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FA & ROBOT
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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5th. Edition 09.13.2007
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LR LRMate Mate200iC 200iCline lineup up
Standard 6 axes type LR Mate 200iC
5 axes type LR Mate 200iC/5H
High pressure washing LR Mate 200iC/5WP
Clean type LR Mate 200iC/5C
Long arm type LR Mate 200iC/5L
Long arm clean type LR Mate 200iC/5LC 2
5th. Edition 09.13.2007
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Feature Featureof ofLR LRMate Mate200iC 200iC
Full covered arm IP67 when sever dust/liquid protection option is available
High rigidity Prompt and smooth motion is achieved
High 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 performance Its motion speed is highest in its class
All direction installation Floor, upside-down and angle mount are acceptable
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Motion Motionperformance performanceenhancement enhancement LR Mate 200iB
LR Mate 200iC
Payload
5kg
5kg
Reach
700mm
704mm
J1
180 ° /sec
350 ° /sec
J2
180 ° /sec
350 ° /sec
J3
225 ° /sec
400 ° /sec
J4
400 ° /sec
450 ° /sec
J5
330 ° /sec
450 ° /sec
J6
480 ° /sec
720 ° /sec
Allowable moment
J4,5
7.25Nm
11.9Nm
J6
5.21Nm
6.7Nm
Allowable inertia
J4,5
0.138kgm2
0.3kgm2
J6
0.0708kgm2
0.1kgm2
Repeatability
+/- 0.04mm
+/- 0.02mm
Weight
45kg
27kg
25-300-25 pick and place
0.8 sec (at 1kg)
0.49 sec (at 1kg)
Maximum speed
LR Mate 200iC LR Mate 200iC/5WP LR Mate 200iC/5C
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Motion Motionperformance performanceenhancement enhancement LR Mate 100iB
LR Mate 200iC/5H
Payload
5kg
5kg
Reach
620mm
704mm
J1
240 ° /sec
350 ° /sec
J2
270 ° /sec
350 ° /sec
J3
270 ° /sec
400 ° /sec
J4
330 ° /sec
450 ° /sec
J5
480 ° /sec
720 ° /sec
Allowable moment
J4
7.25Nm
11.9Nm
J5
5.21Nm
6.7Nm
Allowable inertia
J4
0.138kgm2
0.3kgm2
J5
0.0708kgm2
0.1kgm2
Repeatability
+/- 0.04mm
+/- 0.02mm
Weight
38kg
27kg
Maximum speed
LR Mate 200iC/5H
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Motion Motionperformance performanceenhancement enhancement
LR Mate 200iC/5L LR Mate 200iC/5LC
LR Mate 200iB/3L
LR Mate 200iC/5L
Payload
3kg
5kg
Enhanced
Reach
858mm
892mm
Extended
J1
140 ° /sec
270 ° /sec
J2
150 ° /sec
270 ° /sec
J3
160 ° /sec
270 ° /sec
J4
400 ° /sec
450 ° /sec
J5
330 ° /sec
450 ° /sec
J6
480 ° /sec
720 ° /sec
Allowable moment
J4,5
7.25Nm
11.9Nm
J6
5.21Nm
6.7Nm
Allowable inertia
J4,5
0.138kgm2
0.3kgm2
J6
0.0708kgm2
0.1kgm2
Repeatability
+/- 0.04mm
+/- 0.03mm
Weight
47kg
29kg
Maximum speed
1.5 times speed up
Enhanced
Precision Lightest unit
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Wrist Wristload loadcapability capabilityenhancement enhancement Allowable GC offset at 5kg
Wrist load capability is enhanced.
