FLEXhand

MAINTENANCE MANUAL
FH360-01
3rd Edition

■ Before attempting to operate the robot, please read through this operating
manual carefully, and comply with all the safety-related items and
instructions in the text.
■ The installation, operation and maintenance of this robot should be
undertaken only by those individuals who have attended one of our robot
courses.

■ This operating manual must be given without fail to the individuals who will
actually be operating the robot.

■ Please direct any in queries about parts of this operating manual which
may not be completely clear or any inquiries concerning the after-sale
service of this robot to any of the service centers of NRE (Nachi Robotic
Engineering) listed on the back cover.

1010, MFHEN-226-003, 001

 Table of Contents
Chapter 1 Basic Specifications............................................................................................................... 1-1

1.1 Hand Model ...................................................................................................................................... 1-1

1.2 List of Basic Specifications ............................................................................................................... 1-2
1.3 Outline Dimensions and Motion Range of Hand .............................................................................. 1-3
1.4 Names of Operating Axes ................................................................................................................ 1-4
1.5 Details of Hand Mounting Section .................................................................................................... 1-5
1.5.1 Details of hand attachment ........................................................................................................ 1-5
1.5.2 Details of adapter plate attachment (option).............................................................................. 1-6
1.6 Details of Claw Attaching Section..................................................................................................... 1-7
1.7 Wire Connections to Hand................................................................................................................ 1-8

Chapter 2 Precautions for Handling ....................................................................................................... 2-1

2.1 Names of Hand Components and Hazardous Points ...................................................................... 2-1

2.1.1 Names of hand components...................................................................................................... 2-1
2.1.2 Hazardous points....................................................................................................................... 2-2
2.2 Installation Location and Ambient Conditions .................................................................................. 2-2
2.3 Characteristics of Hand .................................................................................................................... 2-3
2.3.1 Grip mechanism......................................................................................................................... 2-3
2.3.2 Inside grip and outside grip........................................................................................................ 2-3
2.3.3 Parallel grip and cylindrical grip ................................................................................................. 2-4
2.3.4 Relationship between grip method and grip force ..................................................................... 2-5
2.4 Designing of Claw............................................................................................................................. 2-6
2.4.1 Relation between grip force and workpiece weight ................................................................... 2-6
2.4.2 Claw mounting dimensions........................................................................................................ 2-6
2.4.3 Permitted grip force according to the claw length ..................................................................... 2-7
2.4.4 Permitted COG position of work-piece ...................................................................................... 2-8
2.4.5 Offset load.................................................................................................................................. 2-9
2.4.6 Slant of claw attachment............................................................................................................ 2-9
2.5 Allowable Robot Wrist Load ........................................................................................................... 2-10
2.5.1 How to find the moment of inertia ............................................................................................ 2-11
2.6 Cautions to set the grip force.......................................................................................................... 2-12
2.7 Securing the lubrication .................................................................................................................. 2-12
2.8 Backup of memory data.................................................................................................................. 2-12
2.9 Characteristics of grip force............................................................................................................ 2-13

Chapter 3 Inspection and Maintenance ................................................................................................. 3-1

3.1 Inspection Items and Periods ........................................................................................................... 3-2

3.2 Inspection of Major Bolts .................................................................................................................. 3-3
3.3 Inspection of Wirings ........................................................................................................................ 3-4
3.4 Lubrication ........................................................................................................................................ 3-5
3.5 Battery Replacement ........................................................................................................................ 3-6

Chapter 4 Troubleshooting ..................................................................................................................... 4-1

4.1 Probing into Causes of Troubles ...................................................................................................... 4-1

4.2 Symptoms and Causes of Troubles ................................................................................................. 4-2
4.3 Checking Procedures and Counter Measures by Each Part ...................................................................... 4-3

(1)
 4.3.1 Fulcrum bearing ......................................................................................................................... 4-3
4.3.2 Ball screw, Ball spline and reduction gear................................................................................. 4-3
4.3.3 Brake.......................................................................................................................................... 4-3
4.3.4 Motor.......................................................................................................................................... 4-4
4.3.5 Encoder...................................................................................................................................... 4-4
4.4 Motor Replacement .......................................................................................................................... 4-5
4.4.1 Motor replacement procedure ................................................................................................... 4-5
4.4.2 Encoder Reset ........................................................................................................................... 4-9
4.4.3 Encoder Correction.................................................................................................................. 4-10
4.5 Bushing, Thrust washer and Collar Replacement.......................................................................... 4-12

Chapter 5 Recommended Spare Parts................................................................................................... 5-1

(2)
Chapter 1 Basic Specifications
1.1 Hand Model

FH 360 － 01

Specification No.

None: with arm rotation axis (3 fingers, 3

freedoms)
Finger type F2: arm fixed, 2 fingers (1 freedom)
F3: arm fixed, 3 fingers (1 freedom)

Grip force /10 360 means 3,600 N

(Total of all fingers)

FlexHand
Series name

FLEXhand and FlexHand is the registered trademark of NACHI-FUJIKOSHI CORP.

1-1
1.2 List of Basic Specifications

Table 1.2.1 List of Basic Specifications

Item Specification Notes

Type FH360-01

Number of fingers 3
Clamp axis and
Degree of freedom 2
Arm rotation axis
Drive system AC servo motor

Max. grip force 3,600 N Total of all fingers

Grip force adjusting range 1,000 ~ 3,600 N Total of all fingers

Clamp direction Both outside and inside

Max. weight of work-piece 25 kg *1

Accuracy of size measuring ±0.1 mm *2

Working Clamp axis 0 ~ 60 mm Per one finger

range Arm rotation axis 0 ~ 1.05 rad Per one finger

Max. Clamp axis 45 mm/s Per one finger

speed Arm rotation axis 1.57 rad/s Per one finger
Pearmitted claw length
150 mm *3
under max. grip force
Ambient temperature 0 ~ 45°C

Environment IP65 equivalent *4

Mass of hand 24.0 kg *5

*1: This is limited by the shape of claw, surface and shape of work-piece and gripping posture.
*2: Accuracy of size measuring is the relative measuring compared with the result using master gauge under
the same condition (same grip force and same clamp velocity). Absolute size can not be measured.
*3: Please refer to 2.4.3 Permitted grip force according to the claw lenth.
*4: The liquid which degrades the seal components such as organic solvent and cutting fluid containing acid,
alkali, chlorine, or gasoline, cannot be used.
*5: This does not include the mass of claws and adapter plate.

The specification and externals described in this document might change without a previous notice
for the improvement.

