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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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LR Mate 200iC line up LR Mate 200iC line 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

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Feature of LR Mate 200iC Feature of LR Mate 200iC

High wrist load capability Allowable moment is 155% higher than previous model. Allowable inertia is 200% higher than previous model.

Full covered arm IP67 when sever dust/liquid protection option is available

High rigidity Prompt and smooth motion is achieved

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 performance enhancement Motion performance enhancement

LR Mate 200iB Payload Reach J1 J2 Maximum speed J3 J4 J5 J6 Allowable moment Allowable inertia J4,5 J6 J4,5 J6 5kg 700mm 180 /sec 180 /sec 225 /sec 400 /sec 330 /sec 480 /sec 7.25Nm 5.21Nm 0.138kgm2 0.0708kgm2 +/- 0.04mm 45kg 0.8 sec (at 1kg) LR Mate 200iC 5kg 704mm 350 /sec 350 /sec 400 /sec 450 /sec 450 /sec 720 /sec 11.9Nm 6.7Nm 0.3kgm2 0.1kgm2 +/- 0.02mm 27kg 0.49 sec (at 1kg)

LR Mate 200iC LR Mate 200iC/5WP LR Mate 200iC/5C

Repeatability Weight
25-300-25 pick and place

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Motion performance enhancement Motion performance enhancement

LR Mate 100iB Payload Reach J1 J2 Maximum speed J3 J4 J5 Allowable moment Allowable inertia Repeatability Weight J4 J5 J4 J5 5kg 620mm 240 /sec 270 /sec 270 /sec 330 /sec 480 /sec 7.25Nm 5.21Nm 0.138kgm2 0.0708kgm2 +/- 0.04mm 38kg LR Mate 200iC/5H 5kg 704mm 350 /sec 350 /sec 400 /sec 450 /sec 720 /sec 11.9Nm 6.7Nm 0.3kgm2 0.1kgm2 +/- 0.02mm 27kg

LR Mate 200iC/5H

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Motion performance enhancement Motion performance enhancement

LR Mate 200iB/3L Payload Reach J1 J2 Maximum speed J3 J4 J5 J6 Allowable moment Allowable inertia J4,5 J6 J4,5 J6 3kg 858mm 140 /sec 150 /sec 160 /sec 400 /sec 330 /sec 480 /sec 7.25Nm 5.21Nm 0.138kgm2 0.0708kgm2 +/- 0.04mm 47kg LR Mate 200iC/5L 5kg 892mm 270 /sec 270 /sec 270 /sec 450 /sec 450 /sec 720 /sec 11.9Nm 6.7Nm 0.3kgm2 0.1kgm2 +/- 0.03mm 29kg

LR Mate 200iC/5L LR Mate 200iC/5LC

Enhanced Extended

1.5 times speed up

Enhanced

Repeatability Weight

Precision Lightest unit

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Wrist load capability enhancement Wrist load capability enhancement

Allowable GC offset at 5kg
LR Mate 200iC LR Mate 100iB,200iB

Wrist load capability is enhanced.

217% 0.3kgm2
5kg

5kg

80

68 163

164% 11.9Nm

129% 7.25Nm 106 6.7Nm

LR Mate 100iB,200iB LR Mate 100iB,200iB

141% 0.138kgm2 0.1kgm2 0.0708kgm2

LR Mate 200iC LR Mate 200iC LR Mate 100iB,200iB

137

5.21Nm
LR Mate 200iC LR Mate 200iC LR Mate 100iB,200iB

5kg LR Mate 100iB,200iB 5kg LR Mate 200iC

LR Mate 200iC LR Mate 200iC/5H

J4J5 moment J4 moment

J6 moment J5 moment

J4J5 inertia J4 inertia

J6 inertia J5 inertia
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Wide work envelope Wide work 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 Horizontal stroke Vertical stroke

704mm 457mm

Longest in its class Widest in its class

1187mm 111% of previous model

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Wide work envelope Wide work envelope

LR Mate 200iC/5L LR Mate 200iC/5LC

LR Mate 200iB/3L

LR Mate 200iC/5L

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Slim arm Slim arm

188 137 100 188 120 109

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
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Deference between 5 axes type and 6 axes type Deference between 5 axes type and 6 axes 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.
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Deference between standard arm and long arm Deference between standard arm and long 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 pressure washing LR Mate 200iC/5WP High pressure washing LR Mate 200iC/5WP
Features
Accept high pressure washing environment in a washing machine. No painting surface, Aluminum body.

