Motoman HP3JC Manipulator Manual Download

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Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200

Motoman NXC100 Controller

HP3JC
Manipulator Manual

Part Number:

151562-1

Revision: 0

Summary of Contents for HP3JC

Page 1: ...ncorporated 805 Liberty Lane West Carrollton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 Motoman NXC100 Controller HP3JC Manipulator Manual Part Number 151562 1CD R...

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: ...es detailed information for the HP3JC manipulator 1 2 Reference to Other Documentation For additional information refer to the following NXC100 Controller Manual P N 150975 1 Concurrent I O Manual P N...

Page 4: ...User s Manual Chapter 1 Introduction page 2 Final Notes...

Page 5: ...ssociation by requesting ANSI RIA R15 06 1999 The address is as follows RoboticIndustriesAssociation 900VictorsWay P O Box3724 AnnArbor Michigan48106 TEL 734 994 6088 FAX 734 994 3338 INTERNET www rob...

Page 6: ...ining this equipment DANGER Information appearing in a DANGER concerns the protection of personnel from the immediate and imminent hazards that if not avoided will result in immediate serious personal...

Page 7: ...TOP mode whenever it is not in use In accordance with ANSI RIA R15 06 1999 section 4 2 5 Sources of Energy use lockout tagout procedures during equipment maintenance Refer also to Section 1910 147 29C...

Page 8: ...visors and anyone working near the robot must become familiar with the operation of this equipment Improper operation can result in personal injury and or damage to the equipment Only trained personne...

Page 9: ...modifications made to the controller will change the way the robot operates and can cause severe personal injury or death as well as damage the robot and other parts of the system Double check all mod...

Page 10: ...User s Manual Chapter 2 Safety page 8 Final Notes...

Page 11: ...or to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN HP3J INSTRUCTIONS NXC100 INSTRUCTIONS NX100 OPERATOR S MANUAL NXC100 MAINTENANCE...

Page 12: ...ings 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 i...

Page 13: ...icates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in mino...

Page 14: ...ned OFF Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency The manipulator should not be used if the emergency stop buttons do not f...

Page 15: ...may result if anyone enters the P point maximum envelope of the manipulator dur ing operation Always press an emergency stop button immediately if there is a problem The emergency stop button is loca...

Page 16: ...hing If problems are found repair them immediately and be sure that all other necessary processing has been performed Check for problems in movement of the manipulator and servo track Check for damage...

Page 17: ...important information is placed on the body of the manipula tor Prior to operating the manipulator confirm the contents Warning label A Warning label B Warning label B Nameplate WARNING Do not enter r...

Page 18: ...n a Baseplate 3 3 3 2 2 When the Manipulator is Mounted Directly on the Floor without the Mounting Fixture 3 4 3 3 Installation Method 3 5 3 4 Location 3 6 4 Wiring 4 1 Grounding 4 2 4 2 Manipulator C...

Page 19: ...e Replenishment for S axis Speed Reducer 9 7 Grease Replenishment Refer to Fig 22 S axis Speed Reducer Diagram 9 7 9 2 3 Grease Replenishment for L axis Speed Reducer 9 8 Grease Replenishment Refer to...

Page 20: ...ation for the content of optional goods is given separately Manipulator NXC100 Programming pendant Manipulator cable 2 cables between the manipulator and NXC100 Confirm that the manipulator and the NX...

Page 21: ...AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER ORDER NO Check that the manipulator and the NXC100 have the same order number Label Enlarged View a NXC100 Top View b Manipulator Top View WARNING HAZ...

Page 22: ...ce Be sure to mount two eyebolts and check that the eyebolts are securely fastened before transporting the manipulator The mass of the manipulator is approximately 27 kg Use a wire rope strong enough...

Page 23: ...ached eyebolts Be sure the manipulator is fixed with shipping bolts and brackets before transportation and lift it in the posture as shown in Fig 2 Transporting Position Fig 2 Transporting Position Be...

Page 24: ...on a pallet as shown in Fig 3 Using a Forklift Insert claws under the pallet and lift it The pallet must be strong enough to support the manipulator Transportation of the manipulator must be performe...

