1 FA & ROBOT 5th. Edition 09.13.2007 Export Control: Controlled (Related item No. of Foreign Exchange Order Attachment List of Japan: ) Non-controlled for item No. 2 to 15 of Foreign Exchange Order Attachment List of Japan
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FA & ROBOT5th. Edition 09.13.2007
Export Control:Controlled (Related item No. of Foreign Exchange Order Attachment List of Japan: )Non-controlled for item No. 2 to 15 ofForeign Exchange Order Attachment List of Japan
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FA & ROBOT5th. Edition 09.13.2007
LR Mate 200iC/5H LR Mate 200iC/5WP LR Mate 200iC/5C LR Mate 200iC/5L
5 axes type High pressure washing Clean type Long arm type
LR Mate 200iC
Standard 6 axes type
LR Mate 200iC/5LC
Long arm clean type
LR Mate 200iC line upLR Mate 200iC line up
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FA & ROBOT5th. Edition 09.13.2007
Feature of LR Mate 200iCFeature of LR Mate 200iCHigh wrist load capability
Allowable moment is 155% higher than previous model.Allowable inertia is 200% higher than previous model.
Slim arm• Suitable at narrow space
operation• Lightest weight in its class
High motion performanceIts motion speed is highest in its class
Full covered armIP67 when sever dust/liquid protection option is available
High rigidityPrompt and smooth motion is achieved
All direction installationFloor, upside-down and angle mount are acceptable
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FA & ROBOT5th. Edition 09.13.2007
Motion performance enhancementMotion performance enhancement
J1 350 °/sec
350 °/sec
400 °/sec
450 °/sec
450 °/sec
720 °/sec
J2
J3
J4
J5
J6
180 °/sec
180 °/sec
225 °/sec
400 °/sec
330 °/sec
480 °/sec
Maximumspeed
700mmReach 704mm
Repeatability +/- 0.04mm +/- 0.02mm
Weight 45kg 27kg
25-300-25pick and place 0.8 sec (at 1kg) 0.49 sec (at 1kg)
LR Mate 200iB LR Mate 200iC
7.25Nm 11.9Nm
5.21Nm 6.7Nm
0.138kgm2 0.3kgm2
0.0708kgm2 0.1kgm2
J4,5
J6
J4,5
J6
Allowablemoment
Allowableinertia
5kgPayload 5kg
LR Mate 200iC LR Mate 200iC/5WPLR Mate 200iC/5C
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FA & ROBOT5th. Edition 09.13.2007
Motion performance enhancementMotion performance enhancement
350 °/sec
350 °/sec
400 °/sec
450 °/sec
720 °/sec
240 °/sec
270 °/sec
270 °/sec
330 °/sec
480 °/sec
620mm 704mm
+/- 0.04mm +/- 0.02mm
38kg 27kg
LR Mate 100iB LR Mate 200iC/5H
7.25Nm 11.9Nm
5.21Nm 6.7Nm
0.138kgm2 0.3kgm2
0.0708kgm2 0.1kgm2
5kg 5kg
J1
J2
J3
J4
J5
Maximumspeed
Reach
Repeatability
Weight
J4
J5
J4
J5
Allowablemoment
Allowableinertia
Payload
LR Mate 200iC/5H
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FA & ROBOT5th. Edition 09.13.2007
Motion performance enhancementMotion performance enhancement LR Mate 200iC/5LLR Mate 200iC/5LC
270 °/sec
270 °/sec
270 °/sec
450 °/sec
450 °/sec
140 °/sec
150 °/sec
160 °/sec
400 °/sec
330 °/sec
858mm 892mm
+/- 0.04mm +/- 0.03mm
47kg 29kg
LR Mate 200iB/3L LR Mate 200iC/5L
7.25Nm 11.9Nm
5.21Nm 6.7Nm
0.138kgm2 0.3kgm2
0.0708kgm2 0.1kgm2
3kg 5kg
720 °/sec480 °/sec
Enhanced
Extended
1.5 times speed up
Enhanced
Precision
Lightest unit
J1
J2
J3
J4
J5
Maximumspeed
Reach
Repeatability
Weight
J4,5
J6
J4,5
J6
Allowablemoment
Allowableinertia
Payload
J6
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FA & ROBOT5th. Edition 09.13.2007
Wrist load capability enhancementWrist load capability enhancement
J4J5 moment J6 moment J4J5 inertia J6 inertia
Allowable GC offset at 5kg Wrist load capability is enhanced.
