1.

TRANSPORTATION AND INSTALLATION B-83154EN/01

1.2 INSTALLATION
Fig. 1.2 (a) shows the robot base dimensions.

50 400
3 0°
50

6-M20 Through
(Use M20 or M16 bolts)
0
40

50
50
400

+0.027
3- O 12H8 0 Through

50
30°
50

Fig. 1.2 (a) Dimension of robot base

-2-
B-83154EN/01 1.TRANSPORTATION AND INSTALLATION
Fig.1.2 (b) shows link interference area.

60
O1 668.17
637

°
406.36

60 °
233.17 435 Link moves this area.
105 105 550 When making pedestal,
498.02 be careful to interference.
90

90

55
243

243

22° 22°

Fig. 1.2 (b) Link interference area

-3-
1.TRANSPORTATION AND INSTALLATION B-83154EN/01

Fig.1.2 (c) shows example of design dimension of pedestal.

Refer to this when designing pedestal.

1500

50 670
30°
50

830
0
40

50

1660
50
40

6-M16X60
0

50 30°
50 400 150
25
150

Fig. 1.2 (c) Example of design dimension of pedestal

-4-
B-83154EN/01 1.TRANSPORTATION AND INSTALLATION
Fig. 1.2 (d) and Table 1.2 indicate the force and moment applied to the robot base.
Refer to the data when considering the strength of the installation face.

Table 1.2 Force and moment that act on robot base

Bending moment Force in vertical Twisting moment Force in horizontal
Mv (Nm) condition Fv (N) Mh (Nm) direction Fh (N)
Static 0.0 1544 0 0
Acceleration/
Deceleration 1460.0 1830 33.1 1252
Emergency
stop 3180.0 4269 298 2597

Mv

Fh Fv

Mh
Fig. 1.2 (d) Force and moment that acts on robot base

-5-
1.TRANSPORTATION AND INSTALLATION B-83154EN/01

1.3 MAINTENANCE AREA

Fig. 1.3 shows the maintenance area of the mechanical unit. See Chapter 8 for the mastering.

1075

O 1660

1034
806 300

Fig. 1.3 Maintenance area

1.4 INSTALLATION SPECIFICATIONS

Refer to specification of Section 3.1 about installation specifications.

-6-
B-83154EN/01 2.CONNECTION WITH THE CONTROLLER

2 CONNECTION WITH THE CONTROLLER

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

CAUTION
1 Before connecting the cables, be sure to turn off the controller power.
2 Don’t use 10m or longer coiled cable without untying. The long coiled cable will
heat and damage itself.

WARNING
Before turning on controller power, be sure to connect robot and controller with
the earth line. Otherwise, there is the risk of electrical shock.

Robot

Controller

Power,signal cable
earth cable
Connector for
end effector
Connector for
power

Connector for
signal
Tap hole for mounting
of earth terminal

Fig. 2.1 Cable connection

-7-
3.BASIC SPECIFICATIONS B-83154EN/01

3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION

J1 link B
Connector panel

J2 link B
J3 link B

J1 link A J2 link A J3 link A

AC servo motor
for J4-axis (M4) J3 link B
J2 link B

J1 link B
J4-axis universal
joint

End effector
mounting face

AC servo motor
for J2-axis (M2)

AC servo motor AC servo motor

for J1-axis (M1) for J3-axis (M3)

Fig. 3.1 (a) Mechanical unit configuration (M-3iA/6S)

-8-
B-83154EN/01 3.BASIC SPECIFICATIONS

J1 link B

Connector
panel

J2 link B
J3 link A

J1 link A J2 link A J3 link A

AC servo motor AC servo motor

AC servo motor for J6-axis (M6) for J5-axis (M5)
for J4-axis (M4)
J2 link B J3 link B
J4-axis universal
J6 casing J1 link B joint

J6-axis universal J5-axis universal

joint joint
J5 casing
J4 casing
End effector
mounting face
AC servo motor
for J2-axis (M2)

AC servo motor AC servo motor

for J1-axis (M1) for J3-axis (M3)

Fig. 3.1 (b) Mechanical unit configuration (M-3iA/6A)

-9-
3.BASIC SPECIFICATIONS B-83154EN/01

+
Z
-
-
X Y
+ - +

+ +
J5 (M-3iA/6A) J4 (M-3iA/6A)
- + -
-
J4 (M-3iA/6S)
J6 (M-3iA/6A)
Fig. 3.1 (c) Each axes coordinates

- 10 -
B-83154EN/01 3.BASIC SPECIFICATIONS
Table 3.1 Specifications
M-3iA/6S M-3iA/6A
Type Parallel link mechanism robot
Controlled axes 4-axes (J1, J2, J3, J4) 6-axes (J1, J2, J3, J4, J5, J6)
Installation Upside-down
J1-J3 Diameter 1350 mm, Height 500 mm
720º (4000º/sec) 720º (2000º/sec)
J4
12.57 rad (69.81 rad/sec) 12.57 rad (34.90 rad/sec)
Motion range
300º (2000º/sec)
(Max.speed)(Note1) J5
5.24 rad (34.90 rad/sec)
720º (2000º/sec)
J6
12.57 rad (34.90 rad/sec)
Max.payload (Note 2) 6kg
Repeatability ±0.1mm
Dust.proof and drip.proof mechanism Conform to IP67
Drive method Electric servo drive by AC servo motor
Weight of mechanical unit 160kg 175kg
79.2dB
This value is equivalent continuous A-weighted sound pressure level
that applied with ISO11201 (EN31201). This value is measured with
Weight of mechanical unit the following conditions.
- Maximum load and speed
- Operating mode is AUTO
Ambient temperature: 0 to 45℃
Ambient humidity: Normally 75%RH or less
(No dew or frost allowed)
Installation environment Short time 95%Rh or less (Within 1 month)
Permissible altitude: Above the sea 1000m or less
Vibration: 0.5G or less
Free of corrosive gases (Note 3)

NOTE
1 It does not arrive at each axial maximum speed at the short movement distance.
2 Refer to Section 3.3 about load condition of wrist.
3 Contact the service representative, if the robot is to be used in an environment
or a place subjected to severe vibrations, heavy dust, cutting oil splash and or
other foreign substances.

