YASKAWA MOTOMAN-MH900 Maintenance Manual Download

Page: 1 / 79

Part Number:

180930-1CD

Revision:

MOTOMAN-MH900

MAINTENANCE

Procedures described in this maintenance manual should be carried out by the person who took
the maintenance-relevant trainings offered by Yaskawa.

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-MH900 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL

The DX200 operator’s manual above corresponds to a specific usage. Be sure to use the appropriate manual.

TYPE:

YR-MH00

00-A00

1 of 79

Summary of Contents for MOTOMAN-MH900

Page 1: ... Yaskawa Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MH900 INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR S MANUAL for each purpose DX200 MAINTENANCE MANUAL The DX200 operator s manual above corresponds to a specific usage Be sure to use the appropriate manual TYPE YR MH00900 A00 1 of 79 ...

Page 2: ...ted 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 Robotics Divi...

Page 3: ...e MH900 In this manual the Notes for Safe Operation are classified as DANGER WARNING CAUTION or NOTICE DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting the most serious hazards WARNING Indicates a potentially hazardous sit...

Page 4: ...l injury WARNING This maintenance manual is intended to explain maintenance procedures primarily for the MOTOMAN MH900 General information related to safety are described in Chapter 1 Safety of the DX200 INSTRUCTIONS Part Number 182582 1CD To ensure correct and safe operation carefully read Chapter 1 Safety of the DX200 INSTRUCTIONS Do not remove the motor and do not release the brake Failure to f...

Page 5: ...ng a lockout device on the safety fence when going into the area enclosed by the safety fence In addition the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safety fence View the Manipulator from the front whenever possible Always follow the predetermined operating procedure Always keep in mind emergency response me...

Page 6: ...s and photos in this manual are representative examples and differences may exist between them and the delivered product Yaskawa is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids the product warranty Perform the following inspection procedures prior to conducting Manipulator teaching If problems are found repair them immediately...

Page 7: ... 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 To ensure safe and efficient operation at all times be sure t...

Page 8: ...o Fig Warning Labels on page 0 ix Always follow the warnings on the labels Also an identification label with important information is placed on the body of the Manipulator Prior to operating the Manipulator confirm the contents Fig Warning Label Locations Warning Label B Warning Label C Warning Label A Warning Label A Nameplate Warning Label D Warning Label D 8 of 79 ...

Page 9: ...rning Label A Warning Label B Warning Label C Warning Label D Nameplate Do not remove the motor and do DANGER observe this caution may result in injury from unexpected turning of the manipulator arm Please contact yourYaskawa representative not release the brake Failure to 182446 1 9 of 79 ...

Page 10: ... a backup must always be made 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 opera...

Page 11: ...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 The safe operation of this equipment is ultimately the users responsibility The conditions under which the equipment will be operated safely should be reviewed by the us...

Page 12: ...nnel involved with the operation programming or repair of the equipment Contact Yaskawa Motoman at the following address for more information Yaskawa America Inc Motoman Robotics Div 100 Automation Way Miamisburg OH 45342 TEL 937 847 3307 www motoman com support training training motoman com This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to...

Page 13: ...tor Manipulator Equipment Manual Designation Programming Pendant Character Keys The keys which have characters printed on them are denoted with ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex PAGE key The Cursor is an exception and a picture is not shown Axis Keys Numeric Keys Axis Keys and Numeric Keys are generic names f...

Page 14: ...play screen by selecting MAIN MENU SYSTEM INFO VER SION Robot Serial Number Located on robot data plate Robot Sales Order Number Located on Controller data plate WARNING Maintenance and inspection must be performed by specified personnel Failure to observe this instruction may result in electric shock or injury For disassembly or repair contact your Yaskawa representative Do not remove the motor a...

Page 15: ...xis Speed Reducer and Gear Grease Exchange 3 3 3 3 3 Grease Replenishment Exchange for L and U axes Speed Reducer 3 4 3 3 4 L and U Axes Speed Reducer Grease Replenishment 3 4 3 3 5 L and U Axes Speed Reducer Grease Exchange 3 5 3 4 Grease Replenishment Exchange for RBT axes Gear 3 6 3 4 1 RBT axes Gear Grease Replenishment 3 6 3 4 2 Grease Exchange 3 7 3 5 Grease Replenishment Exchange for R axis...

Page 16: ... 3 5 2 1 Disassembly 5 3 5 2 2 Reassembly 5 3 5 3 Disassembly and Reassembly of U Axis Motor 5 5 5 3 1 Disassembly 5 5 5 3 2 Reassembly 5 5 5 4 Disassembly and Reassembly of R B T Axis Motor 5 7 5 4 1 Disassembly 5 7 5 4 2 Reassembly 5 8 6 Battery Pack Replacement 6 1 7 Internal Harness Removal Replacement 7 1 7 1 Remove the Internal Harness 7 1 7 2 Install the Internal Harness 7 2 8 Parts List 8 ...

