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YASKAWA MOTOMAN-ES200RN Instructions Manual Download Page 82

Printed in Japan April 2011 04-03

C

HW0482143

MANUAL NO. 

8

Specifications are subject to change without notice

for ongoing product modifications and improvements.

YASKAWA ELECTRIC CORPORATION

MOTOMAN-ES200RN

INSTRUCTIONS

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone   +81-93-645-7745

Fax   +81-93-645-7746

805 Liberty Lane, West Carrollton, OH 45449, U.S.A. 
Phone   +1-937-847-6200

Fax   +1-937-847-6277

YASKAWA America Inc. MOTOMAN Robotics Division

Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden

Phone   +46-480-417800

Fax   +46-480-417999

YASKAWA Nordic AB

Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone   +49-8166-90-100

Fax   +49-8166-90-103

YASKAWA Europe GmbH Robotics Division

7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA

Phone   +82-2-784-7844

Fax   +82-2-784-8495

YASKAWA Electric Korea Co., Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone   +65-6282-3003

Fax   +65-6289-3003

YASKAWA Electric (Singapore) PTE Ltd.

252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone   +66-2-693-2200

Fax   +66-2-693-4200

YASKAWA Electric (Thailand) Co., Ltd.

No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone   +86-10-6788-2858

Fax   +86-10-6788-2878

Shougang MOTOMAN Robot Co. Ltd.

Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana

Fax   +91-124-414-8016

Phone   +91-124-475-8500

MOTOMAN Motherson Robotics Ltd.

71/71

Summary of Contents for MOTOMAN-ES200RN

Page 1: ...eceipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN ES200RN INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator s manual above corresponds to specific usage Be sure to use the appropriate manual 1 71 Part Number 149539 1CD Revision 2 ...

Page 2: ...hotos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost contact a YASKAWA rep resentative to orde...

Page 3: ...otentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and dam age to equipment It may also be used to alert against unsafe practices Always be sure to follow explicitly the items listed under this heading Must never be performed T...

Page 4: ...ency Stop Observe the following precautions when performing teaching operations within the P point maximum envelope of the manipulator View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency Improper or unintended manipulator operation may result in injury Confirm that no persons are...

Page 5: ...sing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the NX100 cabi net after use The programming pendant can be damaged if it is left in the P point maximum envelope of the manipulator on the floor or near fixtures Read and understand the Explanation of Warning Labels ...

Page 6: ...s Also an identification label with important information is placed on the body of the manipula tor Prior to operating the manipulator confirm the contents WARNING label A WARNING label A Nameplate WARNING label B WARNING Do not enter robot work area WARNING label A WARNING label B WARNING Moving parts may cause injury Nameplate MOTOMAN TYPE ORDER NO PAYLOAD kg MASS kg SERIAL NO DATE YASKAWA ELECT...

Page 7: ...g 4 1 Grounding 4 1 4 2 Manipulator Cable Connection 4 2 4 2 1 Connection to the Manipulator 4 2 4 2 2 Connection to the NX100 4 2 5 Basic Specifications 5 1 Basic Specifications 5 1 5 2 Part Names and Working Axes 5 2 5 3 Manipulator Base Dimensions 5 2 5 4 Dimensions and P Point Maximum Envelope 5 3 5 5 Alterable Operating Range 5 4 5 5 1 Components for Altering Operating Range 5 5 5 5 2 Notes o...

Page 8: ...iagram 9 8 Grease Exchange Refer to Fig 24 S Axis Speed Reducer and Gear Diagram 9 9 9 2 3 Grease Replenishment Exchange for L Axis Speed Reducer 9 10 Grease Replenishment Refer to Fig 25 L Axis Speed Reducer Diagram 9 10 Grease Exchange Refer to Fig 25 L Axis Speed Reducer Diagram 9 11 9 2 4 Grease Replenishment Exchange for U Axis Speed Reducer 9 12 Grease Replenishment Refer to Fig 26 U Axis Sp...

