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YASKAWA MH5S II, Operating And Maintenance Manual

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YASKAWA MH5S II Operating And Maintenance Manual Download Page 37

Allowable load for wrist axis and wrist flange

7

 - 

37

7

Allowable load for wrist axis and wrist flange

7.1

Wrist flange

The dimensions of the wrist flange are shown in the following figure "Wrist flange". To
ensure that the home position marks can be seen at all times, the tool may only be flange-
mounted with the inner diameter. Fitting depth of inside fittings must be 5 mm.

NOTICE

Before mounting a tool, remove anticorrosive coating on the flange. Thinner or light fuel oil
are the most suitable for this purpose.

Fig. 7-1: Wrist flange

7.2

Maximum load of the S-axis

For peripheral devices of specific applications, additional mounting options are provided on
the robot.

7.3

Optimal robot performance

To achieve optimal robot performance, the maximum load of the S-axis must never exceed
the permissible bearing capacity of the robot.

4 threaded holes M5, depth 9 mm, 
pitch: 0.8

Hole Ø 12 

H7

Hole Ø 5 

H7

All dimensions in mm

3

2%&

1

2

1

3

2

Summary of Contents for MH5S II

Page 1: ...ROBOTICS MH5S II YR MH0005S J12 Operating and Maintenance Manual...

Page 2: ...Subject to technical modifications Created on 2016 11 Revision 09 Document number E1101000196GB09 Author WOE Changes made in revision Rev 01 Revised version of the original in YEU R style 2014 10 Rev...

Page 3: ...6 4 2 Ambient conditions and installation location 17 4 3 Installation example 18 5 Wiring 22 5 1 Grounding 22 5 2 Cable connections 23 5 2 1 Connecting the robot 24 5 2 2 Connection of the robot cont...

Page 4: ...9 5 1 Grease filling the main axes 56 9 5 2 Grease filling the wrist axes 57 9 6 Home position calibration 58 9 6 1 Register all axes 59 9 6 2 Register individual axes 62 9 6 3 Changing absolute data...

Page 5: ...NOTICE Indicates important background information and application advice 1 2 Frequently used terms The YASKAWA robot is a product of YASKAWA Electric Corporation and is provided by default with the r...

Page 6: ...branch office 1 4 Intended use Typical applications Flange mounting tools Installation of spot welding guns Installation of arc welding equipment Installation of grippers Machining and transporting wo...

Page 7: ...operation read the robot controller operating instructions Basic Information Installation and Wiring and System Setup In order to illustrate details clearly some drawings are shown with the protectiv...

Page 8: ...top button 1 Short Cut Main Menu JOB CONTENT 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 TEST01 TOOL CONTROL GROUP R1 S 0000 NOP SET B000 1 SET B001 0 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT...

Page 9: ...perations within the robot s working range View the Robot from the front whenever possible Always follow the prescribed operating procedure see the instructions on robot control as well as the operati...

Page 10: ...anufacturer Address YASKAWA ELECTRIC CORPORATION 2 1 KUROSAKISHIROISHI YAHATANISHI KU KITAKYUSHU JAPAN 1 9 Authorized representative Address YASKAWA Europe GmbH Robotics Division Yaskawastr 1 85391 Al...

Page 11: ...1 Checking the scope of delivery The standard delivery includes the following items Fig 2 1 Scope of delivery Programming pendant Assembly instruction Robot controller Cable Robot MOTOMAN MANUAL 1 2...

Page 12: ...te NOTICE Please contact the local YASKAWA branch office if the serial numbers do not match the information on the delivery note S N DX200 YASAKAW XXXXX Part No Power Supply Peak kVA AC XXXXXXXX Avera...

Page 13: ...approximately 27 kg Use load carrying devices strong enough to withstand the weight The transport safety devices support the robot therefore use them exclusively for the transport of the robot Before...

Page 14: ...transport securing devices and shipping bolts as shown in the figure below Transport using a forklift Make sure that the forklift and the transportation route have sufficient bearing capacity Always t...

