pin is inserted in advance, there
1 reference position and insert zeroing pin. is some case that the work after
Refer to “4.1.4 Encoder correction” replacement is easier.
2 Hold the arm using a crane, chain block or other means.
3 Turn off the controller power.
Disconnect the ・Bear in mind that the encoder data will be
connectors (encoder lost when the encoder connector is
Encoder
and power) from the disconnected.
motor. ・Do not apply large pressure onto the
4
encoder connector. If large pressure is
Power applied, the connector may be broken.
In case of axis 2 and 3, place a vinyl bag for catching the ・In the case axis 2 and 3, grease will ooze
grease under the motor. out when the motor is removed.
・Fix the vinyl bag securely in place using
adhesive tape or some other means.
5
Prepare vinyl bag here
to catch the grease as
it oozes out.
Loosen the motor fixing bolts and dismount the motor from ・Before dismounting motor, confirm that no
the robot. stress is applied on motor rotating direction
while attachment bolts are loosened. If
motor can not been rotated by hand, some
stress still remains. In this case, motor will
rotate in high speed when attachment bolts
are removed, and possibly resulting in
serious injury. Improve the way of holding
robot arm.
・Do not to apply excessive impact to the
motor shaft.
Axis 1 motor fixing bolts ・Take care not to damage the oil seal lip by
4-M12X35 the gear attached to the motor shaft.
(Tightening torque: 116 N・m)
6
Axis 2-1 motor fixing bolts Axis 2-2 motor fixing bolts Axis 3 motor fixing bolts
4-M12X35 4-M12X35 4-M12X35
(Tightening torque: 116 N・m) (Tightening torque: 116 N・m) (Tightening torque: 116 N・m)
Remove the encoder plug cover if necessary.

7
Refer to “4.2 Encoder replacement”
4-3
Remove the gear assembly from the motor shaft. ・Do not apply excessive impact to the
motor shaft.
(a) Loosen the fixing bolts and remove the gear. ・To remove bearing, remove snap ring
8 (b) Remove the collar, ring X2 and holding plate. using pulley remover in market and align
the hook on the internal bearing. (Do not
In case of axis 1, bearing needs to be removed at first if align the hook on the external bearing to
M5 long type torque wrench is used. avoid any damages on it)
(Tightening torque: 9.8 N・m)
Axis 1 Gear assembly Axis 3 Gear assembly
(Tightening torque: 9.8 N・m) (Tightening torque: 9.8 N・m)
Axis 2 Gear assembly Axis 2 Gear assembly

(in case of KP-ZH-154) (in case of KP-ZH-191)
4-4
Attach the removed gear assembly to the new motor. ・Apply a thin coating of ThreeBond 1801B
to the shaft of the new motor and two
(a) Attach the holding rings in advance.
plate, ring X2 and collar. ・Do not apply excessive impact to the
(b) Attach the gear. motor shaft.
・Pay attention to the direction of ring.
・The bearing should be installed by pushing
Direction of ring the inner side ring. If the outer ring is
pushed, the bearing may be broken.
In case of axis 1, bearing needs to be mounted at first if
M5 long type torque wrench is used.
In case of axis 2 and 3

9 After assembly, measure the run-out tolerance of gear.
If the run-out tolerance exceeds 0.1 mm, loosen the gear
fixing bolts and repeat the steps from (b)
<How to measure the run-out tolerance>

Axis 2：155mm
・It is necessary to release the brake inside the Axis 3：170mm
motor and rotate gear by hand. To release the
brake, supply DC24V voltage between pin A
and pin B in the CNMB* connector. (A:+24V,
B:0V)
・The run-out tolerance should be measured
using a dial gauge by referring to right figure.
CNMB* connector
Attach the encoder plug cover if necessary.

10
Refer to “4.2 Encoder replacement”
Mount the motor to the robot. ・Bear in mind to use torque wrench to
If sheet packing of motor is damaged, please replace it to tighten bolts. Tightening should be done
the new one. Only for axis 1 sheet packing, locate it equally and gradually.
carefully by referring to the following figure. ・ Bear in mind not to damage the gear
Place the sheet packing so
surface when attaching the motor.
that 4 portions of cut hole
are coincident with the spot
11 facing groove of motor.
(mark ※)
Connect the connectors (encoder and power) to the

12
motor.
In case of replacement motor of axis 2 or 3,
13 feed the same amount of grease as the lost grease.
(VIGO grease RE No.0)
14 Turn on the controller power.
Perform encoder reset of replaced motor.
15
Refer to “4.1.3 Encoder reset”
Perform encoder correction of replaced motor.
16
Refer to “4.1.4 Encoder correction”
Remove the zeroing pin. ・If axis is operated by mistake without
Ensure that the robot operation presents no problem. removing zeroing pin, pin and/or pin hole
17 may be deformed and it’ll be impossible to
remove zeroing pin and perform encoder
correction properly in the future.
4-5
IMPORTANT
When axis 2-1 motor or axis 2-2 motor is replaced, please perform encoder reset and correction by
following the procedure written below.
(1) Perform encoder reset of replaced motor.
In case of axis 2-1 motor ; Reset J2 axis of MC350-01 mechanism
In case of axis 2-2 motor ; Reset T1 axis of XMC350-01 mechanism
(2) After turning motor on, operate axis 2 by [Y+]/[Y-] keys and insert the zeroing pin.
（At this moment, axis 2 can move only when cursor is located on one of MC350-01 J1 to J6.）
(3) Perform encoder reset for both “J2” and “T1” by referring to above screen.
（Align cursor and press [Enter] and [Record]）
(4) Press emergency stop button to turn motor off, and press [Execute].
4-6
4.1.2 Motor replacement (Axis 4, 5 and 6)
Axis interference of wrist axis (axis 4,5 and 6)

