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YASKAWA Motoman MH Series, Manual

The YASKAWA Motoman MH Series offers high-performance industrial robots for a wide range of applications. To familiarize yourself with these advanced machines, download the free user manuals from manualshive.com. Easily access detailed operating instructions and maintenance procedures to optimize the performance of your MH Series robot.

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INTRODUCTION

MH-Series Positioner Manual with MotoMount

1-4

 

MOTO

 

MAN

 

Figure 1-2   MHT System Layout – Type II

 

1.3

Reference to Other Documentation

 

For additional information refer to the following:

•

Sigma II User’s Manual (NS600 Alarms) - Motoman P/N 147237-1

•

Sigma II Indexer User’s Manual (NS600 Alarms) - Motoman P/N 147238-1

 

1.4

Customer Service Information

 

If you need technical assistance, contact the Motoman service staff at
937.847.3200. Please have the following information ready before you call:

•

Product (MotoMount, MH75, MH150, MH450, MH1000, MH1500, or
MH3000)

•

Serial Number

HOUSING

MOTOMOUNT
TAILSTOCK
COMPONENTS

HEADSTOCK

COLUMN

MOTOMOUNT
HEADSTOCK
COMPONENTS

STANDARD
TOOL RADIUS
(SEE TABLE 3-2)

Summary of Contents for Motoman MH Series

Page 1: ...805 Liberty Lane West Carrollton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 Motoman MH series Positioner Manual with MotoMount and Drive Assemblies Part Number 14...

Page 2: ...ved Because we are constantly improving our products we reserve the right to change specifications without notice MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing COMPLETE OUR ONLIN...

Page 3: ...4 2 6 Programming Safety 2 4 2 7 Operation Safety 2 5 2 8 Maintenance Safety 2 6 3 EQUIPMENT DESCRIPTION 3 1 MH Series Drive Assemblies Type I 3 1 3 1 1 Type I Specifications 3 2 3 2 MH series Drive A...

Page 4: ...t Check 4 19 4 4 9 Tooling Fixture Removal 4 22 4 5 MotoMount Installation 4 22 4 5 1 Preparation 4 22 4 5 2 Unpack and Assemble 4 22 4 5 3 Securing MotoMount Drive Components onto Faceplate 4 24 4 5...

Page 5: ...7 4 1 MH1000 3000 7 4 7 5 Reset Headstock To Home Position 7 8 7 5 1 Jogging Procedure 7 8 7 5 2 Homing 7 10 7 6 Adjusting Position Limit Switches 7 12 7 7 NS600 List of Spares 7 14 7 7 1 Spare Parts...

Page 6: ...ut Tooling Type I 4 12 Figure 4 14 Strike Chalk Line 4 13 Figure 4 15 Tailstock Placement Type II 4 13 Figure 4 16 Leveling the Tailstock Type I 4 14 Figure 4 17 Leveling the Tailstock Type II 4 15 Fi...

Page 7: ...000 3000 7 7 Figure 7 7 Home Position Type I 7 10 Figure 7 8 Home Position Type II 7 11 Figure 7 9 Position Limit Switch Setting Type I 7 13 Figure 7 10 Position Limit Switch Setting Type II 7 13 Figu...

Page 8: ...le 7 2 Spare Parts 750 kW Kit P N 146732 1 7 14 Table 7 3 Spare Parts 1 5 kW Kit P N 146732 2 7 14 Table 7 4 Spare Parts 5 0 kW Kit P N 146732 3 7 14 Table 7 5 Maintenance Schedule 7 15 Table 7 6 Peri...

Page 9: ...section provides general information about MotoMount and its components the MH Series positioners and their components a list of reference documents and customer service information SECTION 2 SAFETY T...

Page 10: ...ses or use of surveying tools transits for precise headstock tailstock alignment thus reducing overall positioner cost and installation time The system includes a headstock fixture assembly a complian...

Page 11: ...itioner assembly MHT are shown in Figure 1 1 Figure 1 1 MHT System Layout Type I 1 2 4 System Layout Type II The Type II MH Series positioner kits include two drive assemblies MH1000 and MH3000 The ki...

