Standard specifications

FD11 controller

11th edition

1808, SFDEN-006-011,001
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Table of contents

1. Basic Specification.............................................................................................................. 2
2. Control Specification........................................................................................................... 3
2.1 Standard functions ....................................................................................................................... 3
2.2 Changing specification................................................................................................................. 5
2.3 Option functions........................................................................................................................... 6
3. Controller Appearance...................................................................................................... 14
3.1 Controller dimensions ................................................................................................................ 14
3.2 Teach pendant and operating panel........................................................................................... 15
3.3 Additional box dimensions ......................................................................................................... 16
3.4 Additional axes BOX (transformer less spec.) dimensions ........................................................ 17
3.5 Additional axes BOX (transformer spec.) dimensions................................................................ 18
3.6 User interface panel................................................................................................................... 19
3.7 Layout for option part installation (inside of cabinet).................................................................. 20
3.8 Layout for option part installation (inside of additional cabinet).................................................. 21
4. Transporting...................................................................................................................... 22
5. Installation......................................................................................................................... 23
5.1 Installing dimensions ................................................................................................................. 23
5.2 Installing place ........................................................................................................................... 23
5.3 Installing method........................................................................................................................ 24
6. Type of controller .............................................................................................................. 25
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1. Basic Specification
Item Specification
Controlled axis Simultaneous 6 axes (maximum 8 axes as option)
Servo motor AC servo motor
Position reader Absolute encoder
Programming language Teaching playback
Program number 9,999 programs
Memory capacity 256MB (2,560,000 steps equivalent)
5.7 inches color LCD (640*480, with back light, 65,536 color display)
standard cable length 8m (direct inlet specification)
Teach pedant single hand 3 position enable switch (left hand), touch panel,
IP65 equivalent, Weight 0.96Kg, Cable diameter φ8.3mm
Mode select switch (teach/playback), Emergency stop button,
Operating panel
Motor ON button, Start button, Stop button
Safety function PLd (category 3)
Category 0 stop
Emergency stop and external emergency stop in teach mode,
Teach enable switch (mat switch), G-STOP (protective stop) in teach
mode
Category 0 is stopping robot by turning off the servo power immediately.
Category 1 stop
Stopping category (*1) Emergency stop and external emergency stop in playback mode,
Safety plug, G-STOP (protective stop) in playback mode, Hold
Category 1 is stopping robot after deceleration done, then turning off the servo
power.
Category 2 stop
Stop, Pause
Category 2 is stopping robot after deceleration done. Servo power is kept on.
Cables to robot standard cable length 5m (direct inlet specification)
Memory device Flash memory
External memory device USB memory (USB memory itself is not accessory of controller)
Interface panel on front door inside, side panel and rear panel (refer to another
User interface sheet) (When hardware option is added, some place may not be available to
use.)
Construction Full closed cabinet
Dust proof, drip proof IP54 equivalent
Cooling Indirect cooling method
AC200V – 220V +/- 10% （3 phase, 50/60Hz） D grounding
Main circuit breaker 40A, Leak current maximum 100mA
Standard <Consuming power>
Primary power supply (*2) While robot’s moving : Refer to the specification sheet for each robot
While power saving : 0.13kVA (cooling fan is activating),
0.08kVA (cooling fan is stopping)
Power supply for AC200V +/- 10%, 2 phase, 50/60Hz, 5A at maximum
interface circuit DC24V 0.8A at maximum
Ambient temperature 0 – 45 degree (50/60Hz）
Ambient humidity 20 – 85% (no dew)
Installation Not higher than 1,000 meters above sea level
Standard
W580*D542*H590 mm (not including the height of stand 60mm)
External dimension (*3)
Standard Weight (*3) Approx.62Kg
Color Munsell 10GY9/1
Others Conforms to RoHS
(*1) Please refer to the FD controller instruction manual “SETUP” or “External Input / Output”.
(*2) In power saving, motor power is turned off and robot arm is held by brake.
(*3) External dimension and weight may vary due to the robot type, primary power voltage, option and or so.
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2. Control Specification

