viii
Description of Each Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Servo Control Circuit board (JASP-WRCA01) . . . . . . . . . . 2-40
Servo Control Power Supply (JUSP-RCP01AA
#
) . . . . . . . 2-40
Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Speed Monitor Board (JANCD-XFC01) . . . . . . . . . . . . . . . 2-40
Playback Panel
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
Contact Output for Emergency Stop Button . . . . . . . . . . . . 2-41
General I/O Signal Assignment
. . . . . . . . . . . . . . . . . . . . 2-42
Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-49
General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-56
Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-63
JANCD-XEW01 Circuit Board. . . . . . . . . . . . . . . . . . . . . . . . . 2-72
Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-72
Regular Inspections
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
XRC Inspections
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Checking if the Doors are Firmly Closed . . . . . . . . . . . . . . . . . 3-2
Checking for Gaps or Damage in the Sealed Construction
Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Cooling Fan Inspections
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Emergency Stop Button Inspections
. . . . . . . . . . . . . . . . 3-4
Deadman Switch Inspections
. . . . . . . . . . . . . . . . . . . . . . . 3-4
Battery Inspections
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Power Supply Voltage Confirmation
. . . . . . . . . . . . . . . . 3-5
Open Phase Check
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Replacing XRC Parts
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Replacing the Disconnecting Switch. . . . . . . . . . . . . . . . . . . . . 4-2
Replacing Parts of Power Supply Unit . . . . . . . . . . . . . . . . . . . 4-4
YASNA XRC Parts List
. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Supplied Parts List
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Recommended Spare Parts
. . . . . . . . . . . . . . . . . . . . . . . 4-13
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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