Page 9: ...cer Refer to Fig 27 U Arm Diagram 9 18 Grease Exchange for T Axis Speed Reducer Refer to Fig 27 U Arm Diagram 9 19 9 2 5 Grease Replenishment for Balancer Connection Part 9 20 9 2 6 Notes for Maintenance 9 22 Battery Pack Connections 9 22 10 Recommended Spare Parts 11 Parts List 11 1 S Axis Unit 11 1 11 2 L Axis Unit 11 3 11 3 URBT Axis Link Unit 11 5 11 4 Wrist Unit 11 7 11 5 Balancer Unit 11 9 9...

Page 10: ...the content of optional goods is given separately Manipulator NX100 Programming Pendant Manipulator cables 3 cables between the NX100 and the manipulator Confirm that the manipulator and the NX100 have the same order num ber Special care must be taken when more than one manipulator is to be installed If the numbers do not match manipulators may not perform as expected and cause injury or damage CA...

Page 11: ...A 3PHASE 220V 50 60Hz NJ2484 1 MADE IN JAPAN DATE SERIAL No ERCR TYPE POWER SUPPLY ORDERNO NJ1529 THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER WARNING Do not open the door RES ET OFF TR IPP ED ON N P O E T R G Y C M S E E SELECT PLAY TEACH REMOTE SERVO POWER S X S MAIN MENU R x R x ASSIST COORD MULTI DISPLAY SWITCH X y y 6 4 5 AUXILIARY AUXILIARY TIMER 1 WEAVING COMPLETE VOLTAG...

Page 12: ...tion may result in injury or damage Avoid excessive vibration or shock during transporting The system consists of precision components so failure to observe this caution may adversely affect performance The weight of the manipulator is approximately 1620kg including the shipping bolts and brackets Use a wire rope strong enough to withstand the weight Shipping bolts and brackets are designed to sup...

Page 13: ... 2 Transporting Position A B Electrical tape painted yellow Rubber plate Details of shipping bolt Shipping bolt 1 piece Hexagon socket head cap screw M20 length 50mm 8 screws Shipping bracket 2 pieces Shipping bracket 2 pieces 13 71 HW0482143 ...

Page 14: ...ition Bolt Type Pcs A Hexagon socket head cap bolt M20 X 50 mm Tensile strength 1200 N mm2 or more 8 B Hexagon socket head cap bolt M16 X 20 mm Tensile strength 1200 N mm2 or more 1 Before turning ON the power check to be sure that the shipping bolts and brackets have been removed The shipping bolts and brackets then must be stored for future use in the event that the robot must be moved again B S...

Page 15: ...ult in injury or damage Do not start the manipulator or even turn on the power before it is firmly anchored The manipulator may overturn and cause injury or damage Do not install or operate a manipulator that is damaged or lacking parts Failure to observe this caution may cause injury or damage Before turning on the power check to be sure that the shipping bolts and brackets explained in Fig 3 Shi...

Page 16: ...se The manipulator should be firmly mounted on a baseplate or foundation strong enough to sup port the manipulator and withstand repulsion forces during acceleration and deceleration Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator Refer to Table 1 Maximum Repulsion Forces of the Manipulator and Table 2 Endurance Torque in Operati...

Page 17: ...anchor bolts securely so that they will not work loose during operation Fig 4 Mounting the Manipulator on Baseplate 3 3 Location When the manipulator is installed it is necessary to satisfy the undermentioned environmental conditions Ambient temperature 0 to 45 C Humidity 20 to 80 RH at constant temperature Free from exposure to water oil or dust Free from corrosive gas or liquid or explosive gas ...

Page 18: ...arning may result in fire or electric shock Wiring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric shock Do not cover the cable or allow it to tangle Keep the cable as straight as possible Failure to observe this caution may result in preventing heat of the cable from being dis charged Do not use this line in common with other g...

Page 19: ...ond and 1BC last Refer to Fig 7 a Details of the Manipulator Cable Connectors Manipulator Side When connecting the cables insert them adjusting cable connector positions to main key positions of the manipulator and set the lever until it clicks 4 2 2 Connection to the NX100 The manipulator cables and NX100 board connectors are numbered 1BC 2BC and 3BC Verify the numbers and connect these cables to...

Page 20: ...0482143 Fig 6 Manipulator Cable Connections X11 1BC X21 2BC X22 3BC 3BC Power cable X11 1BC X21 2BC X22 3BC Power cable 2BC Encoder cable 1BC Manipulator side NX100 side Manipulator side Manipulator side NX100 side NX100 side 20 71 HW0482143 ...

