YASKAWA MOTOMAN-MS165 Instructions Manual Download Page 97 | Manualshive

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11 Parts List
11.5Wrist Unit

11-10

167109-1CD

HW1482308

MS165

11.5

Wrist Unit

Fig. 11-5: Wrist Unit

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Summary of Contents for MOTOMAN-MS165

Page 1: ...eceipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MS165 INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR S MANUAL for each purpose The DX200 operator s manual above corresponds to specific usage Be sure to use the appropriate manual 1 of 100 ...

Page 2: ...opyrighted property of Yaskawa and may not be sold or redistributed in any way You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website blog cloud storage site or any other means of storing or distributing online content Printed in the United States of America First Printing 2018 Yaskawa America Inc Motoman Roboti...

Page 3: ... 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 modifica...

Page 4: ...ible for providing adequately trained personnel to operate program and maintain the equipment NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE PROGRAM OR REPAIR THE EQUIPMENT We recommend approved Yaskawa training courses for all personnel involved with the operation programming or repair of the equipment This equipment has been tested and found to comply with the limits for a Class A digital device pur...

Page 5: ...personnel 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 Always be sure to follow explicitly the items listed under this heading Must never be performed To ensure safe and efficient operation at all times be sure to follow all instructions even if no...

Page 6: ...ithin 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 Keep in mind the emergency response measu...

Page 7: ...es for each company or corporation The indications of R and TM are omitted Perform the following inspection procedures 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 pro...

Page 8: ...ons WARNING Label B WARNING Label A WARNING Label B WARNING Label C Nameplate On the manipulator manufactured by May 2014 Nameplate On the manipulator manufactured after June 2014 WARNING Label C WARNING Do not enter robot work area WARNING Moving parts may cause injury Nameplate WARNING Label B WARNING Label A releasethebrake Failuretoobserve Donotremovethemotor anddonot thiscautionmayresultininj...

Page 9: ...n use In accordance with ANSI RIA R15 06 2012 section 4 2 5 Sources of Energy use lockout tagout procedures during equipment maintenance Refer also to Section 1910 147 29CFR Part 1910 Occupational Safety and Health Standards for General Industry OSHA Mechanical Safety Devices The safe operation of this equipment is ultimately the users responsibility The conditions under which the equipment will b...

Page 10: ...de before any service procedures are done and before any changes are made to options accessories or equipment Any modifications to the controller unit can cause severe personal injury or death as well as damage to the robot Do not make any modifications to the controller unit Making any changes without the written permission from Yaskawa will void the warranty Some operations require a standard pa...

Page 11: ...nnel Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment Specific considerations and precautions are also described in the manual but appear in the form of Dangers Warnings Cautions and Notes It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be p...

Page 12: ...ours for a response to your inquiry Please have the following information ready before you call Customer Support techsupport motoman com Please use e mail for routine inquiries only If you have an urgent or emergency need for service replacement parts or information you must contact Yaskawa Customer Support at the telephone number shown above System MS165 Primary Application ______________________...

Page 13: ...ocation 3 5 4 Wiring 4 1 4 1 Grounding 4 1 4 2 Cable Connection 4 2 4 2 1 Connection to the Manipulator 4 2 4 2 2 Connection to the DX200 4 2 5 Basic Specifications 5 1 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 Stopping Angles and Times for S L and U Axes 5 4 5 5 1 Stop Category 0 Stoppin...

Page 14: ...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 Battery Pack Replacement 9 5 9 3 Grease Exchange 9 7 9 3 1 Notes on Grease Exchange Procedures 9 7 9 3 2 List of Necessary Items 9 8 9 3 3 Grea...

Page 15: ... 9 4 4 Gas Injecting Procedure 9 22 9 4 4 1 Necessary Devices 9 22 9 4 4 2 Gas Injecting Procedures 9 22 9 5 Notes for Maintenance 9 24 9 5 1 Battery Pack Connection 9 24 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 URBT Axes Unit 11 6 11 4 U Arm Unit 11 8 11 5 Wrist Unit 11 10 15 of 100 ...

Page 16: ... items information for the content of optional goods are given separately Manipulator DX200 Programming pendant Manipulator cables 2 cables between the DX200 and the Manipulator CAUTION Confirm that the manipulator and the DX200 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 expecte...

Page 17: ... Fig 1 1 Location of Order Number Labels THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER ORDER NO Check that the manipulator and the DX200 have the same order number Label Enlarged View a DX200 Front View A 0RWRPDQᮏయ ࢥࣥࢺࣟ ࣛࡣࠊୗグ㸫ࢲࡢྠ 1R ᥋ ࡋᚚ 㢪 ࡲࡍࠋ 25 5 12 View A Enlarged View On the manipulator manufatctured after Feb 2016 b Manipulator Top View b Manipulator Side View On the manip...