“Axis interference” exists due to the structure of the wrist on this robot. When conducting
encoder correction of axis 5, axis 4 must be in reference position. Similarly, when
conducting encoder correction of axis 6, axis 4 and 5 must be in reference position. (As
CAUTION
for axis 4 or axis 5 which is affecting other axis, it is enough to be in reference position. It
is unnecessary to conduct their encoder correction.)

Hold the wrist and tool using a crane, chain block or other
1
means.
Disconnect the connectors (encoder and power) from the ・Bear in mind that the encoder data will be
motor. lost when the encoder connector is
disconnected.
Power ・Do not apply large pressure onto the
encoder connector. If large pressure is
3 applied, the connector may be broken.
Encoder
Loosen thee motor fixing bolts and dismount the motor ・Do not to apply excessive impact to the
from the robot. motor shaft.
Axis 6 Axis 4,5 and 6 motor fixing bolts

3-M12X35 for each
4 (Tightening torque: 116 N・m)
Axis 5 Axis 4
Remove the gear assembly from the motor shaft. ・Do not to apply excessive impact to the
motor shaft.
(a) Loosen the fixing bolts and remove the gear. ・To remove bearing, remove snap ring
(b) Remove the bearing from the shaft. using pulley remover in market and align
5
(c) Loosen the fixing bolt and remove the shaft. the hook on the internal bearing. (Do not
(d) Remove the collar, ring X2 and holding plate. align the hook on the external bearing to
avoid any damages on it)
4-7
(Tightening
(Tightening torque:
torque: 9.8 N・m)
9.8 N・m)
(Tightening torque: 16 N・m)

Axis 4 Gear assembly Axis 5 Gear assembly Axis 6 Gear assembly
Connecting shaft of axis 4 gear is different from that of axis 5,6. Pay much attention when
IMPORTANT assembling it. (see Step 5)

Attach the removed gear assembly to the new motor. ・Apply a thin coating of ThreeBond 1801B
to the shaft of the new motor and two rings
(a) Attach the holding in advance.
plate, ring X2 and collar. ・Do not apply excessive impact to the
(b) Attach the shaft by motor shaft.
the fixing bolts. ・Pay attention to the direction of ring.
6 (c) Attach the bearing to ・The bearing should be installed by pushing
the shaft. Direction of ring the inner side ring. If the outer ring is
(d) Attach the gear to the motor shaft. At this point, apply pushed, the bearing may be broken.
one or two drops of locking agent (ThreeBond 1374) to
the threads at the ends of the bolts, and then tighten the
bolts.
Apply grease (LONGTIME PD2) on gears until the gaps of ・Bear in mind not to damage the gear
them are filled with the grease, then mount the motor to surface when attaching the motor.
the robot. ・ Although ALVANIA RA-J grease is
applied on the gears, LONGTIME PD2 can
If sheet packing of motor is damaged, please replace it to be applied there because it has the same
the new one. Only for axis 1 sheet packing, locate it lithium soap base and the same
carefully by referring to the following figure. consistency.
Place the sheet packing so
7 that 4 portions of cut hole
are coincident with the spot
facing groove of motor.
(mark ※)
Connect the connectors (encoder and power) to the

8
motor.
Perform encoder reset of replaced motor.
10
11
12 Ensure that the robot operation presents no problem.
4-8
4.1.3 Encoder reset
This procedure is clearing the internal memory in encoder itself.

This procedure is absolutely necessary for the recovery after encoder is replaced or encoder
connector is disconnected or encoder batteries are disconnected or error 0030 (encoder absolute
data error) has been occurred.
No special tools are required for encoder reset procedure.

Please refer to the instruction manual “SETUP”, “4.3.3 Encoder reset and encoder correction”.
4.1.4 Encoder correction
This procedure is registering the “encoder correction data” so that encoder data becomes the
“pre-determined value” at the “pre-determined position”. This position is called reference
position. Zeroing pin and blocks are used to make this posture.
After performing encoder reset, this procedure must be performed without fail.
Because the load condition and robot posture may have influence on the reference position,
perform encoder correction for all axes after all of the load are mounted on wrist and upper
arm, before staring the teaching procedure, At this time, encoder resetting procedure is not
required.
(1) For this procedure, following tools are required.