Page 25: ...overturn and cause injury or damage When mounting the manipulator on the ceiling or wall the base section must have sufficient strength and rigidity to support the mass of the manipulator Also it is...

Page 26: ...strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration Refer to Table 1 Maximum Repulsion Forces of the Manipulator and Table 2 Endurance Torque...

Page 27: ...he manipulator base to the baseplate with four hexagon socket head screws M8 35 mm long is recommended and tighten the screw to a tightening torque of 24 5 Nxm 2 5 kgxm Tighten the hexagon socket head...

Page 28: ...e 1 Maximum Repulsion Forces of the Manipulator When there is a concrete thickness floor of 150 mm or more the base of the manipulator can be fixed directly to the floor with M8 anchor bolts The concr...

Page 29: ...1200 N mm2 or more 35 mm long is recommended should be used to fix the manipulator base Use a torque of 24 5 Nxm in tightening the screws 3 For the ceiling and wall mounted types take appropriate mea...

Page 30: ...temperature 0 to 40 C ambient temperature Humidity 20 to 80 RH no moisture at constant temperature Free from dust soot or water Free from corrosive gases or liquids or explosive gases Free from excess...

Page 31: ...DO NOT TURN THE POWER ON Failure to observe this warning may result in fire or electric shock Wiring must be performed by authorized or certified personnel Failure to observe this caution may result...

Page 32: ...o the manipulator as shown in Fig 7 Grounding Method Fig 7 Grounding Method Do not use this line in common with other ground lines or grounding electrodes for other electric power motor power welding...

Page 33: ...ecting the manipulator cables to the manipulator verify the numbers on both the cables and the connectors of manipulator connector base Connect 2BC first and then 1BC Insert the cables and lower each...

Page 34: ...ig 9 a Manipulator Cable Connectors Manipulator Side Fig 9 b Manipulator Cable Connectors NXC100 Side 2BC 3BC 1BC Connector details Manipulator side PPESP PPESP X21 X64 X63 X12 X55 X71 X72 X11 FAN3 X5...

Page 35: ...axis wrist roll 170 B axis wrist pitch yaw 120 T axis wrist twist 360 Maximum Speed S axis 3 49 rad s 200 s L axis 2 62 rad s 150 s U axis 3 32 rad s 190 s R axis 5 24 rad s 300 s B axis 5 24 rad s 3...

Page 36: ...rking Axes 5 3 Manipulator Base Dimensions Fig 11 Manipulator Base Dimensions Base S S L L U U B R T T B R Upper arm U arm Wrist Lower arm L arm Rotary head S head 145 78 0 1 88 0 1 170 150 85 155 50...

Page 37: ...5 1 0 5 R 1 0 4 P point maximum envelope P point 57 79 30 659 290 260 532 90 0 270 188 229 372 531 40 95 99 5 68 68 99 5 160 R 1 8 8 R532 160 2 1 193 47 381 204 133 74 389 337 583 822 189 18 0 21 9 0...

Page 38: ...389 337 0 0 U axis does not move the S axis is in area of the slash part in above figure U axis does not move the S axis is in area of the slash part in above figure 3 5 125 125 3 5 4 0 4 0 Shows the...

Page 39: ...an be altered according to the operating conditions as shown in Table 4 S Axis Operating Range If alteration is necessary contact your Yaskawa representative in advance Table 4 S Axis Operating Range...

Page 40: ...load is small refer to the moment arm rating shown in Fig 14 Moment Arm Rating The allowable inertia is calculated when the moment is at the maximum Contact your Yaskawa representative when only load...

Page 41: ...ounted inside the fitting Fitting depth of inside and outside fittings must be 5 mm or less Fig 15 Wrist Flange Wash off anti corrosive paint yellow color on the wrist flange surface with thinner or l...

Page 42: ...on the upper arm for easier installation of the user s system application as shown in Fig 16 Installing Peripheral Equipment Mounts When peripheral equipment is attached to the U axis the following co...

Page 43: ...2 5 A or less for each cable The maximum pressure for the air line 490 kPa 5 kgf cm2 or less the inside diameter 2 5 mm Fig 17 Connectors for Internal User I O Wiring Harness and Air Lines The same pi...