LR M
ate
100i
B,2
00iB
LR M
ate
200i
C
11.9Nm
7.25Nm
LR M
ate
100i
B,2
00iB
LR M
ate
200i
C
6.7Nm
5.21Nm
164%
129%
LR M
ate
100i
B,2
00iB
LR M
ate
200i
C
0.138kgm2
217%
0.3kgm2
LR M
ate
100i
B,2
00iB
LR M
ate
200i
C
0.0708kgm2
141%
0.1kgm2
80 68163
106
137
LR Mate 100iB,200iB
5kg 5kg
LR Mate 200iC
LR Mate 100iB,200iB
LR Mate 200iC
5kg
5kg
LR Mate 200iCLR Mate 200iC/5H J4 moment J5 moment J4 inertia J5 inertia
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FA & ROBOT5th. Edition 09.13.2007
LR Mate 200iC
LR Mate 200iBLR Mate 100iB
Wide work envelopeWide work envelope
Maximum reach 704mm Longest in its classHorizontal stroke 457mm Widest in its classVertical stroke 1187mm 111% of previous model
LR Mate 200iCLR Mate 200iC/5H
LR Mate 200iC/5WPLR Mate 200iC/5C
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FA & ROBOT5th. Edition 09.13.2007
Wide work envelopeWide work envelope LR Mate 200iC/5LLR Mate 200iC/5LC
LR Mate 200iC/5L
LR Mate 200iB/3L
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FA & ROBOT5th. Edition 09.13.2007
Slim armSlim arm
Minimized arm width are suitable for narrow space operation.
The lightest mechanical unit make installation in machine and upside-down mounting easy.
250
LR Mate 200iC
109
100
301
LR Mate 100iB
188
120
301
LR Mate 200iB
188
137
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FA & ROBOT5th. Edition 09.13.2007
Deference between 5 axes type and 6 axes typeDeference between 5 axes type and 6 axes type
Controller, amplifier and connection cable are common for both variant.
Deference between 5 axes type and 6 axes type is as follows.
Eliminate J4 motor and J4 reducer from 6 axes type
Add adapter instead of eliminated J4 reducer
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FA & ROBOT5th. Edition 09.13.2007
Deference between standard arm and long armDeference between standard arm and long arm
Difference between standard LR Mate 200iC and LR Mate 200iC/5L are as follows.
Add J3 arm extension
Increase J2 arm length
Change J1 gear
Cables and hoses length extension
Reducers and motors are common to LR Mate 200iCController, amplifier and connection cable are common for both variant.
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FA & ROBOT5th. Edition 09.13.2007
High pressure washing LR Mate 200iC/5WPHigh pressure washing LR Mate 200iC/5WPFeatures
Accept high pressure washing environment in a washing machine.No painting surface, Aluminum body.
SpecificationWithstand reflected water flow from 100mm distance away. The pressure at nozzle is maximum 200kg/cm2 (15liter/min) Ambient temperature is between 0 and 45 degrees C, and cleaner temperature is maximum 60 degrees C.15,360H Over haul
NoticesDon’t stop air purge of specified pressure 10kPa regardless of the system running or stopping. Following cleaners are acceptable.