Page 21: ...s of the Manipulator Cable Connectors Manipulator Side Fig 7 b Manipulator Cable Connections to the NX100 S1 AIR 2BC 3BC 1BC A molex molex molex B Connector details Manipulator side S1 1BC AIR 2BC A molex molex molex 3BC Key positions X22 X21 X11 21 71 HW0482143 ...

Page 22: ...rm 208 107 R Axis wrist roll 360 B Axis wrist pitch yaw 125 T Axis wrist twist 360 Maximum Speed S Axis 1 57 rad s 90 s L Axis 1 48 rad s 85 s U Axis 1 48 rad s 85 s R Axis 2 01 rad s 115 s B Axis 1 92 rad s 110 s T Axis 3 32 rad s 190 s Allowable Moment 3 R Axis 1274N m 130kgf m B Axis 1274N m 130kgf m T Axis 686N m 70kgf m Allowable Inertia GD2 4 R Axis 120kg m2 B Axis 120kg m2 T Axis 70kg m2 Ma...

Page 23: ... Wrist flange Upper arm U arm S L S head Rotary head S Base Lower arm L arm L U U A 40 Units mm View A Fitting surface Fitting surfac 22 dia 8 holes For fixing the manipulator 20 dia 2 holes Pin hole for manipulat positioning 0 021 0 16 dia 2 holes Pin hole for manipulato positioning 0 018 0 350 0 1 290 0 1 290 0 1 640 290 0 1 893 290 0 1 540 290 0 1 290 0 1 540 640 735 353 0 1 23 71 HW0482143 ...

Page 24: ...5 4 Dimensions and P Point Maximum Envelope 5 3 HW0482143 5 4 Dimensions and P Point Maximum Envelope Fig 10 Dimensions and P Point Maximum Envelope 24 71 HW0482143 ...

Page 25: ... S Axis Operating Range If alteration is necessary contact your Yaskawa representative in advance The interval between stoppers must be 60 or more Table 4 S Axis Operating Range Item Specifications S Axis Operating Range 180 standard 165 150 135 120 105 90 75 60 45 30 15 When altering the operating range to 15 or 165 please contact your Yaskawa representative NOTE 25 71 HW0482143 ...

Page 26: ...in drawing No HW0402104 1 1 pin Stopper drawing No HW0302424 2 1 stopper Hexagon socket head cap screw M20 length 45mm 3 screws tensile strength 1200 N mm2 or more Flat washer M20 3 flat washers Fig 11 The Components of the S Axis Stopper HW0302424 2 Section A A Hexagon socket head cap screws M20 3 screws length 45 tensile strength 1200 N mm2 Flat washer M20 Stopper Pin HW0402104 1 A A 26 71 HW048...

Page 27: ...ides of the protrusion with the hexagon socket head cap screws as in Fig 12 Properly Mounted Image on account of the limitation of strength to the unit Refer to the figures Fig 13 as adjusting the setting angle of the S axis mechanical stop per When installing the S axis mechanical stopper by inverse angle to the examples in the figures Fig 13 settle the machinery symmetrical to those models As in...

Page 28: ... S Axis The limitation to the pulse Pulse Soft Limit 1st Axis SICxG200 The limitation to the pulse Pulse Soft Limit 1st Axis SICxG208 Refer to 5 5 p5 4 Degree 0 15 30 45 60 75 90 Number of Pulse 0 35109 70217 105326 140434 175543 210651 Degree 105 120 135 150 165 180 Standard Number of Pulse 245760 280869 315977 351086 386194 421303 Adjust both of the pulse limitation and the angle of S axis mecha...

Page 29: ...f S Axis Stopper for Direction Table 5 The settable angle for S Axis Stopper Table 5 The Settable Angle for S Axis Stopper indicates the angle range which allows S axis to be set at direction and direction angles Note Horizontal axis of the table indicates set angles in direction for S axis Vertical axis of the table indicates set angles in direction for S axis e g S axis can be set within the ang...

Page 30: ...les Fig 13 a The Properly Mounted Models for S Axis Stopper The Settled Model of 165 Degree The stopper could be utlized by either side Hexagon socket head cap screws The stopper could be utlized by either side The Settled Model of 180 Degree Hexagon socket head cap screws 30 71 HW0482143 ...