Page 44: ...ms for internal connections of the manipulator are shown in Fig 19 a Internal Connection Diagram and Fig 19 b Internal Connection Diagram Fig 18 Location Connectors Table 6 List of Connector Types Nam...

Page 45: ...No 6CN 6CN 1 No 4CN 4CN 1 No 3CN 3CN 1 For lamp Option 18 19 17 21 31 27 28 30 29 23 25 24 22 26 20 1 5 3 4 2 8 12 9 11 10 7 6 16 13 14 15 1 3 2 4 32 PG5V4 PG5V6 PG0V5 PG0V6 PG5V5 PG0V1 PG0V3 PG0V2 PG...

Page 46: ...B3 C1 C2 D1 D2 C3 E1 D3 E2 2BC 6X6 A5 B6 D4 C4 A6 C6 E6 D6 E4 PE E3 P P P P P MU1 BA1 ME1 MW1 MV1 BB1 No 14CN 14CN 1 4 3 2 13CN 1 2 No 13CN SM YB SM YB T axis B axis 3BC 4 3 2 8 7 6 5 10 9 3 2 4 8 7 9...

Page 47: ...which can be performed by service company personnel Only specified personnel are to do the inspection work Before maintenance or inspection be sure to turn the main power sup ply OFF and put up a war...

Page 48: ...Phillips screw driver wrench Tighten loose bolts Replace if necessary g Connector base Manual Check for loose con nectors h LURBT axis timing belts Manual Check for belt tension and wear i Wire harnes...

Page 49: ...that grease has seeped into the motor This can cause a motor breakdown Contact your Yaskawa representative The numbers in the above table correspond to the numbers in Table 7 Inspection Items R axis...

Page 50: ...9 1 Inspection Schedule 9 4 HW0483547 HW0483547 Fig 20 Inspection Parts and Inspection Numbers 6 7 5 8 6 3 9 2 2 6 6 12 12 11 10 10 2BC 3BC 1BC 40 50...

Page 51: ...ocation Battery Pack Type HW0470360 B If the battery alarm occurs in the NXC100 replace the battery pack in accordance with the following procedure Fig 21 a Battery Pack Location Fig 21 b Battery Pack...

Page 52: ...NSULOK tie that ties the battery pack 4 Connect the new battery pack to an unconnected connector 5 Remove the old battery pack 6 Tie the new battery pack with INSULOK tie and reinstall the connector b...

Page 53: ...on the Si grease inlet and reinstall the hexagon socket head plug PT1 8 Tighten the plug to a tightening torque of 4 9 N m 0 5 kgf m Apply Three Bond 1206C on the thread part of the plug 6 Reinstall...

Page 54: ...the grease zerk on the Li grease inlet and reinstall the hexagon socket head cap screw M6 6 Tighten the screw to a tightening torque of 6 N m 0 6 kgf m Apply Three Bond 1206C on the thread part of th...

Page 55: ...nd reinstall the hexagon socket head cap screw M6 6 Tighten the screw to a tightening torque of 6 N m 0 6 kgf m Apply Three Bond 1206C on the thread part of the screw 6 Reinstall the plug on the Uo Ro...

Page 56: ...e zerk on the Bi Ti grease inlet and reinstall the hexagon socket head cap screw M6 6 Tighten the screw to a tightening torque of 6 N m 0 6 kgf m Apply Three Bond 1206C on the thread part of the screw...

Page 57: ...r connector and carry out the maintenance checks 2 After the maintenance check verify that all the connectors are connected and remove the battery pack Fig 26 Encoder Connector Do not remove the batte...

Page 58: ...Rank B or Rank C be sure to contact your Yaskawa representative Table 9 Spare Parts for the MOTOMAN HP3J Rank Parts No Name Type Manufacturer Qty Qty per Unit Remarks A 1 Grease Harmonic Grease SK 1A...

Page 59: ...awa Electric Corporation 1 1 B 15 AC Servomotor for SLU axes HW0384674 A SGMAH A8A2A YR1 Yaskawa Electric Corporation 1 3 With brake and lead terminal treatment C 16 AC Servomotor for RBT axes HW03846...