Air purge kit
Stand alone battery kit
CLEANERCLEANMATE MS‐1TOYOSOL ST‐91PTOYOSOL SE‐78PTOYOKNOCK RE‐777P
MP‐70YUSHIRO CLEANER W51HYUSHIRO CLEANER W80PAKUNA FD‐800DETEJENT 2200
CONCENTRATION5.0%2.0%5.0%3.0%3.0%3.3%3.3%5.0%1.5%
MANUFACTURERTOHO CHEMICAL INDUSTRY CO.,LTDTOYOTA KAGAKU CO.,LTDTOYOTA KAGAKU CO.,LTDTOYOTA KAGAKU CO.,LTDHENKEL JAPAN LTDYUSHIRO CHEMICAL INDUSTRY CO.,LTDYUSHIRO CHEMICAL INDUSTRY CO.,LTDYUKEN LTDNEOS LTD
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FA & ROBOT5th. Edition 09.13.2007
Clean type LR Mate 200iC/5C, 5LCClean type LR Mate 200iC/5C, 5LC
Two type of standard arm and long arm are available
Clean paintAnticorrosive treatment for reducers and bolts.Exhaust piping from the solenoid valve to J1 connector plate.Inspection in the clean room.Special packing for clean robot
SpecificationCleanliness class 100Motion performance is same as LR Mate 200iC and LR Mate 200iC/5L.
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FA & ROBOT5th. Edition 09.13.2007
Load/unload from a lathe(with iRVision conveyor parts feeder)
Application exampleApplication example
Load/unload from ROBODRILL
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FA & ROBOT5th. Edition 09.13.2007
SpecificationSpecification
Input power source capacity 1.2kVAAverage power consumption 0.5kW
R-30iA Mate
LR Mate 200iCLR Mate 200iC/5C
LR Mate 200iC/5WPLR Mate 200iC/5H
LR Mate 200iC/5LLR Mate 200iC/5LC
6 axes (J1、J2、J3、J4、J5、J6) 5 axes (J1、J2、J3、J4、J5) 6 axes (J1、J2、J3、J4、J5、J6)
892 mm
J1 axis 340° / 360°(option) (270°/sec)5.93 rad / 6.28 rad(option) ( 4.71 rad/sec)
J2 axis230° (270°/sec)
4.01 rad ( 4.71 rad/sec) Motion range (Maximum speed) J3 axis 373° (270°/sec)
6.51 rad ( 4.71 rad/sec)
J4 axis 380° (450°/sec)6.63 rad ( 7.85 rad/sec)
240° (450°/sec)4.19 rad ( 7.85 rad/sec)
380° (450°/sec)6.63 rad ( 7.85 rad/sec)
J5 axis240° (450°/sec)
4.19 rad ( 7.85 rad/sec)720° (720°/sec)
12.57 rad ( 12.57 rad/sec)240° (450°/sec)
4.19 rad ( 7.85 rad/sec)
J6 axis 720° (720°/sec)12.57 rad ( 12.57 rad/sec)
720° (720°/sec)12.57 rad ( 12.57 rad/sec)
J4 axis
J5 axis 11.9 N·m 6.7 N·m 11.9 N·mJ6 axis 6.7 N·m 6.7 N·m
J4 axis
J5 axis 0.3 kg·m2 0.1 kg·m2 0.3 kg·m2
J6 axis 0.1 kg·m2 0.1 kg·m2
± 0.03 mm29 kg
Installation environment
Ambient temperature : 0~45℃
Ambient humidity : Normally 75%RH or less (No dew nor frost allowed) Short term : .95%RH or less (within one month)Vibration : 0.5G or less
388° (400°/sec)6.77 rad ( 6.98 rad/sec)
± 0.02 mm27 kg
Max. 5kg11.9 N·m
0.3 kg·m2
704 mm
340° / 360°(option) (350°/sec)5.93 rad / 6.28 rad(option) ( 6.11 rad/sec)
200° (350°/sec)3.49 rad ( 6.11 rad/sec)
Floor, Upside-down, (Angle mount)
Model
Controlled axes Reach Installation (Note 1)
Max. load capacity at wrist
Allowable load moment at wrist (Note 2)
Allowable load inertia at wrist (Note 2)
Mass (Note 3) Repeatability
Note 1) Under the installation condition w ithin ( ), the J1 and J2 axis motion range w illl be limited.Note 2) It indicates tha value at max. payload. Allow able load moment and inertia at w rist are changed by load.Note 3) Without controller.Note 4) Those liquids thatdeteriorate the sealing members, such as organic solvents, acids, alkalis, and chloric/gasoline coolants, must not be used.