2.1 Standard functions

Functions Abstract
Linear interpolation; XYZ parallel movement on robot coordinate system
(based on the world wide standard JIS B8437)
Fixing TCP; Changing robot attitude while fixing TCP point
Interpolation
Tool coordinate; XYZ parallel movement on tool coordinate system
Circular interpolation; Movement on circle by determined with 3 points. Start
point and end point can be designated individually.
TCP speed is limited 250mm/sec under following condition.
1. Low speed signal input
Low speed playback
2. Check GO/BACK operation
3. First step playback after STEP number is designated
TCP linear speed 1 - 5000mm/sec（0.1mm/sec unit）
Time 0.01 - 100sec（0.01sec unit）
Speed definition
Power ratio 1.0 - 100.0 %（0.1% unit）
Tool angle speed 1 - 500deg/s (1deg/s unit)
Playback speed can be varied 1 - 150% without changing recorded speed.
Speed override
In teach mode, recorded position can be confirmed step by step or continuously, and
Check GO/BACK forward / backward.
(Functions also can be played back.)
8 degrees (0 - 1000mm) of in position accuracy can be designated on every step.
Accuracy
And in-position or path-through can be designated also.
Tool designation 32 different tools can be designated on every step.
Automatic tool length
Tool length is calculated by playback designated program.
calculator
Automatic tool weight
Tool weight and COG is calculated by playback designated program.
and COG calculator
Automatic tool moment
Tool moment of inertia is calculated by playback designated program.
of inertia calculator
Self checking Self check the error of robot and controller. (700 kind of errors)
Check the condition of robot and controller all the time.
Error detection
Robot stops immediately when error happens.
Maximum 2,048 logical inputs and 2,048 logical outputs are available as standard.
Logical I/O
I/O card is option.
Signal assignment Port assignment and positive/negative logic of all I/O is available.
1. Screen editor
Addition, deletion and copy of every move step and function is available.
Recorded position can be also edited.
2. Copy utility
Editor Recorded program and step can be copied.
3. Program conversion
Condition & speed, each axis angle, parallel shift, etc.
4. Program Certification
File directory, file verify
 Page-4

Functions Abstract
Machine lock This can check I/O by playback program, keeping robot stationary.
This can check program flow by changing logical I/O from teach pendant, keeping
I/O simulation
physical I/O locked.
This can protect program to avoid the modification and deletion by careless
Memory protect
operation.
This can save energy by motor power off and brake lock after pre-determined time
Power saver passed with no movement. When more time passed, fan motors inside of cabinet will
stop for further power saving.
Real time monitor of following data;
1. Robot program
2. Error logging
3. Fixed I/O
Monitor utility
4. General usage I/O
5. Program queue
6. Operating time
7. PLC program (ladder monitor), and or so
Help message Operations and function explanations are displayed on teach pendant.
(Built-in manual) And graphical troubleshooting manual is also displayed.
Customization Software keys are re-locatable for better operation.
When main power is down while playback robot, all necessary data is back upped
Power failure backup
for easy restarting of the robot after power on.
Program queue Up to 10 programs to be played back can be reserved.
Home position Up to 32 home position can be defined. Home position signal is outputted.
- General usage signal output
- General usage signal input
Functions - Program flow control (step jump/call, program jump/call)
- Timer delay
- Welding, and or so
Pushbuttons and lamps can be arranged on teach pendant touch panel screen.
Operating switches and indicators are replaced to software, so this utility can
Interface panel
contribute to cost down.
Available to register up to 31 keys /screen * 8 screens = 248 keys
Ethernet File upload and download via Ethernet is available. (1 port)
Serial interface RS232C communication is available. (1 ch)
This is software programmable logic controller.
Built-in PLC Physical I/O board (another option) is necessary to perform I/O actually.(Refer to
hardware option)
In the case operation mistake or unexpected interference occurs during teaching
High Speed Interference
work, this function can detect it as a contact with outside world, and stops the robot
Detection
immediately.
This is to prevent from trouble occurrence by estimating the lifespan of bearings in
Overhaul Prediction each robot arm and by detecting torque over.
Furthermore, this function can predict the overhaul timing of robot.
 Page-5