zeroing pin and block (OP-T2-*** ; option)
Please prepare these tools by referring to ”Chapter 5 Recommended spare parts and
special tools for maintenance”.
(2) By referring to the figures on next page, move the robot (target axis) to the reference
position in manual operation (speed 2 or 3)
As for axis 1, 2, 3, 5 and 6: The zeroing pin is inserted at the reference position.
As for axis 4: After attaching zeroing block, the zeroing pin is inserted at the reference
position.
(3) Register the encoder correction data by referring to the instruction manual “SETUP”, “4.3.3
Encoder reset and encoder correction”.
(4) Confirm that current position data is coincident with “Encoder data of reference position”.
Current position data can be read in <Service utilities> [4 Monitor 2] [2 Axis Position].
(5) Remove the zeroing pin (and block).
Ensure that the robot operation presents no problem.
When motor is replaced, it’s possible that software stroke error occurs and robot can not
arrive in the reference position. Because software is checking the working envelop
INFO. although the position data is not correct.
In this case, once register the encoder correction data in that (incorrect) position. After
that, turn the motor power on again and move the robot to the correct reference position.
(now working envelop is already refreshed.) Finally register the encoder correction data
again.
Axis interference of wrist axis (axis 4,5 and 6)
“Axis interference” exists due to the structure of the wrist on this robot. When performing
encoder correction of axis 5, axis 4 must be in reference position. Similarly, when
performing encoder correction of axis 6, axis 4 and 5 must be in reference position. (As
for axis 4 or axis 5 which is affecting other axis, it is enough to be in reference position. It
is unnecessary to conduct their encoder correction.)
CAUTION
In case that all wrist axes need encoder correction, for example replacing wrist unit,
encoder correction must be conducted in the sequence of 4, 5 and 6 axes without fail. If
encoder correction has not been performed in this sequence, the zero points of the wrist
axes will not be set correctly so robot will not move properly.
If robot is operated without removing zeroing pin, pin itself or pin hole may be disfigured. If
robot is operated without removing zeroing block, parts where block is equipped, arm and
tool may be seriously damaged because zeroing block interferes with arm and/or tool.
CAUTION
Be sure to remove zeroing pin and zeroing block before starting operation.
4-9
Reference position and its encoder data are explained in following figures.
These encoder data are very important to check the successful procedure of encoder
IMPORTANT correction.
■ Reference position (Zeroing pin insertion portion) of Axis 1, 2 and 3
Encoder data
of reference position
Axis 1 80,000[Hex]
Axis 2 80,000[Hex]
Axis 3 80,000[Hex]
4-10
■ Reference position (Zeroing pin insertion portion) of Axis 4
■ Reference position (Zeroing pin insertion portion) of Axis 5
Encoder data
of reference position
■ Reference position (Zeroing pin insertion portion) of Axis 6 Axis 4 80,000[Hex]
Axis 5 80,000[Hex]
Axis 6 80,000[Hex]
4-11
4.1.5 More accurate encoder correction
Sometimes normal encoder correction (using zeroing pins and blocks) is not sufficient to recover
the taught positions precisely in case that bigger tool is mounted, etc. In such case, modify (re-
calculate) the encoder correction value by following procedure after here.
Tools required;
・Jig that is fixed on the ground or on the table for “Reference teach point”
・Calculator (needed to re-calculate the encoder correction)
Preparation
1 Making a program of “Reference teach point”
Inside the robot working envelop, install the jig for “Reference teach point“ that is fixed
on the ground or on the table. Make a program including a step where robot TCP is
precisely coincident with the “Reference teach point”. This step is called “Step of
reference teach point” here in after. This procedure must be done before the work
teaching is started.
(Example 1)
Secure the same clearance

around the circumference
(several millimeters)
Teach
this point Jig
TCP
Reference
基準点 teach point
Fixed side tip of Table

welding gun
Notes: In case of welding gun, precise “Step of reference teach point” can not be
obtained when worn tip is used or tip is not fixed sufficiently.
(Example 2)
Tool
Jig
Teach
this point
Reference
TCP
Table
Secure the same clearance
around the circumference
(several millimeters)
4-12
More accurate encoder correction
In case that motor / encoder is replaced or encoder reset is performed at the same time
for plural axis, position recovery by this procedure is very difficult.
CAUTION This procedure must be performed for only one axis (one by one).
Sample for axis 1

1 Perform encoder reset and normal encoder correction
Perform encoder reset and normal encoder correction by following to
“4.1.3 Encoder reset” and
“4.1.4 Encoder correction”
(Before proceeding, switch the operator qualification to EXPERT.)
2 Check the difference from “Reference teach point”
By check GO operation, move the robot to the “Step of reference teach point” and stop
the robot in axis coincidence status (cursor line is changed to yellow).
If the difference from TCP and “Reference teach point” does not exceed the permitted
＋
level, procedures after here is not needed. If exceeded, encoder correction value of
target axis is to be modified by following the procedure after here.
Difference
Reference
TCP
ツール先端
(Caution)
Check GO operation must be started from the position where the interference with the
jig will never happen.
3 Make a memo of encoder current data (A)
While gripping the enabling switch, open <Constant setting> [3 Machine constants]
– [4 Encoder correction]. Then read the “Encoder current data” in [Data input] screen
and write a memo of it. This value is assumed as (A).
Encoder correction Encoder current