Page 18: ...rklift operations must be performed by authorized personnel only Failure to observe this caution may result in injury or damage Avoid excessive vibration or shock during transport The system consists of precision components Failure to observe this caution may adversely affect performances 18 of 100 ...

Page 19: ...wire rope strong enough to withstand the weight Shipping bolts and brackets are designed to support the manipulator weight Do not use them for anything other than transporting the manipulator Mount the shipping bolts and brackets for transporting the manipulator Avoid putting external force on the arm or motor unit when transporting by a crane forklift or other equipment Fail ure to observe this i...

Page 20: ...ransport A rubber cushion is respectively wedged at the section A and B NOTE If operating the manipulator with shipping bolts and brack ets attached the shipping bolts and brackets interfere with the manipulator and that may cause a damage to the manipulator Make sure to remove the shipping bolts and brackets before operation Hook Front view Side view 4xR20 87 176 NOTE Before turning ON the power ...

Page 21: ...re to observe 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 the 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...

Page 22: ...iers and awareness signals 3 2 Mounting Procedures for Manipulator Base The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand reaction forces during acceleration and deceleration Construct a solid foundation with the appropriate thickness to withstand maximum reaction forces of the manipulator referring to table 3 1 Manipulator...

Page 23: ...e It is recommend to prepare a baseplate of 50 mm or more thick and anchor bolts of M20 or larger size The manipulator base is tapped for eight mounting holes securely fix the manipulator base to the baseplate with eight hexagon socket head cap screws M20 80 mm long is recommended Next fix the manipulator base to the baseplate Tighten the hexagon socket head cap screws and anchor bolts firmly so t...

Page 24: ...res for Manipulator Base 3 4 167109 1CD HW1482308 MS165 Fig 3 2 Mounting the Manipulator on Baseplate Baseplate Manipulator base Spring washer Washer Flatness 0 5mm or less Hexagon socket head cap screw M20 8 screws Units mm 40 24 of 100 ...

Page 25: ...ironmental conditions Ambient temperature 0 to 45 C Humidity 20 to 80 RH no condensing Free from dust soot oil or water Free from corrosive gas or liquid or explosive gas or liquid Free from excessive vibration Vibration acceleration 4 9 m s2 0 5 G or less Free from large electrical noise plasma Flatness for installation 0 5 mm or less 25 of 100 ...

Page 26: ...OT 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 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 d...

Page 27: ...e connecting three cables to the manipulator verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator When connecting adjust the cable connector positions to the main key positions of the manipulator and insert cables in the order of 2BC then1 BC After inserting the cables depress the lever until it clicks 4 2 2 Connection to the DX200 Before connec...

Page 28: ... HW1482308 4 Wiring 4 2 Cable Connection MS165 Fig 4 2 Manipulator Cables The Manipulator Side The DX200 Side Encoder Cable 1BC X11 X11 1BC 1BC The Manipulator Side The DX200 Side 2BC 2BC X21 9 Power Cable 28 of 100 ...

Page 29: ...ection 4 4 167109 1CD HW1482308 MS165 Fig 4 3 a Manipulator Cable Connectors Manipulator Side Fig 4 3 b Manipulator Cable Connection DX200 Side Connector Details Manipulator Side Key positions Key positions X21 X11 29 of 100 ...

Page 30: ...125 s R Axis 3 18 rad s 182 s B Axis 3 05 rad s 175 s T Axis 4 63 rad s 265 s Allowable Moment4 4 Refer to table chapter 6 1 Allowable Wrist Load for details on the permissible moment of inertia R Axis 1000 N m 102 kgf m 951 N m 97 kgf m B Axis 1000 N m 102 kgf m 951 N m 97 kgf m T Axis 618 N m 63 kgf m Allowable Inertia GD2 4 R Axis 90 kg m2 88 kg m2 B Axis 90 kg m2 88 kg m2 T Axis 46 3 kg m2 App...

Page 31: ... Axes 5 3 Manipulator Base Dimensions Fig 5 2 Manipulator Base Dimensions S S L L U U R R B B T T Fitting surface 0 1 185 0 1 250 40 320 500 745 500 420 0 1 295 0 1 185 420 0 1 230 0 1 230 A Fitting surface View A 22 dia 8 through holes For fixing the manipulator 20 dia 2 reamed holes Pin hole for manipulator positioning 0 021 0 Units mm 31 of 100 ...

Page 32: ...aximum Envelope Fig 5 3 Dimensions and P Point Maximum Envelope R 5 1 5 1441 761 713 710 577 562 0 970 3061 2450 957 598 0 9 332 40 2253 153 300 1150 650 4 3 3 60 3673 2702 970 225 1225 325 1 8 0 1 8 0 276 R 7 1 3 220 349 276 344 290 R2702 R2411 76 P point P point maximum A Flange for cable processing envelope View A 32 of 100 ...