1-2
1.3 Outline Dimensions and Motion Range of Hand
Model: FH360-01

Fig. 1.3 Outline Dimensions and Motion Range of Hand

1-3
1.4 Names of Operating Axes

Model: FH360-01
Table 1.4 Names of Operating Axes

Axis name Operation Teach pendant button Remark

J1 Clamp X－ X＋ Mechanism enabled

J2 Arm rotation Y－ Y＋ Mechanism enabled

Arm rotation axis Clamp axis

Fig. 1.4 External Appearance and Operating Axes of Hand

1-4
1.5 Details of Hand Mounting Section

Be sure to screw the fixing bolts to the robot wrist flange not deeper than the thread tap
depth in the mounting surface. Screwing the bolts deeper than the thread tap depth may
cause damage to the robot wrist.
CAUTION

・To mount FLEXhand, special designed adapter plate for each robot model is necessary. Please refer
to 1.5.2 Details of adapter plate attachment (option).

・Fasten the hexagon socket head cap screws to proper torque listed in below using torque wrench.
Table 1.5 Proper Fastening Torque Table

Cap screw size Fastening torque

M6 13.8 N·m
M8 33.3 N·m
M10 67.0 N·m

1.5.1 Details of hand attachment

Model: FH360-01
To attach FLEXhand to the robot wrist, please use tap and pin hole marked “For mounting hand” in
the drawing.

Fig. 1.5.1 Details of Hand Mounting Section

1-5
1.5.2 Details of adapter plate attachment (option)

Model: FH360-01
To attach FLEXhand to the robot wrist, special designed adapter plate is necessary.
Note) At first attach the adapter plate to the robot wrist flange, and next, attach FLEXhand to the
adapter plate.

Fig. 1.5.2-1 Adapter plate (option) [for MC35/MC50/MC70、MR35/MR50]

(Part number：OP-W2-007) with fixing bolts and pins

Fig. 1.5.2-2 Adapter plate (option) [for ST133F/ST166F,ST133TF/ST166TF]

(Part number：OP-W3-008) with fixing bolts and pins
Notes) OP-W3-008 can be also used for MC35/MC50/MC70、MR35/MR50 robots. But in this case, additional bolts and pins
listed below are necessary in stead of bolts and pins maked ★ in Fig. 5.2-2. Furthermore, hand length becomes longer
and hand weight becomes heavier. So OP-W2-007 (Fig. 5.2-1) is recommended.
Additional blts and pins when OP-W3-008 is applied to MC35/50/70，MR35/50 robots
・ Bolts: M8X2，6 bolts
・ Pins: φ8X20，2 pins

1-6
1.6 Details of Claw Attaching Section

Be sure to screw the fixing bolts not deeper than the thread tap depth. Screwing the bolts
deeper than the thread tap depth may cause damage.
CAUTION

・Fasten the hexagon socket head cap screws to proper torque listed in below using torque wrench.
Table 1.6 Proper Fastening Torque Table

Cap screw size Fastening torque

M5 8.1 N·m

Note that materials never

intefer with fingers and
work-piece

Fig. 1.6 Details of Hand Mounting Section

1-7
1.7 Wire Connections to Hand

Fig. 1.7.1 Wiring Arrangement

Upper number is in case of 6 axes robot.

Lower number（ ） is in case of 7 axes robot.

As for the connector

number of robot side,
please refer to the robot
maintenance manual.

Fig. 1.7.2 Wiring Connections

Except above drawing, another wire from the robot to the hand is necessary. And bracket varies
according to the robot type. Please contact to NACHI service for the details of it.

1-8
Chapter 2 Precautions for Handling
2.1 Names of Hand Components and Hazardous Points
2.1.1 Names of hand components
Model: FH360-01

Fig. 2.1.1 Names of Hand Components

2-1
2.1.2 Hazardous points

Never insert human’s hand and finger into the FLEXhand. If this behavior is needed by
some reason, press emergency stop button before doing this.
WARNING

Model: FH360-01

This mark indicates the

location of a power supply.

This mark indicates a

hazardous point where you
can get caught in the hand.

Fig. 2.1.2 Hazardous Points

2.2 Installation Location and Ambient Conditions

1. Location with an ambient temperature ranging from 0°C to 45°C.

2. Location with an ambient humidity ranging from 20 to 85%RH with no dew condensation.
3. Location with the least dirt, dust, oily smoke, or water.
4. Location with no flammable or corrosive fluid or gas.
5. Location exposed to no substantial impact or vibration.
6. Location not close to a substantial electric noise source.
7. Location with a vibration value not more than 0.5G (equal to 4.9 m/s2).

2-2
2.3 Characteristics of Hand
2.3.1 Grip mechanism
This hand incorporates a servomotor to move the fingers. Its mechanism is explained below.
Table 2.3.1 Grip Mechanism
Operation Feature
1. Operate the clamp axis to move the hand to a 1. After gripping workpiece, two controls are
position in which all fingers come into contact with selectable; those are keeping grip force by the
workpiece. servo control or by brake lock.
2. After the fingers come into contact with the 2. Final clamp force becomes lower than the
workpiece, use the clamp axis to push the workpiece specified grip force (varying with the stiffness of
to a position in which the specified grip force is claw or workpiece).
produced, and then stop pushing it there. 3. Possible to arbitrarily change clamp force in
3. The brake is activated. order to implement the robot program.

2.3.2 Inside grip and outside grip

As shown in below, gripping workpiece while moving the fingers in the close direction is referred to as
the “outside grip”. In contrast, gripping workpiece while moving the fingers in the open direction is referred
to as the “inside grip”.
The grip direction can be freely changed by specifying the open or close direction with the clamp
function.

クランプ方向（閉方向）
Clamp direction (Close) アンクランプ方向
アンクランプ方向 Unclamp direction
Unclamp外掴み
direction クランプ方向（開方向）
内掴み
Clamp direction (Open)

Fig. 2.3.2 Workpiece Grip Direction

2-3
2.3.3 Parallel grip and cylindrical grip
Model: FH360-01
In case that arm rotation axis is 0 degree, finger A comes to a phase opposing the fingers B/C. Gripping
workpiece in this state is referred to as the “parallel grip”. In this state, 8.75mm offset exists between the
center of hand and the center of finger. (refer to the figure below)

Fig. 2.3.1 Parallel Grip

In case that arm rotation axis is 60 degrees, finger A, B and C make the cross phase of 120 degrees
each other. Gripping workpiece in this state is referred to as the “cylindrical grip”. In this state, the center
of hand coincides with center of finger. (refer to the figure below)

Fig. 2.3.2 Cylindrical Grip

2-4
2.3.4 Relationship between grip method and grip force
Grip force data is described as the total force generated by all fingers. Because of the mechanical
constructer, this total grip force is constant irrelevant with “cylindrical grip” and “parallel grip”. So grip
force per one finger varies according to “cylindrical grip” and “parallel grip”. In case of “cylindrical grip”,
grip force per one finger is 1/3 of total grip force.( refer to the figure below)
And as for the setting of grip force, refer to 2.6 Cautions to set the grip force.

