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YASKAWA MOTOMAN-MH80 Instructions Manual Download Page 3

iii

158813-1CD

HW1480080

MH80 Manipulator

     
  

MANDATORY

•

This instruction manual is intended to explain operating instructions 
and maintenance procedures primarily for the MOTOMAN-MH80.

•

General items related to safety are listed in Chapter 1: Safety of the 
DX100 Instructions.  To ensure correct and safe operation, carefully 
read the DX100 instructions before reading this manual.

CAUTION

•

Some drawings in this manual are shown with the protective covers 
or shields removed for clarity.  Be sure all covers and shields are 
replaced before operating this product.

•

The drawings and photos 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 
representative to order a new copy.  The representatives are listed 
on the back cover.  Be sure to tell the representative the manual 
number listed on the front cover.

•

YASKAWA is not responsible for incidents arising from unauthorized 
modification of its products.  Unauthorized modification voids your 
product’s warranty.

3 of 77

Summary of Contents for MOTOMAN-MH80

Page 1: ...ES FOR SLU AXES Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MH80 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator s manual above corresponds to specific usage Be sure to use the appropriate manual 1 of 77 ...

Page 2: ...ii 158813 1CD HW1480080 MH80 Manipulator Copyright 2015 Yaskawa America Inc All Rights Reserved 2 of 77 ...

Page 3: ...ing this product The drawings and photos 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 contac...

Page 4: ...AUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe practices MANDATORY Always be sure to follow explicitly the items listed under this heading PROHIBITED Must never be performed NOTE To ensure safe and efficient operation at all times be sure to follow all ...

Page 5: ...teaching operations within the P point maximum envelope of the manipulator Be sure to use a lockout device to the safeguarding when going inside Also display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have...

Page 6: ...prior to conducting manipulator teaching If problems are found repair them immediately and be sure that all other necessary processing 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 DX100 cabinet after use The programming pendant can be damaged if it is left in the...

Page 7: ... the manipulator Prior to operating the manipulator confirm the contents Figure 3 Warning Labels Location Warning Label B WARNING Do not enter robot work area Warning Label A Nameplate WARNING Moving parts may cause injury WARNING Label A WARNING Label B Nameplate NJ3247 MADE IN JAPAN YASKAWA ELECTRIC CORPORATION Kitakyushu 806 0004 Japan 2 1 Kurosakishiroishi Yahatanishi ku SERIAL NO PAYLOAD kg T...

Page 8: ...ounting Procedures for Manipulator Base 3 2 3 2 1 Mounting the Manipulator on the Baseplate 3 3 3 2 2 Mounting the Manipulator on the Floor 3 4 3 3 Types of Mounting 3 5 3 3 1 S axis Operating Range 3 5 3 3 2 Fixing the Manipulator Base 3 5 3 3 3 Precautions to Prevent the Manipulator from Falling 3 5 3 4 Notes in Mounting the Manipulators on the Ceiling 3 6 3 6 IP International Protection 3 8 3 7...

Page 9: ...f Limit Switch 8 1 8 1 1 Specification of Limit Switch 8 1 8 1 2 Location of Limit Switches 8 1 8 1 3 Setting of Operation Range 8 2 8 1 3 1 S Axis Operation Range 8 2 8 1 3 2 L Axis Operation Range 8 2 8 1 3 3 Setting Range of LU Axes Interference Angle 8 3 8 2 Internal Connections 8 4 9 Maintenance and Inspection 9 1 9 1 Inspection Schedule 9 1 9 2 Notes on Maintenance Procedures 9 6 9 2 1 Batte...

Page 10: ...4 1 Grease Replenishment 9 16 9 3 4 2 Grease Exchange 9 17 9 3 5 Grease Replenishment Exchange for B and T Axis Speed Reducers and Gears 9 18 9 3 5 1 Grease Replenishment 9 18 9 3 5 2 Grease Exchange 9 19 9 3 6 Notes for Maintenance 9 20 9 3 6 1 Battery Pack Connection for Motors 9 20 10 Recommended Spare Parts 10 1 11 Parts List 11 1 11 1 S Axis Unit 11 1 11 2 L Axis Unit 11 3 11 3 U Axis Unit 11...