2.2 Changing specification

No. Item Specification

Primary power voltage
For out of the standard primary power voltage (AC200 - 220V).
AC 380/400/420/440/460/480V +/-10%, 3φ 50/60Hz， D grounding
Different primary AC580/600V +/-10%, 3φ 50/60Hz， D grounding
1 power voltage [North America specification]
(*1) Controller type; FD11-1101 Breaker 15A
[Except for North America specification]
Controller type; FD11-0100 Breaker 30A
Connection
Cable length can be changed up to
1 Cable to robot 5m, 10m, 15m, 20m, 25m (direct inlet and connector specification)
Total cable length 25m at maximum
Cable length can be changed up to
2 Cable to T/P
8m, 15m, 25m, 30m (direct inlet specification)
Overseas specification
Some parts are replaced to conform to North America standard :
For North America
1 ANSI/RIA R15.06:1999 and NFPA79
(*1)
Controller type; FD11-1101
Some parts are replaced to conform to European standard : CE marking
For Europe (Controller type; FD11-0100 + CE specification (FD11-SEQMAIN-05)
2
(*1) Please refer to “6. Type of controller” for the detail of teach pendant and wire
harness.

(*1) Additional box for transformer is necessary on the standard cabinet. External dimension of controller is changed to
W580*D542*H1180 mm (not including the height of stand 60mm).
 Page-6

2.3 Option functions

< Hardware option >

Analog I/O
Conveyor synchronizing
CC-Link
InterBUS 1node / 2nodes
FL-net slave
Relay unit
Multiplied I/O (NPN)

EtherNet I/P
DeviceNet
Profibus
Profinet slave 1node/2nodes
Multiplied I/O (PNP)
Front view CC-Link IE Field
EtherCAT slave

Slots
Option cards can be inserted to any slot. But they need to be inserted from the left to the right (on the order of ① to ⑭).

No. Item Specification Parts No.

Memory
Used to backup program and constant. (Insertion port
is equipped as standard on teach pendant.)
1 USB memory
1GB FD11-OP93-A
4GB FD11-OP93-B
Additional Axes
Spot welding gun is servo controlled. Additional amplifier may be
Gun specification (gun quantity, gun change) and necessary according to
1 Gun axis simultaneous usage with another aux. axes depends total axis number *4
on the individual application.

Slider unit is servo controlled.

2 Slide axis
Positioner is servo controlled.
3 Positioner axis
Gripper is servo controlled.
4 Gripper axis
Motor power line and brake line of aux. axes is
connected / disconnected one by one to enable of
individual servo ON/OFF irrelevant from robot.
Servo ON/OFF control of This utility is convenient to operate robot when aux.
5 mechanism by axes has fatal error.
mechanism
1 axis FD11-OP80-A
2 axes FD11-OP80-B
2 axes at the same time FD11-OP80-C
For servo tuning procedure, the velocity and the FD11-OP142-A
current wave shape can be outputted with analog
Servo analog
6 voltage. A D/A converter IC and connection cable is
monitor
attached.
 Page-7

No. Item Specification Parts No.

Interface
Fieldbus is available up to 4 channels with the
combination of master, slave and master+slave.
(Maximum channel quantity may vary according to
Fieldbus specification and combination with other
options.)

CC-Link AX10-OP98-B
CC-Link (applicable to Ver.1.10) AX10-OP98-C
CC-Link IE Field FD11-OP155-A
FL-net slave FD11-OP101-B
EtherCAT slave FD11-OP169-B
INTERBUS 1 node AX10-OP100-A
1 Fieldbus *1 INTERBUS 2 nodes AX10-OP100-B
Profinet 1 slave AX10-OP136-B
Profinet 2 slaves AX10-OP136-D
EtherNet IP AX10-OP130-# (# = A-E)
DeviceNet AX10-OP131-# (# = A-E)
Profibus AX10-OP132-# (# = A-E)
(A：Master)
(B：Slave)
(C：Master+Slave)
(D：Slave+Slave)
(E：Master+Master)

I/O board UM356 is added in PCI slot. Maximum 96

inputs and 96 outputs can be available by adding
three I/O boards.