Page 15: ...d shipping bolts will be required again if the system is transported again The robot is equipped with transport securing devices and shipping bolts see A and B as shown in the following figure Transpo...

Page 16: ...protective measures can lead to death of people serious bodily harm or material damage Implement the following protection measures Separating protection devices Non contact protection devices Enclosu...

Page 17: ...ons Ambient temperature From 0 C to 45 C Air humidity 20 to 80 relative humidity non condensing Free of corrosive gases liquids or explosive gases No water oil or dust and free from excessive electric...

Page 18: ...e plate Tighten the hexagon head bolts and anchor bolts securely so that they will not work loose during operation see figure Mounting of the robot on the base plate Fig 4 1 Mounting the robot on the...

Page 19: ...Installation 4 19 Fig 4 2 Base plate 3 160 30 4x 80 350 350 290 290 160 18 50 4x 20 24 4...

Page 20: ...ssembly in a standing position in the following points S axis working range Fixing the robot base Direction of move ment Horizontal Vertical Force FH Moment MH Force FV Torque MV Emergency stop Stop c...

Page 21: ...S axis working range For the wall mounted type the S axis movable range is 30 the range is adjusted prior to the shipment Precaution against falling In case of suspended mounting take measures to pre...

Page 22: ...s and wiring regulations for earthing The cable cross section must be 6 mm or more For information on connecting the earthing cable directly see Fig 5 1 Earthing connection NOTICE Note on the earthing...

Page 23: ...he robot base and on the robot controller see the following chapter on robot connection and robot controller connection Fig 5 3 Robot cable Robot control side Encoder cable 1BC Robot side Power cable...

Page 24: ...encoder cable 1BC to the connector plate of the robot 3 Connect the power cable 2BC to the connector plate of the robot Make sure that you hear each locking clip snap into place clicking sound Fig 5 4...

Page 25: ...order 1 Connect the encoder cable 1BC X11 at connection X11 to the robot controller 2 Connect the power cable 2BC X21 at connection X21 to the robot controller Make sure that you hear the locking clip...

Page 26: ...PROGRAMMING PENDANT PROPERLY CHECK ALL THE DOOR LOCKS NJ3005 1 kVA kVA ERDR Average Peak NJ3053 1 Kammerfeldstr 1 D 85391 Allershausen 2 1 Kurosaki Shiroishi Yahatanishi Ku Kitakyushu City Fukuoka 80...

Page 27: ...wrist twist 360 360 Protection class IP Main axes 65 Wrist axis 67 Maximum speed S axis 6 56 rad s 376 s L axis 6 11 rad s 350 s U axis 6 98 rad s 400 s R axis 7 85 rad s 450 s B axis 7 85 rad s 450...

Page 28: ...ical data 6 28 6 1 Parts and work axis label Fig 6 1 Part names and working axes Wirst Rotating head of S axis Wrist unit Lower arm L arm Robot base Upper arm U arm 6 6 4 4 7 7 5 5 1 2 3 4 5 6 1 4 2 5...

Page 29: ...obot base dimension Fig 6 2 Robot base dimensions 2 holes 6 H7 4 mounting holes 12 Base plate Hole 12 H7 All dimensions in mm 12 10 194 105 0 05 100 92 0 1 92 0 1 66 0 1 0 1 85 0 05 100 0 1 66 0 1 60...

Page 30: ...Technical data 6 30 6 3 Dimensions and defined working area Fig 6 3 Dimensions and P point maximum envelope P point Working area defined with point P All dimensions in mm 1 2...

Page 31: ...l overrun distances and overrun times may differ due to internal and external influence on the braking torque According to the mode robot application and number of triggered safety stops with stop cat...

Page 32: ...Technical data 6 32 Robot speed degrees second deg s Definitions Description...

Page 33: ...Technical data 6 33 6 5 1 Stop category 0 6 5 1 1 Stop position S axis deg deg s deg s sec 100 deg deg s deg s sec 66 deg deg s deg s sec 33...