Page 11: ...g four items Information for the content of optional goods is given separately Manipulator DX100 Programming Pendant Manipulator cables 2 cables between the DX100 and the manipulator CAUTION Confirm that the manipulator and the DX100 have the same order number 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 ex...

Page 12: ...of Order Number Label THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER ORDER NO Check that the manipulator and the DX100 have the same order number Label Enlarged View a DX 100 Front View b Manipulator Side View X 8 1 PROGRAMMING PENDANT Y C E G N O T P M E E S R ON TR IPP ED RES ET OFF AVERAGE PEAK kVA kA INTERRUPT CURRENT ERDR POWER SUPPLY TYPE DX100 kVA 3PHASE NJ2960 1 60Hz SERI...

Page 13: ...nts Failure to observe this caution may adversely affect performance NOTE The mass of the manipulator is approximately 585 kg including the shipping bolts and brackets Use a wire rope strong enough to withstand the mass The attached eyebolts are designed to support the manipulator mass Never use them for anything other than transporting the manipulator Mount the shipping bolts and brackets before ...

Page 14: ...e manipulator with a four leg bridle sling using the shipping bolts and brackets Be sure that the manipulator is fixed with the shipping bolts and brackets before transport and lift it in the posture as shown in Fig 2 1 Transport Using a Crane Fig 2 1 Transport Using a Crane Shipping bolts and bracket Fixed to the manipulator before shipment Hexagon head screw M12 8 screws 14 of 77 ...

Page 15: ...Fig 2 2 Transport Using a Forklift Insert claws into the folklift claw entries of the pallet and lift it The pallet must be strong enough to support the manipulator Transport the manipulator slowly with due caution in order to avoid overturn or slippage Fig 2 2 Transport Using a Forklift Pallet Shipping bolts and bracket Fixed to the manipulator before shipment Screw M20 8 screws Forklift claw ent...

Page 16: ...es in section 2 1 Transporting Method on page 2 1 to protect its driving units from various external force during transport The shipping brackets are painted yellow NOTE 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 manipulator must be moved again for reloc...

Page 17: ...erve this warning may result 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 CAUTION Do not install or operate a manipulator that is damaged or lacks 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 ...

Page 18: ...ator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration Construct a solid foundation with the appropriate thickness to withstand maximum repulsion force of the manipulator Refer toTable 3 1 Maximum Repulsion Force of the Manipulator at Emergency Stop andTable 3 2 Endurance Torque in Oper...

Page 19: ...choring the baseplate firmly on the floor fix the manipulator base to the baseplate with the hexagon head screw M20 8 screws length of 70 mm or more is recommended using mounting holes on the manipulator base The manipulator base is tapped for eight mounting holes Tighten the hexagon head bolts and anchor bolts securely so that they will not work loose during operation For details refer to Fig 3 1...

Page 20: ...Before mounting the manipulator however check that the floor is level and that all cracks etc are repaired Any thickness less than 200 mm is insufficient for mounting even if the floor is concrete Fig 3 2 Mounting the Manipulator on the Floor 28 dia hole 4 holes Base B 28 dia hole 4 holes Base A Base B Base A Level the floor JA type anchor bolt M24 Weld here after installation and adjustment Units...

Page 21: ... use eight hexagon socket head cap screws M20 tensile strength 1200 N mm2 or more when fixing the manipulator base Use a torque of 402 N m 41 kgf m when tightening the screws 3 3 3 Precautions to Prevent the Manipulator from Falling For the wall or ceiling mounted ways take appropriate measures to avoid the falling of the manipulator in case of emergency Refer to Fig 3 3 Precaution Against Falling...

Page 22: ...o prevent a grease leakage from an air breather Change the mounting positions of the parts as shown in the figure below After installing the manipulator on the ceiling replace the positions of the parts installed in the L axes motor base by switching the positions of the grease cap and the air breather Replace the positions of the grease cap and the air breather promptly to prevent the grease leak...

Page 23: ...ounting positions of the parts as shown in the figure below After installing the manipulator on the wall replace the positions of the parts installed in the motor base by switching the positions of the grease cap and the air breather Replace the positions of the grease cap and the air breather promptly to prevent the grease leakage from a hole where a grease cap is to be installed Fig 3 5 Parts Po...