Page 12: ...7237 1 Sigma II Indexer User s Manual NS600 Alarms Motoman P N 147238 1 1 4 Customer Service Information If you need technical assistance contact the Motoman service staff at 937 847 3200 Please have...

Page 13: ...e program and maintain the robot cell The robot must not be operated by personnel who have not been trained We recommend that all personnel who intend to operate program repair or use the robot system...

Page 14: ...immediate and imminent hazards that if not avoided will result in immediate serious personal injury or loss of life in addition to equipment damage WARNING Information appearing under the WARNING capt...

Page 15: ...bot I O Inputs and Outputs The robot must be placed in Emergency Stop E STOP mode whenever it is not in use In accordance with ANSI RIA R15 06 section 6 13 4 and 6 13 5 use lockout tagout procedures d...

Page 16: ...el supervisors and anyone working near the robot must become familiar with the operation of this equipment All personnel involved with the operation of the equipment must understand potential dangers...

Page 17: ...erator s manuals the system equipment and options and accessories are permitted to operate this robot system Check all safety equipment for proper operation Repair or replace any non functioning safet...

Page 18: ...gram changes are made A backup must always be made before any servicing or changes are made to options accessories or equipment to avoid loss of information programs or jobs Do not enter the robot cel...

Page 19: ...can be purchased as an option Holes in the faceplate provide for mounting MotoMount drive components or parts fixtures in stand alone cantilevered applications 3 1 MH Series Drive Assemblies Type I Th...

Page 20: ...000 70 Headstock Speed rpm 24 7 12 4 9 8 10 6 180 Degree Sweep Time sec 1 72 2 92 3 56 3 32 Rated CG Off Center mm 152 Rated CG Overhang mm 500 200 100 50 Load 500 mm CG Overhang kgf 75 175 500 Rated...

Page 21: ...the two available Type II drive assemblies is the same capacity is the primary difference The Type II drive assembly is designed for vertical mounting configurations The Type II drive assembly positio...

Page 22: ...Axis Type Rotation Rotation Rated Load kgf 1000 3000 Rated MHT Load CG Off Center kgf mm 6300 23 6300 69 Headstock Speed rpm 20 2 6 7 180 degree Sweep Time sec 1 98 4 95 Rated CG Off Center mm 152 152...

Page 23: ...The MotoMount drive components are mounted onto the headstock faceplate while the tailstock components replace earlier tailstock bearing designs MotoMount is also available in a Heavy Duty HD configu...

Page 24: ...ackage consists of a Yaskawa Electric America stand alone servo amplifier with NS600 motion controller This electrical sub system can be interfaced with motors in the range of 550W 1 5kW and 4 0kW 5 0...

Page 25: ...low established safety procedures at all times throughout the installation process Failure to use safe work practices can result in damage to the equipment and injury to the workers 4 1 Materials Requ...

Page 26: ...sure that your lifting device is capable of handling this much weight or damage to the equipment or injury to personnel can result 1 Carefully remove protective plastic wrapping from equipment 2 Insp...

Page 27: ...nting hole pattern for the MH75 150 Figure 4 3 shows the mounting hole pattern for the MH450 Figure 4 4 shows the mounting hole pattern for the MH1500 Table 4 1 shows mounting specifications for Type...

Page 28: ...IN 210 0 MM 2 X SF FOR M12 DOWEL 56 9 MM 2 29 IN 1 85 IN 47 0 MM 7 48 IN 190 0 MM 4 X CLEARANCE FOR M10 SCREW 2 X M10 X 1 5 THRU AUXILARY MOUNTING HOLES 240 0 MM 9 44 IN 160 0 MM 6 X FOR CLEARANCE M1...

Page 29: ...lumn Assembly Refer to the system layout drawings to ensure precise set up location To install the headstock refer to Figure 4 6 and proceed as follows 1 Set column assembly in desired position 2 Use...

Page 30: ...n top of the housing perpendicular to the faceplate 2 Use the two leveling bolts beneath the faceplate A and B and a third beneath the motor C to level axially see Figure 4 6 If the faceplate side nee...

Page 31: ...ot connections between the two usually have been made at the factory or if not instructions for making connections can be found in the system manual See separate schematics and or documentation specif...