Input DC24V : no pole, Input resistance 3kΩ/ 8mA)

Output DC24V : NPN, output voltage DC36V,
Multiplied I/O output current 100mA)
2
*1 PNP adding 32 points FD11-OP151-A
PNP adding 64 points FD11-OP151-B
PNP adding 96 points FD11-OP151-C
NPN adding 32 points FD11-OP125-A
NPN adding 64 points FD11-OP125-B
NPN adding 96 points FD11-OP125-C
Output signal is outputted through relay contact. (This
option is used with “Multiplied I/O” specification)
Relay contact board mounted inside of front door can
support 32 relay contact outputs. Maximum two relay
contact boards can support up to 64 relay contact
3 Relay contact output outputs.

PNP adding 32 points FD11-OP118-AP

PNP adding 32 points FD11-OP118-BP
NPN adding 32 points FD11-OP118-AN
NPN adding 64 points FD11-OP118-BN
 Page-8

No. Item Specification Parts No.

Others
Vision system can see the target such as work-piece
Vision
by camera, and measure its position. Control unit is
1 sensor
stored inside of controller.
*2
Analog camera FD11-OP139-A
Built-in vision sensor

Built-in vision sensor

Built-in

Digital camera FD11-OP139-G

Built-in vision sensor

Built-in vision sensor

Vision system can see the target such as work-piece

by camera, and measure its position. Control unit is
stored in added box

Analog camera FD11-OP139-B

Added
box Front view Right side view Back view

Digital camera FD11-OP139-F

Front view Right side view Back view

 Page-9

No. Item Specification Parts No.

Random dot pattern is irradiated to the target from FD11-OP139-C
projector and the whole of target is caught by two
stereo cameras to measure the position and attitude
of the target. This system needs an additional box
(different from above box.)

3D
matching

Front view Right side view Back view

Furthermore, following option is necessary.

Projector parts (power cable 5m) CFD-OP139-P01-05
Projector parts (power cable 10m) CFD-OP139-P01-10
Projector parts (power cable 15m) CFD-OP139-P01-15
Camera parts CFD-OP139-C02
Analogue I/O interface board is added.
2 Analogue I/O *1
Input 2ch (-10 to +10V) AX10-OP46-A
Output 4ch (-10 to +10V) AX10-OP46-B
To perform conveyor synchronized motion, speed
signal receiver board is added. NACHI prepares the
conveyor pulse transmitter unit also.

Specification of receiver board:

Conveyor
3 Differential input (conforming to RS-422),
synchronization *1
Terminating register 100Ω (can be set by SW on
board), Response frequency 1MHz max

PCB to receive conveyor speed signal FD11-OP47-A

Conveyor pulse transmitter unit AW10-OP47-A
Main circuit breaker is replaced to the leakage
detection type.

Leakage detection circuit breaker

Leakage detection
4
circuit breaker *3

Front view (Door is opened)

200V (Sensitivity current 100mA) FD11-OP106-A

400V (Sensitivity current 100mA) FD11-OP106-B
Brake release can be forcibly released when motor
5 Brake release SW power is impossible to be turned on.
 Page-10

No. Item Specification Parts No.

Mounted inside cabinet FD11-OP90-D

Front view (Door is opened)

Portable type (cable length 5m) FD11-OP90-E

Mounted on the door panel FD11-OP90-F

Front view

Controller primary power can be switched ON/OFF by FD11-OP18-A

the signal from external device.

External power
6
ON/OFF control

Front view Back view

Operating panel on cabinet is removed and mounted

on separate box.

To operation
box
Separate operation To T/P
7
box

Back view
Cable length 5m FD11-OP64-A-C05
Cable length 10m FD11-OP64-A-C10
Cable length 15m FD11-OP64-A-C15
Cable length 20m FD11-OP64-A-C20
 Page-11

No. Item Specification Parts No.

Regenerative discharge resistor is upgraded for high
duty motion such as palletizing.