Page 33: ...㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑 Stop Category 0 Position 100 Stop Category 0 Position 100 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑㻜㻚㻜㻜㻚㻝㻜㻚㻞㻜㻚㻟㻜㻚㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑 Stop Cate...

Page 34: ...㻑㻸㼛㼍㼐㻟㻟㻑 Stop Category 0 Position 66 Stop Category 0 Position 66 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑㻜㻚㻜㻜㻚㻝㻜㻚㻞㻜㻚㻟㻜㻚㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑 Stop Category 0 Position 66 Stop Category 0 Position 66 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑...

Page 35: ...㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑 Stop Category 0 Position 33 Stop Category 0 Position 33 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑㻜㻚㻜㻜㻚㻝㻜㻚㻞㻜㻚㻟㻜㻚㻠㻜㻚㻡㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑 Stop Category 0 Position 33 Stop Category 0 Position 33 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜...

Page 36: ...㻡㻠㻜㻠㻡㻡㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉㻜㻚㻜㻜㻚㻝㻜㻚㻞㻜㻚㻟㻜㻚㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉 Stop Category 1 Position 100 Stop Category 1 Position 100 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉㻜㻚㻜㻜㻚㻝㻜㻚㻞㻜㻚㻟㻜㻚㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉 ...

Page 37: ... 㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻝㻚㻝㻝㻚㻞㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉 Stop Category 1 Position 66 Stop Category 1 Position 66 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉㻜㻚㻜㻜㻚㻝㻜㻚㻞㻜㻚㻟㻜㻚㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉 Stop Category 1 Position 66 Stop Category 1 Position 66 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜㻜 ...

Page 38: ...㻚㻟㻜㻚㻠㻜㻚㻡㻜㻚㻢㻜㻚㻣㻜㻚㻤㻜㻚㻥㻝㻚㻜㻜㻞㻜㻠㻜㻢㻜㻤㻜㻝㻜㻜㻝㻞㻜㻝㻠㻜㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉 Stop Category 1 Position 33 Stop Category 1 Position 33 Stop Category 1 Position 33 Stop Category 1 Position 33 0 5 10 15 20 25 30 35 40 Stopping angle deg 0 20 40 60 80 100 120 Speed deg s 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 Stopping time sec 0 20 40 60 80 100 120 Speed deg s 㻜㻡㻝㻜㻝㻡㻞㻜㻞㻡㻟㻜㻟㻡㻠㻜 ...

Page 39: ...etween stoppers must be 60 or more 5 6 1 Components for Altering Operating Range Arrange the components listed in fig 5 10 The Components of the S Axis Stopper when modifying the angle of S axis 1 Pin drawing No HW0402104 1 1 pin 2 Stopper drawing No HW1405450 1 1 stopper 3 Hexagon socket head cap screw M16 length 35 mm 4 screws Tensile strength 1200N mm2 or more 4 Conical spring washer 2H 16 4 wa...

Page 40: ... mm and tighten the screws with the tightening torque of 348 N m tensile strength 1200 N mm2 or more The stopper is to be installed as shown in the fig 5 10 when the operating range is 180 The stopper can be installed by every 15 degree pitch however to avoid the mechanical troubles caused by interference between stoppers e g 15 165 install the S axis mechanical stopper referring to table 5 3 The ...

Page 41: ...modifying the range of motion of S Axis The limitation to the pulse Pulse Soft Limit 1st Axis SICxG400 The limitation to the pulse Pulse Soft Limit 1st Axis SICxG408 Refer to chapter 5 6 Alterable Operating Range Degree 0 15 30 45 60 75 90 Numberof Pulse 0 28672 57344 86016 114688 143360 172032 Degree 105 120 135 150 165 180 Numberof Pulse 200704 229376 258048 286720 315392 344064 NOTE Adjust both...

Page 42: ...Settable Angle for S Axis Stopper Settable angle Non settable angle The Angle of S Axis Stopper for Direction The Angle of S Axis Stopper for Direction Table 5 3 The Settable Angle for S Axis Stopper indicates the angle range which allows S axis to be set for direction and direction angles 42 of 100 ...

Page 43: ...ting Range 5 14 167109 1CD HW1482308 MS165 Fig 5 11 a The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Installation at 165 Installation at 180 Hexagon socket head cap screw fixing positions 43 of 100 ...

Page 44: ...ations 5 6 Alterable Operating Range MS165 Fig 5 11 b The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Hexagon socket head cap screw fixing positions Installation at 150 Installation at 135 44 of 100 ...

Page 45: ...ting Range 5 16 167109 1CD HW1482308 MS165 Fig 5 11 c The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Hexagon socket head cap screw fixing positions Installation at 120 Installation at 105 45 of 100 ...