Page 24: ... of the manipulator does not conform to IP54 environmental resistance for IP65 is optionally available 3 7 Location When installing the manipulator satisfy the following 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 or liquid Free from excessive vibration...

Page 25: ...power supply and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in fire or electric shock CAUTION Wiring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric shock NOTE Do not use this line sharing with other ground lines or grounding electrodes for other electric power motor power weldin...

Page 26: ...ith 1BC and 2BC Connect the cables in the order of 2BC 1BC referring to Fig 4 3 a Manipulator Cable Connection To the Manipulator on page 4 4 When connecting insert each cable connector adjusting its position to the main keys on the connector base of the manipulator and then depress the lever until it clicks 4 2 2 Connection to the DX100 Before connecting the manipulator cables to the DX100 verify...

Page 27: ... 1CD HW1480080 MH80 Manipulator 4 Wiring 4 2 Manipulator Cable Connection Fig 4 2 Manipulator Cables 2BC 1BC Power Cable DX100 Manipulator DX100 Manipulator Encoder Cable X11 1BC X21 2BC X11 1BC X21 2BC 27 of 77 ...

Page 28: ...ipulator Cable Connection 4 4 158813 1CD HW1480080 MH80 Manipulator Fig 4 3 a Manipulator Cable Connection To the Manipulator Fig 4 3 b Manipulator Cable Connection To the DX100 AIR 1BC 2BC AIR 1BC 2BC X11 X21 28 of 77 ...

Page 29: ... 2 97 rad s 170 s L axis 2 44 rad s 140 s U axis 2 79 rad s 160 s R axis 4 01 rad s 230 s B axis 4 01 rad s 230 s T axis 6 11 rad s 350 s Allowable Moment3 3 Refer to Table 6 1 Allowable Total Moment of Wrist on page 6 1 for details on the allowable moment of inertia Note SI units are used in this table However gravitational unit is used in 2 97 rad s 170 s 392 N m 40 kgf m 2 44 rad s 140 s 392 N ...

Page 30: ...orking Axes 5 3 Manipulator Base Dimensions Fig 5 2 Manipulator Base Dimensions S head Base U arm Wrist flange Wrist S S L L U U R R B B T T Rotary head L arm Lower arm Upper arm 22 dia hole 8 holes 12 dia hole 2 holes 0 018 0 View A 30 A 153 455 608 455 0 1 195 385 320 0 1 195 0 1 195 0 1 230 0 1 195 400 230 230 0 1 Manipulator Base Dimensions 30 of 77 ...

Page 31: ...P Point Maximum Envelope Fig 5 3 Dimensions and P Point Maximum Envelope P point maximum envelope P point R 3 7 7 234 234 40 223 5 57 5 5 9 0 135 3578 175 1025 145 3832 R 2 0 6 1 R 5 4 3 1 2 0 1807 187 540 870 210 343 265 105 105 0 118 1369 453 170 0 437 925 2456 460 1121 0 2061 543 530 87 213 605 1056 1771 248 A View A 31 of 77 ...

Page 32: ...S axis can be altered according to the operating conditions as shown in Fig 5 2 S Axis Operating Range If alteration is necessary contact your Yaskawa representative in advance Table 5 2 S Axis Operating Range Item Specifications S Axis Operating Range 180 180 standard 165 165 150 150 135 135 120 120 105 105 90 90 75 75 60 60 45 45 30 30 15 15 32 of 77 ...

Page 33: ...ad is small refer to the moment arm rating shown in Fig 6 1 Moment Arm Rating 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 6 1 Moment Arm Rating Table 6 1 Allowable Total M...

Page 34: ...r the B and T axis gears mount the attachment inside the fitting Fitting depth of inside and outside fittings must be 5 mm or less Fig 6 2 Wrist Flange P C D 80 42 40 6 6 10 Alignment mark Units mm 0 015 0 8 dia hole depth 14 0 012 0 6 dia hole depth 10 Tapped hole M8 depth 14 pitch 1 25 6 holes 0 0 022 100 dia 0 025 0 50 dia hole NOTE Wash off anti corrosive paint Yellow on the wrist flange surfa...