Page 32: ...To unpack the equipment proceed as follows WARNING The MH series headstock can weigh as much as 1200 kg 2650 lbs Be sure that your lifting device is capable of handling this much weight or damage to...

Page 33: ...r the system layout drawings to ensure precise set up location Refer to Figure 4 10 to install the headstock and proceed as follows 1 Set headstock assembly in desired position 2 Use leveling bolt hol...

Page 34: ...l on top of the housing perpendicular to the faceplate 2 Use the two leveling bolts beneath the faceplate A and B and a third beneath the motor C to level axially see Figure 4 6 If the faceplate side...

Page 35: ...or making connections can be found in the system manual See separate schematics and or documentation specific to your system Ground Cables Type II A ground cable bar is provided for attaching weld gro...

Page 36: ...on on the floor using the chalk line The headstock and tailstock are now facing each other 4 Measure the distance D between the headstock and tailstock base To find the distance D between the headstoc...

Page 37: ...oss from the headstock see Figure 4 15 Use the chalk line and the center line of each component as guides for placement of the tailstock column on the floor NOTE Keeping the center line of each compon...

Page 38: ...y axially proceed as follows 1 Place a level on top of the tailstock column in the axial direction 2 Use the leveling bolts A B and C to adjust the axial level Adjust bolts A B equally To level the ta...

Page 39: ...bolts A B equally To level the tailstock assembly cross axially proceed as follows 1 Place a level on top of the tailstock in the cross axial direction 2 Use the same three leveling bolts used above...

Page 40: ...ith customer supplied M12 grade 8 8 or better bolts and hardened washers Eight hardened washers are included with the MotoMount kit for this purpose 3 Align the adapter shaft with the tooling axis and...

Page 41: ...dstock to the HOME position The tooling mounting holes and locating pin must be pointing up If not remove the MotoMount drive components and reinstall in the proper orientation WARNING Make certain se...

Page 42: ...of the bearing and ensure that it is still centered in the cradle 7 Secure the tooling to the drive assembly with customer supplied M12 grade 8 8 or better bolts and hardened washers Eight hardened wa...

Page 43: ...tical misalignment is possible Both the horizontal and vertical alignment procedures require the measurement of the same gap on the MotoMount drive components A tooling fixture must be installed to al...

Page 44: ...bearing housing cannot provide the desired results the columns are out of basic alignment and must be repositioned e Tighten the bearing mounting bolts to 76 N m 56 lbf ft Figure 4 23 Measurement Poin...

Page 45: ...4 Measure the alignment gap at the second position If the gaps are different by more than 1 mm 039 in the vertical alignment must be adjusted Use the following procedure to adjust the vertical alignme...

Page 46: ...ach the hoisting straps to the tooling fixture 3 Remove the tool fixture mounting bolts and tailstock bearing cap 4 Slowly lift the tooling fixture off the headstock tailstock assemblies 4 5 MotoMount...

Page 47: ...Figure 4 26 Figure 4 26 MotoMount Mounting Hole Pattern To install the dowel pins proceed as follows WARNING Be sure to handle the MotoMount components carefully to avoid damage to the equipment or in...

Page 48: ...ct position for the MotoMount drive components to the faceplate Figure 4 28 details the MotoMount installation breakdown To mount the fixture block onto the faceplate proceed as follows 1 Jog the face...

Page 49: ...is capable of safely lifting the tailstock 2 Remove the four bolts at the base of the tailstock 3 Lift the tailstock off the column and set aside 4 Install adapter block unit first with M12 SHCS grade...

Page 50: ...A total misalignment combined tooling and headstock tailstock up to two degrees from top view is permissible see Figure 4 30 If misalignment exceeds two degrees check tooling and or position of tails...

Page 51: ...ded 5 Slowly lower tooling fixture onto the tailstock using the locating pin 6 Install the M16 tool mounting bolts and washers onto the tailstock customer supplied grade 8 8 bolts and torque the bolts...

Page 52: ...m distance is maintained between the tailstock adapter and the top of the tailstock column see Figure 4 31 Figure 4 31 Adapter Shaft Position Reinstalling the Adapter Shaft Once the new position for t...

Page 53: ...ount To ensure optimal performance from your MH series tooling system Motoman makes the following recommendations for each configuration 5 1 Headstock Only Tooling Recommendations The stand alone head...