Page 34: ...Technical data 6 34 6 5 1 2 Stop position L axis deg deg s deg s sec 100 deg deg s deg s sec 66 deg deg s deg s sec 33...

Page 35: ...Technical data 6 35 6 5 1 3 Stop position U axis deg deg s deg s sec 100 deg deg s deg s sec 66 deg deg s deg s sec 33...

Page 36: ...Technical data 6 36 6 5 2 Stop category 1 6 5 2 1 Stop position S axis 6 5 2 2 Stop position L axis 6 5 2 3 Stop position U axis deg deg s deg s sec deg deg s deg s sec deg deg s deg s sec...

Page 37: ...t be 5 mm NOTICE Before mounting a tool remove anticorrosive coating on the flange Thinner or light fuel oil are the most suitable for this purpose Fig 7 1 Wrist flange 7 2 Maximum load of the S axis...

Page 38: ...e moment of inertia Keep the centroidal distance of the load mass within the specifications refer to the following figure Hand loads Keep the distance of the load mass from the centre of gravity withi...

Page 39: ...pacity load Fig 7 3 Installing peripheral equipment mounts 4 threaded holes M4 pitch 0 7 front and rear side 4 threaded holes M8 pitch 1 25 2 threaded holes M4 pitch 0 7 Center of upper arm rotation A...

Page 40: ...The total current value for the internal wiring harness must be 40 A The current carrying capacity per single conductor cross section 0 20 mm must not exceed 2 5 A or less The air pressure for the air...

Page 41: ...P P No 12CN No 13CN CN 1 PG OBT6 4 CN 1 No 19CN FG6 0V6 5V6 3 2 BAT OBT P B R No 16CN CN 1 CN 1 No 18CN No 17CN CN 1 S IRV 0 3XK R 0V5 BAT5 5V5 OBT5 FG5 2 3 4 2 3 OBT BAT DATA 6 DATA 5 DATA 5 BAT6 3 2...

Page 42: ...BA4 MU4 MW4 ME4 MV4 3 4 2 CN 1 CN 1 No 26CN No 31CN MU5 BA5 ME5 MW5 MV5 MU6 MV6 ME6 BA6 MW6 BB5 4 3 2 CN 1 CN 1 2 4 3 2 CN 1 CN 1 2 No 30CN No 28CN BB6 No 29CN 2 BB4 YB SM YB SM YB 4 3 2 CN 1 CN 1 4 3...

Page 43: ...onnect the spare battery unit 9 1 Inspection schedule Proper inspections are essential not only to assure that the mechanism will be able to function for a long period But also to prevent malfunctions...

Page 44: ...VJ 80 00 MOVJ VJ 80 00 DOUT OT 10 ON TIMER T 3 00 MOVJ VJ 80 00 MOVJ VJ 100 00 MOVJ VJ 100 00 MOVJ VJ 100 00 MOVJ VJ 100 00 Turn on servo power JOB EDIT DISPLAY UTILITY MOVJ VJ 0 78 S SELECT X S X L...

Page 45: ...Dirty working area has to be cleaned Please control the robot for damage and external cracks 3 Fastening bolts of baseplate Using correspond ing tool Tighten loose screws replace if necessary 4 Fasten...

Page 46: ...numbers correspond to the following diagram Inspection intervals 2 When checking for conduction with multimeter connect the battery to BAT and OBT of connectors on the motor side for each axis Now re...

Page 47: ...Maintenance and inspection 9 47 Fig 9 2 Inspection intervals 5 5 5 7 1 1 1 1 1 6 1 3...

Page 48: ...ation The battery units are installed as shown in picture The location of the battery unit If battery alarm occuring in the robot controller battery pack has to be changed in the following form Batter...

Page 49: ...e plug from circuit board 4 Connect the new battery pack to the unoccupied connector on the board Fig 9 5 Battery pack connections 5 Remove the old battery pack from the battery holder 6 Mount the new...

