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Okura Yusoki Co., Ltd.

Robot Manual

Maintenance

UL-MAI-11

Summary of Contents for A Series

Page 1: ...Okura Yusoki Co Ltd Robot Manual Maintenance UL MAI 11...

Page 2: ...istory Addition of 2 Page 2 3 5 Fuse Replacement Date update This page 2 14 15 Last page 10 2007 11 22 Addition of Updating history Correction Key Controller Parts NFB1 From 50AT To 30AT Change Model...

Page 3: ...on of Page Addition of model A1800 Change Model of Key Controller Parts Chage Statemant of 1 2 Periodic Maintenance and Inspection Chage Statemant of 2 2 Periodic Maintenance and Inspection Date updat...

Page 4: ...Manual to reconfirm their knowledge Please read this Manual carefully and use the Palletizer with a clear understanding of its content Definition of Operator Important Definition of operator Only AUT...

Page 5: ...ning Maintenance 1 11 2 CONTROLLER 2 1 2 1 Controller Internal Component Arrangement Diagram 2 2 2 2 Periodic Maintenance and Inspection 2 6 2 3 Inspection Contents 2 8 3 TROUBLESHOOTING 3 1 3 1 Cases...

Page 6: ......

Page 7: ...UL 11 1 1 1 Robot...

Page 8: ...st of robot main unit No Name Model 1 Servo motor T axis SGMPH04 2 Servo motor D axis SGMGH55 3 Servo motor O axis SGMGH55 4 Servo motor R axis SGMGH55 5 Grease nipple A type M6 1 0 6 Harness 7 Limit...

Page 9: ...t of robot main unit No Name Model 1 Servo motor T axis SGMPH04 2 Servo motor D axis SGMGH55 3 Servo motor O axis SGMGH55 4 Servo motor R axis SGMGH55 5 Grease nipple B type M6 1 0 6 Harness 7 Limit S...

Page 10: ...t of robot main unit No Name Model 1 Servo motor T axis TS4609 2 Servo motor D axis TS4836 3 Servo motor O axis TS4836 4 Servo motor R axis TS4836 5 Grease nipple B type M6 1 0 6 Harness 7 Limit Switc...

Page 11: ...ration 3 B inspection Perform every 10000 hours of operation 4 C inspection Perform every 20000 hours of operation 1 Inspection Schedule Generally the inspection schedule follows the cycles given belo...

Page 12: ...on Lubrication of R axis bearing O 5 Reduction gear grease replacement Grease replacement O 6 Parts replacement Replacement of standard replacement parts O 1 3 Inspection Contents 1 3 1 Routine inspec...

Page 13: ...mounted to the T axis output shaft is horizontal 4 Using a torque wrench and proceeding in alternating diagonal fashion at a torque 14 8 N m 150kgf cm in case A700 III 23 5 N m 240kgf cm in case A160...

Page 14: ...output shaft is horizontal 3 Using a torque wrench and proceeding in alternating diagonal fashion at a torque 14 8 N m 151kgf cm 4 Raise the torque to 29 0 N m 296kgf cm Tighten in alternating diagona...

Page 15: ...recommended The Harness is included in the articles of consumption because it is influenced by environment such as the dust existence the rotation frequency and the operation angle of the hand 1 3 4 B...

Page 16: ...t switch main part 1 3 7 Parts replacement Standard Replacement Parts The following are standard replacement parts which are replaced at C inspection 20000 hours inspection No Parts name Parts code lo...

Page 17: ...bricant List No Lubrication point Lubricant grease type Recommended grease brand Appropriate amount time 1 End Effector Linear Bearings Varies 2 R Axis Turntable Bearing Double Cross Roller Bearing Li...

Page 18: ...0 M20 617 6300 Power lock A1600III 34 5 352 A1600III W 40 2 410 A1800 29 0 296 Figures inside the parenthesis indicate the bolt for reduction gear 1 4 4 Parts supply assurance After shifting to robot...

Page 19: ...UL 11 2 1 2 Controller...

Page 20: ...EW RIGHT VIEW 2 1 Controller Internal Component Arrangement Diagram 2 1 1 A1600III A1800 The diagram here shows the arrangement of parts inside the robot controller Please correlate these with the tab...

Page 21: ...C1 5 Capacitor LQR2G392MSEG C2 3 4 Capacitor CD16 E2GA472MYNS RGT IGBT Module 2MBI100N 060 IPM IGBT Module 6MBP200RA060 CRS Current sensor HS U100V4B15 FAN1 2 3 4 Fan MU1238A 12B FAN5 6 Fan MU1238A 1...

Page 22: ...L 11 2 4 LEFT VIEW RIGHT VIEW FRONT VIEW BACK VIEW 2 1 2 A700III The diagram here shows the arrangement of parts inside the robot controller Please correlate these with the table on the following page...