Model: FH360-01

Fig. 2.3.3 Relationship between grip force and grip direction

2-5
2.4 Designing of Claw

Be sure to screw the fixing bolts not deeper than the thread tap depth. Screwing the bolts
deeper than the thread tap depth may cause damage.
CAUTION

Fasten the hexagon socket head cap screws to proper torque listed in below using torque wrench.
Table 2.4 Proper Fastening Torque Table

Cap screw size Fastening torque

M8 33.3 N·m

Customer is requested to design the claws suitable for the workpiece. The following section provides
information to design them.

2.4.1 Relation between grip force and workpiece weight

Design the claw so that the grip force will come to 10 to 20 times as large as the workpiece weight.
However, since workpiece that the hand is able to grip significantly varies with the shape of claw,
coefficient of friction, gripping posture, and the COG position of workpiece, give consideration to these
parameters to properly design the claw.

2.4.2 Claw mounting dimensions

Model: FH360-01

Fig. 2.4.1 Claw Mounting Spacing

2-6
2.4.3 Permitted grip force according to the claw length
As the claw length becomes loner, allowable grip force becomes smaller. Look at the figure below for
the reference.
・ Larger grip force rather ensures stable gripping of workpiece. Design the claw length as short as
possible.
・ Design the claw so that it will not be damaged even if the allowable clamp force of the hand is
produced at the tip of the claw.

Model: FH360-01

Fig. 2.4.3 Claw Length L and Allowable Grip Force

(Notes) In case of “parallel grip”, actual grip force is twice larger than above value.
In case of “cylindrical grip”, it’s three times larger.

Grip force F and distance L between clamp face of claw and load point can be calculated as followed.

(1) In case of “parallel grip”

L = M / F – 16 (mm) M is permitted moment of finger (=298.8×10３ N・mm)
F <= 1,800 (N)

(2) In case of “cylindrical grip”

L = M / F – 16 (mm) M is permitted moment of finger (=199.2×10３ N・mm)
F <= 1,200 (N)

2-7
2.4.4 Permitted COG position of work-piece
Permitted COG position of work-piece limited by the mechanical construction is shown in figures as
followed. Please design claws in order that work-piece COG is inside the hatching range.
Normally, work-piece can be gripped stably when it is clamped near the COG position.
Please design the proper claws considering the material, shape and surface of work-piece.

Fig. 2.4.4-1 Permitted COG position of work-piece (parallel grip)

Fig.2.4.4-2 Permitted COG position of work-piece (cylindrical grip)

2-8
2.4.5 Offset load
Please design claws in order that load point is inside the hatching range.
If load point is outside the hatching range, lifespan may be shortened or this may cause the serious
damage.

Fig. 2.4.5 Permitted offset load

2.4.6 Slant of claw attachment

When gripping work-piece, claws may be inclined a little as shown in above figure. Furthermore,
claws may be bended. Please design claws considering these phenomenon.

外掴み 内掴み
Outside grip Inside grip

Fig. 2.4.6 Slant of claw attachment

2-9
2.5 Allowable Robot Wrist Load
Following table list the weight, COG position, and self-inertia moment of FLEXhand. Calculate weight,
load torque, and inertia moment according to these data and the weight of workpiece to be gripped, and
then keep them below the allowable conditions for the robot.

A load mounted to the tip of the robot wrist is regulated by the allowable pay load mass,
allowable load torque, and allowable moment of inertia.
(For detail, refer to the MAINTENANCE SERVICE MANUAL of robot.)
CAUTION

Even if the tool weight is lighter than the allowable limit and its COG position is also within the allowable
area, the moment of inertia may exceed the allowable limit. Particularly, the lighter the load is, it is subject
to the limitation of the allowable moment of inertia.
Table 2.5.1 Weight and COG Position of FLEXhand

Hand model FH360-01

Weight (kg) 24.0
X (mm) 0
COG position Y (mm) 151
Z (mm) -6

Assume the coordinate home position of the hand is located at the center of mounting surface.
Table 2.5.2 Moment of inertia of FLEXhand

Hand model FH360-01

2
Ix (kg･m ) 0.725
moment of 2
Iy (kg･m ) 0.142
inertia
2
Iz (kg･m ) 0.697

Model: FH360-01

Fig. 2.5. Coordinate Home Position and Coordinate System

2-10
2.5.1 How to find the moment of inertia
This section explains how to find inertia moment taking the case where the FLEXhand is mounted directly to the
robot wrist flange as an example. Assume that “COG position of workpiece in the Y direction = 0” and “Dimensions of
workpiece in the Y direction < Dimensions of workpiece in the X direction”.

 Lxh: COG position of hand (in the x direction)

 Lyh: COG position of hand (in the y direction)
 Lzh: COG position of hand (in the z direction)
 Lxxh: Self-inertia moment of hand (around z axis)
 Lyyh: Self-inertia moment of hand (around z axis)
 Lzzh: Self-inertia moment of hand (around z axis)
 Lxw: COG position of workpiece (in the x direction)
 Lyw: COG position of workpiece (in the y direction)
 Lzw: COG position of workpiece (in the z direction)
 Lxxw: Self-inertia moment of workpiece (around x axis)
 Lyyw: Self-inertia moment of workpiece (around y axis)
 Lzzw: Self-inertia moment of workpiece (around z axis)
 LR1: Distance between B-axis rotation center and robot wrist flange

Assume the home positions of the hand and workpiece both to be located at the center of mounting spacing circle
on the hand mounting surface.

(1) Allowable torque of J6 axis

1. Maximum load torque

TJ6 = √(Hand weight × Lxh + Workpiece weight × Lxw)2 + (Hand weight × Lyh)2 × g

2. Maximum inertia moment

2 2 2
IzzJ6 = √(Hand weight × (Lxh + Lyh ) + Workpiece weight × (Lxw ) + Izzh +Izzw

(2) Allowable COG position from center of J5 axis

Inline wrist has the center of the J5 axis coaxially, and further the allowable load torque and the allowable moment
of inertia are common to the J5 axis and the J4 axis. Consequently, meeting the allowable conditions for the J5 axis
means to meet those for the J4 axis.
1. Maximum load torque
TJ5 = √(Hand weight × (Lzh + LR1) + Workpiece weight × (Lzw + LR1))2 + TR12

2. Maximum inertia moment

2 2 2 2
IzzJ5 = √(Hand weight × (Lxh + (Lzh + LR1) ) + Workpiece weight × (Lxw + (Lzw + LR1) ) + Iyyh +Iyyw