Page 46: ...cations 5 6 Alterable Operating Range MS165 Fig 5 11 d The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Hexagon socket head cap screw fixing positions Installation at 90 Installation at 75 46 of 100 ...

Page 47: ...ating Range 5 18 167109 1CD HW1482308 MS165 Fig 5 11 e The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Hexagon socket head cap screw fixing positions Installation at 60 Installation at 45 47 of 100 ...

Page 48: ...cations 5 6 Alterable Operating Range MS165 Fig 5 11 f The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Hexagon socket head cap screw fixing positions Installation at 30 Installation at 15 48 of 100 ...

Page 49: ...Specifications 5 6 Alterable Operating Range 5 20 167109 1CD HW1482308 MS165 Fig 5 11 g The Properly Mounted Models for S Axis Stopper Hexagon socket head cap screw fixing positions Installation at 0 49 of 100 ...

Page 50: ...t your YASKAWA representative for further information or assistance When the volume load is small refer to the moment arm rating shown in fig 6 1 Moment Arm Rating The allowable total moment of inertia is calculated when the moment is at the maximum Contact your YASKAWA representative beforehand when only moment of inertia or load moment is small and moment of inertia is large Also when the load m...

Page 51: ...essing spec P point B axis center of rotation B axis center of rotation R T axis center of rotation R T axis center of rotation 200 600 800 1000 1200 LT mm 60kg 400 200 600 800 1000 1200 400 LT mm LB mm 80kg 100kg 130kg 165kg 180kg 40kg 200 600 800 1000 1200 LT mm 60kg 400 200 600 800 1000 1200 400 LT mm LB mm 80kg 100kg 130kg 165kg 40kg 400 600 800 1000120014001600 400 600 800 1000120014001600 51...

Page 52: ...s recommended that the attachment be mounted inside the fitting Fitting depth of inside and outside must be 8 mm or less Fig 6 2 Wrist Flange 63 dia 0 030 0 160 dia 0 0 025 0 015 0 10 dia 2 holes depth 8 mm 0 015 0 9 dia 2 holes depth 8 mm M10 6 holes depth 14mm M10 6 holes depth 14mm NOTE Wash off anti corrosive paint yellow on the wrist flange surface with thinner or light oil before mounting th...

Page 53: ...92 120 40 220 195 305 305 27 5 45 12 5 60 92 344 120 40 255 344 255 234 170 234 170 234 170 234 170 45 45 50 25 20 20 50 220 234 170 234 170 305 234 170 234 170 305 45 45 50 163 25 20 20 270 50 220 270 163 A3 Tapped hole M5 2 holes depth 9mm A3 Tapped hole M8 4 holes depth 14mm Tapped hole M8 4 holes depth 14mm A1 A3 Tapped hole M6 2holes depth 11mm Tapped hole M12 4 holes depth 24mm B Tapped hole...

Page 54: ...d Air Line The allowable current for internal user I O wiring harness 16 1A or less wire 2 0 mm2 5 0A or less wire 0 75 mm2 3 5A or less wire 0 5 mm2 2 3A or less wire 0 2 mm2 The maximum pressure for the air line 490 kPa 5 kgf cm2 or less The air line inside diameter 8 0mm Connector for the external axis Encoder cable Connector for internal I O wiring harness Casing Exhaust port air flow Connecto...

Page 55: ...ector Pin Numbers Pins used Pin details for internal user I O wiring harness Pin details for external axis encoder cable Pin details for external axis power cable 0 5mm2 6 pins 0 5mm2 6 pins 0 75mm2 11 pins 2 0mm2 4 pins 0 75mm2 2 pins Pins used Shielded wire Pins used P 12 11 1 9 2 P 15 10 P 0 2mm2 6 pins Shielded wire 55 of 100 ...

Page 56: ...run Tool Shock Sensor Releasing 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 Position of Limit Switch The limit switches are optional For the S L and U Axes with limit switches specifications L S are located on S Axis L Axis and U Axis respectively For the location refer to fig 8 1 Location of Lim...

Page 57: ...ation Range By the L axis limit switch the L axis operation range can be set to any angles within 61 to 77 as mentioned in the figure below Fig 8 2 L Axis Overrun Limit Switch Setting Range 8 1 3 3 Setting Range 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 opera...

Page 58: ...8 3 167109 1CD HW1482308 8 Electrical Equipment Specification 8 1 Position of Limit Switch MS165 Fig 8 3 LU Axes Interference Angle 8 7 9 1 Positive side Negative side 58 of 100 ...

Page 59: ...5 b Internal Connection Diagram Fig 8 4 Locations and Numbers of Connectors Connector for internal user I O wiring harness Base Connector for external axis Power cable Connector for external axis Encoder cable Connector for internal user I O wiring harness 2BC 1BC Table 8 1 List of Connector Types Name Type of Connector Connector Base Connector for internal user I O wiring harness JL05 2A24 28PC J...