Page 50: ...ead part of screws Exchanging the battery unit iscompleted after reinstalling the cover plate on the plug plate 9 2 2 Battery pack connector including warning note Fig 9 6 Battery unit connector diagr...

Page 51: ...Warning label Motor cable Power connector Battery unit Wiring harness of the robot a Plug socket b Plug pin Motor Encoder connector Connect battery to encoder to save the data before removing connecto...

Page 52: ...unit To prevent fumes penetrating into wrist unit matched parts are sealed If you have removed the wrist cover the seal must be replaced with sealing compound Teroson Plast sealing compound material n...

Page 53: ...sealing compound material no 143813 to the plug threads with 5 Nm and insert them in the condensation water outlets 5 Tighten the plug again NOTICE The condensed water outlet opening varies depending...

Page 54: ...stall a joint hose etc to the grease outlet If this instruction is not followed the motor will be damaged Avoid air getting into the gear Insert grease with a grease gun If an automatic lubricating pu...

Page 55: ...ueeze out the excess fat all taxes must be brought to operating temperature In a operating JOB or a special moving JOBs about 20 minutes at 100 speed 5 Wipe away excess grease with a cloth 6 Remove th...

Page 56: ...25 cm approx 22 g Exchange 1 L axis gear Replenishment 30 cm approx 26 g Exchange 1 U axis gear Replenishment 20 cm approx 17 5 g Exchange 1 Grease outlet Grease inlet port 1 The grease exchange is co...

Page 57: ...nt of grease R axis gear Replenishment 7 cm approx 6 g Exchange 1 B and T axes gear Replenishment B and T axis 5 cm approx 4 g Exchange 1 Grease outlet Grease inlet port 1 The grease exchange is compl...

Page 58: ...setting the home position the position of the absolute encoder must match it Although this operation is performed prior to shipment at the factory the following cases require this operation to be perf...

Page 59: ...Maintenance and inspection 9 59 9 6 1 Register all axes 1 Select ROBOT from the main menu The sub menu choices appear 2 Select HOME POSITION The HOME POSITIONING window appears...

Page 60: ...3 can also be performed by selecting the PAGE button In this case a selection box appears 4 Select the sub assembly to calibrate e g R1 ROBOT Select the control group for HOME POSITIONING The control...

Page 61: ...inspection 9 61 6 Select SELECT ALL AXES A confirmation dialog box is displayed 7 Select YES Displayed position data of all axes are registered as home position When NO is selected the registration w...

Page 62: ...be calibrated e g R1 ROBOT Perform steps 3 and 4 as described in section 9 6 1 Register all axes to select the desired control group 4 Move the cursor to the axis you want to register and select it A...

Page 63: ...menu The sub menu choices appear 2 Select HOME POSITION 3 select the sub assembly components to be calibrated Carry out steps 3 and 4 as described in section 9 6 1 Register all axes on page 59 to sel...

Page 64: ...ub menu choices appear 2 Select HOME POSITION Carry out steps 3 and 4 as described in section 9 6 1 Register all axes on page 59 to select the desired control group 3 Select DATA from the main menu Th...

Page 65: ...he pulse generating system The robot was moved after the power supply was turned OFF If the alarm OUTSIDE THE RANGE ABSOLUTE DATA appears automatic mode is not possible The home position must be check...

Page 66: ...you have set the faulty axis set the zero position of the axis and then check the position again NOTICE If you set the zero position simultaneously for all axes automatic mode is possible without a po...

Page 67: ...oken Available to move to and modify specified point 3 Press the page key or select PAGE to display the selection window for the control group Occuring 2 or more group axes select those one to you int...

Page 68: ...sition After the confirmation if the PG system is found to be the cause of the alarm perform the necessary operation such as replacing the PG system etc The robot current position data when turning ma...

Page 69: ...cted manual speed 5 Select DATA in the menu 6 Select CONFIRM POSITION A message Home position checked appears Pulse data of the second home position and current pulse data should be compared Automatic...

