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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