values data
MC350-01:
Make a memo of this
number = (A)
4-13
4 Move TCP to “Reference teach point” in manual operation
Move the robot by manual operation of single axis that is the target of encoder
correction (J1 axis in this explanation) with speed 2 or 3 in order that TCP is
coincident with “Reference teach point”.
＋
Difference X- X+
X- X+
Move TCP to “Reference

teach point” in single axis
manual operation
(Supplement)
If the axis that does not concern with the target axis was moved by mistake, please
retry the procedure from step 2.
5 Make a memo of encoder current data (B) after TCP is moved
While gripping the enabling switch, open again <Constant setting> [3 Machine
constants] – [4 Encoder correction]. Then read the “Encoder current data” in [Data
input] screen and write a memo of it. This value is assumed as (B).
Encoder correction Encoder current

values data
MC350-01:
Make a memo of this
number = (B)
6 Press the Emergency Stop button to turn the motor power OFF.
(After this, enable switch can be released.)
7 Re-calculate the encoder correction value

Calculate
(Encoder correction value) – ( (A) – (B) )
by calculator and key in the result to the edit box of “Encoder correction values” in
same screen. (Utilize the table of next page for convenience.)
8 Press f12 [Complete].
>> The adjusted encoder correction value is saved in the internal memory.
(Caution)
Until [Complete] is pressed, the encoder correction value will not be saved into
the internal memory. This point should be borne in mind.
9 Right turn the Emergency Stop button and turn the motor power ON again.
4-14
10 By check GO operation, move the robot again and confirm that TCP is surely
coincident with “Reference teach point”. If not, new encoder correction value calculated
in step 7 is wrong. Retry the calculation and registration.
OK NG
(Supplement)
Final aim of this procedure is to get the encoder correction value in order that TCP is
coincident with “Reference teach point” with high accuracy. Therefore, it is possible
that, Instead of step 2 to 6, changing (adjusting) the encoder correction value manually
little by little while visually checking the TCP position.
11 If necessary, try check GO operation of work program and confirm the positioning
accuracy of taught points.
(Reference) Utilize this table to calculate encoder correction
Encoder current data Encoder current data

Original encoder Re-calculated encoder
where TCP is not after moved (where TCP
correction value correction value
Axis coincident with is coincident with
“Reference teach point” “Reference teach point”)
(C) (C)-((A)-(B))
(A) (B)
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Register this value

as the new encoder
correction value
(Example)
Encoder current data Encoder current data
Original encoder Re-calculated encoder
where TCP is not after moved (where TCP
correction value correction value
Axis coincident with is coincident with
“Reference teach point” “Reference teach point”)
(C) (C)-((A)-(B))
(A) (B)
520249 -
Axis 1 522027 522017 520249 (522027 - 522017)
= 520239
4-15
4.2 Encoder replacement
Since encoder is separated from motor on all axes of this robot, the encoder is replaceable.
This section describes the procedure when the robot is in good posture where encoder can be replaced.
Tools required (Prepared by customer)

Part name Axis Part No. (Model) Remark
Torque
M3 torque screwdriver which meets the tightening torque of 0.59 to 0.88 Nm
screwdriver
All axes M3 setscrew torque screwdriver which meets the tightening torque of 0.59 to 0.88 Nm
Locking agent Threebond 1374
If encoder protective cover is damaged, the whole of Encoder lead wire

motor & encoder unit needs to be replaced because
encoder body and motor connecting portion may be Encoder
damaged already. protective
cover
In case of encoder replacement, “Encoder unit” is Motor body
replaced. (Encoder unit includes “Encoder body”,
“Encoder protective cover” and “Encoder lead wires”.) Encoder
body
It is rarely difficult to insert tool due to the robot
posture. In this case, replace the whole of motor & Encoder unit
encoder unit also. DVOP3560
AC servo motor
Encoder replacement procedure (common for all axes)

If possible, operate the robot arm manually to the If zeroing pin is inserted in advance, there
1 reference position and insert zeroing pin. is some case that the work after
Refer to “4.1.4 Encoder correction” replacement is easier.
If the encoder plug cover is attached, remove it. Encoder plug cover;
Encoder protective cover Motor base Axis 1: standard
2-M3X20 Axis 2 and 3: optional
Tightening torque: 1.0 Nm
Washer 2-M3
Encoder Plug Cover
4 Disconnect the encoder connectors.

Dismount the encoder from the motor.
(a) Loosen the fixing bolts and remove the encoder ・At this time, do not pull the encoder lead
protective cover. wire, when you take off the encoder
5
(b) Remove the two bolts that fix the encoder fixing spring. protective cover.
(c) Remove the two set screws that fix the encoder boss
part, and then pull out the encoder assembly from the
motor shaft.
4-16
Mount the new encoder to the motor. Clean the shaft and the installation surface
carefully in advance.
(a) Insert the encoder so that the U-slot of the encoder
boss part is aligned with the location pin on the motor
side.
・For this purpose, use the new setscrews
(b) Insert the encoder until the encoder boss part hits the (with screw lock) that comes with the
positioning plate of the motor shaft, and then tighten the encoder.
set screws of the boss part
6
(c) Tighten the encoder fixing spring by fixing bolts. ・Apply one or two drips of locking agent to
the bolts.
(d) Form the lead wire riser part so that the encoder lead ・At this time, apply one or two drips of
wire will follow the outer circumference of the protective locking agent to the bolts.
cover. Then, with the sheath of the lead wire pulled to the ・At this time, put the encoder packing in
riser part, put the encoder protective cover in place. Then, place.
tighten the fixing bolts.
Positioning plate
Encoder cover packing
2 - M3×10
Tightening torque after coating of screw Encoder protective cover
lock: 0.59 to 0.88 Nm
2 - M3×4 (Coming with encoder)
Tightening torque 0.59 to 0.88N・m
U-slot of boss part