Page 35: ... 7 1 Installing Peripheral Equipment pitch 1 25 4 holes Tapped hole M8 depth 16 pitch 1 75 4 holes Tapped hole M12 depth 18 pitch 1 25 4 holes Tapped hole M8 depth 16 Mount the peripheral equipment within this range A B A C View A Peripheral Equipment Mounuts and Tapped hole 10 57 187 224 40 105 105 200 513 100 50 100 180 60 100 98 5 50 50 60 60 Table 7 1 Conditions for Installation Section Applic...

Page 36: ...ected with a single lead wire of 0 5mm2 Items Conditions The allowable current for internal user I O wiring harness 5 1A or less per a wire The total current value for pins 1 to 23 must be 34 5A or less The maximum pressure for the air line 490 kPa 5 kgf cm2 or less The air line inside diameter 8 mm AIR 1BC 2BC A B Connector for internal user I O wiring harness Prepare pin connector JL05 6A24 28P ...

Page 37: ...NS for releasing the status of this overrun 2 The range of S L and U axes limit switches are set to the maximum operating range before shipping 8 1 2 Location of Limit Switches Limit switches are optional The limit switches the S and L axis overrun limit switches and the LU axes interference limit switch can be mounted only if the manipulator type is YR MH00080 A01 For each location refer to Fig 8...

Page 38: ...he S axis limit switch S axis operation range can be set to those ranges mentioned in Table 5 2 S Axis Operating Range on page 5 4 8 1 3 2 L Axis Operation Range By the L axis limit switch the L axis operation range can be set to any angles within 91 to 136 as mentioned in the figure below Fig 8 2 L Axis Overrun Limit Switch Setting Range Negative side Positive side 38 of 77 ...

Page 39: ...of LU Axes Interference Angle L and U axes interference limit switches are designed to check the interference angle of L and U axes As shown in Fig 8 3 LU Axes Interference Angle the operation range of U axis can be set to any angles within 9 to 297 as the interference angle with L axis Fig 8 3 LU Axes Interference Angle 39 of 77 ...

Page 40: ...on of Connectors and Fig 8 1 List of Connector Types Diagrams for internal connections of the manipulator are shown in Fig 8 5 a Internal Connection Diagram on page 8 5 and Fig 8 5 b Internal Connection Diagram on page 8 6 Fig 8 4 Location of Connectors AIR 1BC 2BC 1BC 2BC Table 8 1 List of Connector Types Name Type of Connector Connector for internal user I O wiring harness on base connector JL05...

Page 41: ...fication L AND U AXES INTERFERENCE L S Connected to A3 L AXIS OVERRUN L S Connected to A2 S AXIS OVERRUN L S Connected to B1 L AXIS OVERRUN L S Connected to B2 L AND U AXES INTERFERENCE L S Connected to B3 S AXIS OVERRUN L S Connected to B1 S AXIS OVERRUN L S Connected to A1 Notes 1 For the limit switch specification the connection of the section A B are changed as follows S axis L axis U axis R a...

Page 42: ...8 6 158813 1CD HW1480080 8 Electrical Equipment Specification 8 1 Internal Connections MH80 Manipulator Fig 8 5 b Internal Connection Diagram S axis L axis U axis R axis B axis T axis 42 of 77 ...

Page 43: ... to do the inspection work DANGER Maintenance and inspection must be performed by specified personnel Failure to observe this caution may result in electric shock or injury For disassembly or repair contact your Yaskawa representative Do not remove the motor and do not release the brake Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the...

Page 44: ...damage 2 External cables Visual Check for damage and deterioration 3 Working area and whole exterior of manipulator Visual Clean the work area if dust or spatter is present Check for damage and outside cracks 4 SLURBT axis motors Visual Check for grease leakage 2 5 Baseplate mounting bolts Wrench Tighten loose bolts Replace if necessary 6 Cover mounting screws Screwdriver Wrench Tighten loose bolt...

Page 45: ...battery pack when the battery alarm occurs or when the manipulator has been operated for 36000H 12 S axis speed reducer Grease Gun Check for malfunction Replace if necessary 4 Supply grease 5 6000H cycle Exchange grease 4 12000H cycle See section 9 3 1 on page 9 8 13 LU axis speed reducers Grease Gun Check for malfunction Replace if necessary 5 Supply grease4 6000H cycle Exchange grease4 12000H cy...

