YASKAWA MOTOMAN-MH5F, Maintenance Manual

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iii
176183-1CD
HW1483638
Table of Contents
MH5S (II) /MH5F
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 (DX100/DX200)....................................... 1-6
1.4 Definition of Terms Used Often in This Manual (FS100) ................................................... 1-7
1.5 Registered Trademark ....................................................................................................... 1-7
1.6 Explanation of Warning Labels .......................................................................................... 1-8
1.7 Safeguarding Tips.............................................................................................................. 1-9
1.8 Mechanical Safety Devices................................................................................................ 1-9
1.9 Programming, Operation, and Maintenance Safety......................................................... 1-10
1.10 Maintenance Safety ....................................................................................................... 1-11
1.11 Summary of Warning Information .................................................................................. 1-11
1.12 Customer Support Information....................................................................................... 1-12
2 Notes for Maintenance.................................................................................................................... 2-1
2.1 Battery Pack Connection ................................................................................................... 2-1
3 Home Position Return..................................................................................................................... 3-1
3.1 Home Position Return after Motor Replacement ............................................................... 3-2
3.1.1 Home Position Return by Robot Calibration (MOTOCALV EG) ........................... 3-2
3.1.2 Home Position Return by Setting the Teaching Point for
Home Position Setting before Replacement ........................................................ 3-2
3.2 Homing Method When the Robot-Axis Motor Battery Runs Out........................................ 3-7
3.2.1 With the Home Position Calibration Function for Restoration from
the Battery Back Up ............................................................................................. 3-7
3.2.2 With the Return Keys (S-, L- and U-axes only) .................................................... 3-7
4 Grease Replenishment ................................................................................................................... 4-1
4.1 Grease Replenishment for S-Axis Speed Reducer ........................................................... 4-1
4.2 Grease Replenishment for S-Axis Gear ............................................................................ 4-2
4.3 Grease Replenishment for L-Axis Speed Reducer............................................................ 4-3
4.4 Grease Replenishment for U-Axis Speed Reducer ........................................................... 4-4
4.5 Grease Replenishment for R-Axis Speed Reducer ........................................................... 4-5
4.6 Grease Replenishment for B- and T-Axes Speed Reducers ............................................. 4-6
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