1. GENERAL INFORMATION

• Part Number: A97L-0218-0384#320N-235 (often written as #32ON-235)

• Manufacturer: FANUC LTD, Japan (RV reducer by Nabtesco)

• Type: High-precision RV cycloidal reducer (J3 axis)

• Application: FANUC R-2000iC/165F, R-2000iC/210F robots (J3 joint)

• Weight: Approx. 28 kg

• Key Feature: Compact, high-torque, backlash-free for heavy-payload robots

2. SPECIFICATIONS

2.1 Mechanical

• Reduction Ratio: 320:1

• Rated Torque: 3,200 N·m

• Max Torque (Peak): 6,400 N·m

• Backlash: ≤ 1 arcmin (≤ 0.0167°)

• Input Speed: Max 3,000 RPM

• Output Speed: Max 9.375 RPM

• Mounting: Flange-mounted (FANUC J3 interface)

• Shaft Diameter: Input Ø19 mm, Output Ø80 mm

• Lubrication: Grease-filled (lifetime lubrication, no oil change)

2.2 Environmental

• Operating Temp: 0°C to +45°C

• Storage Temp: −20°C to +60°C

• Humidity: 20%–85% RH, non-condensing

• Protection Class: IP65 (dust-tight, splash-proof)

3. COMPATIBILITY

• Robot Models:

  • FANUC R-2000iC/165F (165 kg payload)

  • FANUC R-2000iC/210F (210 kg payload)

• Axis: J3 (shoulder joint)

• Replacement Part: Direct OEM replacement for original J3 reducer

4. FEATURES

• High rigidity: RV cycloidal design for heavy loads & high moments

• Zero backlash: Critical for precise positioning & repeatability

• Lifetime grease: Sealed for life, no maintenance required

• Compact footprint: Optimized for robot J3 joint space

• High shock resistance: Withstands frequent start/stop & load changes

5. INSTALLATION INSTRUCTIONS

1. Lockout/Tagout: Disable robot power & release brake.

2. Support Arm: Secure J3 arm to prevent free rotation.

3. Disconnect Components: Remove motor, brake, & cable covers.

4. Unbolt Old Reducer: Remove 8×M12 mounting bolts (torque: 55 N·m).

5. Clean Mounting Surfaces: Remove grease, dust, & metal shavings.

6. Install New Reducer: Align dowel pins; tighten bolts in cross pattern to 55 N·m.

7. Reconnect Motor/Brake: Align input shaft; torque motor bolts to 25 N·m.

8. Restore Power & Test: Jog J3 axis; check for noise, vibration, or leakage.

6. MAINTENANCE & TROUBLESHOOTING

• Maintenance:

  • Inspect quarterly: Check for grease leaks, loose bolts, or unusual noise.

  • No lubrication needed: Sealed lifetime grease; do not add oil/grease.

  • Torque check annually: Verify mounting bolts (55 N·m) & motor bolts (25 N·m).

• Common Issues:

  • Grease leakage: Replace reducer (seal failure; non-repairable).

  • Abnormal noise: Check bolt torque; verify motor/reducer alignment.

  • Positioning error: Check for backlash; confirm reducer is not damaged.

  • Overheating: Reduce duty cycle; check for mechanical binding.

7. ORDERING INFORMATION

• Model: A97L-0218-0384#320N-235

• Description: RV REDUCER, J3 AXIS, 320:1 RATIO, 3200 N·M, R-2000iC ROBOT