2-11
2.6 Cautions to set the grip force
Grip force must be set as the value of one finger.
Because total grip force of all finger is controller so that it becomes constant, the grip force per finger
varies according to “cylindrical grip” (J2 axis = 0 degree) and “parallel grip” (J2 axis = 6 degrees). Beware
this phenomenon. Refer to “2.3.4 Relationship between grip method and grip force” for the detail.
Table 2.6.1 Relationship between setting value and grip force
Grip force per finger Total grip force of all finger
Parallel grip Same as the set value Set value x 2
Cylindrical grip 2/3 of set value Set value x 2

Example) In case that 1.80kN was set

Table 2.6.2 Example of setting value and grip force
Grip force per finger Total grip force of all finger
Parallel grip 1.8 kN 3.6 kN
Cylindrical grip 1.2 kN 3.6 kN

In case of FH360-01, total grip force of all finger is 3.6kN even though the data larger than 1.8kN was
set. Man-machine interface is explained in “AX Controller Operating Manual” “FLEXhand function”
Chapter 2 Setting and Chapter 3 Basic Operation.
If customer performs the pressure tuning of FLEXhand, measure the pressure data by using loadcell or
similar instruments so that the maximum grip force is lower than 3.6kN. Exceeding this limit causes the
serious damage of FLEXhand.

2.7 Securing the lubrication

Direct moving parts are used in clamp axis.
When this hand is used under the condition that coolant is splashed and that its moving stroke is limited
every time, grease on the moving part that is not in moving range will be wiped out by coolant.
To prevent from this phenomenon, please move FLAXhand on the full stroke when robot has time to
wait.

2.8 Backup of memory data

Backup of memory data is strongly recommended to prevent from the serious trouble.

If controller internal memory is formatted, all data including the pressure tuning parameters of
FLEXhand are initialized. For the restoration, restore the backup data or key-in all tuning parameters
manually. Man-machine interface of memory backup is explained in “AX Controller Operating Manual”
“Basic Operation” Chapter 6.
If pressure tuning parameters were not restored correctly, adequate grip force can never be generated.
In worst case, this causes the serious mechanical damage of FLEXhand.
In case of setting data manually, please refer to “AX Controller Operating Manual” “FLEXhand function”
Chapter 6 FLEXhand pressure adjustment.

2-12
2.9 Characteristics of grip force
Grip force is adjusted under the
clamp speed 20mm/sec and using
NACHI standard finger.
Because the clamp impact will
increase in proportion to the clamp
speed, low clamp speed is
recommended to grip the work-piece
which has low stiffness.
Fig 2.9.2 to 2.9.3 shows the
relationship (as reference) between
the clamp speed and the grip force,
using NACHI standard finger.
Beware that this characteristic will
vary according to the shape of finger
or the stiffness of work-piece.
Clamp position

Fig 2.9.1 NACHI standard finger

6
全指合計把持力 ｋN Total grip force of all fingers [kN]

目標値
Target

4 クランプ速度
Clamp speed 10mm/s 衝撃力
Impact force

クランプ速度
Clamp speed 10mm/s 把持力
Grip force

3 クランプ速度
Clamp speed 20mm/s 衝撃力
Impact force

クランプ速度
Clamp speed 20mm/s 把持力
Grip force

2 クランプ速度
Clamp speed 30mm/s 衝撃力
Impact force

クランプ速度
Clamp speed 30mm/s 把持力
Grip force

0
0.50 0.75 1.00 1.25 1.50 1.75 2.00

設定値 (入力値） ｋN Target grip force (set value) [kN]

Fig 2.9.2 Grip force of “Parallel grip”

2-13
 6
全指合計把持力 ｋN Total grip force of all fingers [kN]

目標値
Target

4 クランプ速度
Clamp speed 10mm/s 衝撃力
Impact force

クランプ速度
Clamp speed 10mm/s 把持力
Grip force

3 クランプ速度
Clamp speed 20mm/s 衝撃力
Impact force

クランプ速度
Clamp speed 20mm/s 把持力
Grip force

クランプ速度
Clamp speed 30mm/s 衝撃力
Impact force
2
クランプ速度
Clamp speed 30mm/s 把持力
Grip force

0
0.50 0.75 1.00 1.25 1.50 1.75 2.00
設定値 （入力値） ｋN Target grip force (set value) [kN]

Fig 2.9.3 Grip force of “Cylindrical grip”

2-14
Chapter 3 Inspection and Maintenance
Maintenance and Inspection

The maintenance and inspection of the hand must be performed by personnel who
received special instructor education or education for a period of hours provided by law,
and further are thoroughly familiar with the contents of the maintenance and inspection
WARNING on the hand.

To perform the maintenance and inspection, be sure to check for safety around the hand
and ensure safe corridors and shelters to escape from hazardous situations.
WARNING

To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF
the power supply. Furthermore, in order to prevent other workers from carelessly turning
ON the power supply, post the warning signs such as “DON’T POWER ON”.
WARNING

To replace any parts, be sure to use specified parts. (For detail, refer to information in “6
Recommended Spare Parts” of this MANUAL.
WARNING

To perform maintenance and inspection, be sure to lock the arm in order to prevent the
robot arm from dropping. (For detail, refer to information in “4.4 Motor Replacement”.)
WARNING

3-1
3.1 Inspection Items and Periods
Inspection needs to be performed in order to maintain the high performance of the hand for an
extended period of time. Inspection includes daily and periodical inspections. Following figure shows the
basic periods for the inspections. Personnel in charge of the inspections have to create and implement
inspection programs. For inspection items, refer to the following table.
In addition, perform overhauls once every 20,000 operating hours. This period is determined under the
condition of every 10s/1 clamp/unclamp motion. According to the clamp/unclamp frequency, overhaul
period should be changed. Should you have any questions about the inspections and adjustment methods,
contact your NACHI representative or our Service Department.

Yearly Yearly
inspection inspection
Quarterly Quarterly Quarterly Quarterly Quarterly Quarterly Quarterly Quarterly
inspection inspection inspection inspection inspection inspection inspection inspection
Daily inspection

0 3 months 6 months 9 months 1 year 15 months 18 months 24 months 2 years ～

Fig. 3.1 Inspection Schedule
Table 3.1 Inspection Items and Periods
Period

No.
Quarterly

Inspection Item Inspection Method Criteria Remark

Yearly
Daily

Common to whole hand and all axes

1 ○ Cleaning of hand ･ Wipe dirt off the hand.
○ ･ Visually check cables for damage.
2 Internal wirings ･ Refasten the fixing bolts, and then Refer to 3.2.2
○
apply a coating of paint lock to them.
○ ･ Visually check for paint coating.
3 Major bolts ･ Refasten the fixing bolts, and then Refer to 3.2.1.
○
apply a coating of paint lock to them.
･ Check for abnormal heat generation.
4 ○ Motor
･ Check for any abnormal sounds.
･ Set the Brake Release switch to “ON” Fingers never move while All axes are equipped
5 ○ Brake
or “OFF” to check it for operation. brake release switch “OFF”. with a brake motor.
Clamp axis
･ Check for any abnormal sounds by hearing.
6 ○ Reduction gear
･ Visually check for vibration or chatter.
･ Check for any abnormal sounds by hearing.
7 ○ Ball screw
･ Visually check for vibration or chatter.
･ Check for any abnormal sounds by hearing.
8 ○ Ball spline
･ Visually check for vibration or chatter.
･ Apply force in the forward/reverse rotating direction No play and backlash to be
9 ○ Play and backlash
of all axes to check for any play and backlash. felt by hand.
Arm rotation axis
･ Check for any abnormal sounds by hearing.
10 ○ Reduction gear
･ Visually check for vibration or chatter.
･ Apply force in the forward/reverse rotating direction No play and backlash to
11 ○ ○ Play and backlash
of all axes to check for any play and backlash. be felt by hand.