Specification
Withstand 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

Notices
Dont stop air purge of specified pressure 10kPa regardless of the system running or stopping.
Air purge kit

Following cleaners are acceptable.

CLEANER CLEANMATE TOYOSOL TOYOSOL TOYOKNOCK YUSHIRO CLEANER YUSHIRO CLEANER PAKUNA DETEJENT 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

Stand alone battery kit

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Clean type LR Mate 200iC/5C, 5LC Clean type LR Mate 200iC/5C, 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 in the clean room. Special 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 example Application example

Load/unload from a lathe (with iRVision conveyor parts feeder)

Load/unload from ROBODRILL

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Specification Specification
Model Controlled axes Reach Installation (Note 1) J1 axis J2 axis Motion range (Maximum speed) J3 axis J4 axis J5 axis J6 axis Max. load capacity at wrist Allowable load moment at wrist (Note 2) J4 axis J5 axis J6 axis Allowable load inertia at wrist (Note 2) Repeatability Mass (Note 3) Ambient temperature : 045 Installation environment 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 J4 axis J5 axis J6 axis 0.3 kgm 2 0.1 kgm
2

LR Mate 200iC LR Mate 200iC/5C LR Mate 200iC/5WP

6 axes (J1J2J3 J4 J5 J6 704 mm

LR Mate 200iC/5H
5 axes J1 J2 J3 J4 J5

LR Mate 200iC/5L LR Mate 200iC/5LC

6 axes (J1 J2 J3 J4 J5 J6 892 mm 340 / 360(option) (270/sec) 5.93 rad / 6.28 rad(option) ( 4.71 rad/sec) 230 (270/sec) 4.01 rad ( 4.71 rad/sec) 373 (270/sec) 6.51 rad ( 4.71 rad/sec) 380 (450/sec) 6.63 rad ( 7.85 rad/sec) 240 (450/sec) 4.19 rad ( 7.85 rad/sec) 720 (720/sec) 12.57 rad ( 12.57 rad/sec)

Floor, Upside-down, (Angle mount) 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) 388 (400/sec) 6.77 rad ( 6.98 rad/sec) 380 (450/sec) 240 (450/sec) 6.63 rad ( 7.85 rad/sec) 4.19 rad ( 7.85 rad/sec) 240 (450/sec) 720 (720/sec) 4.19 rad ( 7.85 rad/sec) 12.57 rad ( 12.57 rad/sec) 720 (720/sec) 12.57 rad ( 12.57 rad/sec) Max. 5kg 11.9 Nm 11.9 Nm 6.7 Nm 0.3 kgm 2 0.1 kgm 2 0.02 mm 27 kg 6.7 Nm

11.9 Nm 6.7 Nm 0.3 kgm 2 0.1 kgm 2 0.03 mm 29 kg

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

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Work envelop and outer dimensions LR Mate 200iC Work envelop and outer 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 envelop and outer dimensions Work envelop and outer dimensions
( ) is for LR Mate 200iC/5L drip-proof type and LR Mate 200iC/5LC

LR Mate 200iC/5L LR Mate 200iC/5LC

Wrist rotation center

Motion range of the wrist rotation center

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Wrist interface Wrist interface

no drip-proof

Common to all type

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 for devices Dimensions for devices

Common to all type

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EE and air interface EE and air interface

Common to all type

LR Mate 200iC/5C, 5LC exhaust port PT1/4 LR Mate 200iC/5WP air purge fitting dia.6mm.

1 2 3 4 5 6

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 load diagram Wrist load 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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LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP LR Mate 200iC/5C LR Mate 200iC/5L LR Mate 200iC/5LC

Base load Base load

LR Mate 200iC, /5H, /5WP, 5C
Bending moment MV [Nm] Static load Dynamic load at acceleration Dynamic load at emergency stop 116.3 383.0 635.9 Force in vertical direction FV [N] 321.7 633.7 1101.4

Twisting moment MH [Nm] 0 224.3 470.4

Force in horizontal direction FH [N] 0 726.9 776.4

LR Mate 200iC/5L, /5LC

Bending moment MV [Nm] Static load Dynamic load at acceleration Dynamic load at emergency stop 138.5 335.6 727.8 Force in vertical direction FV [N] 333.2 586.5 992.6 Twisting moment MH [Nm] 0 169.8 514.5 Force in horizontal direction FH [N] 0 578.1 720.3

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LR Mate 200iC LR Mate 200iC/5H LR Mate 200iC/5WP

Transportation Transportation

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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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