R
BAT-1
LB1
LB1
T-AXIS
B-AXIS
R-AXIS
PG
PG
PG
-C1
BC2
CN4-6
-D3
-C3
-D2
E
P
P
CN1-5
CN1-6
E
AL2
AL1
CN5-6
CN6-6
BASE
E
39
-A1
-B1
-D1
-A3
FG
31
3
29
5
6
8
P
P
P
P
45
14
13
37
11
21
47
16
19
22
24
3
29
5
31
P
P
P
P
P
P
P
P
+24V
DATA-6
DATA+6
0V-6
+5V-6
CN3-6
CN2-6
LB1
CN6-5
CN6-4
CN6-3
FG6
CN6-2
CN6-1
0BT-4
0V-3
+5V-3
DATA+4
0V-4
+5V-4
DATA+5
DATA-5
+5V-5
0V-5
DATA-4
CN4-4
CN5-2
CN5-3
CN5-4
CN5-1
CN4-2
CN4-3
CN4-1
CN3-3
CN3-4
24
8
6
39
37
11
13
21
47
14
16
22
45
19
P
P
P
P
P
P
P
CN1-1
DATA+1
DATA-3
DATA+3
+5V-2
0V-2
DATA-2
DATA+2
0V-1
+5V-1
DATA-1
CN3-1
CN3-2
CN2-5
CN2-3
CN2-4
FG2
CN2-1
CN2-2
CN1-3
CN1-4
CN1-2
1BC(6X6)
0BT-1
S-AXIS(FAN ALM)(OPTION)
BAT-4
R
K
P
P
P
P
P
P
P
P
P
P
P
CASING
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
11CN-C
No.11CN
FG5
0V
+5V
OBT
BAT
DATA-5
DATA+5
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
No.9CN
9CN-C
No.7CN
7CN-C
P
P
P
P
P
P
BATTERY
K P
1CN-C
DATA+1
BAT
-T
P
P
-S
-J
-G
-H
OBT
FG2
+5V
0V
No.3CN
-J
-D
3CN-C
-D
-T
-S
-G
-H
FG1
DATA+2
DATA-2
+5V
OBT
BAT
DATA-1
0V
No.2CN
U-AXIS
PG
L-AXIS
PG
S-AXIS
PG
DATA-3
DATA+3
OBT
BAT
0V
FG3
+5V
No.5CN
5CN-C
-D
-T
-S
-G
-J
-H
BATTERY
OBT
BAT
B
A
2CN-
B
A
4CN-
OBT
BAT
6CN-
A
B
BAT
OBT
BAT
OBT
No.6CN
No.1CN
No.4CN
AL2
LA1
LB1
AL1
LB1
LA1
LB1
LB1
LB1
LB1
LA2
LA2
0BT-1
BAT-1
0BT-4
BAT-4
No.8CN
No.10CN
OBT
BAT
No.12CN
OBT
BAT
-D
-J
-H
-G
-S
-T
-D
-T
-S
-H
-G
-J
-D
-T
-S
-H
-G
-J
B
8CN-
A
B
A
10CN-
12CN- B
A
16
4BC-16
4BC-17
17
4BC-12
4BC-13
4BC-14
4BC-11
4BC-15
14
13
12
11
15
4BC-6
4BC-8
4BC-7
4BC-5
4BC-10
4BC-9
6
7
8
5
10
9
4BC-1
4BC-2
E
4BC-4
4BC-3
1
2
E
4
3
E
E
E
4BC(22-14)
4BC-16
16
17
4BC-17
11
12
13
14
15
4BC-12
4BC-13
4BC-14
4BC-11
4BC-15
6
5
8
7
10
9
4BC-6
4BC-8
4BC-7
4BC-5
4BC-9
4BC-10
1
2
E
4
3
4BC-1
4BC-2
E
4BC-4
4BC-3
E
BC2
BC1
L3
FOR LAMP(OPTION)
MANIPULATOR
YASNAC-XRC
BC1
BC2
LB3
LB3
LA3
LA3
L3
S-axis overrun L.S.
L-axis overrun L.S. (OPTION)
U-axis overrun L.S. (OPTION)
Fig. 18 (a) Internal Connection Diagram
8-3
4BC(22-14)
Summary of Contents for SK300X
Page 2: ......
Page 4: ...SK300X Manipulator Manual XRC 2001 ii MOTOMAN NOTES...
Page 7: ...INTRODUCTION MOTOMAN 1 3 SK300X Manipulator Manual XRC 2001 NOTES...
Page 21: ...viii...
Page 25: ...xii...
Page 41: ...1 7 Notes on MOTOMAN Disposal 1 16...
Page 59: ...4 3 Connection Methods 4 12...
Page 67: ...6 1 Movement of the Axes 6 4...
Page 73: ...8 2...
Page 74: ......
Page 93: ...3 3 Location 3 6...
Page 99: ...4 2 Cable Connection 4 6...
Page 103: ...5 4 Dimensions and Working Range 5 4 Fig 10 b Dimesions and Working Range YR SK300 J1...
Page 104: ...5 4 Dimensions and Working Range 5 5 Fig 10 c Dimesions and Working Range YR SK300 J2...
Page 109: ...6 2 Wrist Flange 6 4...
Page 133: ...9 2 Notes on Maintenance Procedures 9 18...
Page 136: ...11 1 S Axis Driving Unit 11 1 11 Parts List 11 1 S Axis Driving Unit...
Page 138: ...11 2 L U Axis Driving Unit 1 11 3 11 2 L U Axis Driving Unit 1...
Page 140: ...11 3 L U Axis Driving Unit 2 11 5 11 3 L U Axis Driving Unit 2...
Page 234: ...2 8 General I O Signal Assignment 2 72...
Page 270: ...4 4 Recommended Spare Parts 4 30...
Page 285: ...xiv...
Page 286: ...Setup Diagnosis...
Page 287: ......
Page 289: ...1 2...
Page 297: ...2 1 Protection Through Security Mode Settings 2 8...
Page 395: ...3 17 File Initialize 3 98...
Page 417: ...4 2 Addition of Base and Station Axis 4 22...
Page 435: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Page 436: ...Hardware...
Page 437: ......
Page 447: ...6 4 Equipment Configuration 6 10...
Page 456: ...8 8 Open Phase Check 8 8...
Page 476: ...9 4 Recommended Spare Parts 9 20...
Page 477: ...Alarm Error...
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