3-2
3.2 Inspection of Major Bolts

Inspection points are shown in figure with the mark.

Be sure to use a torque wrench to fasten the bolts (refer to Table 3.2.1) to proper torque,
and then apply a coating of paint lock to them.
Furthermore, be careful not to needlessly refasten bolts that are not unfastened.
CAUTION

Never insert human’s hand and finger into the FLEXhand. If this behavior is needed by
some reason, press emergency stop button before doing this.
WARNING

Model: FH360-01
Table 3.2.1 Major Bolt Inspection Points

No. Inspection point Remark

① Bolts used to fix FLEXhand
② Bolts used to fix fingers

Table 3.2.2 Proper Fastening Torque Table

Cap screw size Fastening torque

M6 13.8 N·m
M8 33.3 N·m

Fig. 3.2 Major Bolt Inspection Points

3-3
3.3 Inspection of Wirings

Model: FH360-01
Step Work description Point
Inspect cables as shown below. If any of them has damage, immediately
repair or replace the relevant cable or hose.
・Whether cables/hoses have any extreme bend or crush.
・Whether cable coverings surfaces have any wear or tear.
If any clamp gets unfastened, refasten it.
If any cable or else needs to be replaced, contact your NACHI representative
or our Service Center

Fig. 3.3 Inspection of Wirings

3-4
3.4 Lubrication

Apply a coating of grease to the mechanical sections of the robot not only when insufficient grease is
observed by checking but also at regular intervals of time.
Table 3.4 Grease Lubrication Points
Lubrication Applicable Lubrication
No. Lubrication point Lubrication port Remark
frequency Grease amount
Finger clamp axis Grease nipple ALVANIA
1 6 months 5+1/0 cc
ball screw lubrication port RA-J

For lubrication, use a grease gun.

CAUTION

Note that applying a coating of grease of more than the recommended amount may result
in leakage of grease or faulty robot locus. In addition, no lubrication is required for any
points other than those specified.
CAUTION

Model: FH360-01
Step Work description Point
Put the FLEXhand into the configuration shown below and perform lubrication by
using grease gun.
(Recommended grease nozzle: MG70 nozzle N type (THK))

Position of each axis for lubrication

Axis name Clamp axis
Position 0.0 to 20.0mm

Fig. 3.4 Lubrication Point

3-5
3.5 Battery Replacement
FLEXhand uses lithium batteries for the backup of encoder data. If the battery voltage drops below the
given limit, the data will not be kept normal.

Replace the batteries for FLEXhand every 4 years.

(Under a condition of 8 hours ON and 16 hours OFF every day)
CAUTION

Please refer to the MAINTENANCE SERVICE MANUAL of robot for the detail procedure to replace the
batteries.

3-6
Chapter 4 Troubleshooting
4.1 Probing into Causes of Troubles
Hand faults

To perform daily inspection, repair, or part replacement of the robot, be sure to turn OFF
the power supply. Furthermore, in order to prevent other workers from carelessly turning
ON the power supply, post the warning signs such as “DON’T POWER ON”.
WARNING

It is dangerous to perform troubleshooting while FLEXhand keeps gripping workpiece.

Workpiece should be released beforehand.
WARNING

If any fault occurs in the robot, do not attempt to directly operate the robot. Inform the fault
to the maintenance personnel who received the given education and training, and then
probe the cause of the fault to rectify it.
WARNING Furthermore, incorporate the said course in the Operation Rules and establish a
framework to surely implement the Rules.

When any fault occurs in the robot motion or operation, unless there is any abnormality due to external
factors, the cause of the fault is considered to be resulted from damage to mechanical parts.
To promptly solve troubles, it is necessary to have a good grasp of symptoms and then probe what part
is defective to cause the trouble.

Step 1 ∼ What axis has caused the fault? ∼

Judge what axis has caused the faulty symptom, first. For faults hard to be judged since they do not
appear in the robot motion, check for the following points.
Any places producing abnormal sounds?
Any places generating abnormal heat?
Any places having backlash/play?

Step 2 ∼ What part has damage? ∼

If the axis causing the fault is probed, check what part is the cause of the fault. A number of parts can
be the cause of a single symptom. (Refer to Table 4.2)

Step 3 ∼ Measures against defective parts ∼

If the defective parts are probed, take measures according to information in “4.3 Checking Procedures and
Counter Measures by Each Part”. Some measures can be taken by customers. For measures hard to be taken,
however, contact your NACHI representative or our Service Department.

It is recommended to make use of information in “Chapter 3. Part Replacement and Adjustment

Procedure” in the CONTROLLER MAINTENANCE MANUAL.

4-1
4.2 Symptoms and Causes of Troubles
As shown in below, there are some cases where a number of parts causes a single symptom.
To judge what parts have damage, refer to information on and after the following page.
Table 4.2 Symptoms and Causes of Troubles

Defective part Ball screw

Reduction gear Brake Motor Encoder Fulcrum bearing
Symptom Ball spline

Overload (∗1) ○ ○ ○ ○ ○
Displacement ○ ○ ○ ○ ○
Abnormal sound ○ ○ ○ ○ ○
Shaking while in operation (∗2) ○ ○
Sway while in stop mode (∗3) ○ ○ ○
Irregular twitching (∗4) ○ ○ ○
Abnormal deviation ○ ○
Gravity drop of axis ○ ○ ○
Abnormal heat generation ○ ○ ○ ○
Malfunction and runaway ○ ○

∗1: A symptom, which will occur when a load exceeding the rated specification conditions of the motor is applied. To
be more precise, a thermal relay or a circuit protector will be tripped.
∗2: A symptom, which the robot causes vibration while in operation.
∗3: A symptom, which the robot will repeat oscillations several times near the stop position while in stop mode.
∗4: A symptom, which the robot twitches at irregular intervals of time in the holding configuration.