Page 17: ...ecks 3 After the maintenance check confirm that all the connectors are connected then remove the battery pack Install the caps attached to the battery backup connectors of the motor Fig 1 1 Battery Pack Connection 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...

Page 18: ...ogram hereinafter called JOB as the pulse number from the home position of each axis Thus by adjusting the home position precisely the JOB used before motor replacement can be used after the replacement without correction Perform calibration and set the Manipulator position to home in one of the following cases The combination of the robot and the control unit is changed The motor or absolute enco...

Page 19: ...g the rotary table It is recommended to use a specific jig if necessary Use pointed jigs to create the position so that the deviation is easily found Keep a distance as long as possible from the rotational center of the replacing axis Considering the moving direction of the replacing axis create the position at the point where any deviation is easily found and the axis will not interfere with jigs...

Page 20: ... where the axis will not interfere with jigs when it moves to the home position Be careful when moving the axis so that the Manipulator does not interfere with jigs Refer to the position screen and move the axis to the pulse position equal to the amount of deviation At this position perform the home position calibration only for the axis whose motor was replaced Move the axis again to the check po...

Page 21: ... 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 3MPa or less and the grease injection rate at 8g s or less Make sure to fill the hose on the grease inlet with grease beforehand to prevent air from leaking into the spe...

Page 22: ...g for the 1st supply Air supply pressure of grease pump 0 3MPa or less Grease injection rate 8g s or less 4 Move the S axis for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 23N m 2 4kgf m Grease Inlet Hexagon...

Page 23: ...Distinguish new grease from the old grease by color 5 Move the S axis for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 23N m 2 4kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug Befo...

Page 24: ...njection rate 8g s or less 4 Move the L and U axes for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m Grease Exhaust Port L Axis Speed Reducer Hexagon Socket Head Plug BSPT 1 8 Grease exhaust po...

Page 25: ...sure of grease pump 0 3MPa or less Grease injection rate 8g s or less 4 The grease exchange is complete when new grease appears in the grease exhaust port Distinguish new grease from the old grease by color 5 Move the L and U axes for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the th...

Page 26: ...e Manipulator Grease type Molywhite RE No 00 Amount of grease approx 7000g 13700g for the 1st supply Air supply pressure of grease pump 0 3MPa or less Grease injection rate 8g s or less 4 Move the R B and T axes for a few minutes to discharge excess grease Grease Exhaust Port Hexagon Socket Head Plug 3 8 BSPT Grease Inlet Port Hexagon Socket Head Plug 1 8 BSPT Do not add grease without removing th...

Page 27: ...A 1 8 BSPT 3 Inject grease into the grease inlet using a grease gun The grease zerk is delivered with the Manipulator Grease type Molywhite RE No 00 Amount of grease approx 7000g Air supply pressure of grease pump 0 3MPa or less Grease injection rate 8g s or less 4 The grease exchange is complete when new grease appears in the grease exhaust port Distinguish new grease from the old grease by color...

Page 28: ...R axis Speed Reducer Diagram 3 5 1 Grease Replenishment Refer to Fig 3 4 R axis Speed Reducer Diagram 1 Remove the hexagon socket head plugs 3 8 BSPT from the grease exhaust port Do not install plug into exhaust port while grease is being exhausted Grease may leak inside the motor and cause damage Grease Exhaust Port Hexagon Socket Head Plug 3 8 BSPT Grease Inlet Port Hexagon Socket Head Plug 1 8 ...

Page 29: ...emove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m 3 5 2 Grease Exchange Refer to Fig 3 4 R axis Speed Reducer Diagram 1 Remove the hexagon socket head plugs 3 8 BSPT from the grease exhaust port 2 Remove the hexagon socket head plug 1 8...

Page 30: ... discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 23N m 2 4kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque o...

Page 31: ...xcess grease 5 Wipe the discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug wi...

Page 32: ...ve the B axis and T axis for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206...

Page 33: ...ipulator 4 Reinstall the plug into the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m 5 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of ...

Page 34: ...ee Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m 5 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug Then tighten the plug with a tightening torque of 4 9N m 0 5kgf m 2X Grease Inlet 1 2X Grease Exhaust 1 Grease Exhaust 1 Plug For Bearing ...