Page 54: ...wing recommendations Use all bolt holes on the faceplate to mount the tooling fixture Use the dowel pins Mounting Holes Faceplate The customer supplied tooling must be designed to fit the MH series fa...

Page 55: ...125 MM 4 92 IN 2 X SLIP FIT FOR M12 DOWEL 4 X M12 x 1 75 100 MM 3 93 IN 100 MM 3 93 IN 0 0 30 MM OD X 6 ID THRU PILOT 1 8 28 BSPT M16 X 2 THRU 225 0 MM 8 85 IN 274 5 MM 10 80 IN 30 MM 1 18 IN TYP TYP...

Page 56: ...eds change To prepare these extra fixtures to work with MotoMount the following spare parts are needed Bearing adapter Bearing Contact Motoman Customer Service at 937 847 3200 to purchase these parts...

Page 57: ...ttern on MotoMount HD The tooling fixture flange that attaches to MotoMount HD must have the following hole pattern see Figure 5 9 Figure 5 9 Tooling Template MotoMount HD FLANGE TOOLING FIXTURE 1 4 D...

Page 58: ...e tooling fixture flange that is secured to MotoMount and MotoMount HD Figure 5 10 Drive Component Clearance MotoMount Figure 5 11 Drive Component Clearance MotoMount HD 40 MM 1 57 IN MAXIMUM MOTOMOUN...

Page 59: ...ounting Holes MotoMount HD To further secure the tooling fixture there are two auxiliary mounting holes see Figure 5 14 on the face of the MotoMount HD tooling adapter These auxiliary mounting holes a...

Page 60: ...he tooling fixture and the tailstock adapter are permanently affixed to each other Do this by welding the tailstock adapter and the tooling fixture together This should be done after the tooling fixtu...

Page 61: ...f before motion ends then the motion controller pauses the current motion This motion can be resumed by once again turning on output 9 A paused motion must be completed before another motion can be se...

Page 62: ...3 1 1 0 0 0 4 0 0 1 0 0 5 1 0 1 0 0 6 0 1 1 0 0 7 1 1 1 0 0 8 0 0 0 1 0 9 Jog CW 50 1 0 0 1 0 IN 13 none 10 Jog CCW 50 0 1 0 1 0 IN 13 none 11 1 1 0 1 0 12 0 0 1 1 0 13 1 0 1 1 0 14 0 1 1 1 0 15 1 1...

Page 63: ...0 1 0 0 IN 13 IN 11 5 1 0 1 0 0 6 0 1 1 0 0 7 1 1 1 0 0 8 0 0 0 1 0 9 Jog CW 50 1 0 0 1 0 IN 13 none 10 Jog CCW 50 0 1 0 1 0 IN 13 none 11 1 1 0 1 0 12 0 0 1 1 0 13 1 0 1 1 0 14 0 1 1 1 0 15 1 1 1 1...

Page 64: ...0 6 0 1 1 0 0 7 1 1 1 0 0 8 Move to 270 100 0 0 0 1 0 IN 13 IN 12 9 Jog CW 50 1 0 0 1 0 IN 13 none 10 Jog CCW 50 0 1 0 1 0 IN 13 none 11 1 1 0 1 0 12 0 0 1 1 0 13 1 0 1 1 0 14 0 1 1 1 0 15 1 1 1 1 0 1...

Page 65: ...0 3 1 1 0 0 0 4 0 0 1 0 0 5 1 0 1 0 0 6 0 1 1 0 0 7 1 1 1 0 0 8 0 0 0 1 0 9 Jog CW 50 1 0 0 1 0 IN 13 none 10 Jog CCW 50 0 1 0 1 0 IN 13 none 11 1 1 0 1 0 12 0 0 1 1 0 13 1 0 1 1 0 14 0 1 1 1 0 15 1 1...

Page 66: ...what you expect when errors occur this input will go low When this input is low look at the NS600 amplifier display and cross reference it with the Alarm table in Appendix C to identify the problem T...

Page 67: ...are Parts When a part malfunctions it is helpful to have replacement parts in stock for quick replacement Figure 7 1 lists the recommended spare parts with Motoman part numbers Motoman recommends the...