Page 60: ... 0V 2 DATA 1 DATA 1 PG E 6 5 4 9 9 4 5 6 9 4 5 6 9 4 5 6 9 4 5 6 9 4 5 6 3 1 4 2 No 22CN 24V 0V 24V 0V X No 16CN 4 3 2 1 PG0V1 PG5V1 BAT1 0BAT1 S No 17CN 1 2 3 4 BAT2 PG5V2 PG0V2 0BAT2 L No 18CN 1 2 3 4 BAT3 PG5V3 PG0V3 0BAT3 U No 19CN 1 2 3 4 BAT4 PG5V4 PG0V4 0BAT4 R PG0V5 4 No 20CN 3 2 1 B PG5V5 BAT5 0BAT5 PG0V6 4 No 21CN 3 2 1 T PG5V6 BAT6 0BAT6 P P P P P P P P P P 0V CN4 10 CN4 10 0V E E E E E...

Page 61: ...6 F 1 F 5 F 7 F 8 E 5 E 6 E 1 E 2 E 7 SM YB YB SM SM YB C No 9CN 9CN A B MW1 MU1 MV1 1 D 2 BA1 ME1 BB1 E 8 MU1 MV1 MV1 MW1 MU1 MU2 MU2 MW1 10CN A No 10CN MU2 2 C 1 D BB2 MW2 BA2 ME2 MV2 B C B No 11CN 11CN A MW3 MV3 MU3 2 1 BA3 BB3 ME3 D SM 14CN A No 14CN B C MU6 MW6 MV6 YB 2 D 1 BB6 BA6 ME6 SM 13CN A No 13CN B C MU5 MW5 MV5 YB 2 D 1 BB5 BA5 ME5 SM 12CN A No 12CN B C MU4 MW4 MV4 YB 2 D 1 BB4 BA4 ME...

Page 62: ...tact 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 manipulator s arm WARNING Before maintenance or inspection be sure to turn the main power supply OFF and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in ...

Page 63: ...f necessary 7 S L U axes motor connector Manual Check for loose connectors and tighten if necessary 8 Connector base Manual Check for loose connectors 9 Gas Balancer Grease Gun Replenish grease to the gas balancer link part See chapter 9 3 4 Specific tools for maintenance Inspect the gas pressure in the gas balancer Discharge inject the gas See chapter 9 4 10 Wire harness in manipulator SLU axis w...

Page 64: ...ty that grease has seeped into 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 chapter 9 5 Notes for Maintenance 4 Wire...

Page 65: ... 1CD HW1482308 9 Maintenance and Inspection 9 1 Inspection Schedule MS165 Fig 9 1 Inspection Items U AXIS L AXIS T AXIS B AXIS R AXIS S AXIS 1 16 15 5 1 1 13 2 7 4 8 1 11 10 14 2 6 7 4 6 9 1 1 12 6 2 7 65 of 100 ...

Page 66: ...ocation Top View If a battery alarm occurs in the DX200 replace the battery in accordance with the following procedure Fig 9 2 a Battery Location Back View Fig 9 2 b Battery Location Top View Fig 9 3 Battery Connection Plate fixing screw M4 Connector base Plate Base Battery pack Circuit board See replacing step 5 Circuit board Connector See replacing step 4 New battery pack Battery pack before rep...

Page 67: ...the new one 3 Remove the battery pack from the battery holder 4 Connect the new battery pack to the unoccupied connector on the board 5 Remove the old battery pack from the circuit board 6 Mount the new battery pack to the holder 7 Reinstall the plate NOTE Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear NOTE Do not allow plate to pinch ...

Page 68: ...pply pressure at 0 025 MPa or less If not an oil seal of a speed reducer will come off and it may result in a failure Make sure to fill the hose on the grease inlet with grease beforehand to prevent air from leaking into the speed reducer After injecting grease discharge the specified amount of grease If insufficient the inner pressure is raised during the operation and grease may leak When discha...

Page 69: ...ecommended posture because of external cabling or etc adjust the posture as much as possible to make the position of grease inlet located in the lower part and the position of exhaust port located in the upper part Thus grease can be filled exchanged more properly as the recommended posture Table 9 3 List of Necessary Items Items When exchanging the grease of each axis S L U Casing R BT Grease zer...

Page 70: ... axis S axis Arbitrary L axis Arbitrary U axis 0 degree U arm vertical to ground R axis 0 degree 0 pulse B axis 0 degree 0 pulse T axis 0 degree 0 pulse At filling grease to L axis S axis Arbitrary L axis 0 degree 0 pulse U axis Arbitrary R axis Arbitrary B axis Arbitrary T axis Arbitrary At filling grease to S axis S axis Arbitrary L axis Arbitrary U axis Arbitrary R axis Arbitrary B axis Arbitra...