4-2
4.3 Checking Procedures and Counter Measures by Each Part

4.3.1 Fulcrum bearing

If a fulcrum bearing itself is damaged, vibration or abnormal sounds will be produced, thus resulting in
overload.
Furthermore, note that, if a bearing lock nut gets unfastened, the bearing will cause backlash and play,
thus resulting in damage to the bearing.

Checking procedure
・ Check the bearing for any backlash/play by applying loads to the robot wrist and arm. (If a chain block
or the like is available, hold the configurations of the arm and wrist with the chain block so as to apply
no loads to the reduction gear.)
・ Check whether or not the robot hits against the peripheral equipment before a fault occurs.
Counter measures
・ Replace the bearing. If it is hard to replace the bearing, contact your NACHI representative or our
Service Department.

4.3.2 Ball screw, Ball spline and reduction gear

If a reduction gear is damaged, vibration or abnormal sounds will be produced, thus resulting in
overload, abnormal deviation, or abnormal heat generation. In addition, the robot will completely stop or
cause displacement.

Checking procedure
・ While in operation, check for any vibration or abnormal sounds, or abnormal heat generation from the
reduction gear part.
・ Check the reduction gear for backlash/play or seizure. (Check whether or not any abnormality is felt
by hand by holding the finger with hand to move it with the Brake Release switch set to “ON”.)
・ Check whether or not the robot hit against the peripheral equipment before the fault occurred. The
reduction gear may be damaged by hits.
Counter measures
・ Replace the reduction gear. If it is hard to replace the reduction gear, contact your NACHI
representative or our Service Department.

4.3.3 Brake
If the brake causes a fault, an axis may drop with the motor power supply turned OFF. In contrast, the
brake may remain ON with the motor power supply turned ON.
In this case, overload or noises may be caused.

In order to operate the robot without supplying power to the motor, the Brake Release
switch needs to be operated.
When the brake is released, the robot arm may drop or move forward/backward. To avoid
CAUTION that, be sure to hold the arm with a crane or chain block, and then operate the Brake
Release switch.

Checking procedure
・ With the motor power supply turned OFF, check whether or not the brake produces operating sounds (clicking
sounds) by setting the Brake Release switch to “ON” and “OFF”. If the brake produces no operating sounds, it is
assumed that there is a broken wire in the wiring.
Counter measures
・ Check for wirings. If the wirings have no broken wire, replace the whole motor since all axes are equipped with
the brake integrated with the motor. (For motor replacement, refer to information in “4.4 Motor Replacement”.)

4-3
4.3.4 Motor
If the motor causes a fault, malfunctions (e.g. shaking while in operation, sway when stopped, or
irregular twitching) will result. Furthermore, abnormal heat generation or abnormal sounds may result.
Since the same symptoms as those caused when the reduction gear is damaged appear, it is hard to
judge whether the fault results from which equipment. In this connection, check for the reduction gear and
the bearing at the same time.

Checking procedure
・ Check for any abnormal sounds or abnormal heat generation.
Counter measures
・ Replace the motor. (For detail, refer to information in “4.4 Motor Replacement”.)

4.3.5 Encoder
If the encoder causes a fault, the robot will cause displacement, malfunction, or runaway, thus leading
to sway or irregular twitching while in stop mode.
Furthermore, this fault will almost never result in symptoms such as mechanical noises, heat generation,
or vibration.

Checking procedure
・ Check the encoder data for any errors.
・ Align each axis of the hand with its reference position, and then check the position data for any errors.
・ Move each axis of the hand to check whether or not there are any points in which data (bits) show
irregular changes.
・ Check the controller for the model of the drive unit.
The model of the drive unit varies with the number of robot axes in use and the motor capacity of
followed axis. If any drive unit of the corresponding model for the same model of controller is available,
replace the drive unit referring to information in the CONTROLLER MAINTENANCE MANUAL, and
then check whether or not the symptom is transferred to this drive unit. (Refer to information in
“Chapter 3. Part Replacement and Adjustment Procedure” in the CONTROLLER MAINTENANCE
MANUAL.)

Counter measures
・ Check for wirings. If the wirings have no broken wire, replace the encoder. (For detail, refer to
information in “4.4 Motor Replacement”.)

If the encoder is left with the battery completely exhausted or not properly connected, or
power of 5VDC±5% not supplied to the encoder from the controller, data saved in the
encoder may be lost, thus disabling the encoder to properly operate.
Consequently, this symptom will be detected as a malfunction of the encoder system
when checking the encoder for operation at the time of turning ON the power supply. Even
in the cases like this, reset the encoder.
CAUTION
To prevent this sort of problem, if the battery capacity is low, when checking the encoder
for operation at the time of turning ON the power supply, an encoder-related fault will be
detected. In this case, reset the fault, and then restore the encoder.

4-4
4.4 Motor Replacement

The motor is very hot immediately after it stops. Pay utmost attention to handling the
motor.
CAUTION

Some of the motor replacement work must be conducted with the Master switch set to
“ON”. Consequently, be sure to conduct the work at least by a pair of two persons. One
person must stay on guard to press an Emergency Stop button at any time, while the other
person must promptly finish the work with thorough attention paid to the robot motion.
CAUTION
Furthermore, prior to starting the work, make sure of evacuation routes.

Never insert human’s hand and finger into the FLEXhand. If this behavior is needed by
some reason, press emergency stop button before doing this.
WARNING

Table 4.4.1 Tools Required for Replacement

Product name Axis name Model (type) Remark

Clamp axis M3 torque wrench prepared by
Torque customer
Arm rotation axis M3 L type torque wrench
wrench
Clamp axis
M4 torque wrench 〃
Arm rotation axis
L type
Torque Clamp axis
wrench M5 torque wrench 〃
Arm rotation axis
Clamp axis M3 Hex-head wrench (Allen key)
Hex-head wrench (Allen key) 〃
Arm rotation axis Set screw (two surface width:1.5 mm)

4.4.1 Motor replacement procedure

Motor Replacement Procedure

No. Work description Point
1 Turn ON the power to get the robot ready for manual operation.
Move the axis to the position
shown in right figure.

Secure the open space to

remove motor

Fig 4.4.1-1 Position to replace motor

4-5
No. Work description Point
Turn OFF the motor power, then turn OFF the controller power.
3

Remove the following bolts, and remove the cover from the junction
4 box. (refer to Fig 4.4.1-2)
4-M4X10(SUS)
Remove the following bolts, and remove the cable clamp of the By watching inside through the open
target motor from the junction box. At this moment, remove the window, perform this procedure
cable tie to fix cables and pull out 4 cables at the same time. carefully so that any cable is not
damaged.
4-M5X25(SUS)

Fig. 4.4.1-2 Motor Cable Arrangement of FLEXhand

4-6
No. Work description Point
Disconnect connectors (encoder, motor power and brake), and When encoder cable is disconnected,
remove cables from the cable clamp. position data is cleared.