LR Mate 200iC LR Mate 100iB,200iB
217% 0.3kgm2
5kg
80
5kg
68 163
164% 11.9Nm
141%
129% 7.25Nm 6 0 1
0.138kgm
2
6.7Nm 7 3 1
5kg LR Mate 100iB,200iB 5kg LR Mate 200iC
LR Mate 200iC LR Mate 200iC/5H
B i 0 0 2 , B i 0 0 1 e t a M R L
5.21Nm C i 0 0 2 e t a M R L
J4J5 moment J4 moment
B i 0 0 2 e t , a B i 0 M 0 R 1 L
C i 0 0 2 e t a M R L
J6 moment J5 moment
0.1kgm2 B i 0 0 2 , B i 0 0 1 e t a M R L
0.0708kgm2 C i 0 0 2 e t a M R L
J4J5 inertia J4 inertia
B i 0 0 2 , e t B a i 0 M 0 R 1 L
C i 0 0 2 e t a M R L
J6 inertia J5 inertia 7
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FA & ROBOT
Wide Wide work work envelope envelope
LR Mate 200iC LR Mate 200iC/5H
LR Mate 200iC/5WP LR Mate 200iC/5C
LR Mate 200iB LR Mate 100iB
LR Mate 200iC
Maximum reach
704mm
Longest in its class
Horizontal stroke
457mm
Widest in its class
Vertical stroke
1187mm 111% of previous model 8
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FA & ROBOT
Wide Wide work work envelope envelope
LR Mate 200iC/5L LR Mate 200iC/5LC
LR Mate 200iB/3L
LR Mate 200iC/5L
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Slim Slimarm arm 188 188
109 0 0 1
7 3 1
0 2 1
301
301
250
Minimized arm width are suitable for narrow space operation. The lightest mechanical unit make installation in machine and upside-down mounting easy. LR Mate 100iB
LR Mate 200iB
LR Mate 200iC 10
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Deference Deferencebetween between55axes axestype typeand and66axes axes type type 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
Controller, amplifier and connection cable are common for both variant. 11
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Deference Deferencebetween betweenstandard standardarm armand andlong longarm arm Difference between standard LR Mate 200iC and LR Mate 200iC/5L are as follows. Add J3 arm extension
Cables and hoses length extension Increase J2 arm length
Change J1 gear
Controller, amplifier and connection cable are common for both variant.
Reducers
and motors are common to LR Mate 200iC
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High Highpressure pressurewashing washingLR LRMate Mate 200iC/5WP 200iC/5WP Features Accept No
high pressure washing environment in a washing machine.
painting surface, Aluminum body.
Specification Withstand
reflected water flow from 100mm distance away. The pressure at nozzle is maximum 200kg/cm 2 (15liter/min)
Ambient
temperature is between 0 and 45 degrees C, and cleaner temperature is maximum 60 degrees C.
15,360H
Over haul
Notices Don’t
stop air purge of specified pressure 10kPa regardless of the system running or stopping.
Air purge kit
Following
cleaners are acceptable.
CLEANER CLEANMATE ＭＳ‐１ TOYOSOL ＳＴ‐９１Ｐ TOYOSOL ＳＥ‐７８Ｐ TOYOKNOCK ＲＥ‐７７７Ｐ Stand alone battery kit
ＭＰ‐７０
YUSHIRO CLEANER Ｗ５１Ｈ YUSHIRO CLEANER Ｗ８０ PAKUNA ＦＤ‐８００ DETEJENT ２２００
MANUFACTURER TOHO CHEMICAL INDUSTRY CO.,LTD TOYOTA KAGAKU CO.,LTD TOYOTA KAGAKU CO.,LTD TOYOTA KAGAKU CO.,LTD HENKEL JAPAN LTD YUSHIRO CHEMICAL INDUSTRY CO.,LTD YUSHIRO CHEMICAL INDUSTRY CO.,LTD YUKEN LTD NEOS LTD
CONCENTRATION 5.0% 2.0% 5.0% 3.0% 3.0% 3.3% 3.3% 5.0% 1.5% 13
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FA & ROBOT
Clean Cleantype typeLR LRMate Mate200iC/5C, 200iC/5C,5LC 5LC Two type of standard arm and long arm are available Clean
paint
Anticorrosive
treatment for reducers and bolts.
Exhaust
piping from the solenoid valve to J1 connector plate.
Inspection Special
in the clean room.
packing for clean robot
Specification Cleanliness
class 100
Motion
performance is same as LR Mate 200iC and LR Mate 200iC/5L.