Page 31: ...unted Models for S Axis Stopper The Settled Model of 135 Degree The stopper could be utlized by either side Hexagon socket head cap screws The Settled Model of 150 Degree Hexagon socket head cap screws The stopper only utlized by one side with this angle 31 71 HW0482143 ...

Page 32: ...nted Models for S Axis Stopper The stopper could be utlized by either side Hexagon socket head cap screws The Settled Model of 105 Degree The stopper is only utlized by one side with this angle The Settled Model of 120 Degree Hexagon socket head cap screws 32 71 HW0482143 ...

Page 33: ...rly Mounted Models for S Axis Stopper The Settled Model of 90 Degree The stopper could be utlized by either side Hexagon socket head cap screws The Settled Model of 75 Degree The stopper could be utlized by either side Hexagon socket head cap screws 33 71 HW0482143 ...

Page 34: ...nted Models for S Axis Stopper Hexagon socket head cap screws The Settled Model of 60 Degree The stopper is only utlized by one side with this angle Hexagon socket head cap screws The Settled Model of 45 Degree The stopper could be utilized by either side 34 71 HW0482143 ...

Page 35: ...unted Models for S Axis Stopper Hexagon socket head cap screws The Settled Model of 15 Degree Hexagon socket head cap screws The Settled Model of 30 Degree The stopper is only utlized by one side with this angle The stopper could be utlized by either side 35 71 HW0482143 ...

Page 36: ...ble Operating Range 5 15 HW0482143 Fig 13 g The Properly Mounted Models for S Axis Stopper The Settled Model of 0 Degree The stopper could be utlized by either side Hexagon socket head cap screws 36 71 HW0482143 ...

Page 37: ...ating The allowable total inertia is calculated when the moment is at the maximum Contact your Yaskawa representative when only inertia or load moment is small and inertia is large Also when the load mass is combined with an outside force contact your Yaskawa representative Fig 14 Moment Arm Rating Table 6 Allowable Total Moment and Total Inertia Model Axis Moment N m kgf m 1 GD2 4 Inertia kg m2 Y...

Page 38: ...itting depth of inside and outside fittings must be 8mm or less Fig 15 Wrist Flange Wash off anti corrosive paint Yellow on the wrist flange surface with thinner or light oil before mounting the tools 8 10 dia 2 holes depth 8mm Tapped hole M10 6 holes depth 12mm 8 160 dia 63 dia P C D 92 P C D 125 0 030 0 0 0 025 0 015 0 9 dia 2holes depth 8mm 0 015 0 Tapped hole M10 6holes depth 12mm Units mm NOT...

Page 39: ...ment Table 7 Constraint for Attaching Application Note A1 A2 Cable Processing and Valve Load 30 kg max 49N m 5kgf m max for increased moment amount of upper arm B Others 200 kg or less 40 255 120 A2 B A1 85 450 205 75 365 555 133 120 40 255 100 40 Tapped hole M6 4 holes depth 15mm 120 120 40 40 40 Tapped hole M12 8 holes depth 24mm 120 120 120 75 Tapped hole M8 4 holes depth 15mm 205 100 255 255 2...

Page 40: ...l devices mounted on the upper arm as shown in Fig 17 a Connectors for internal user I O wiring harness and air lines The connector pins and the terminals are assigned as shown in Fig 17 b Connectors for Internal User I O Wiring Harness and Air Line Pin Details Wiring must be performed by user The allowable current for wires 8 0A or less wire 1 25mm2 7 0A or less wire 1 0mm2 5 0A or less wire 0 75...

Page 41: ...0 29SC socket connector with cap Prepare pin connector JL05 6A20 29P Connector for internal user I O wiring harness Casing JL05 2A22 14SC socket connector with cap Prepare pin connector JL05 6A22 14P Air inlet air flow Tapped hole PT3 8 with pipe plug Connector for internal user I O wiring harness Base JL05 2A28 21PC pin connector with cap Prepare socket connector JL 05 6A28 21S S1 3BC 1BC 2BC AIR...