Page 71: ...ket head plug PT1 8 U axis grease exhaust port Hexagon socket head plug PT3 8 R B T gear inside the casing grease inlet Hexagon socket head plug PT1 8 R B T gear inside the casing grease exhaust port Hexagon socket head plug PT3 8 B T axis grease exhaust port Hexagon socket head plug PT1 8 R axis grease exhaust port B T axis grease inlet Hexagon socket head plug PT1 8 R axis grease inlet Hexagon s...

Page 72: ...ch Axis In order to exhaust specified amount of grease receive discharged grease by a container and then measure the weight of discharged grease by weighing the container till the amount reaches to the specified amount Use one of the following methods to discharge grease Discharging method 1 Extruding the grease by air injected from the exhaust port Connect the joint and the hose to the grease inl...

Page 73: ...tandard and then perform the running in operation Table 9 5 Amount of Grease Discharged from Each Axis Grease exchanging point Amount of exhausted grease g cc S axis 0 Unnecessary 0 Unnecessary L axis 240 30 275 35 240 to 310 U axis 295 40 340 45 295 to 385 R B T gear in the casing 115 15 130 15 115 to 145 R axis 95 10 110 15 95 to 125 B and T axis 55 5 65 10 55 to 75 Table 9 6 Teaching Operation ...

Page 74: ...xis Table 9 8 Plug Type and Tightening Torque of Each Axis Grease exchanging point Plug for grease inlet Plug for grease exhaust port Plug type Tightening torque Plug type Tightening torque S axis PT1 4 12 0 N m 1 2 kgf m PT3 8 23 N m 2 34 kgf m L axis PT1 8 4 9 N m 0 5 kgf m U axis R B and T gear in the casing R axis PT1 8 4 9 N m 0 5 kgf m B and T axis Tube inside dia 6 mm or more Grease receivi...

Page 75: ...harged grease with a cloth at the grease exhaust ports and reinstall the plugs to the exhaust ports of the link and Apply ThreeBond 1206C to the thread part of the plugs and tighten the plugs with a tightening torque of 4 9 N m 0 5 kgf m 4 Reinstall the plugs to the grease inlets of the link and Apply ThreeBond 1206C to the thread part of the plugs and tighten the plugs with a tightening torque of...

Page 76: ...focation accident in the high density nitrogen gas environment For this reason enough ventilation is required when performing the operations Before inspecting the gas pressure in the gas balancer or discharg ing filling the gas from into the gas balancer confirm that the L axis motor brake is appropriately functioning and L axis is firmly fixed so that it will not rotate Failure to observe this ma...

Page 77: ...ancer Surface Temperature Fig 9 10 Adequate Gas Pressure per Gas Balancer Surface Temperature MANDATORY Perform the gas pressure inspection every 6000H Operation of the manipulator with inadequate gas pressure gas balancer may cause failure or breakage Table 9 9 Adequate Gas Pressure per Gas Balancer Surface Temperature Gas balancer surface temperature 10 5 0 5 10 15 20 25 30 35 40 45 50 55 60 Ade...

Page 78: ...ressure gauge is satisfying the value shown in table 9 9 Adequate Gas Pressure per Gas Balancer Surface Temperature Depending on the value procedures after this are subject to change Case 1 When the value is exceeding the adequate value Discharge the gas till the value satisfies the adequate value Refer to chapter 9 4 3 Gas Discharging Procedure Case 2 When the value is lower than the adequate val...

Page 79: ...ng gas Gas filling device HW1485204 The device includes Digital pressure gauge GC64 173 Quick connector 10 358 6297 Valve of the service gauge SS 1KS4 Thermometer for measuring the gas balancer surface MANDATORY Discharge all gas from the gas balancer when in the following cases When dismounting the gas balancer from the manipulator When air flight the gas balancer It is treated as a hazardous mat...

Page 80: ...rque of 2 8 N m 0 29 kgf m 9 Turn ON the power supply of the DX200 When Discharging Gas for Adjusting Pressure 1 Move the manipulator to the home position and turn OFF the power supply of the DX200 2 Remove the cover and the hexagon socket head screw plug M6 with flange which are mounted to the gas inlet and insert the quick connector 3 Connect the gas filling device to the quick connector after c...

Page 81: ...ng torque of 2 8 N m 0 29 kgf m 10 Turn ON the power supply of the DX200 Fig 9 12 Gas Discharging Operation 9 4 4 Gas Injecting Procedure 9 4 4 1 Necessary Devices Prepare following devices when injecting gas Nitrogen gas cylinder Gas filling device HW1485204 The device includes Digital pressure gauge GC64 173 Quick connector 10 358 6297 Thermometer for measuring the gas balancer surface NOTE Afte...