Page 60: ...en Phone 46 480 417800 Fax 46 480 417999 MOTOMAN ROBOTEC GmbH Kammerfeld strasse 1 DE 85391 Allershausen Germany Phone 49 8166 90100 Fax 49 8166 90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bld...

Page 61: ...tor Diagram Encoder Motor b BAT a 0BT Battery 0BT a BAT b Power connector Internal cable WARNING label a Insertion type pin terminal female b Insertion type pin terminal male b a a b Connection Diagra...

Page 62: ...9 2 Notes on Maintenance Procedures 9 12 RE MTO A235...

Page 63: ...Type Manufacturer Qty Qty per Unit Remarks A 1 Grease Harmonic Grease SK 1A Harmonic Drive System Co Ltd 2 5kg A 2 Battery HW9470917 B Yaskawa Electric Corporation 1 1 For SLU axes HW9470917 A For RBT...

Page 64: ...HW9381714 A Yaskawa Electric Corporation 1 3 With brake lead terminal treat ment completion C 16 R B and T axis AC Servomotors HW9381716 A Yaskawa Electric Corporation 1 2 With brake lead terminal tr...

Page 65: ...Unit 1012 1011 1002 1001 1003 1005 1006 1007 1014 1015 5001 5002 5002 5009 5011 5011 5010 5010 5001 1016 1017 1032 1033 1033 1039 5007 1040 1041 1042 1043 1048 1049 1050 1052 1051 1053 1044 1045 1046...

Page 66: ...uction gear 1 1030 GT SA M4 16 Socket screw 8 1031 HW0400653 1 M base 1 1032 HW9406341 1 Support 1 1033 M4 8 APS bolt 4 1037 HW9406328 2 N base 1 1038 M4 8 APS bolt 4 1039 M 4 10 Cross recessed head s...

Page 67: ...2001 2002 2013 2016 2016 2019 2020 2009 2010 2008 2017 2014 2013 2018 2017 2015 2023 2015 2023 2014 2002 2058 2059 2057 2058 2057 2020 2027 2028 2030 2033 2032 2034 2035 2036 2037 2039 2040 2042 2042...

Page 68: ...crew 12 2023 M 4 10 Cross recessed head screw 12 2024 HW9381719 A Reduction gear 1 2025 6916DDU Bearing 1 2026 GT SA M4 12 Socket screw 12 2027 6913DDU Bearing 1 2028 HW9406255 1 Housing 1 2029 HW0100...

Page 69: ...0 3051 3032 3043 3052 3053 3053 3052 3034 3035 3036 3040 3037 3068 3041 3055 3057 3056 3058 3059 3060 3061 3061 3066 3067 3069 3068 3062 3063 3042 3039 3038 3067 3033 3031 3031 3030 3028 3024 3025 301...

Page 70: ...0 6809DDU Bearing 2 3031 AD526808 Oil seal 2 3032 6803ZZ Bearing 2 3033 HW9381726 A Reduction gear 1 3034 M4 20 Socket screw 6 3035 2H 4 Spring washer 6 3036 A MT6 Grease nipple 1 3037 HW9483147 A Pul...

Page 71: ...ng Unit 2003 2004 4001 4002 4003 4004 4008 4021 4023 4024 4025 4026 4027 4028 4015 4009 4017 4018 4019 4020 4016 4010 4011 4012 4014 4013 4005 4022 4006 4007 2005 2006 2007 2007 2046 2050 2030 2028 20...

Page 72: ...4001 GT SA M3 10 Socket screw 1 4002 GT SA M3 1 0 Socket screw 8 4003 HW9406275 1 B cover 1 4004 GT SA M3 12 Socket screw 12 4005 GT SA M3 1 0 Socket screw 6 4006 HW9406276 1 B cover 1 4007 M6 6 H set...

Page 73: ...Sweden Phone 46 480 417800 Fax 46 480 417999 MOTOMAN ROBOTEC GmbH Kammerfeld strasse 1 DE 85391 Allershausen Germany Phone 49 8166 90100 Fax 49 8166 90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang...

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