Page 42: ...0 75mm 2 12 pins Pins used Pin details for internal user I O wiring harness Base side 7 6 11 3 12 16 15 5 4 9 1 8 14 13 17 18 10 2 Pin details for internal user I O wiring harness Casing side 0 75mm 2 12 pins 0 5mm 2 6 pins 1 2 5 4 3 P P 8 7 11 10 9 P 6 13 14 15 16 17 18 12 Pins used 6 10 3 8 5 1 2 7 4 9 14 16 12 11 15 13 Pin details for external axis encoder cable Shielded wire 0 2mm 2 4 pins 1 2...

Page 43: ...Pins used Pin details for internal user I O wiring harness Base side 7 6 11 3 12 16 15 5 4 9 1 8 14 13 17 18 10 2 Pin details for internal user I O wiring harness Casing side 0 3mm 2 12 pins 0 5mm 2 6 pins 1 2 5 4 3 P P 8 7 11 10 9 P 6 13 14 15 16 17 18 12 Pins used 6 10 3 8 5 1 2 7 4 9 14 16 12 11 15 13 Pin details for external axis encoder cable Shielded wire 0 2mm 2 4 pins 1 2 P P 10 15 9 Pins ...

Page 44: ...tches are optional For axes with limit switch specifications limit switches are located on S axis L axis and U axis Refer to Fig 18 Location of Limit Switches for the location Fig 18 Location of Limit Switches L and U axes Interference limit switch L axis overrun limit switch S axis overrun limit switch 43 71 HW0482143 ...

Page 45: ...l user I O wiring harness JL05 2A28 21PC JL05 6A28 21S Optional U arm Connector for internal user I O wiring harness JL05 2A22 14SC JL05 6A22 14P Optional for external axis Encoder cable JL05 2A20 29SC JL05 6A20 29P Optional for external axis Power cable JL05 2A18 1SC JL05 6A18 1P Optional S1 3BC 2BC 1BC molex molex molex A AIR B S1 3BC 2BC 1BC molex molex molex A AIR B Connector for internal user...

Page 46: ...DATA 2 DATA 3 DATA 3 2 BAT BAT 3CN 1 No 3CN 7 OBT 0V FG3 OBT 5V OBT R AXIS PG B AXIS PG DATA 4 DATA 4 2 OBT BAT 4CN 1 No 4CN 7 OBT BAT FG4 0V 5V DATA 5 DATA 5 2 0V BAT OBT 5V 5CN 1 DATA 6 7 OBT BAT FG5 6CN 1 No 6CN No 5CN BAT P P P P P P FG1 SPG 2 FG2 SPG 2 P CN1 7 CN1 6 CN1 8 SPG 3 SPG 3 FG3 P CN2 3 CN2 2 CN2 1 P P P P P P SPG 4 SPG 4 FG4 P CN2 7 CN2 6 CN2 8 SPG 5 SPG 5 SPG 6 FG5 P CN3 6 CN3 3 CN...

Page 47: ...2 6 CN2 3 CN2 5 CN2 4 MU6 MU6 ME6 ME6 MW6 MW6 MV6 MV6 CN4 6 CN4 5 CN4 3 CN4 2 CN4 4 CN4 1 CN3 5 CN3 4 CN3 6 ME5 MU7 MU7 MW7 MW7 MV7 MV7 CN6 5 CN6 6 CN6 4 CN6 1 CN5 4 CN5 1 BA7 BB7 ME7 CN5 3 CN5 6 CN5 5 CN5 2 ME7 CN1 1 CN1 2 E MU1 MU1 CN1 7 CN1 6 CN1 5 CN2 1 MV1 MV1 MV1 MW1 MU1 CN1 3 CN2 3 CN1 8 CN1 4 CN2 4 MW1 ME1 ME1 ME1 CN6 2 CN2 6 CN2 5 BB1 MU2 MU2 BA1 CN6 1 MW1 CN2 2 CN3 3 CN3 1 CN3 2 CN3 5 MV...

Page 48: ...be performed by service company personnel Only specified personnel are to do inspection work Before maintenance or inspection be sure to turn the main power sup ply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in electric shock or injury Maintenance and inspection must be performed by specified personnel Failure to observe this caution may re...

Page 49: ...damage at the home position External lead Visual Check for damage and deterioration of leads Working area and manipulator Visual Clean the work area if dust or spatter is present Check for damage and outside cracks L U axis motors Visual Check for grease leakage 5 Baseplate mounting bolts Spanner Wrench Tighten loose bolts Replace if necessary Cover mount ing screws Screw driver Wrench Tighten loo...