High-duty specification FD11-OP65-B

Upgrading of
8 regenerative Left side view
discharge resistor

High-duty specification (LP-series) FD11-OP65-C

Left side view

By using an external signal instead of the mode FD11-OP20-A
selection switch on the operation panel, the operation
mode can be selected. When this option is installed,
the operation panel is removed from the controller and
cannot be used.

External mode
9
selection

Front view
Front view (Door is opened)

A Robot Monitoring Unit (RMU20) that monitors the FD11-OP145-A

robot position and the robot speed is added. In this
option, an exclusive IPM drive unit is necessary.

Robot Monitoring
10
Unit (RMU20)

Front view (Door is opened)

*1: Extension PCI slot in PCB rack is allocated to these options. 3 PCI slots are prepared.
 Page-12

*2: This utility occupies the standard Ethernet port on CPU board.
So if Ethernet utility is necessary, another Ethernet option [FD11-OP83-A] is necessary.
Furthermore, servo ON/OFF control of mechanism by mechanism [FD11-OP80-C] (2 axes at the same time) can not be
used.
*3: If leakage detection circuit breaker is prepared by customer at the primary power supply, its sensitivity current should be
100mA or higher.
*4: 8 axes additional option [FD11-OP124-A (transformer spec.), FD11-OP124-C (transformer-less spec.)] is necessary.

<NOTES> Combination of options

・ Built-in vision sensor [FD11-OP139-A,-G] and External power ON/OFF control [FD11-OP18-A] can not be used at the
same time. Also Built-in vision sensor [FD11-OP139-A,-G] and Servo ON/OFF control of mechanism by mechanism
[FD11-OP80-A,-B,-C] can not be used at the same time. (These limitations are due to the physical interference. So
FD11-OP139-B,C and F options have no limitation because these options need an additional box.)
・ In case of CE specification, Brake release SW in the cabinet [FD11-OP90-D] can not be used. Please select Brake release
SW on the door [FD11-OP90-F].
・ When using "External power ON/OFF control" [FD11-OP18-A] and "8 axes additional option" at the same time, 8 axes
additional option [FD11-OP124-D (transformer spec.), FD11-OP124-E (transformer-less spec.)] is necessary.
・ The "Robot Monitoring Unit" [FD11-OP145-A] and the "Built-in vision sensor" [FD11-OP139-A,-G] can not be used at the
same time. "2 axes" of "Mechanism by mechanism servo ON/OFF" [FD11-OP80-C] is also unavailable with this option.
 Page-13

< Software option >

This table shows the function that can be realized by only software.
No. Item Specification
Synchronizing Enabling the synchronizing control between robot and positioner, or robot and
1
control robot.
Enabling the simultaneous control / individual control by registering robot and
2 Multi-unit control
aux. axes as “unit”.
Palletizing and de-palletizing teaching can be programmed by easy pattern
3 Palletizing
definition.
Adaptive motion
4 Enabling to drive each joint softly.
control
Enabling to monitor the servo data such as velocity, current, etc. of each joint by
5 Oscilloscope
graphical display on teach pendant.
Endless rotating Enabling to operate the joint endlessly rotating to one direction.
6
function Position endless, velocity endless and selectable endless need this function.
Recorded point is played back with XYZ parallel shift amount.
7 XYZ shift Also including the function to detect the deviation of work-piece location and to
shift the robot locus. (Sensing device is not included.)
SLIM language is supported for complicate application.
8 Robot language
Enabling to improve the locus accuracy. Command is recorded in step.
9 Fine motion control
Japanese and English (standard)
10 Multi-lingual Korean, Chinese, Germany and Spanish (Option)

This is a function to communicate with an external device via Ethernet using a

USER-TASK program that includes various application functions. This function
Socket make it possible to check the variables in the robot controller or to check the
11
communication condition of the robot, or to acquire the position data from a vision-device of each
manufacture and change the shift register of this robot controller.

This is a DLL (Dynamic Link Library) that can run on the Windows OS PC. By
using this DLL, it becomes possible to connect the robot controller and the
Windows PC and send/receive various data (e.g. robot position, I/O signals, etc.)
12 Open NR-IF each other. This function can be used for remote monitoring application software,
or a traceability application software, etc.

