YASKAWA MOTOMAN-HP20D, Maintenance Manual

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iii
159281-1CD
HW1480357
HP20D
Table of Contents
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 National Safety Standard for Industrial Robots and Robot Systems ................................. 1-2
1.2 Notes for Safe Operation................................................................................................... 1-3
1.3 Definition of Terms Used Often in This Manual ................................................................. 1-5
1.4 Registered Trademark ....................................................................................................... 1-5
1.5 Explanation of Warning Labels.......................................................................................... 1-6
1.6 Safeguarding Tips.............................................................................................................. 1-7
1.7 Mechanical Safety Devices................................................................................................ 1-7
1.8 Programming, Operation, and Maintenance Safety........................................................... 1-8
1.9 Maintenance Safety........................................................................................................... 1-9
1.10 Summary of Warning Information.................................................................................... 1-9
1.11 Customer Support Information....................................................................................... 1-10
2 Notes for Maintenance.................................................................................................................... 2-1
2.1 Wrist Unit ........................................................................................................................... 2-1
2.2 Encoder Connector (with CAUTION Label)....................................................................... 2-2
2.2.1 Battery Pack Connection for S-, L-, and U-axis Motors........................................ 2-2
2.2.2 Battery Pack Connection for R-, B-, and T-axis Motors........................................ 2-2
3 Home Position Return..................................................................................................................... 3-1
3.1 Home Position Return after Motor Replacement............................................................... 3-1
3.1.1 Home Position Return by Zeroing Function.......................................................... 3-1
3.1.2 Home Position Return by Robot Calibration (MOTOCALV EG)........................... 3-1
3.1.3 Home Position Return by Setting Teaching Point
for Home Position Setting before Motor Replacement ......................................... 3-2
3.1.3.1 Preparation before Motor Replacement .................................................. 3-2
3.1.3.2 Motor Replacement................................................................................. 3-4
3.1.3.3 Home Position Adjustment...................................................................... 3-5
3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor Battery ...................... 3-6
3.2.1 Home Position Return at the Time of Battery Backup by Using
the Function: Home Position Calibration Function for Restoration....................... 3-6
3.2.2 Home Position Return by Keys (for S-, L-, U-, and R-Axes)................................. 3-6
3.2.2.1 Calibration Operation .............................................................................. 3-6
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