Page 68: ...screwdriver to disconnect the brush cable s from the ground post see Figure 7 1 Figure 7 1 Brush Cable Removal 3 Release the spring tensioner on the back of the brush by squeezing both black spring le...

Page 69: ...that slides in the top side of the case 6 Lower the case below the retaining edge and slowly pull the brush holder out of the housing see Figure 7 3 Figure 7 3 Brush Removal MH75 150 450 1500 FACE PLA...

Page 70: ...ring and push the brush against the faceplate then release The spring must hold the brush firmly against the face plate see Figure 7 2 CAUTION The weld ground brush must be affixed hold and evenly aga...

Page 71: ...sioner on the back of the brush by squeezing both black spring levers and pulling away from the faceplate 5 Reach in and steady the brush case with one hand 6 Use a 7 16 in wrench to loosen and remove...

Page 72: ...hen pulling the brush holder out identify and secure the nut plate that slides in the top side of the case 7 Lower the case below the retaining edge and slowly pull the brush holder out of the housing...

Page 73: ...d the screws into nut plate loosely 11 Push the brush holder up in front of the retaining edge and hold steady 12 Squeeze the brush retaining spring and push the brush against the faceplate then relea...

Page 74: ...og options Jog via I O Configurations a Jogging moves require setting an I O pattern for motion selection The I O configuration can be looked up in the MH series Positioner Manual with MotoMount and D...

Page 75: ...ommunication The following communication parameters must be set These settings are referenced in the Sigma II Indexer User s Manual P N 147238 1 in section 6 1 Baud Rate 9600 Data Bits 7 Parity Even S...

Page 76: ...d first recognize the if your system is equipped with the NS600 controller module and reference Section 7 5 1 2 Using the programming pendant in TEACH MODE jog the faceplate slowly until the homing ho...

Page 77: ...ate homing pin through the faceplate homing hole in the faceplate The pin may need to be tapped in with a hammer 4 Install the headstock homing pin through the headstock homing hole in the headstock T...

Page 78: ...ARD rotates the headstock tooling plate clockwise 30 degrees while moving it to REVERSE rotates the tooling plate counterclockwise 30 degrees As the tooling plate rotates a factory installed screw see...

Page 79: ...nt Positioner Manual Figure 7 9 Position Limit Switch Setting Type I MH1000 3000 Figure 7 10 Position Limit Switch Setting Type II SCREW 30 0 TOOLING PLATE FACTORY PRESET HOME POSITION LIMIT SWITCH WA...

Page 80: ...istor 100W 50 Ohm 146801 1 5 Fan 230VAC 200CFM 135217 2 10 Cable Assy I O Sigma II Amp 2M 146794 1 11 Cable Assy I O NS600 146509 1 21 Module Motion Indexer NS600 146589 1 Table 7 3 Spare Parts 1 5 kW...

Page 81: ...sure full contact with faceplate Weekly Check for dirt and ensure full contact with faceplate Cleaning As required Clean with dry cloth or compressed air Lubrication Every 20 000 hours or 5 years Flus...

Page 82: ...red correctly Overload Reduce load or reduce unbalanced load Unstable operation Incorrect wiring Inspect and correct wiring across motor terminals L1 L2 L3 and PE Motor overheats Excessive ambient tem...

Page 83: ...8 131 425 84 125 450 80 120 475 76 115 500 73 110 Note 1 HTS Applications assume 1 2 load on headstock 50 mm using MotoMount 2 Rated load based upon 50 maximum bearing moment 3 Maximum load based upon...

Page 84: ...75 92 138 400 88 131 425 84 125 450 80 120 475 76 115 500 73 110 Note 1 HTS Applications assume 1 2 load on headstock 50 mm using MotoMount 2 Rated load based upon 50 maximum bearing moment 3 Maximum...

Page 85: ...0 182 272 475 174 262 500 168 252 Note 1 HTS Applications assume 1 2 load on headstock 50 mm using MotoMount 2 Rated load based upon 50 maximum bearing moment 3 Maximum load based upon 75 maximum bear...

Page 86: ...1387 2081 500 1343 2015 Note 1 HTS Applications assume 1 2 load on headstock 50 mm using MotoMount 2 Rated load based upon 50 maximum bearing moment 3 Maximum load based upon 75 maximum bearing momen...