Page 50: ...cer S axis gear Grease Gun Check for malfunc tion Replace if nec essary Supply grease 3 6000H cycle See Par 9 2 2 Exchange grease 3 12000H cycle See Par 9 2 2 L axis speed reducer Grease Gun Check for malfunc tion Replace if nec essary Supply grease 3 6000H cycle See Par 9 2 3 Exchange grease 3 12000H cycle See Par 9 2 3 U axis speed reducer Grease Gun Check for malfunc tion Replace if nec essary ...

Page 51: ...orrespond to the numbers in Table 9 Inspection Items Table 10 Inspection Parts and Grease Used No Grease Used Inspected Parts Molywhite RE No 00 Speed Reducers for all Axes R B and T Axes gears Alvania EP Grease 2 L Axis Balancer 12 13 14 15 16 50 71 HW0482143 ...

Page 52: ... 21 Inspection Parts and Inspection Numbers S1 3BC AIR 2BC 1BC A molex molex molex 6 6 13 4 11 7 7 6 4 2 10 1 1 1 1 1 16 15 14 5 8 12 9 1 B T axis B axis R axis U axis L axis S axis Note The manipulator is in the home position 51 71 HW0482143 ...

Page 53: ...sitions as shown in Fig 22 a Battery Location Back View and Fig 22 b Battery Location Top View If a battery alarm occurs in the NX100 replace the battery in accordance with the following procedure Fig 22 a Battery Location Back View Fig 22 b Battery Location Top View Base S1 3BC AIR 2BC 1BC Plate Plate screw M4 Connector base Board Battery pack 52 71 HW0482143 ...

Page 54: ...nnect the new battery pack to the unoccupied connector on the board 5 Remove the old battery pack from the board 6 Mount the new battery pack to the battery holder 7 Reinstall the plate Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear Do not pinch the cable when the plate is installed Connector Battery pack before replacement See procedu...

Page 55: ...xhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 5 Remove the grease zerk from the grease inlet and reinstall the plug PT1 4 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug If grease is added with the plug on ...

Page 56: ...or a few minutes to discharge excess grease 5 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 4 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to t...

Page 57: ...r a few minutes to discharge excess grease 5 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to th...

Page 58: ...rease can be distinguished from the old grease by color 5 Move the L axis for a few minutes to discharge excess grease 6 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Tighten the plu...

Page 59: ...or a few minutes to discharge excess grease 5 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to t...

Page 60: ...5 Move the U axis for a few minutes to discharge excess grease 6 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Th...

Page 61: ...ug PT1 8 Grease exhaust port T axis speed reducer Hexagon socket head plug PT1 16 Grease inlet B and T axis speed reducer Hexagon socket head plug PT1 8 Grease exhaust port R and B axis speed reducer Hexagon socket head plug PT1 8 Grease inlet R axis speed reducer Hexagon socket haed plug PT1 8 Grease exhaust port R B and T gears in the casing Hexagon socket head plug PT1 8 A View A 60 71 HW048214...

Page 62: ...cket head plug PT1 8 from the grease exhaust port 2 Remove the hexagon socket head plug PT1 8 from the grease inlet and install the grease zerk A PT1 8 Inject grease into the grease inlet using a grease gun The grease zerk is delivered with the manipulator 3 Move the R axis for a few minutes to discharge excess grease 4 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten...

Page 63: ...head plug PT1 16 from the grease exhaust port 2 Remove the hexagon socket head plug PT1 8 from the grease inlet and install the grease zerk A PT1 8 Inject grease into the grease inlet using a grease gun The grease zerk is delivered with the manipulator 3 Move the T axis for a few minutes to discharge excess grease 4 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 16 Tighten th...

Page 64: ... part of the plug Grease Exchange for R Axis Speed Reducer Refer to Fig 27 U Arm Diagram 1 Remove the hexagon socket head plug 1 8 from the grease exhaust port 2 Remove the hexagon socket head plug PT1 8 from the grease inlet and install the grease zerk A PT1 8 Inject grease into the grease inlet using a grease gun The grease zerk is delivered with the manipulator 3 The grease exchange is complete...