Encoder Location pin
Dismounting of encoder unit Cross-section of encoder cover
Encoder p rotective co ver Encoder lead wire
Lead wire sheath
Forming direction
4 - M3×20
Tightening torque after coating of
screw lock: 0.59 to 0.88 Nm
Lead wire rises here
Outline figure of encoder
4-17
7 Attach the removed encoder plug cover.
8 Connect the connector to the encoder.
Perform encoder reset of replaced encoder.
10
Perform encoder correction of replaced encoder.
11
Remove the zeroing pin.
12
4-18
4.3 Wrist unit replacement
The wrist unit mass is listed below. Consequently, handle the wrist unit with care.
Robot type Wrist unit mass
CAUTION
All 129 kg
Tools required (prepared by customer)

Part name Part No. (Model)
Pin remover φ13 Pin remover (tap size M6)
Torque wrench M12 torque wrench (L type torque wrench)
Locking agent ThreeBond 1374
Grease LONGTIME PD2 (Compatible; ALVANIA RA-J)
Lubrication ThreeBond 1801B
Be absolutely sure to use the torque wrench to tighten

the bolts by the specified torque.
In case of the bolts on circumference, tighten them
equally and gradually.
Order to tighten bolts
“Wrist unit”, prepared as a spare part, includes not only wrist assembly but also fixing bolts and O-
rings. When replacing wrist unit, it is recommended to replace the old bolts, O-rings to the new
ones in spite of their damage level.
Wrist unit replacement procedure

If possible, move the wrist axes (axis 4, 5 and 6) to the
reference position and the fore arm to horizontal angle.
1

Dismount the loads (welding gun, hand, or work-piece etc.) As for the wrist flange, see “1.3
3
from the wrist unit. Details of load mounting face”.
If this work is done while axis 3 (fore arm) was not in horizontal angle, spline and shaft
may be damaged.
CAUTION
4-19
It is unnecessary to disconnect encoder cable as this is just a mechanical replacement
work. Therefore encoder reset procedure is unnecessary.
But mechanical zero position of wrist axes changes by this work, so encoder correction
CAUTION procedure is absolutely necessary. If encoder correction was forgotten, it is impossible to
playback the existing programs.

Remove the wrist unit fixing bolts and locating pin. And then Wrist unit is heavy. Be careful.
dismount the wrist unit from the robot. Use a crane or chain block.
When dismounting wrist (Tightening torque: 116 N・m)

from robot arm, axis 5
becomes free and will
4
rotate quickly. Please pay
much attention to the
hanging attitude of wrist so
that your finger is not
caught by the wrist.
When dismounting wrist from robot arm, axis 5 becomes free and will rotate quickly.
Please pay much attention to the hanging attitude of wrist so that your finger is not
WARNING caught by the wrist.
Apply grease (LONGTIME PD2) on all the splines of the ・If O-ring is damaged, replace it.
forearm side and the new wrist unit side until the gaps of them Robot type O ring
are filled with the grease. All RO-G170
・Do not tighten the bolts forcibly unless

the splines match each other. If the
bolts are tightened forcibly when the
splines do not match each other,
5 Splines for axis 5 and axis 6 are loc those splines will be broken.
ated on the center line. ・At this time, using new bolts, apply
locking agent (ThreeBond 1374) of 1 or
All of splines will match when clearance between wrist unit 2 drops onto the bolts in advance.
・ Although ALVANIA RA-J grease is
and forearm is shorter than 5mm.
applied on the gears, LONGTIME PD2
can be applied there because it has the
same lithium soap base and the same
consistency.
7
Remove the zeroing pin.
8
4-20
Chapter 5 Recommended spare parts and
special tools for maintenance
Recommended spare parts are listed below. To purchase any parts, check the manufacturing No.
and date of the robot, and then contact our Service Department.
Classification A: Periodical maintenance parts B: Spare parts
Recommended spare parts