Page 87: ...te 1 HTS Applications assume 1 2 load on headstock 50 mm using MotoMount 2 Rated load based upon 50 maximum bearing moment 3 Maximum load based upon 75 maximum bearing moment Reflected Ratio Load Iner...

Page 88: ...0 1435 2152 475 1387 2081 500 1343 2015 Note 1 HTS Applications assume 1 2 load on headstock 50 mm using MotoMount 2 Rated load based upon 50 maximum bearing moment 3 Maximum load based upon 75 maximu...

Page 89: ...arts which lose their identity by being welded soldered riveted etc to other parts or assemblies Parts List This table is divided into four columns as follows 1 Figure Item Number Column This column l...

Page 90: ...ymbols and Abbreviations The following is a list of symbols and abbreviations used in the parts list amp ampere AC alternating current cyl cylinder DC direct current fig figure hex hexagon ID inside d...

Page 91: ...s Positioner Manual with MotoMount NOTE The MH75 and MH150 drive assemblies have the same common parts except for the gear reducer and gear pinion components Figure B 1 MH75 150 Drive Assembly Compone...

Page 92: ...CK DISCONNECT 2 4 4 143963 1 SWITCH LIMIT MINIATURE 2 5 144372 1 BRUSH HOLDER 1 2 6 144371 1 BRUSH GROUND METAL 1 2 7 146122 1 SEAL KIT RV80E 1 8 145896 1 PIN HOMING 1 9 145888 1 PLATE FACE 1 10 14668...

Page 93: ...ILLUSTRATED PARTS LIST MOTOMAN B 5 MH Series Positioner Manual with MotoMount Figure B 2 MH450 Drive Assembly Components 1 13 5 7 9 8 12 2 3 6 10 11 4 6 4 14 15 16...

Page 94: ...NNECT 4 6 5 145880 1 HOUSING MACHINED 1 6 143963 1 SWITCH LIMIT MINIATURE 2 7 144372 1 BRUSH HOLDER 2 3 8 144371 1 BRUSH GROUND METAL 2 3 9 141574 2 REDUCER RV HEADSTOCK 1 10 146123 1 SEAL KIT RV80E 1...

Page 95: ...ILLUSTRATED PARTS LIST MOTOMAN B 7 MH Series Positioner Manual with MotoMount Figure B 3 MotoMount Tailstock Components 75 150 450 kg 3 4 2 1 5 6 7...

Page 96: ...145381 1 145381 2 FIXTURE ASSY TOOLING MOUNT MOTOMOUNT 450 kg FIXTURE ASSY TOOLING MOUNT MOTOMOUNT 75 150 kg 1 1 2 2 146469 1 145390 1 ADAPTER TAILSTOCK 75 150 kg ADAPTER TAILSTOCK 450 kg 1 1 3 3 1464...

Page 97: ...ILLUSTRATED PARTS LIST MOTOMAN B 9 MH Series Positioner Manual with MotoMount Figure B 4 MH1500 Drive Assembly Components 1 6 9 12 2 10 14 15 8 4 5 3 13 8 11 7 7 15 14 16 17 16...

Page 98: ...G 1 6 146613 1 HOUSING MACHINED 1 7 144370 1 TERMINAL QUICK DISCONNECT 4 8 8 143963 1 SWITCH LIMIT MINIATURE 2 9 144372 1 BRUSH HOLDER 2 4 10 144371 1 BRUSH GROUND METAL 2 4 11 146924 1 SEAL O RING 1...

Page 99: ...ILLUSTRATED PARTS LIST MOTOMAN B 11 MH Series Positioner Manual with MotoMount Figure B 5 MH1000 3000 Headstock Components 1 3 2 4 5 6...

Page 100: ...6 4 POSITIONER ASSY HEADSTOCK 3000 kg 1 146365 2 COVER BASE CASTING 1 2 146365 1 COVER BASE CASTING 1 3 146295 1 RISER HEADSTOCK 1 4 140784 1 BOLT LEVELING 4 5 130440 12 NUT HEX JAM M20 4 6 146456 2 W...