Fig. 4.4.1-3 Connection/Disconnection of Cable Clamps

Remove the following bolts, and remove the motor with motor base If it is difficult to remove motor, utilize
7 from the FLEXhand body. (refer to Fig 4.4.1-2) tap (M3).
3-M4X10
Remove the gear on the motor shaft by following procedure. Do not apply excessive impact to the
motor shaft.
a) Remove the following screws (gear falling protection).
2-M3X5
b) Remove the following bolts, and remove the holder plate.
1-M3X10
Please use the pulley remover
c) Remove the gear by using pulley remover.
available on the market.
d) Remove the following bolts, and remove the motor base and seal
from the motor body.
4-M3X10

Fig. 4.4.1-4 Details of Motor Gear Portion

4-7
No. Work description Point
Mount the gear to the new motor. (Refer to Fig 4.4.1-4.) ・Prior to this work, remove small
a) Mount the motor base and seal to the new motor with following particles and oil from the shaft of new
bolts. motor.

4-M3X10 (fastening torque 1.77 N·m) ・Do not apply excessive impact to
the motor shaft.
b) insert the gear to the motor shaft (pay attention to its direction)
・Use the parallel pin of new motor.
9 c) Mount the holder plate with following bolts.
・If O ring and seal is damaged,
1-M3X10 (fastening torque 1.77 N·m)
please replace it. (refer to chapter 5
d) Fasten following screws (gear falling protection) while pushing the recommended spare parts)
gear on the holder plate.
・Use a torque wrench to fasten the
2-M3X5 bolts. All bolts should be fastened
equally.
Mount the new motor to the FLEXhand body. (Refer to Fig 4.4.1-2) ・Use a torque wrench to fasten the
bolts. All bolts should be fastened
Apply grease (ALVANIA RA-J) to gear tooth with the amount that equally.
10
tooth groove is filled with grease, and install motor using following ・When installing motor, pay attention
bolts. not to hurt gear tooth surface or not to
3-M4X10 (fastening torque 4.0 N·m) hurt oil seal with gear tooth.

Fix the cables with the cable clamp and then joint the connectors
11
(encoder, motor power and brake). (Refer to Fig 4.4.1-3)
Fix the cable clamp to the junction box by using following bolts. At By watching inside through the open
this time, restore the cable tie to fasten cables as it was. (Refer to window, perform this procedure
12 Fig 4.4.1-2) carefully so that any cable is not
damaged.
4-M5X25(SUS) (fastening torque 5 N·m)
Fix the cover to the junction box by using following bolts. (Refer to
13 Fig 4.4.1-2)
4-M5X25(SUS) (fastening torque 5 N·m)
Perform encoder reset of the target axis.
14
(refer to 4.4.2 Encoder Reset)
Perform encoder correction of the target axis.
15
(refer to 4.4.3 Encoder Correction)
16 Ensure that FLEXhant has no problems with its motion.

Before performing encoder correction, turn motors power ON and hold the enabling
device (deadman switch) of the teach pendant for a period of a few seconds to check that
motor power is safely supplied.
CAUTION

4-8
4.4.2 Encoder Reset
If the encoder data shows any abnormal value due to a certain trouble or the motor is replaced, the
zero-point adjustment (encoder correction) of FLEXhand needs to be performed.
Prior to such adjustment, the encoder must be reset by the following procedure.

Encoder Reset Procedure

Encoder reset procedure of FLEXhand axis is same as that of robot axis. Please refer to the
MAINTENANCE SERVICE MANUAL of robot for the detail of operation.
FLEXhand axis is displayed beneath the robot axis as shown below. Select target axis of FLEXhand
and perform encoder reset.

Hand : Clamp axis

Hand : Arm rotation axis

Then proceed with the encoder correction procedure.

4-9
4.4.3 Encoder Correction
After performing encoder reset procedure, encoder correction must be implemented. This is to
registering the “encoder correction value” so that encoder data becomes the pre-determined value at
the pre-determined position (this is called reference position, zeroing block can be inserted here).

Reference position of FLEXhand (zeroing block can be inserted here) and its
encoder data are explained in following pictures. These encoder data are very
important to check the successful procedure of encoder correction.

Model: FH360-01

Encoder data of
Reference position
J1 axis 80,000[Hex]
Reference position is where the zeroing J2 axis 80,000[Hex]
block is lightly contacted.

Fig. 4.4.3 Reference Position (Zeroing block Inserting Position) of FLEXhand

To perform encoder correction, following tools (option) are necessary. Please prepare them beforehand.
Table 4.4.3-1 Tools Required for Replacement

Product name Axis name Model (type) Remark

Zeroing block Clamp axis PCRNN-100.5-20-8
(option) Arm rotation axis PCFNQ-100-40.5-9

4-10
 In cases where a motor has been damaged while the robot was moving, for
instance, it may be necessary to replace the motor and implement encoder reset at a
position where the zeroing block cannot be inserted. In such a case, an error may
occur during axis operation, making it impossible to move the robot any further. At
times like this, robot movement can be resumed by provisionally implementing
CAUTION encoder correction at the position concerned so move the axis to the position where
the zeroing pin can be inserted, and proceed with encoder reset and encoder
correction again.

Some of this work is done while power is supplied to the motor. Therefore, perform
pinning in pairs. One person must stand guard and ready to press an emergency stop
button. The other person must work quickly and carefully within the robot operating
area. An escape route should be determined before starting pinning work. If these
WARNING actions are neglected, the robot may act incorrectly so that the operator may be
caught or sandwiched by the robot parts, possibly resulting in death or serious injury.

Never insert human’s hand and finger into the FLEXhand. If this behavior is needed
by some reason, press emergency stop button before doing this.
CAUTION

Encoder Correction Procedure

Encoder correction procedure of FLEXhand axis is same as that of robot axis. Please refer to the
MAINTENANCE SERVICE MANUAL of robot for the detail of operation.
FLEXhand axis is displayed beneath the robot axis as shown below. Select target axis of FLEXhand
and perform encoder correction.

Hand : Clamp axis

Hand : Arm rotation axis

Ensure that the zeroing block has been removed, and then conduct manual operation to check to be
sure that FLEXhand moves without problems.

4-11
4.5 Bushing, Thrust washer and Collar Replacement
Replace bushing, thrust washer and collar if replacement is needed because of friction damage and
or so.

Some of this work is done while power is supplied to the motor. Therefore, perform
pinning in pairs. One person must stand guard and ready to press an emergency stop
button. The other person must work quickly and carefully within the robot operating
area. An escape route should be determined before starting pinning work. If these
WARNING actions are neglected, the robot may act incorrectly so that the operator may be
caught or sandwiched by the robot parts, possibly resulting in death or serious injury.

