FUJI ROBOTICS

ROBOT MAINTENANCE GUIDE

ROBOT MODELS:
EC-61HS
EC-61HD
EC-101HS
EC-101HD
EC-171HS
EC-171HD
EC-201
EC-201HS
EC-201HD
EC-201W

2010
Fuji ACE Model EC-61HS / HD EC-101HS / HD EC-171HS / HD EC-201HS / HD EC-201W
Type of Motion Multi-Articulated

Action Mode Cylindrical

70kg (150lbs) / 70kg (150lbs) / 80kg (175lbs) / 70kg (150lbs) /
Load Capacity (Including End Effector) 320kg (700 lbs)
160kg (350lbs) 160kg (350lbs) 130kg (280lbs) 200kg (440lbs)
Palletizing Capacity (cycles / hour) 900 / 500 1300 / 800 1500 / 1000 1800 / 1600 600

Degree of freedom 4 axis

Z axis (vertical) 2300mm (90.5) 2400 mm (94.75") 2300 mm (90.5")

Operating R axis (longitudinal) 1500mm (59) 1600 mm (63.12") 1500 mm (59")

Area Theta axis (rotation) 330 (360 Option Available)

Alpha axis (wrist) 330

Repeatability + 0.5mm

Memory 400 programming locations available

Teaching method Teaching playback / Teaching Support

Power Requirements (208/220V, 3 phase, 50/60 Hz)

Power Consumption (Without Peripheral
2.3 Kva / 6 amps 2.5 Kva / 6.5 amps 4 Kva / 10.5 amps 6.5 Kva / 17 amps 7 Kva / 18.4 amps
Equipment Load)

Robot Weight (Without End Effector) 700 kg (1544 lbs) 750 Kg (1654 lbs) 1150 Kg (2536 lbs)

Pneumatic Consumption (*Using

Standard Fuji Case or Bag End Effector)
*5.7 SCFM @ 70 psi (.48 MPa)

Note: Specifications are subject to change without notice. Capacities as stated above are the maximum that may be achieved by the robot under
ideal conditions. Capacity rates can be significantly affected by layouts, product types, and can be confirmed after a detailed analysis of an
application. *Pneumatic consumption may vary with use of a third party End Effector.
 SAFETY
GENERAL PRECAUTIONS

(1)T he robot should only be operated by authorized and trained personnel.

(2)If, during operation, a problem occurs push an emergency stop button

immediately.
The emergency stop buttons can be found on the control box door and at
various places within the system.

(3)If entry into the working area (inside the safety guarding fence) of the
robot is required, while robot is running, the control power must be switched off
and switch key must be removed .

(4) During operation do not attempt to enter the guarded area.

(5) When the robot is operating, do not interfere with any limit switches or photo
electric sensors as this may cause unpredictable operation of the robot.

(6) Check the air filter at regular intervals, drain and empty it if necessary.

(7) Please do not use defective pallets:

The tolerance margins concerning the pallet dimensions are 10mm (length
and width) and 5mm (height) Pallets with damaged edge boards, deck
boards, nails or other protrusions must be repaired before use.

(8) Warning Messages including Battery Discharged shows up only when the
main switch becomes ON. T herefore it is recommended to switch OFF and
ON main power once a month.
 SAFETY
BEFORE OPERATING THE ROBOT

(1)Ensure the guards are closed and that all other safety items are in
perfect working order.
Unless these conditions are met the robot must not be started.

(2) Ensure that nobody is within the robot working area.

(3) Check the air pressure level with the gauge and if necessary adjust with the
regulator to 5kg/cm.
(4) Make absolutely sure that the "fingers" of the Hand are securely fixed.

(5) There must be an empty pallet at the loading position.

(6) Check that all ancillary robot systems are in good condition and that nothing
obstructs the robot working area.

ROBOT CELL SAFETY:

The overall robot cell safety system is to be designed by the system integrator
in compliance with the following standards and guidelines:

(1) ANSI/RIA R15.06-1999 (United States)

(2) CSA Z434-03 (Canada)
(3) ANSI/RIA/ISO 10218-1-2007 (International, adopted by the US in 2008)
(4) Any other national, local, and individual company requirements applicable
to the robot cell installation.
 ROBOT COMPONENT NAMES
EC-201 Components (Same for other models)

Alpha axis Work(Hand Gripper)

rotation

Beta axis Automatic hand width

adjustment (optional)

Raxis : Work (Hand Gripper)

Horizontal movement Zaxis Work (Hand Gripper)
Vertical movement

Theta axis
Robot Body Rotation

No. Name of Components

1. P axle
2. T axle
3. J axle
4. T axle Gyro Bracket
5. No. 2 Gyro Arm
6. No. 2 Arm
7. No. 1 Arm
8. Parallel Gyro Arm
9. Parallel Arm
 FUJI ROBOTICS
2010