Robot model
Recommended/unit
MC280L-01
MC280L-02
Classification
MC350-01
MC350-02
Part No.
Name Remark
(Model)
A GREASE In use/unit
ALVANIA-RA-J-16KG - 1 ○ ○ ○ ○ ALVANIA RA-J 16KG (*1)
Tribol GR 100-2 PD(*1),(*6)
A GREASE LONGTIME-PD2-18KG - 1 ○ ○ ○ ○ （Old name:LONGTIME PD2）
A GREASE VIGOG-RE0-16KG - 1 ○ ○ ○ ○ VIGO Grease RE0 16KG (*1)
A GREASE U4623-16KG - 1 ○ ○ ○ ○ (*2)
A BATTERY ER17505V-2C38 4 4 ○ ○ ○ ○ (*3)
A BATTERY UNIT KP-ZA-011 1 1 ○ ○ ○ ○ 4pcs of battery (*4)
A COVER SET SP-CS-004 1 1 ○ ○ ○ ○ Axis 1
A COVER SET SP-CS-011 1 1 ○ ○ ○ ○ Balancer protection cover
B AC SERVO MOTOR MDMU402S2V3 6 1 ○ ○ ○ ○ Axis 1,2,4,5 and 6
B AC SERVO MOTOR MDMU602S2V3 1 1 ○ ○ ○ ○ Axis 3
B ENCODER DVOP3560 7 1 ○ ○ ○ ○ All axes
B COUPLING GEAR SET KP-ZH-153 1 1 ○ ○ ○ ○ Axis 1
KP-ZH-154
B COUPLING GEAR SET 2 1 ○ ○ ○ ○ Axis 2 (*5)
or KP-ZH-191
B WRIST UNIT SP-W1-062 1 1 ○ ○
B WRIST UNIT SP-W1-065 1 1 ○ ○
B BJ1 UNIT ASSY SP-BJ1-173 1 1 ○ ○ All wiring integrated type
B BJ1 UNIT ASSY SP-BJ1-186 1 1 ○ ○
All wiring integrated type
(*1) If SDS (Safety Data Sheet) of this chemical material is necessary, you need to get from the chemical material supplier.
(*2) If SDS (Safety Data Sheet) of this chemical material is necessary, please contact to NACHI service.
(*3) This battery is compatible with ER17/50H used before 2021 March.
In case of purchasing in China, please order ER18505-2. This is compatible with ER17/50H and ER17505V-2C38.
(*4) In case of purchasing in China, please order KP-ZA-011CN. This is compatible with KP-ZA-011. When replacing all batteries
in robot, please order battery unit which consists of all needed batteries.
(*5) Axis 2 coupling gear set differs due to the shape of motor attachment portion (motor flange). Please do not make mistake the
type when ordering it. (Refer to “How to identify the type of axis 2 coupling gear set”)
(*6) In this manual, this grease uses the old name LONGTIME PD2.
5-1
■ How to identify the type of axis 2 coupling gear set
Identified by the shape of 4 Identified by the sha pe of 4

Motor flange corners corners
Motor flange
Axis 2 mo tor
KP-ZH-154 KP-ZH-191
Coupling gear set
■ AC servo motor with coupling gear set
AC servo motor with coupling gear set is provided as spare parts.

This part can reduce the time to replace motor.
AC servo motor with coupling gear set

Robot model
Recommended/unit
Classification
MC280L-01
MC280L-02
Part No. assembled

MC350-01
MC350-02
Remark
In use/unit
(Model) coupling gear set
B KP-ZH-252 KP-ZH-156 1 1 ○ ○ ○ ○ Axis 4

B KP-ZH-254 KP-ZH-157 1 1 ○ ○ ○ ○ Axis 5
B KP-ZH-256 KP-ZH-158 1 1 ○ ○ ○ ○ Axis 6
■ Seal
Following seals and O rings are necessary for the motor and the wrist replacement procedure. “COUPLING
GEAR SET” and “Wrist Unit” include these parts. This list is just the reference when ordering them individually.
MC350-01, -02 MC280L-01, -02

Flange sheet packing included in COUPLING GEAR SET
SEAL 037-0676-001
of axis 1 to 6
Seals included in wrist unit O RING RO-G170
5-2
The fixtures listed below are required tools for maintenance work or for efficient work. To purchase
any parts, check the manufacturing No. and date of the robot, and then contact our Service
Department.
Special tools for maintenance (option)
Robot model
MC280L-01
MC280L-02
MC350-01
MC350-02
Part No.
Name Remark
(Model)
ACCESSORY OP-T2-073 ○ ○ Zeroing pin & block

Axis 2
MAINTENANCE TOOL KP-ZD-006 ○ ○ Arm locking fixture
Axis 3
MAINTENANCE TOOL KP-ZJ-048 ○ ○ Arm locking fixture
Gas balancer unit
MAINTENANCE TOOL KP-ZJ-013 ○ ○ Analog pressure gauge
Gas balancer unit
MAINTENANCE TOOL KP-ZJ-014 ○ ○ Digital pressure gauge
Gas balancer unit
MAINTENANCE TOOL KP-ZJ-015 (*1) ○ ○ Charging equipment
(W22,picth14,Female)
Gas balancer unit
MAINTENANCE TOOL KP-ZJ-016 (*1) ○ ○ Charging equipment
(W23,picth14,Male)
Gas balancer unit
MAINTENANCE TOOL KP-ZJ-019 ○ ○ Joint of Female->Male (W22)
Bypass cable
CONTROLLER BCUNIT20-100 ○ ○ unit
(*1) Charging equipment shipped before February 2020 and shipped on February 2020 or later has different shape of gas
cylinder connecting portion. Seal is attached to the gas cylinder connecting portion on the charging equipment shipped on
February 2020 or later. This seal is consumable. For details, refer to "3.4 Inspection of balancer unit and filling gas".
Contents of OP-T2-073 (Zeroing pin & zeroing block) (option)