Page 82: ...the gas filling device wait for the gas pressure in the gas balancer to stabilize and then confirm that the gas pressure is the adequate pressure shown in table 9 9 Adequate Gas Pressure per Gas Balancer Surface Temperature If the pressure is higher than the adequate pressure discharge the gas gradually and stabilize the gas pressure then confirm that the gas pressure finally reached the adequate ...

Page 83: ...ling device from the nitrogen gas cylinder 16 Turn ON the power supply of the DX200 Fig 9 13 Gas Injecting Operation Cover㸦HW1405134 1㸧㸧㸦 Surface temperature measuring point Gas inlet gas exhaust port Enlarged figure A part Measure on the surface of the gas balancer after removing the cover Conical spring washer 2L 4 2 washers Hexagon socket head cap screw M4 length 6 mm 2 screws A part Hexagon ...

Page 84: ...is condition remove the encoder connector and carry out the maintenance checks 3 Confirm all connectors connected after the maintenance check and remove the battery packs Install the caps attached to the battery backup connectors of the 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 ...

Page 85: ...1CD HW1482308 MS165 Fig 9 14 Battery Pack Connection b a a b 0BT BAT BAT 0BT Motor Connector for the battery backup Motor power connector Connector for the encoder b Insertion type pin terminal Socket a Insertion type pin terminal Pin Battery Pack HW9470932 A 85 of 100 ...

Page 86: ...s A 2 Grease Alvania EP Grease 2 Showa Oil Co Ltd 16 kg For balancer joint part A 3 Liquid Gasket Three Bond 1206C Three Bond Co Ltd 1 1 A 4 Sealing Bond for Flange Locktite 518 Henkel Japan Ltd 1 A 5 Battery Pack HW0470360 A YASKAWA Electric Corporation 1 1 A 6 Battery Pack HW9470932 A YASKAWA Electric Corporation 6 For wire harness in manipulator replacing B 7 Replacement Kit for S Axis Speed Re...

Page 87: ... 18 Connector Base Set HW1371448 A YASKAWA Electric Corporation 1 1 C 19 Limit Switch for S axis HW1470807 A YASKAWA Electric Corporation 1 1 Lead terminal treatment completion C 20 Limit Switch for L axis HW1470430 B YASKAWA Electric Corporation 1 1 Lead terminal treatment completion C 21 Limit Switch for U axis HW1470430 C YASKAWA Electric Corporation 1 1 Lead terminal treatment completion C 22 ...

Page 88: ...S Axis Unit Fig 11 1 S Axis Unit 1002 1031 1032 1027 1028 1004 1024 1025 1005 1029 1030 1006 1008 1042 1043 1015 1003 1001 1012 1013 1016 1018 1019 1014 1011 1020 1021 1017 1010 1033 1047 1026 1034 1009 1022 1023 1007 1038 1039 1035 1036 1037 1040 1044 1041 1045 1045 1046 88 of 100 ...

Page 89: ...cal spring washer 1 1022 M6X16 Hexagon socket head cap screw 6 1023 2L 6 Conical spring washer 6 1024 M16X55 Hexagon socket head cap screw 12 1025 GT SH 16 Washer 12 1026 EZ5002A0 Cap 1 1027 HW1303371 1 Spacer 1 1028 HW1404226 1 Fly wheel 1 1029 M8X70 Hexagon socket head cap screw 1 1030 2L 8 Conical spring washer 1 1031 M12X60 Hexagon socket head cap screw 4 1032 2H 12 Conical spring washer 4 103...

Page 90: ...028 2028 2016 2038 2043 2025 2026 2011 2010 2057 2056 2058 2059 2004 2033 2034 2045 2047 2046 2044 2063 2064 2028 2053 2007 2021 2066 2061 2062 2018 2078 2078 2070 2071 2072 2069 2077 2076 2054 2017 2025 2026 2025 2068 2067 2078 2026 2026 2025 2061 2062 2016 2015 2028 2028 2028 2007 2022 2053 2008 2010 2009 2011 2075 2073 2074 2025 2026 2079 2025 2026 2025 2026 2042 2079 2078 2008 90 of 100 ...

Page 91: ...xagon socket head plug 1 2028 PT1 8 STAINLESS Hexagon socket head plug 7 2029 M12X30 Hexagon socket head cap screw 23 2030 2H 12 Conical spring washer 23 2031 M16X35 Hexagon socket head cap screw 6 2032 2H 16 Conical spring washer 6 2033 M12X75 Hexagon socket head cap screw 25 2034 2H 12 Conical spring washer 25 2038 HW1304368 1 Cover 1 2042 HW1303711 A Support 1 2043 HW1382567 A Balancer 1 2044 H...