PREVENTIVE MAINTENANCE CHART

Periodical Inspection
Daily
Item # Inspection Item inspection 3-6 months (refer
to Lube Chart) 5,000 hrs 10,000 hrs 20,000 hrs
1 Robot inspection: any appearance damage
2 Any abnormality in motion (change of position, etc.)
3 Any abnormal noise
4 Any abnormality in cables, hoses, piping
5 Check if any air leakage
6 Any deformation of the robot hand
7 Inspection of Alpha & Beta axis hand cables
8 Robot Lubrication
9 Inspection of cable connections
10 Inspection of Alpha & Theta axis reducers
11 Inspection of R & Z axis ball screws
12 Inspection of R & Z axis ball screw support bearings
13 Inspection of R & Z axis linear guides
14 Inspection of Theta axis bearing
15 Inspection of R, Z, & Theta axis timing belts
16 Check tightening of each bolt
17 Robot overhaul
FUJI ROBOTICS Fuji Robotics Lubrication Information

EC-61 & EC-101

Theta Axis

Grease
insertion point Lubrication Exit Location
(OLD grease will come
out of the top of the gear
reducer as new grease
is pumped in).
 FUJI ROBOTICS Fuji Robotics Lubrication Information

-Z Axis ball screw -R Axis ball screw

bearing bearing
EC-171

-Theta Axis bearing

-Gyro arm bushing

R Axis

Ball
Linear guide (right) Screw Linear guide (left)

Z Axis

Ball
Linear guide (right) Linear guide (left) Screw

Item Part Name Recommended Supply interval Grease supply method

Grease
Z axis ball screw By grease nipple, Please insert 15 18g
bearing
Half of initial supply
2000h or months when the oil
axis ball screw film is broken By grease nipple, Please insert 12 13g
bearing Half of initial supply
Theta axis slewing
bearing

Gyro Arm spherical

bushing
Shell
Alvania EP2 4000h or months when the oil
R axis Linear guide
film is broken Please fill from grease nipple until the new
R axis ball screw 2000h or months when the oil grease comes out. (Refer to image above)
film is broken
Z axis Linear guide 4000h or months when the oil
film is broken

Z axis ball screw 2000h or months when the oil

film is broken
FUJI ROBOTICS Fuji Robotics Lubrication Information

EC-201

Theta Axis Pulley

Lubrication Exit Location

(OLD grease will come Grease insertion point
out of the top of the gear
reducer as new grease
is pumped in).
 FUJI ROBOTICS Fuji Robotics Lubrication Information

Lubrication Chart Reference (EC-61, EC-101, EC-141, EC-171 & EC-201)

Ref # Part Name Lubricant Type Robot Model Replace Method

1 "Z" Axis Ball Screw
Integrated
2 "Z" Axis Linear Guide Lubrication - Use a
"Z" Axis Ball Screw grease nipple
3
Support Bearing
Shell Alvania EP2
4 "R" Axis Ball Screw In order to purchase Fujis Use a grease nipple
recommended grease visit Every 3-6 months or if Integrated
the Shell website to find a EC61 / EC101 /
5 "R" Axis Linear Guide the grease looks Lubrication - Use a
distributor near your area. EC141 / EC171
oily/watery (Viscosity grease nipple
(Select the Shell text below / EC201
break down)
"R" Axis Ball Screw for website) Shell Website
6 Select for Website link Use a grease nipple
Support Bearing

7 "" (Theta) Axis Bearing Use a grease nipple

Apply new lubricate to

8 Gyro Arm Spherical Joint
surface

Pump new grease into

reducer nipple until
"" (Theta) Axis Gear Every 6 months or
9 Shell Alvania RL2 EC201 the new grease
Reducer (EC201 Only) 5000 hours
comes out of top of
gear reducer
Fill in gear reducer,
Multi-temp FZ00 EC61 / EC101 /
re-assemble and rotate,
"" Axis Gear Reducer | EC141 / EC171
10 20,000 hours disassemble and add
(Alpha) | |
Molywhite RE00 EC201 grease as necessary

Lubrication Physical Characteristics

Typical Physical Characteristics Shell

Shell Alvania Shell Alvania
Shell Alvania Grease Alvania EP Molywhite RE00
EP 2 RL2
00

NLGI Consistency 2 2 00

Lithium
Soap Type Lithium Lithium Lithium
hydroxystearate

synthetic hydrocarbon
Base Oil (type) Mineral Mineral Mineral
oil + mineral oil

Kinematic Viscosity
189 100.0 189
@ 40C mm 2/s 31,1
15.6 10.2 15.6
(ASTM-D445)

Cone Penetration
Worked @ 25C 0.1mm 265-295 265-295 400-480 415
(IP 50/ASTM-D217)

Dropping Point C
(IP 132) 180 190 - 193

NOTE:

Using an alternative lubricate, that does not have the same Physical Characteristics as the recommended factory product may result
in device failure. (Failing to used the recommended lubricates above may void the factory warranty)

Please contact FUJI ROBOTICS if you need to change the Alpha-Axis and or Theta-Axis gear reducer, except EC-201.