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FA & ROBOT5th. Edition 09.13.2007
( ) is for drip-proof typeand LR Mate 200iC/5WP, 5C
Work envelop and outer dimensionsWork envelop and outer dimensions
Motion range of the wrist rotation center
Wrist rotation center
LR Mate 200iCLR Mate 200iC/5H
LR Mate 200iC/5WPLR Mate 200iC/5C
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FA & ROBOT5th. Edition 09.13.2007
Work envelop and outer dimensionsWork envelop and outer dimensions LR Mate 200iC/5LLR Mate 200iC/5LC
Motion range of the wrist rotation center
Wrist rotation center
( ) is for LR Mate 200iC/5L drip-proof typeand LR Mate 200iC/5LC
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FA & ROBOT5th. Edition 09.13.2007
Wrist interfaceWrist interface
no drip-proof
drip-proof
Wrist rotation center
Wrist rotation center
Common to all type
Drip-proof type for each and LR Mate 200iC/5WP, 5C, 5LC
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FA & ROBOT5th. Edition 09.13.2007
Dimensions for devicesDimensions for devices Common to all type
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FA & ROBOT5th. Edition 09.13.2007
1 RDI1 7 *HBK2 RDI2 8 +24E3 RDI3 9 +24E4 RDI4 10 +24E5 RDI5 11 0V6 RDI6 12 0V
1 RDI1 7 *HBK2 RDI2 8 +24E3 RDI3 9 +24E4 RDI4 10 +24E5 RDI5 11 0V6 RDI6 12 0V
Switching RDICOM can be performed at short pin inside of the controller.The EE connector is common to LR Mate 200iB.This interface is not available for LR Mate 200iC/5WP
EE and air interfaceEE and air interface
LR Mate 200iC/5C, 5LCexhaust port PT1/4LR Mate 200iC/5WPair purge fitting dia.6mm.
Common to all type
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FA & ROBOT5th. Edition 09.13.2007
Wrist load diagramWrist load diagramCommon to all type
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FA & ROBOT5th. Edition 09.13.2007
InstallationInstallation
The installation bolts M10 should be tightened with 46Nm.
Common to all type
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FA & ROBOT5th. Edition 09.13.2007
Base loadBase load
776.4470.41101.4635.9Dynamic load at emergency stop
726.9224.3633.7383.0Dynamic load at acceleration
00321.7116.3Static load
Force in horizontal direction FH [N]
Twisting momentMH [Nm]
Force in vertical direction FV [N]
Bending momentMV [Nm]
LR Mate 200iCLR Mate 200iC/5HLR Mate 200iC/5WP
LR Mate 200iC/5CLR Mate 200iC/5LLR Mate 200iC/5LC
720.3514.5992.6727.8Dynamic load at emergency stop
578.1169.8586.5335.6Dynamic load at acceleration
00333.2138.5Static load
Force in horizontal direction FH [N]
Twisting momentMH [Nm]
Force in vertical direction FV [N]
Bending momentMV [Nm]
LR Mate 200iC, /5H, /5WP, 5C
LR Mate 200iC/5L, /5LC
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FA & ROBOT5th. Edition 09.13.2007
TransportationTransportation LR Mate 200iCLR Mate 200iC/5HLR Mate 200iC/5WP
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FA & ROBOT5th. Edition 09.13.2007
TransportationTransportation LR Mate 200iC/5L
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FA & ROBOT5th. Edition 09.13.2007
TransportationTransportation LR Mate 200iC/5C
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FA & ROBOT5th. Edition 09.13.2007
TransportationTransportation LR Mate 200iC/5LC