Page 101: ...ILLUSTRATED PARTS LIST MOTOMAN B 13 MH Series Positioner Manual with MotoMount Figure B 6 MotoMount HD Tailstock Components 1000 1500 3000 kg 1 2 3 4 5 6 8 7 9 10 11 12 13...

Page 102: ...UNT HD 1 131275 1 SCREW HHC M20 X 120 4 2 146951 1 CLAMP SHAFT 1 3 148124 1 PIN LOCATING DIA16 1 4 146950 4 SHAFT SQUARE 1 5 148136 1 BEARING SPHERICAL ROLLER 1 6 146940 4 RING RETAINING INTERNAL 1 7...

Page 103: ...eed low speed slower turning references the MSR1000 and MH3000 models High speed high speed faster turning references the MSR500 and MH1000 models 1 5 6 2 3 29 17 18 19 20 8 9 22 24 22 7 4 10 26 28 25...

Page 104: ...L 3 11 144372 1 BRUSH HOLDER 3 12 144370 1 TERMINAL QUICK DISC WELD GROUND 6 13 146015 1 BRACKET MTG BRUSH HOLDER 3 14 146014 1 BLOCK MTG LIMIT SWITCH 2 15 143963 1 SWITCH LIMIT 2 16 146012 1 PLATE GR...

Page 105: ...ILLUSTRATED PARTS LIST MOTOMAN B 17 MH Series Positioner Manual with MotoMount o Figure B 8 MotoMount Drive Components 6 5 13 10 1 2 19 3 4 20 12 11 9 8 7 14 21 15 17 18 16...

Page 106: ...1 BLOCK MTG 1 7 145849 1 SPACER CUSTOM 25 0 ID X 8 0 LG 1 8 145848 2 SEAL O RING 43 82 MM ID X 5 33 AS568A 327 VITON 75D 1 9 145848 1 SEAL O RING 39 29 MM ID X 5 33 AS568A 327 VITON 75D 1 10 148124 1...

Page 107: ...ILLUSTRATED PARTS LIST MOTOMAN B 19 MH Series Positioner Manual with MotoMount Figure B 9 MotoMount HD Drive Components 6 8 9 7 4 2 1 3 5 10...

Page 108: ...146200 1 ADAPTER ASSY MOTOMOUNT HD 1 146193 1 HUB MOUNTING 1 2 146195 1 BLOCK GUIDE 1 3 146928 1 BEARING CAM FOLLOWER 1 4 148124 1 PIN LOCATING DIA 16 MM HEAD 1 5 146196 1 BLOCK MOUNTING FIXTURE 1 6 1...

Page 109: ...ILLUSTRATED PARTS LIST MOTOMAN B 21 MH Series Positioner Manual with MotoMount Figure B 10 Slip Ring Kit for MotoMount HD 2 1 3 4 6 5 7...

Page 110: ...er Motoman Part Number Description QTY 148634 1 Accessory Slip Ring MotoMount HD 1 148636 1 SUPPORT GUARD SLIP RING 1 2 148635 1 GUARD SLIP RING 1 3 148848 1 SLIP RING ASSY MOTOMOUNT HD 1 4 146913 2 F...

Page 111: ...on Error Detected Regenerative circuit or resistor is faulty A 32 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 33 Wrong input power Verify Pn001 2 parameter setti...

Page 112: ...e A 9F NS600 alarm See Sigma II Indexer User s Manual for further details A b1 Reference Speed Input Read Error The A D converter for reference speed input is faulty A b2 Reference Torque Input Read E...

Page 113: ...amplifier during initialization 10 seconds passed without response A E1 NS600 timed out Timer starts in amplifier when control board function starts Timer is set for 10 seconds A E2 Watch dog timer a...

Page 114: ...ALARM CODES MH Series Positioner Manual with MotoMount C 4 MOTOMAN NOTES...

Page 115: ...lling Type I Drive Assembly 4 2 Installing Type II Drive Assembly 4 8 Introduction 1 1 L Leveling and Aligning the Positioner 7 16 Loading the Positioner 7 12 M Maintenance 7 1 Servomotor 7 1 Maintena...

Page 116: ...MH Series Positioner Manual with MotoMount MOTOMAN NOTES...

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