Applied
Name Marking Appearance, etc
Robot model
Axis 1,4,5,6 Zeroing pin
All
Axis 2,3 Zeroing pin
Axis 4 moving d side Zeroing block MC-H

Axis 4 moving side fixing bolt Hex. socket head cap screw 2-M6X50
Tightening torque for M6 bolt: 13.8 Nm
5-3
NOTE
5-4
Chapter 6 Wiring Diagrams
第2-１軸モータ
Axis 2-１ Motor
6-1
Motor/brake wiring connection diagram (1)
6-2
Motor/brake wiring connection diagram (2)
6-3
Encoder connection diagram (1)
6-4
Encoder wiring connection diagram (2)
6-5
Devicenet cable
Ethernet cable
[MC350-01] [MC280L-01]
[MC350-02] [MC280L-02]
DeviceNet I/F 24V I/F Ethernet 24V I/F
DeviceNet connection diagram Ethernet connection diagram
6-6
Application connection diagram
6-7
制御装置側ロボット側
CONTROLLER SIDE ROBOT SIDE
CNP1A
(1) (2) (3)
U11 V11 W11
U12 V12 W12
CNP1B
(1) (2) (3)
U13 V13 W13
CNP2A
(1)
U21
(2)
V21
(3)
W21
CNR01
U22 V22 W22
CNP2B
(1) (2) (3)
U23 V23 W23 CONNECTOR 11
(B1) U12 V12 W12 BA1 W13 (B6)
CNP3A (A1) U11 V11 W11 PB1 U13 V13 (A6)
(1) (2) (3)
U32 V32 W32 (B1) U22 V22 W22 BA2 W23 (B6)
(A1) U21 V21 W21 PB2 U23 V23 (A6)
CNP3B
(1) (2) (3)
(B1) U32 V32 W32 BA3 W33 G (B6)
(A1) U31 V31 W31 PB3 U33 V33 (A6)
CNBK1
(1) (2) (3) CONNECTOR 14
B PB1 PB2 PB3
A BA1 BA2 BA3 未使用 / NOT USED
ECE
Wire harness connection (1)
6-8
CNP4A
(1) (2) (3)
U41 V41 W41
CNP4B
(1) (2) (3)
U42 V42 W42
CNP5A
(1)
U51
(2)
V51
(3)
W51
CNR02
CNP5B
(1) (2) (3)
(B1) U42 V42 W42 BA4 (B6)
CNP6A (A1) U41 V41 W41 PB4 (A6)
(1) (2) (3)
(B1) U52 V52 W52 BA5 (B6)
(A1) U51 V51 W51 PB5 (A6)
CNP6B
(1) (2) (3)
(B1) U62 V62 W62 BA6 (B6)
(A1) U61 V61 W61 PB6 (A6)
CNP7A
(1) (2) (3)
(B1) U72 V72 W72 BA7 TS2 G (B6)
(A1) U71 V71 W71 PB7 TS+ (A6)
CNP7B
(1) (2) (3)
U72 V72 W72
CNBK2
(1) (2) (3) (4) (5)
B PB4 PB5 PB6 PB7 TS2
A BA4 BA5 BA6 BA7 TS+
ECE
6-9
CNEC1
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)
B P5E1 M5E1 P5E2 M5E2 P5E3 M5E3 LS1- LS2-
A S1+ S1- S2+ S2- S3+ S3- LS1+ LS2+
CNEC2
CNR04
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)
B P5E4 M5E4 P5E5 M5E5 P5E6 M5E6 P5E7 M5E7
A S4+ S4- S5+ S5- S6+ S6- S7+ S7-
CONNECTOR 41
LS LS
(B1) S1- S2- S3- S4- S5- S6- S7- 1- 2- (B11)
CNALM (A1) S1+ S2+ S3+ S4+ S5+ S6+ S7+ LS
1+
LS
2+
(A11)
(1) (2) (3)
E24 M24 ALM CONNECTOR 42
(B1) M5E1 M5E2 M5E3 M5E4M5E5 M5E6M5E7 M24 (B11)
(A1) P5E1 P5E2 P5E3 P5E4 P5E5 P5E6 P5E7 ALM E24 (A11)
CONNECTOR 43
(B1) (B11)
未使用 / NOT USED
(A1) (A11)
Connector “CNALM” is not used for this robot.
6-10
http://www.nachi-fujikoshi.co.jp/
Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
Japan Main Office 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
Minato-ku, TOKYO, 105-0021 JAPAN
Nachi Robotic Systems Inc. (NRS) http://www.nachirobotics.com/
North America Headquarters Phone: 248-305-6545 Fax: 248-305-6542 46200 W.12 Mile Rd. Novi, Michigan 48377, U.S.A.
Indiana Service Center Phone: 248-305-6545 Fax: 248-305-6542 Greenwood, Indiana
Ohio Service Center Phone: 248-305-6545 Fax: 248-305-6542 Cincinnati, Ohio
South Carolina Service Center Phone: 248-305-6545 Fax: 248-305-6542 Greenville, South Carolina
Canada Branch Office Phone: 905-760-9542 Fax: 905-760-9477 89 Courtland Ave., Unit No.2, Concord, Ontario, L4K 3T4, CANADA
Av. 100 Metros 1112-A, N. Industrial Vallejo, Gustavo A. Madero,