Page 65: ...e exchange is completed when new grease appears from the grease exhaust port The new grease is distinguished from the old grease by color 4 Move the B axis for a few minutes to discharge excess grease 5 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 6 Remove ...

Page 66: ...stinguished from the old grease by color 4 Move the T axis for a few minutes to discharge excess grease 5 Wipe the grease exhaust port with a cloth and reinstall the plug PT1 16 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Tighten the plug with a tight...

Page 67: ...f connection and and inject grease into the grease inlets using a grease gun Grease type Alvania EP grease 2 Amount of grease 5cc 10cc for 1st supply The exhaust ports and are used for air flow Do not inject excessive grease into the grease inlets Exhaust port Hexagon socket head plug PT1 8 Connection Grease inlet Hexagon socket head plug PT1 Connection Needle bearing 2 bearings Connection Grease ...

Page 68: ...ction and Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread parts of the plug and screw 4 Remove the grease zerk from the grease inlets of connection and and reinstall the plug PT1 8 Tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C to the thread part of the plug 67 71 HW0482143 ...

Page 69: ...ter the maintenance checks and remove the battery packs Reinstall the caps onto the battery backup connectors of the motors Fig 29 Battery Pack Connection When performing maintenance such as replacement of a wire harness in the manipulator the encoder connector may be necessary to be removed In this case be sure to connect the battery pack to the battery backup connector before removing the encode...

Page 70: ...OTOMAN ES200RN Ran k Parts No Name Type Manufacturer Qty Qty per Unit Remarks A 1 Grease Molywhite RE No 00 Yaskawa Electric Corporation 16kg for all axes speed reducers and wrist units A 2 Grease Alvania EP Grease 2 Showa Shell Sekiyu K K 16kg for balancer joint part A 3 Liquid Gasket Three Bond 1206C ThreeBond Co Ltd 1 1 A 4 Battery Pack HW0470360 A Yaskawa Electric Corporation 1 1 A 5 Battery P...

Page 71: ...Electric Corporation 1 1 B 15 Wrist Unit HW0170621 A Yaskawa Electric Corporation 1 1 C 16 AC Servomotor for S L and U Axes HW0382157 A SGMRS 37A2A YR1 Yaskawa Electric Corporation 1 3 C 17 AC Servomotor for R B and T Axes HW0382156 A SGMRS 13A2A YR1 Yaskawa Electric Corporation 1 3 C 18 Wire Harness in Manipulator HW0170644 A Yaskawa Electric Corporation 1 1 C 19 Wire Harness in Manipulator HW037...

Page 72: ...s Unit 1001 1016 1022 1026 1010 1011 1025 1008 1009 1021 1004 1023 1082 1082 1081 1024 1041 1040 1017 1003 1006 1019 1020 1018 1038 1039 1012 1013 1064 1062 1066 1069 1070 1059 1058 1065 1063 1068 1054 1055 1032 1033 1014 1015 1067 1072 1005 70A 71 HW0482143 ...

Page 73: ... 12 Spring washer 16 1021 HW9404486 1 Shaft 1 1022 HW0402102 1 Stopper 1 1023 M8X40 Socket screw 1 1024 2H 8 Spring washer 1 1025 MSTH6 20 Pin 2 1026 HW0403418 1 Plate 1 1032 M6X14 Socket screw 4 1033 2H 6 Spring washer 4 1038 HW0302424 1 Stopper 1 1039 M20X45 Bolt 3 M20 Washer 3 1040 G415 O ring 1 1041 G105 O ring 1 1054 M12X40 Socket screw 4 1055 2H 12 Spring washer 4 1058 M6X16 Socket screw 2 1...

Page 74: ...2058 2018 2019 2016 2017 2025 2050 2026 2029 2020 2021 2008 2012 2013 1006 2011 2022 2009 2045 2059 2045 2007 2001 2002 2003 2044 2055 2046 2047 2039 2044 2048 2048 2038 2043 2041 2042 2042 2041 2043 2040 2039 2046 2047 2055 2038 2010 2027 2028 2055 2004 70C 71 HW0482143 ...