Page 23: ...bridge RJDIO002 C1 Capacitor LQR2G392MSEG C2 3 4 Capacitor CD16 E2GA472MYNS RGT IGBT Module 2MBI100N 060 IPM IGBT Module 6MBP100RA060 05 FAN1 2 3 4 Fan MU1238A 12B FAN5 6 Fan MU1238A 12B Rs1 Resistanc...

Page 24: ...20000 hours of operation Inspection Schedule Generally the inspection schedule follows the cycle given below Operation time per day and number of years Hours of operation Routine inspection A inspecti...

Page 25: ...ontroller lamp operation Check for abnormal noise and vibration during operation O 2 Controller Air filter cleaning Fan operation check Inspection for connector looseness O Battery replacement Replace...

Page 26: ...ching pendant Function check of the safety door switch 1 Remove the teaching pendant from the controller And turn On the main power supply 2 Turn the motor power ON 3 Open the safety door switch 4 Che...

Page 27: ...controller are dusty etc and clean as necessary blow with air Approx 2 Kgf cm2 Note If dry air is unavailable blow off dust with contact cleaner Fan Operation Inspection Check that the fans at the sid...

Page 28: ...e sure to perform replacement according to the following way If the battery voltage is dropped data in the memory will be lost by the main breaker off Then buck up for recovery by OXPA Qm OXPA PLC is...

Page 29: ...eparating immediately after the new battery connection This case is assumed that the influence on the backup time is a range of error Replacement Procedure 1 Turn OFF the main breaker 2 Leave the batt...

Page 30: ...hile the main breaker is off or during power failure position information in the encoder will be lost Be sure to perform replacement according to the following way Replacement work in the robot origin...

Page 31: ...w battery capacity is occurred when connecting with an empty battery and new battery This consumption is prevented by the empty battery separating immediately after the new battery connection This cas...

Page 32: ...eplace with new battery 4 Mount the cover After replacement Check that the Battery Voltage Low error is reset Check the position of the robot is the same as the record of the Before replacement Operat...

Page 33: ...ed and operating the robot is also possible continuously However if operating is continued the voltage drop abnormality occurs and the backup data will be lost Please replace the batteries as soon as...

Page 34: ...I In the robot base Every 2 years 3 Switching Regulator 4 Fan 5 Capacitor Recommend to replace every 7 years 6 Board 7 Magnetic Contactor Recommend to replace when Overload or Regenerative Error occur...

Page 35: ...00III Fuse Mounting Position Set on inside the robot controller See 2 1 1 A1600III or See 2 1 2 A700III 2 1 Controller Internal Component Arrangement Diagram Replacement Procedure 1 Turn Off the main...

Page 36: ...Amp Metal Cover by the screws 6 Turn On the main breaker Check that Display turn to Auto mode after pressing the abnormal reset button TBR2 When fusion occurred to F4 Fuse replace the fuse Explanation...

Page 37: ...formation see Operation manual 4 1 error message In case no error message appears No error message is issued for low urgent problem Like burning out of an indicator lamp bulb of mal adjustment due to...

Page 38: ...e size Nothing appears on the touch panel screen Check the voltage on AVR2 normal if 24V Replace AVR2 if the voltage is abnormal If the voltage is normal replace touch panel Defective connection of co...

Page 39: ...ystem parameters pallet station hand Input the correct value Check the T axis 0 degree position Set the end effector parallel to the robot arm in T axis origin setting System does not proceed to the n...

Page 40: ......

Page 41: ...UL 11 4 1 4 Maintenance menu There is some useful information on maintenance menu in a touch panel...

Page 42: ...a robot is stopped To move to maintenance menu under operation press the hidden key located below on the auto mode screen In the case of returning from maintenance menu it returns to auto mode screen...

Page 43: ...a memory D 1000 D 2999 user area D 5000 D 5015 user area D 6000 D 6127 system area 1 D 7000 D 7015 supervisor area 1 1 Although the values other than a user area can also be changed do not change basi...

Page 44: ...power does not turn on or operation does not start check the condition in this screen Lighting condition RBT M503E Y2B following three conditions are satisfied at the same time Initial pulse is light...

Page 45: ...1 6 are initialized Press Initialize All Programs key to initialize the counter values of all program stored in robot counter 2 Counter Revision Counter value of each program No can be changed in this...

Page 46: ...77 h 1 Y0 Y5F h M5000 h M504F h M6000 h M64FF h 1 M7000 h M701F h 1 Cannot change the values at 1 area Press X Y M to display rly Press Program No key and input the required program No to change the p...

Page 47: ...ue Press Start or Stop to operate or stop a robot in this screen For adjustment Since a setting value is memorized for every program while a program changes a timer value setup of a corresponded stati...

Page 48: ...e of the starting mode from Exterior PLC memory switch 1 5 ON 1 ID and program allocation for centronics communication can be shown and registered Press ALL change all allocation of IDNo 1 to 127 is c...

Page 49: ...manual is under production since Mar 2005 caution Unauthorized reproduction of part or all of the content of this manual is forbidden The content of this manual is subject to future change without pr...

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