Mexico Branch Office Phone :+52-555312-6556 Fax:+52-55-5312-7248
CDMX, 07700, MEXICO
NACHI EUROPE GmbH http://www.nachi.de/

Phone: Fax:
Central Office Germany Bischofstrasse 99, 47809, Krefeld, GERMANY
+49-2151-65046-0 +49-2151-65046-90
Phone: Fax: Unit 3, 92, Kettles Wood Drive, Woodgate Business Park,
U.K. branch
+44-0121-423-5000 +44-0121-421-7520 Birmingham B32 3DB, U.K.
Phone: Fax: Obchodni 132, 251 01 Cestlice, PRAGUE-EAST

Czech branch
+ 420-255-734-000 +420-255-734-001 CZECH REPUBLIC
Phone: Fax: Ataturk Mah. Mustafa Kemal Cad. No:10/1A 34758

Turkey branch
+ 90-(0)216-688-4457 +90-(0)216-688-4458 Atasehir / Istanbul - TURKEY
NACHI AUSTRALIA PTY. LTD. http://www.nachi.com.au/

Robotic Division & Phone: Fax:
38, Melverton Drive, Hallam, Victoria 3803, , AUSTRALIA
Victoria office +61-(0)3-9796-4144 +61-(0)3-9796-3899
Phone: Fax:
Sydney office Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA
+61-(0)2-9898-1511 +61-(0)2-9898-1678
Phone: Fax:
Brisbane office 7/96 Gardens Dr,Willawong,QLD 4110, , AUSTRALIA
+61-(0)7-3272-4714 +61-(0)7-3272-5324
NACHI SHANGHAI CO., LTD. http://www.nachi.com.cn/

Phone: Fax: 11F Royal Wealth Centre, No.7
Shanghai office
+86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China
NACHI KOREA http://www.nachi-korea.co.kr/

2F Dongsan Bldg.
Phone: Fax:
Seoul office 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
+82-(0)2-469-2254 +82-(0)2-469-2264
Seoul 133-123, KOREA
Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable
for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.

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2106, MMCEN-247-012, 001

Chapter 1 Basic specifications ................................................................................................................. 1-1

Chapter 2 Precautions for handling .......................................................................................................... 2-1

Chapter 3 Inspection ................................................................................................................................ 3-1

Chapter 4 Troubleshooting ....................................................................................................................... 4-1

Chapter 6 Wiring Diagrams ...................................................................................................................... 6-1

The following symbol is also used for important checkpoints.

A particularly important checkpoint is shown.

This mark indicates hot parts on the robot.

Another caution and warning labels;

Maximum Axis 3 1.66 rad/s （95°/s）

[MC350-01, -02] [MC280L-01, -02]

[MC350-01, -02] [MC280L-01, -02]

Use air pressure not more than 0.49MPa.

■ Upper part of forearm - Wiring and piping for application

■ Base frame block - Wiring and piping for application

Specification of Application wires

BJ3-side (Joint connectors)

Connector models (CN62,CN64)

Manual crimp tool: YRS-121

■ Details of Ethernet connectors (standard) [MC350-02] [MC280L-02]

■ Details of 24V power connectors (standard) [MC350-01,-02] [MC280L-01,-02]

■ Operating axis name

Axis 1 Manufacturing plate

Serial robot number

On controller display, axis 1 to 6 is displayed as J1 to J6 for each.

To transport the robot, make it Never use taps

To avoid damage to the wirings

To avoid damage to the wirings

Safety measures against entry in the robot operating area

Stop time and angle of axis 1 for a maximum travel

Safety measures against the robot and peripheral equipment

■ Installation location and ambient conditions

Robot Model All

Allowable repeated tensile *3 Appx. 47,000 N

To install the robot, lock the swiveling base of the robot.

[MC350-01, -02] [MC280L-01, -02]

(3) If the two precautions above

■ Welding the base plates

4 base plates Install

weld the outside of

■ Maximum robot generative force

Max. vertical Max. horizontal Max. vertical Max. horizontal

all 64,900 N 47,300 N 147,700 N･m 122,200 N･m

If the moment of inertia exceeds the specification, maximum speed is automatically

2.6 Restricting of motion range

(1) Restriction of motion range by software C

SETUP” “Chapter 4 Setup” for this operation.

(2) Restriction of motion range by adjustable stopper (option)

2.7 Start to operate after the long time posing

When operating brake release switch of axis 2,

< Supplement >

・In case of using the brake release switch of

“H-AXIS FIX JIG” KP-ZD-006 (Axis 2 fixing jig set)

3.1 Inspection items and periods

Inspection items and periods

Inspection Item Inspection Method Target

Specified tightening torque of bolts

■ Cables cover (hook tube) and clamps

■ Wirings around axis 3 motor