Page 75: ...2019 2H 16 Spring 6 2020 M14X40 Socket screw 6 2021 GT SH 14 Washer 6 2022 G300 O ring 1 2023 HW0100278 1 L arm 1 2024 PT1 8 Plug 1 2025 HW0200259 1 Support 1 2026 HW0402106 1 Shaft 1 2027 M12X60 Socket screw 6 2028 2H 12 Spring washer 6 2029 6218LLU Bearing 1 2038 HW9405055 1 Shaft 2 2039 M10X50 Socket screw 18 2041 KE901107 Oil seal 2 2042 HR32916J Bearing 2 2043 S105 O ring 2 2044 HW9405699 5 B...

Page 76: ... 3079 3080 3081 3076 3077 3064 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3015 3016 3017 3019 R axis 3019 B axis 3019 T axis 3020 3021 3022 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037 U axis 3038 3039 3040 3041 3042 3024 3044 3045 3046 3047 3048 3049 3050 3051 3052 3053 3053 3010 3011 3053 3054 3055 3055 3055 3018 3023 3043 3013 2023 3014 3020 3021 3020 3021 7...

Page 77: ... 12 Spring washer 33 3044 HW0481083 A Bolt 1 3045 2H 12 Spring washer 1 3046 HW0301780 A Gear 1 3047 HW9481343 A Shaft 1 3048 ISTW 12 C stopper 1 3049 HW9482306 E Shaft 1 3050 G280 O ring 1 3051 TSH6 01M Union 2 3052 UB0605 0 1C Air tube 2 3053 Y507212 5 Oil seal 3 3054 TAFI405520 Needle bearing 1 3055 HW0401506 1 Plate 3 3060 HW0100241 1 U arm 1 3061 NK25 20R Bearing 1 3062 HW0402202 1 Shaft 1 30...

Page 78: ...019 4020 4021 4022 4023 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4032 4032 4032 4033 4034 4035 4036 4037 4038 4039 4040 4041 4042 4043 4042 4043 4044 4060 4046 4047 4048 4049 4050 4051 4052 4053 4054 4057 4058 4059 4045 4061 4062 4063 4064 4065 4066 4073 4077 4083 4081 4081 4082 4067 4068 4069 4070 4071 4072 4055 4056 70G 71 HW0482143 ...

Page 79: ...screw 5 2H 6 Spring washer 5 4038 M6X20 Socket screw 3 4039 2H 6 Spring washer 3 4040 HW0301224 1 Gear 1 4041 HW0301225 1 Gear 1 4042 HW0401514 1 B nut 2 4043 M5X7 Magic screw 4 4044 M8X20 Socket screw 14 4045 2H 8 Spring washer 14 4046 M10X20 Socket screw 3 4047 2H 10 Spring washer 3 4048 HW9403617 1 Housing 1 4049 HW0200180 1 Cover 1 4050 M4X12 Socket screw 4 2H 4 Spring washer 4 4051 HW9302370 ...

Page 80: ...11 9 HW0482143 11 5 Balancer Unit 5001 5017 5018 5012 5011 5005 5006 5007 5005 5006 5014 5016 5003 5004 5009 5009 5009 5008 5002 5010 5009 5008 5008 5008 5013 2031 2032 2030 2036 2034 2033 2035 2037 2023 70I 71 HW0482143 ...

Page 81: ...es 4 5009 IRTW 75 Stopper 4 5010 FD3187AO Dust seal 1 5011 HW0302080 1 Flange 1 5012 HW0302082 1 Rod 1 5013 HW9405057 1 Clevis 1 5014 M6X6 Magic screw 1 5016 PT1 8 Plug 3 5017 M8X16 Socket screw 3 5018 2H 8 Washer 3 2023 HW0100278 1 L arm 1 2030 HW9302054 1 Shaft 1 2031 M12X50 Socket screw 12 2032 2H 12 Spring washer 12 2033 NA6912 Needle bearing 1 2034 AR 85 Clip 1 2035 WR60 Circlip 1 2036 VB75X9...

Page 82: ...shausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA Europe GmbH Robotics Division 7F Doore Bldg 24 Yeoido Dong Youngdungpo ku Seoul KOREA Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA Electric Korea Co Ltd 151 Lorong Chuan 04 02A New Tech Park Singapore 556741 Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA Electric Singapore PTE Ltd 252 246 4th Floor Muang Thai Phatra Office Tower II Rach...

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