- 11 -
3.BASIC SPECIFICATIONS B-83154EN/01

3.2 MECHANICAL UNIT OPERATION AREA AND

INTERFERENCE AREA
Fig. 3.2(a), (b) shows the robot interference area. When installing peripheral devices, be careful to clear
away any objects that are the robot and the robot’s motion path in normal operation.

5 0
13
O
37
1124.04

881.04
200
100

300

O 900
O 1350

Fig. 3.2 (a) Interference area (M-3iA/6S)

- 12 -
B-83154EN/01 3.BASIC SPECIFICATIONS

0
35
O1
37
1189.04

946.04
200
180

100
75

300

100
10

30 °
O 900
O 1350

Fig. 3.2 (b) Interference area (M-3iA/6A)

- 13 -
3.BASIC SPECIFICATIONS B-83154EN/01

3.3 WRIST LOAD CONDITIONS

Fig. 3.3 (a), (b) are diagrams to limit loads applied to the wrist.
• Apply a load within the region indicated in the graph.
• See Section 4.1 about mounting of end effector.

0.5cm
1cm
1.5cm
2cm
4cm

10cm

X,Y(cm)
1 6kg
2 Izz<0.01kgm 2
3
4
5 5.2cm 4kg
6 Izz<0.008kgm
2

7 7.6cm
8
9 8.4cm
10
11 3kg
12 11.9cm Izz<0.0065kgm2
13
14
15 2kg
16cm Izz<0.0055kgm2
16
17
18 1kg
19 Izz<0.004kgm2
20
0.1kg
21 Izz<0.003kgm
2

22
22.5cm
23
11 10 9 8 7 6 5 4 3 2 1
Z(cm)
Fig. 3.3 (a) Wrist load diagram (M-3iA/6S)

- 14 -
B-83154EN/01 3.BASIC SPECIFICATIONS

5.3cm
8.2cm
11.2cm
20.3cm 14.8cm
X,Y(cm) 6kg
1 Ixx (Iyy) <0.06kgm2
2 Izz < 0.09kgm 2
2.5cm
3
4 4kg
4.7cm Ixx (Iyy) < 0.04kgm2
5 Izz < 0.06kgm2
6 6.4cm
7
8 3kg
9 Ixx (Iyy) <0.025kgm2
9.4cm Izz < 0.035kgm2
10
11
2kg
12 Ixx (Iyy) <0.018kgm2
13 Izz < 0.020kgm 2
14
15 1kg
16 Ixx (Iyy) <0.01kgm2
17cm Izz < 0.01kgm2
17
18
21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Z(cm)

Fig. 3.3 (b) Wrist load diagram (M-3iA/6A)

- 15 -
4.MECHANICAL COUPLING TO THE ROBOT B-83154EN/01

4 MECHANICAL COUPLING TO THE ROBOT

4.1 MECHANICAL COUPLING OF END EFFECTOR TO WRIST
Fig. 4.1(a), (b) is the figure for installing end effectors on the wrist. Select screws and positioning pins
of a length that matches the depth of the tapped and pin holes.
See Appendix B “Bolt tightening torque” about tightening torque.

CAUTION
Notice the tooling coupling depth to wrist flange should be shorter than the
flange coupling length.

101
37
O.6 H7 depth 6
4.2
4-M6 depth 10
Equally spaced
B
8

45°
37.8

6min.
O25 H7
O 25 H7

O 50 h8
O 20

Effective O 40
length
38.5

11.5

Section B-B 8
B View A
2.8

Fig. 4.1 (a) End effector interface (M-3iA/6S)

- 16 -
B-83154EN/01 4.MECHANICAL COUPLING TO THE ROBOT

45°
B

O 6 H7
6 4-M6 depth 10
Equall spaced

0
O4
+0.021

-0.025
0

0
O 25

O 50 h7

6 Max

Section B-B
Fig. 4.1 (b) End effector interface (M-3iA/6A)

4.2 EQUIPMENT MOUNTING FACE

As shown in Fig. 4.2 (a), (b) tapped holes are provided to install equipment to the robot.

CAUTION
Never perform additional machining operations such as drilling or tapping on the
robot body. This can seriously affect the safety and functions of the robot.

NOTE
Note that the use of a tapped hole not shown in the following figure is not
assured. Please do not tighten both with the tightening bolts used for mechanical
unit.

CAUTION
Equipments should be installed so that mechanical unit cable does not interfere.
If equipments interfere, the mechanical unit cable might be disconnected, and
unexpected troubles might occur.

- 17 -
4.MECHANICAL COUPLING TO THE ROBOT B-83154EN/01

2-M6 depth 13
(When robot is shipped, M6 stainless

12
5
bolts and washers are attached.)

120

25
25 10 10

20
4-M8 depth 17 75

30°
Detail A Detail B
307
881.04

A
B
Fig. 4.2 (a) Equipment mounting faces (M-3iA/6S)

- 18 -