Never insert human’s hand and finger into the FLEXhand. If this behavior is needed
by some reason, press emergency stop button before doing this.
CAUTION

Table 4.5 Tools Required for Replacement

Product name Axis name Model (type) Remark

Torque wrench
M6 torque wrench
Clamp axis prepared by
Hex-head screw M3 torque wrench
Arm rotation axis customer
(two surface width:2 mm)

Clamp axis M6 Hex-head wrench (Allen key) prepared by

Hex-head wrench (Allen key)
Arm rotation axis (two surface width:5 mm) customer

Clamp axis
Snap ring puller Available on the market For φ10
Arm rotation axis
Clamp axis
Locking agent ThreeBond 1372
Arm rotation axis

4-12
Model: FH360-01
Bushing, Thrust washer and Collar Replacement Procedure
No. Work description Point
1 Turn ON the power to get the robot ready for manual operation.

Move the axis in which replaced part is used.

J1 － J1 0mm
J2 25° J2 －

Fig. 4.5.1-1 Arm position to replace parts around each axis

Turn OFF the motor power, then turn OFF the controller power.
3

Replace the parts of arm A, B and C by the following steps with ・Do not apply excessive impact to
referring each figures; the fulcrum of link (L type link).
Parts of arm A -> refer to Fig.4.5.1-2 ・When removing the hinge, pay
Parts of arm B and C -> refer to Fig.4.5.1-3 attention not to hurt the outer radius
and contacting surface.
a) Remove the following bolts from the link (or L type link) where the
4 replaced part is mounted. ・When removing the collar A and C,
pay attention not to hurt them.
M6X15
・When removing the link (L type link),
b) Remove the link (or L type link) where the replaced part is
mounted with removing the hinge pin by removing the snap ring, pay attention not to drop shaft, spacer,
and remove from the arm or the body. support pin and blocks.

4-13
No. Work description Point

Cross Section
of X-X

Cross Section of W-W

Fig. 4.5.1-2 Parts construction of arm A

4-14
No. Work description Point

Cross Section of Y-Y

Cross Section of Z-Z

Fig. 4.5.1-3 Parts construction of arm B and C

Remove the parts (bushing or thrust washer or collar) to be
replaced.
5 When removing thrust washer, remove the following bolts. (refer to
Fig. 4.5.1-2 or Fig. 4.5.1-3)
Hex. socket head cap bolt M3X10 each 2

4-15
No. Work description Point
When removing the collar or bushing of arm A, remove the following Refer to chapter 5 Recommended
bolts and NORD-LOCKs and remove it. Attach the new part with spare parts.
reverse steps. Before tightening them, apply 1 to 2 drops of screw
6 lock (ThreeBond 1374) to the thread. (refer to Fig. 4.5.1-2)
M6X10 (fastening torque 13.8 N·m)
NORD-LOCK NL6SP
Attach the new part. Refer to chapter 5 Recommended
When thrust washer is replaced or removed, tight the following bolts. spare parts.
7 (refer to Fig. 4.5.1-2 or Fig. 4.5.1-3)
Hex. socket head cap bolt M3X10 each 2 (fastening torque 1.57
N・m)
Attach the removed part by following steps. (Fig.4.5.1-2 or Fig. ・Do not apply excessive impact to
5.5.1-3) the fulcrum of link (L type link)
a) Attach the part to the arm or body. Attach the snap ring to the ・When attaching the hinge, pay
hinge pin. attention not to hurt the outer radius
b) Tight the following bolts as they were. Before tightening them, and contacting surface.
8
apply 1 to 2 drops of screw lock (ThreeBond 1374). ・When attaching the collar, pay
M6X15 (fastening torque 13.8 N・m) attention not to hurt them.
c) Check that no part is forgotten to be assembled. ・When attaching the link (L type link),
pay attention not to drop shaft, spacer,
support pin and blocks.
Check the J1 axis reference position is still correct by referring 4.4.3 If a motor has been replaced in a
Encoder Correction. posture where the zeroing block can
not be inserted, perform encoder reset
If not correct, perform encoder correction procedure.
and encoder correction at tentative
9 position to enable axis operation, and
then move the axis to the position
where the zeroing block can be
inserted, and proceed with encoder
reset and encoder correction again.
Conduct manual operation to check to be sure that
10
FLEXhand moves without problems.

4-16
Chapter 5 Recommended Spare Parts
Recommended spare parts are listed in the following table.
To purchase any spare parts, check the robot for the Manufacturing number and the Date of
manufacture, and then contact our Service Department.

Classification A: Periodical maintenance parts B: Spare parts

[Table6.1] Recommended spare parts

Robot model

Recommended/unit
Classification

Part No.
Name Remark

In use/unit
(Model) FH360-01

A GREASE ALVANIA-RA-J-16KG － 1 ○ ALVANIA RA-J (*1)

B AC SERVO MOTOR MSMD012S3V 2 2 ○ Arm rotation axis, Clamp axis

B SEAL 037-0603-000 2 2 ○ Arm rotation axis motor flange
B O RING ROA-024 2 2 ○ Clamp axis motor flange
B COLLAR 004-2719-002 2 2 ○ Arm A base
B COLLAR 004-2720-001 2 2 ○ Arm B/C base
B DAISLIDE THRUST WASHER TA1003 24 24 ○ Fulcrums (DAIDO metal)
B DAISLIDE BUSHING HA101420 16 16 ○ Fulcrums (DAIDO metal)
B DAISLIDE BUSHING HA121812 2 2 ○ Arm B/C base (DAIDO metal)
B DAISLIDE BUSHING HA121808 2 2 ○
Arm A base (DAIDO metal)
(*1) Conventional grease (ALVANIA-RA-16KG) still can be used. And current grease (ALVANIA-RA-J-16KG) can be mixed with
conventional grease.

5-1
Note

5-2
 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
Minato-ku, TOKYO, 105-0021 JAPAN
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North America Headquarters Phone: 248-305-6545 Fax: 248-305-6542 22285 Roethel Drive, Novi, Michigan 48375 U.S.A.
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Nachi Europe GmbH Phone: Fax:
Bischofstrasse 99, 47809, Krefeld,GERMANY
+49-(0)2151-65046-0 +49-(0)2151-65046-90
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Nachi U.K. LTD. Phone: Fax: Unit 7, Junction Six Industrial Estate, Electric Avenue,
+44-(0)121-250-1895 +44-(0)121-250-1899 Birmingham B6 7JJ, U.K.
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Nachi Europe Phone / Fax :
Mostni 73, Kolin 4, 28002 CZECH
+420-321-710-200
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Korea Phone: Fax: 2F Dongsan Bldg.
+82-(0)2-469-2254 +82-(0)2-469-2264 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
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Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
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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.