Page 92: ...et head cap screw 3 2071 2L 6 Conical spring washer 3 2072 M6 Washer 3 2073 M5X10 Hexagon socket head cap screw 2 2074 2L 5 Conical spring washer 2 2075 HW1406698 1 Cover 1 2076 M6X16 Hexagon socket head cap screw 2 2077 2L 6 Conical spring washer 2 2078 MSTH6 20 Pin 4 2079 HW1406482 1 B holder 2 1008 HW1100521 1 S head 1 Table 11 2 L Axis Unit Sheet 2 of 2 No DWG No Name Pcs 92 of 100 ...

Page 93: ...3031 3013 3015 3030 3001 3028 3005 3004 3002 3008 3009 3003 3007 3025 3026 3014 3024 3016 3019 3020 3021 3022 3023 3027 3010 3011 R axis B axis T axis 3029 3017 3018 3012 3006 3008 3009 3027 3010 3011 3029 3008 3009 3027 3010 3011 3029 4001 4016 2004 3035 3036 3037 3033 3009 3034 3014 3014 3032 3032 93 of 100 ...

Page 94: ...F Speed reducer 1 3017 M12X55 Hexagon socket head cap screw 16 3018 SW2H 12 Conical spring washer 16 3019 M10X25 Hexagon socket head cap screw 18 3020 2L 10 Conical spring washer 18 3021 M16X35 Hexagon socket head cap screw 6 3022 2H 16 Conical spring washer 6 3023 HW0481083 A Bolt 1 3024 ISTW 12 Retaining ring 1 3025 HW1303890 1 Gear 1 3026 G270 O ring 1 3027 Y507212 5 Oil seal 3 3028 TAFI405520 ...

Page 95: ...1482308 MS165 11 4 U Arm Unit Fig 11 4 U Arm Unit 3012 4027 4027 4035 4017 4010 4006 4008 4003 4005 4009 4018 4014 4020 4034 4033 4001 4002 4019 4007 4011 4016 4026 4004 4012 4013 4036 4028 4029 4024 4025 4021 4022 4030 4030 4031 4032 4023 95 of 100 ...

Page 96: ...00173 2 Housing 1 4017 HR32013XJ Bearing 1 4018 HW1303381 1 Gear 1 4019 HW0401505 1 B nut 1 4020 HW0303951 1 Gear 1 4021 M8X20 Hexagon socket head cap screw 1 4022 2L 8 Conical spring washer 1 4023 M4X6 Hexagon socket set screw 1 4024 M8X20 Hexagon socket head cap screw 6 4025 2L 8 Conical spring washer 6 4026 PT1 8 STAINLESS Hexagon socket head plug 1 4027 HR32006XJ Bearing 2 4028 M8X95 Hexagon s...

Page 97: ...5042 5089 5045 5092 5093 5057 5061 5065 5043 5044 5095 5050 5047 5004 5094 5023 5027 5028 5030 5031 5032 5033 5032 5036 5037 5038 5042 5042 5038 5023 5010 5011 5012 5013 5013 5009 5014 5088 5015 5018 5068 5020 5023 5023 5005 5039 4013 5001 5002 5003 5008 5073 5006 5007 5033 5078 5079 5090 5091 5042 5084 5086 5085 5086 5019 5021 5075 5074 5076 5080 5022 5077 97 of 100 ...

Page 98: ...g 1 5017 6009 Bearing 1 5018 STW 45 Retaining ring C type 2 5019 HW1303384 1 Gear 1 5020 HW0301223 1 Gear 1 5021 HW9481236 A Bearing 1 5022 HW1404234 1 Cover 1 5023 HR32004XJ Bearing 4 5024 6911 Bearing 1 5025 AE3290E3 Oil seal 1 5026 AR80 Circlip 1 5027 S60 O ring 1 5028 HW9403618 1 Housing 1 5029 M6X15 GT SA bolt 5 5030 HW0301224 1 Gear 1 5031 HW0301225 1 Gear 1 5032 HW0401514 1 B nut 2 5033 M5X...

Page 99: ...cket set screw 1 5078 M8X20 Hexagon socket head cap screw 16 5079 2L 8 Conical spring washer 16 5080 HW9403623 Shim 1 5084 M4X16 Hexagon socket head cap screw 4 5085 M4X8 Hexagon socket head cap screw 8 5086 2L 4 Conical spring washer 12 5087 HW0301231 1 Gear 1 5088 HW0301230 1 Gear 1 5089 HW0301226 1 Gear 1 5090 M8X40 Hexagon socket head cap screw 14 5091 2L 8 Conical spring washer 14 5092 M8X85 ...

Page 100: ... Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd 22F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㸩86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 59 1st 5th Floor Flourish Building Soi Ratchadapisek 18 Ratchadapisek Road Huaykwang Bangkok 10310 THAI...

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