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Application Applicationexample example
Load/unload from a lathe (with iRVision conveyor parts feeder)
Load/unload from ROBODRILL 15
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Specification Specification LR Mate 200iC
Model
LR Mate 200iC/5C
LR Mate 200iC/5H
LR Mate 200iC/5WP
Controlled axes
6 axes (J1、J2、J3、J4、J5、J6 ）
Reach
J1 axis J2 axis J3 axis J4 axis J5 axis J6 axis Max. load capacity at wrist Allowable load m oment at wrist (Note 2)
Allowable load inertia at wrist (Note 2)
6 axes (J1、J2 、J3、J4、J5、J6）
704 mm
Installation (Note 1)
Motion ran ge (Maximum speed)
5 axes （J1、J2、J3、J4、J5）
LR Mate 200iC/5L LR Mate 200iC/5LC
892 mm
Floor, Upside-down, (Angle mount) 340 ° / 3 60°(optio n) (350 °/sec ) 5.93 rad / 6.28 rad(option) ( 6.11 rad/sec) 200 ° (350 °/sec) 3.49 rad ( 6.11 rad/sec) 388 ° (400 °/sec) 6.77 rad ( 6.98 rad/sec) 380° (450°/se c) 240° (450°/se c) 6.63 rad ( 7.85 rad/sec) 4.19 rad ( 7.85 rad/sec) 240° (450°/se c) 720° (720°/se c) 4.19 rad ( 7.85 rad/sec) 12.57 rad ( 12.57 rad/sec) 720° (720°/se c) 12.57 rad ( 12.57 rad/sec) Max. 5kg
340 ° / 3 60°(optio n) (270°/se c) 5.93 rad / 6.28 rad(option) ( 4.71 rad/sec) 230 ° (270 °/se c) 4.01 rad ( 4.71 rad/sec) 373 ° (270 °/se c) 6.51 rad ( 4.71 rad/sec) 380 ° (450 °/se c) 6.63 rad ( 7.85 rad/sec) 240 ° (450 °/se c) 4.19 rad ( 7.85 rad/sec) 720 ° (720 °/se c) 12.57 rad ( 12.57 rad/sec)
11.9 N·m
J4 axis J5 axis
11.9 N·m
J6 axis
6.7 N·m
6.7 N·m
11.9 N·m 6.7 N·m
0.3 kg·m 2
J4 axis J5 axis
0.3 kg·m 2
J6 axis
2
0.1 kg·m
Repeatability Mass (Note 3)
0.1 kg·m 2
0.3 kg·m 2 0.1 kg·m 2
± 0.02 mm
± 0.03 mm
27 kg
29 kg
Ambient temperature : 0～45 ℃ Ambient humi dity : Installation environment
Normally 75%RH or less (No dew nor frost allowed) Short term : .95%RH or less (within one month) Vibration : 0.5G or les s
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.
R-30iA Mate Input power source capacity 1.2kVA Average power consumption 0.5kW 16
5th. Edition 09.13.2007
FA & ROBOT LR Mate 200iC Work Work envelop envelop and and outer outer dimensions dimensions LR Mate 200iC/5H
LR Mate 200iC/5WP LR Mate 200iC/5C
( ) is for drip-proof type and LR Mate 200iC/5WP, 5C
Wrist rotation center
Motion range of the wrist rotation center
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Work Work envelop envelop and and outer outer dimensions dimensions
LR Mate 200iC/5L LR Mate 200iC/5LC
( ) is for LR Mate 200iC/5L drip-proof type and LR Mate 200iC/5LC
Wrist rotation center
Motion range of the wrist rotation center
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Wrist Wristinterface interface
Common to all type
no drip-proof
Wrist rotation center
drip-proof
Drip-proof type for each and LR Mate 200iC/5WP, 5C, 5LC
Wrist rotation center
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Dimensions Dimensionsfor fordevices devices
Common to all type
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EE EEand andair airinterface interface
LR Mate 200iC/5C, 5LC exhaust port PT1/4 LR Mate 200iC/5WP air purge fitting dia.6mm.
1 2 3 4 5 6
Common to all type
RDI1 RDI2 RDI3 RDI4 RDI5 RDI6
7 8 9 10 11 12
HBK +24E +24E +24E 0V 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 21
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Wrist Wrist load load diagram diagram
Common to all type
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Installation Installation
Common to all type
The installation bolts M10 should be tightened with 46Nm.
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Base Baseload load
LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP
LR Mate 200iC/5C LR Mate 200iC/5L LR Mate 200iC/5LC
LR Mate 200iC, /5H, /5WP, 5C Bending moment MV [Nm]
Force in vertical direction FV [N]
Twisting moment MH [Nm]
Force in horizontal direction FH [N]
Static load
116.3
321.7
0
0
Dynamic load at acceleration
383.0
633.7
224.3
726.9
Dynamic load at emergency stop
635.9
1101.4
470.4
776.4
Bending moment MV [Nm]
Force in vertical direction FV [N]
Twisting moment MH [Nm]
Force in horizontal direction FH [N]
Static load
138.5
333.2
0
0
Dynamic load at acceleration
335.6
586.5
169.8
578.1
Dynamic load at emergency stop
727.8
992.6
514.5
720.3
LR Mate 200iC/5L, /5LC
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Transportation Transportation
LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP
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Transportation Transportation
LR Mate 200iC/5L
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Transportation Transportation
LR Mate 200iC/5C
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Transportation Transportation
LR Mate 200iC/5LC
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