Page 46: ...to the motor This can cause a motor breakdown Contact your Yaskawa representative 3 When checking for conduction with multimeter connect the battery to BAT and OBT of connectors on the motor side for each axis and then remove connectors on detector side for each axis from the motor Otherwise the home position may be lost Refer to section 9 3 6 Notes for Maintenance on page 9 20 4 For the grease re...

Page 47: ...nipulator 9 Maintenance and Inspection 9 1 Inspection Schedule Fig 9 1 Inspection Parts and Inspection Numbers AIR 1BC 2BC U axis 1 6 13 6 11 9 7 7 14 15 6 6 6 4 12 5 10 8 6 2 6 13 L axis 1 T axis B axis R axis S axis 1 1 1 1 47 of 77 ...

Page 48: ...ement The battery packs type HW0470360 A are attached in the two locations as shown in Fig 9 2 Battery Location Fig 9 2 Battery Location Table 9 2 Inspection Parts and Grease Used No Grease Used Inspected Parts 13 14 15 16 Molywhite RE No 00 Speed reducers for all axes B T axis gears Battery pack Connector base length 8mm 4 screws Cross head APS bolt M6 Cross head APS bolt M4 length 12mm 8 bolts H...

Page 49: ...the new battery pack to the unoccupied connector on the circuit board 5 Remove the old battery pack from the circuit board 6 Mount the new battery pack to the battery holder 7 Reinstall the plate and fix it with the plate fastening screws M4 Connector Battery pack before replacement See step 5 below See step 4 below New battery pack HW0470360 A Circuit Board Type SGDR EFBA02A NOTE Connect the new ...

Page 50: ...the motor Make sure to remove the plug screw Do not install a joint a hose etc to the grease exhaust port Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal Make sure to use a grease pump to inject grease Set air supply pressure to the grease pump at 0 3 MPa or less and the grease injection rate at 8 g s or less Make sure to fill hoses which are ...

Page 51: ... the plug and tighten the plug with a tightening torque of 12 N m 1 2 kgf m 9 3 1 2 Grease Exchange Refer to Fig 9 4 S Axis Speed Reducer 1 Remove the hexagon socket head plug PT1 8 from the grease exhaust port 2 Remove the hexagon socket head plug PT1 4 from the grease inlet and install the grease zerk PT1 4 The grease zerk is delivered with the manipulator 3 Inject grease into the grease inlet u...

Page 52: ...st port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 4 NOTE If the plug is installed while the grease is being exhausted the grease will go inside the motor and may cause a damage Ensure that the grease has been completely exhausted before installing...

Page 53: ...n rate 8 g s or less 5 Move the L axis for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206...

Page 54: ...e L axis for a few minutes to discharge excess grease 7 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 8 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the pl...

Page 55: ... Reducer 2 Remove the hexagon socket head plug PT1 8 from the grease exhaust port 3 Remove the hexagon socket head plug PT1 8 from the grease inlet and install the grease zerk PT1 8 The grease zerk is delivered with the manipulator U arm Hexagon socket head plug PT1 8 Hexagon socket head plug PT3 8 Grease inlet Grease exhaust port U axis speed reducer NOTE If grease is injected with the plug on th...

Page 56: ...t the U arm horizontal to the ground Refer to Fig 9 6 U Arm Posture in Grease Replenishment Exchange for U Axis Speed Reducer 2 Remove the hexagon socket head plug PT1 8 from the grease exhaust port 3 Remove the hexagon socket head plug PT1 8 from the grease inlet and install the grease zerk PT1 8 The grease zerk is delivered with the manipulator 4 Inject grease into the grease inlet using a greas...

Page 57: ... and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 8 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m NOTE If the plug is installed while the grease is being exhausted the grease will go inside the motor and may cause a damage Ensure tha...

Page 58: ...ove the R axis for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of ...

Page 59: ... minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the...

Page 60: ... Move the B axis for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the set screw M6 on the grease exhaust port Apply Three Bond 1206C to the thread part of the set screw and tighten the set screw with a tightening torque of 3 9 N m 0 4 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the t...

Page 61: ...w minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the set screw M6 on the grease exhaust port Apply Three Bond 1206C to the thread part of the set screw and tighten the set screw with a tightening torque of 3 9 N m 0 4 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug an...