< Document >

No. Item Specification
Document explaining the basic operation and setup operation and or so.
1 Instruction manual
Please select either of paper manual or CD manual.
 Page-14

3. Controller Appearance
3.1 Controller dimensions
 Page-15

3.2 Teach pendant and operating panel

Operation panel

Teach pendant
TP selector 175mm
switch

Emergency stop
button

LCD and touch

panel

326mm JOG dial

Sheet key

Sheet key
 Page-16

3.3 Additional box dimensions

Connector
Direct inlet
 Page-17

3.4 Additional axes BOX (transformer less spec.) dimensions

Connector
Direct inlet
 Page-18

3.5 Additional axes BOX (transformer spec.) dimensions

Connector
Direct inlet
 Page-19

3.6 User interface panel

 Page-20

3.7 Layout for option part installation (inside of cabinet)

 Page-21

3.8 Layout for option part installation (inside of additional cabinet)

 Page-22

4. Transporting

Transfer the controller to its installation place by use of a crane, a forklift, or a hand lifter.
When to transfer it by use of a crane, use eye bolts (at 2 portions). And when to use a
WARNING forklift or a hand lifter, transfer the controller so that it should not fall down.

The weight of the controller is approx. 62 kg. (standard single mechanism)

Confirm the actual mass by the label pasted on the robot control unit because the mass
may vary under other specifications.
WARNING When working, put on protective gears such as a helmet, safety shoes and so forth, and
carry out the work while wearing safe working clothes appropriate for the work.

Printed boards and other precision devices are used in the controller; therefore do not
give any impact during transfer. When hoisting the controller using a crane, take care that
WARNING none of the parts on the controller will be damaged by the wires.

Rope to fix robot Wooden Protection pad

Folklift

Use shackles to affix the wire rope to the Wire rope

eye-bolt securely Withstand load
450 kg or more
Provide the following kind of shackles Length:
Withstand load : 0.9 t 1.5 m or more
JIS B2801
 Page-23

5. Installation

5.1 Installing dimensions

Although robot controller does not have any of the moving parts like the manipulator, it must still
be secured at its installation location without fail in order to prevent it from falling when it has been
installed in a high place or from toppling over when it has been installed on the floor.

5.2 Installing place

When installing the controller, leave a clearance of at least 100 mm between the controller and
the wall behind it in order to ensure proper ventilation inside the robot controller. To install a robot
controller and welding power supply, etc. on a place two or more meters in height such as a frame
base, a foothold as described below is required so that adjustment and maintenance, etc. can be
performed.

A robot controller has a through-hole for an external connection cable on its right side and back
side. To install a robot controller, secure a space of 400 mm at least for external connection cable.
 Page-24

5.3 Installing method

When the robot controller is to be installed on the floor, first fit M12 concrete anchors and secure
the support channels on the bottom of the controller to the anchor bolts using four M12 lock nuts
(M12). (Tightening torque: 42.2 N•m (431 kgf•cm))
If the floor is not strong enough, embed J-shaped anchor bolts in the floor and secure the robot
controller.

After the robot controller has been installed, shut the door completely, and check that the door has
been locked by the keys provided for this purpose. Dirt, dust and other foreign matter may find their way
inside the robot controller if its door is not completely shut, possibly causing it to fail. Also lock the circuit
breaker of the controller using the key provided for this purpose. Be absolutely sure to entrust the
safekeeping of the key for the circuit breaker padlock to a specially designated person or the person in
charge of safety management. (The padlock is to be provided by customer)
Door key can be locked. If necessary, lock them and a specially designated person or the person in
charge of safety management should charge the key.
 Page-25

6. Type of controller
Controller type
Primary
Specification transformer
power voltage
FD11-0000 Domestic (JIS) AC200V without transformer
FD11-1101 For North America (ANSI、NFPA79) AC400V, etc with transformer
FD11-0100 For both Domestic and Abroad AC400V, etc with transformer

Teach pendant type

FDTPFSJ □ - □ □ □□
08 (8m)
15 (15m)
Cable length (m)
25 (25m)
30 (30m)
L (Direct inlet)
Connection to controller
M (Connector)
2 (Icon with English)
Key sheet icon
3 (Icon with Chinese)

C (CE specification)
N (Standard specification)
One □ is one alphabetic character or number selected from table.