Page 70: ...obot 128708 Battery pack Controller 155543 S axis Gear HW0389176 A 146011 Motor SGMAV 04ANA YR1 146018 L axis Gear HW0388706 A 146012 Motor SGMAV 04ANA YR1 146018 Toothed belt 100S5M305 146005 U axis...

Page 71: ...Housing 1 1003 HW1302004 1 Cover 1 1004 HW0314328 1 Cover 1 1005 HW0414024 1 Sleeve 1 1001 1049 1023 1048 1020 1027 1038 1037 1014 1026 1047 1032 1031 1030 1021 1032 1036 1035 1002 1017 1016 1004 102...

Page 72: ...Connector 3 1021 HW9481967 B Metal sheet 1 1022 POC6 01M Connection 1 1023 M4 x 10 Screw 22 1024 M8 x16 Screw 1 1025 2L 8 Washer 1 1026 M6 x 8 Screw 1 1027 2L 6 Washer 1 1028 M5 x 16 Screw 1 1029 2L...

Page 73: ...Parts lists 11 73 Tab 11 1 S axis drive 1049 HW0414484 1 Gasket 1 No DWG no Designation Piece...

Page 74: ...Sleeve 2 2011 HW0408927 2 Housing 1 2010 2002 2003 2004 2012 2014 2060 2029 2011 2007 2046 2047 2014 2014 1002 2001 2018 2023 2015 2049 2050 2013 2018 2023 2053 2026 2025 2057 2057 2055 2055 2013 205...

Page 75: ...SGMAV 02A2A YR1 Motor 1 2027 HW0200555 1 Cover 1 2028 HW0200555 2 Cover 1 2029 HW0414027 1 Housing 1 2030 M5 x 10 Screw 20 2031 M8 x 16 Screw 2 2032 2L 8 Washer 2 2033 M4 x 12 Screw 16 2034 2L 4 Wash...

Page 76: ...L U axis drive 2055 M4 x 16 Screw 6 2057 M4 Screw 6 2058 M8 x 16 Screw 2 2059 2L 8 Washer 2 2060 HW0414027 2 Housing 1 2061 HW9482404 A Metal sheet 3 2062 HW9481967 B Metal sheet 6 1002 HW1100160 1 H...

Page 77: ...g 1 3002 HW0314334 1 Housing 1 3003 HW414074 A Pulley 1 3004 HW0483421 B Pulley 1 3005 HW9406285 E Pipe 1 3006 HW9406278 2 Washer 1 2001 3001 3002 3024 3023 3025 3026 3012 3011 3018 3015 3014 3029 301...

Page 78: ...M4 x 10 Screw 4 3014 M3 x 12 Screw 2 3015 CDW L3 Washer 2 3016 M3 x 12 Screw 2 3017 CDW L3 Washer 2 3018 M3 Washer 2 3019 M3 x 10 Screw 3 3021 M3 x 30 Screw 12 3022 CDW L3 Washer 12 3023 M6 x 16 Scre...

Page 79: ...0 4056 4055 4052 4051 4038 4030 4005 4066 4067 4047 4047 4043 46 4029 4009 4025 4026 4041 4012 4010 4029 4007 4034 4076 4077 4024 4015 4037 4061 4060 4001 4022 4042 4003 4031 4004 4069 4068 4001 4028...

Page 80: ...4023 HW1400918 1 Cover 2 4024 HW9406260 1 Housing 1 4025 HW9406266 1 Washer 1 4026 HW9480739 B Bearing 1 4027 060S3M396 Toothed belt 1 4028 060S3M396 Toothed belt 1 4029 6803ZZ NS7 Bearing 2 4030 6808...

Page 81: ...x 12 Screw 9 4059 CDW L3 Washer 9 4060 M4 x 12 Screw 2 4061 2L 4 Washer 2 4062 M3 x 8 Screw 4 4063 CDW L3 Washer 4 4064 M3 x 12 Screw 6 4065 CDW L3 Washer 6 4066 M4 x 25 Screw 1 4067 2L 4 Washer 1 40...

Page 82: ...YASKAWA Headquarter...

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