Page 62: ...heck confirm all connectors are connected and remove the battery pack Reinstall the cap onto the battery backup connectors of the motor Fig 9 10 Battery Pack Connection for Motors NOTE 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 connec...

Page 63: ...ty Qty per Unit Remarks A 1 Grease Molywhite RE No 00 Yaskawa 16 kg For all axis speed reducers and wrist units A 2 Liquid Gasket Three Bond 1206C ThreeBond Co Ltd A 3 Battery Pack HW9470932 A Yaskawa 1 1 For replacing the wire harness in the manipulator A 4 Battery Pack HW0470360 A Yaskawa 1 1 B 5 S axis Speed Reducer HW0387752 A Yaskawa 1 1 HW1382898 A Yaskawa 1 1 For the manipulator assembled a...

Page 64: ...74688 A Yaskawa 1 1 C 19 Connector base Unit HW0374034 B Yaskawa 1 1 C 20 Limit switch set for S axis HW0472853 B Yaskawa 1 1 Treatment of A01 lead terminal is done C 21 Limit switch set for L axis HW0472854 A Yaskawa 1 1 Treatment of A01 lead terminal is done C 22 Limit switch set for U axis HW0472854 B Yaskawa 1 1 Treatment of A01 lead terminal is done C 23 Circuit Board SGDR EFBA02A Yaskawa 1 1...

Page 65: ...1 Parts List 11 1 S Axis Unit 11 Parts List 11 1 S Axis Unit Fig 11 1 S Axis Unit 1019 1001 1002 1003 1004 1005 1007 1009 1008 1010 1011 1013 1014 1016 1018 1020 1017 1021 1022 1025 1026 1028 1023 1024 1012 1030 1033 1029 1032 1031 1034 65 of 77 ...

Page 66: ... Spring washer 15 2H 12 For the manipulator assembled after Apr 2 2014 Spring washer 16 1012 C 30 SG 22A Glomet 1 1013 M12X55 Socket screw 3 1014 2H 12 Spring washer 3 1016 STW 50 Retaining Ring C type 1 1017 M8X100 Socket screw 1 1018 2H 8 Spring washer 1 1019 PT3 8 STAINLESS coating Plug 1 1020 MSTH10 25 Parallel pin 1 1021 M12X55 Socket screw 12 1022 2H 12 Spring washer 12 1023 HW9405875 1 Coll...

Page 67: ...lator 11 Parts List 11 2 L Axis Unit 11 2 L Axis Unit Fig 11 2 L Axis Unit 2002 2005 2016 2004 2003 2026 2009 2008 2006 2007 2026 2027 2027 2027 2017 2011 2013 2014 2010 2019 2020 1009 2001 2021 2022 2024 2023 2018 2012 2025 2025 67 of 77 ...

Page 68: ...M16X45 Socket screw 6 2009 2H 16 Spring washer 6 2010 HW9481343 A Shaft 1 2011 HW0409103 1 Gear 1 2013 HW0483473 B Socket screw 1 2014 HW0408806 2 Spring washer 1 2016 G270 O ring 1 2017 EZ0094 A0 Air breather 1 2018 HW0314011 1 M base 1 2019 HW0312815 2 Shaft 1 2020 Y507212 5 Oil seal 1 2021 M12X65 Socket screw 4 2022 2H 12 Spring washer 4 2023 M6X30 Socket screw 2 2024 2H 6 Spring washer 2 2025 ...

Page 69: ...0 Manipulator 11 Parts List 11 3 U Axis Unit 11 3 U Axis Unit Fig 11 3 U Axis Unit 2002 3014 3015 3028 3023 3024 3007 3027 3017 3022 3001 3016 3021 3026 3025 3018 3008 3011 3010 3005 3006 3020 3019 3002 3004 3003 3012 3013 69 of 77 ...