Wire harness type (Direct inlet)

Type Specification Typical applicable robot
A000F-J1-**-A Standard For large SRA series, ST series,
manipulator MC series (larger than 35kg),
A000F-J1-**-A-CE CE 3 wires MR series (larger than 35kg), etc
A000F-J1-**- B Standard For small MC series (smaller than 20kg),
manipulator MC10S,MZ12
A000F-J1-**-B-CE CE 2 wires MR20, etc
Z000F-J1-**-A Standard /
MZ
CE MZ03EL / MZ07 series
small series
Shared
(** is cable length ; 05: 5m, 10: 10m, 15: 15m, 20: 20m, 25: 25m)

Wire harness type (Connector)

Type Specification Typical applicable robot
HK100X-J1-**-A Standard For large SRA series, ST series,
HK100X-J1-**-U CE manipulator MC series (larger than 35kg),
HK100X-J1-**-UC UL/CE 3 wires MR series (larger than 35kg), etc
HK100X-J1-**-B Standard For small MC series (smaller than 20kg),
HK100X-J1-**-UB CE manipulator MC10S,MZ12
HK100X-J1-**-UCB UL/CE 2 wires MR20, etc
(** is cable length ; 05: 5m, 10: 10m, 15: 15m, 20: 20m, 25: 25m)
 http://www.nachi-fujikoshi.co.jp/

Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
Japan Main Office 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
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North America Headquarters Phone: 248-305-6545 Fax: 248-305-6542 42775 W. 9 Mile Rd. Novi, Michigan 48375, U.S.A

Indiana Service Center Phone: 248-305-6545 Fax: 248-305-6542 Greenwood, Indiana

Ohio Service Center Phone: 248-305-6545 Fax: 248-305-6542 Cincinnati, Ohio

South Carolina Service Center Phone: 248-305-6545 Fax: 248-305-6542 Greenville, South Carolina

Canada Branch Office Phone: 905-760-9542 Fax: 905-760-9477 89 Courtland Ave., Unit No.2, Concord, Ontario, L4K 3T4, CANADA

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Phone: Fax:
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+49-2151-65046-0 +49-2151-65046-90

Phone: Fax: Unit 3, 92, Kettles Wood Drive, Woodgate Business Park,
U.K. branch
+44-0121-423-5000 +44-0121-421-7520 Birmingham B32 3DB, U.K.

Phone: Fax: Obchodni 132, 251 01 Cestlice, PRAGUE-EAST

Czech branch
+ 420-255-734-000 +420-255-734-001 CZECH REPUBLIC

Phone: Fax: Ataturk Mah. Mustafa Kemal Cad. No:10/1A 34758

Turkey branch
+ 90-(0)216-688-4457 +90-(0)216-688-4458 Atasehir / Istanbul - TURKEY

NACHI AUSTRALIA PTY. LTD. http://www.nachi.com.au/

Robotic Division & Phone: Fax:
38, Melverton Drive, Hallam, Victoria 3803, , AUSTRALIA
Victoria office +61-(0)3-9796-4144 +61-(0)3-9796-3899

Phone: Fax:
Sydney office Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA
+61-(0)2-9898-1511 +61-(0)2-9898-1678

Phone: Fax:
Brisbane office 7/96 Gardens Dr,Willawong,QLD 4110, , AUSTRALIA
+61-(0)7-3272-4714 +61-(0)7-3272-5324

NACHI SHANGHAI CO., LTD. http://www.nachi.com.cn/

Phone: Fax: 11F Royal Wealth Centre, No.7
Shanghai office
+86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China

NACHI KOREA http://www.nachi-korea.co.kr/

2F Dongsan Bldg.
Phone: Fax:
Seoul office 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
+82-(0)2-469-2254 +82-(0)2-469-2264
Seoul 133-123, KOREA

Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable
for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.