Page 70: ... M8X115 Socket screw 1 3011 2H 8 Spring washer 1 3012 M12X30 Socket screw 12 3013 SW 2H 12 Washer 12 3014 M10X30 Socket screw 6 3015 2H 10 Spring washer 6 3016 HW9405257 1 Collar 1 3017 HW0102239 2 Casing 1 3018 Y426012 5 Oil seal 1 3019 M6X30 Socket screw 2 3020 2H 6 Spring washer 2 3021 HW0314012 1 M base 1 3022 G195 O ring 1 3023 M10X40 Socket screw 16 3024 2H 10 Spring washer 16 3025 TSH6 01M ...

Page 71: ... 4001 R axis B axis T axis 4003 4004 4005 4006 4007 4008 4009 4010 4011 4012 4013 4014 4015 4016 4017 4018 4019 4021 4022 4023 4024 4025 4026 4027 4028 4031 4031 4031 4033 4035 4034 4048 4036 4037 4037 4039 4038 4040 4041 4043 4042 4044 4046 4047 4049 4050 4045 3017 4007 4031 4020 4002 4046 4047 4046 4047 4002 4002 4049 4050 71 of 77 ...

Page 72: ...H8 20 Parallel pin 1 4017 HW0312834 1 Shaft 1 4018 HW0312832 1 Shaft 1 4019 HW0312831 1 Gear 1 4020 HW0312833 1 Shaft 1 4021 HW0312835 1 Shaft 1 4022 HW0312838 1 Flange 1 4023 MSTH6 15 Parallel pin 1 4024 HW0200768 1 Shaft 1 4025 HW0312837 1 Housing 1 4026 HW9405662 1 Washer 1 4027 HW0312825 1 Gear 1 4028 HW0412720 1 B nut 1 4029 PT1 8 STAINLESS coating Plug 1 4030 PT3 8 STAINLESS coating Plug 1 4...

Page 73: ...Axis Unit 4044 M6X35 GT SA bolt 16 4045 M8X30 GT SA bolt 8 4046 M8X25 Socket screw 10 4047 2H 8 Spring washer 10 4048 M8X20 Socket screw 1 4049 M4X6 Socket screw 2 4050 2H 4 Spring washer 2 3017 HW0102239 2 Casing 1 Table 11 4 R B T Axis Unit No DWG No Name Pcs 73 of 77 ...

Page 74: ... 5055 5056 5057 5058 5060 5075 5082 5002A 5093 5094 5113 5015 5016 5027 5028 5029 5032 5033 5034 5035 5036 5037 5039 5039 5040 5041 5044 5046 5022 5095 5096 5002B 5108 5107 5112 5111 3017 5091 5090 5049 5099 5092 5092 5030 5038 5097 5098 5045 5068 5092 5011 5017 5012 5043 5110 5109 5059 5092 5031 5042 5093 5094 5105 5106 5035 5102 5100 5039 5005 5115 5005 5039 5114 5115 5115 74 of 77 ...

Page 75: ... 1 5014 HW9381669 A Gear 1 5015 HW9381672 A Gear 1 5016 WR60 Sirclip 1 5017 HW9405888 Sim 5022 HW9405885 Sim 5027 HW9482772 A Shaft 1 5028 HW9482765 A Shaft 1 5029 HW9381675 A Shaft 1 5030 RTW42 Retaining Ring 1 5031 STW 25 Retaining Ring C type 1 5032 ISTW40 Retaining Ring 1 5033 HW9405891 1 Housing 1 5034 PT3 8 Plug 2 5035 PT1 8 STAINLESS coating Plug 3 5036 HW9405892 1 Flange 1 5037 HW9481234 A...

Page 76: ...lt 17 5093 M5X16 Socket screw 10 5094 2H 5 Spring washer 10 5095 M5X35 Socket screw 6 5096 2H 5 Spring washer 6 5097 M4X25 Socket screw 6 5098 2H 4 Spring washer 6 5099 M4X6 H set screw 1 5100 M8X18 Socket screw 8 5102 M6X30 GT SA bolt 10 5105 M6X25 Socket screw 16 5106 2H 6 Spring washer 16 5107 M8X25 Socket screw 12 5108 2H 8 Spring washer 20 5109 M6X16 Socket screw 1 5110 2H 6 Spring washer 1 5...

Page 77: ... 6788 2858 Fax 86 10 6788 2878 YASKAWA SHOUGANG ROBOT Co Ltd 426 Udyog Vihar Phase IV Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd 22 F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㧗86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 252 125 126 27th ...

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