Page 35: ...dus Grease Amount of grease approx 5cc 10cc for the 1st supply 5 Remove the grease zerk from the grease inlet and reinstall the plug Tighten the plug with a tightening torque of 4 9N m 0 5kgf m Apply Three Bond 1206C to thread part of the plug 6 Reinstall the plug on the exhaust port of the Link1 Reinstall the plugs 2 places on the exhaust port of the Link2 Tighten the screw plugs with a tightenin...

Page 36: ...e the L Arm to rotate in different directions than expected depending on the L Axis U Axis Wrist Unit and tooling load Allow only specified personnel to perform maintenance and inspection When replacing the L Axis motor or releasing the brake Use the fixing jigs and rigging equipment specified in this man ual to hold the L Arm Follow the procedures in this manual Failure to observe this instructio...

Page 37: ...y hand to the area The counterweight may interfere depending on the posture of the U Axis and may require adjustment Due to the size and weight of the MH900 Manipulator additional rigging is required when the L Axis cannot be set against its hard stops Use rigging equipment strong enough to support the combined weight of the L Axis U Axis Wrist Unit and any tooling that cannot be removed from the ...

Page 38: ...process be sure to screw it tightly so that there is no looseness between the shaft and the rod 5 Screw the jig nut 184021 1 onto the stud until it almost touches the rear of the balancer Align the nut so that it is possible to thread six bolts into the rear of the balancer The nut should be as close to the casting as possible but still able to insert the six bolts 6 Install the six M12 x 45 hexag...

Page 39: ...he jig nut 184021 1 from the jig shaft 184020 1 4 Remove the jig shaft A square extension is included at the back of the shaft that can help unthread the shaft with a wrench if tight 5 Spring force is now restored to the spring balancer 6 Slowly remove the rigging equipment from the Manipulator so that the motor brake and spring balancer are now fully supporting the Manipulator WARNING During remo...

Page 40: ...g on the L Axis U Axis Wrist Unit and tooling load When no tooling is attached to the tooling flange and the U Axis is at the factory home position 0 3 patterns are estimated as described in Fig 4 3 The L Axis Rotating Direction This should only be used as a reference since it is difficult to accurately compare the extent of the torque around the L Axis and the extent of the torque generated by th...

Page 41: ...s motor The key comes with the S axis motor 3 Mount the gear to the S axis motor 4 Tighten the hexagon socket head cap screw Loctite 242 applied on the thread part with the tightening torque shown in Table 5 1 S Axis Motor Parts Checklist 5 Verify O Ring is still in the O ring groove on the gear case WARNING Make sure to mount the L axis fixing jig on the balancer before performing disassembly and...

Page 42: ... grease inlet 9 Turn ON the DX200 for the MH900 power supply 10 Re home the S axis Fig 5 1 Disassembly and Reassembly of S Axis Motor Table 5 1 S Axis Motor Parts Checklist No Name Qty Notes S axis motor 153099 1 1 SGMGH 1AA2A YR3 Hexagon socket head cap screw M12 length 40mm Conical spring washer 2H 12 4 each Tightening torque 84 0N m Gear 178375 1 3 1 Key 1 Gear case 178341 1 1 Hexagon socket he...

Page 43: ...contact surface of the collar and the L axis motor then mount the collar on the L axis motor 2 Mount the key on the L axis motor The key comes with the L axis motor 3 Apply sealing bond ThreeBond 1206C to the contact surface of the gear and the collar and mount the gear on the L axis motor 4 Tighten the bolt Loctite 242 applied on the thread part to which the gear is attached with the tightening t...

Page 44: ...ON the DX200 for the MH900 power supply 11 Re home the L axis Fig 5 2 Disassembly and Reassembly of L Axis Motor Table 5 2 L Axis Motor Parts Checklist No Name Qty Notes L axis motor 153099 1 1 SMGH 1AA2A YR3 Hexagon socket head cap screw M12 length 45 mm Conical spring washer 2H 12 4 each Tightening torque 142 N m Gear 178348 1 1 Key 1 O ring 178119 1 1 Oil Seal 178120 1 1 Hexagon socket head cap...

Page 45: ...rop the O ring which is attached to the motor 5 3 2 Reassembly 1 Apply sealing bond ThreeBond 1206C to the contact surface of the collar and the U axis motor then mount the collar on the U axis motor 2 Mount the key on the U axis motor The key comes with the U axis motor 3 Apply sealing bond ThreeBond 1206C to the contact surface of the gear and the collar and mount the gear on the U axis motor 4 ...

Page 46: ...U axis motor HW0389687 A 1 SGMRV 55ANA YR1 Hexagon socket head cap screw M12 length 45 mm Conical spring washer 2H 12 4 each Tightening torque 142 N m Gear 178348 1 1 Key 1 O ring 178119 1 1 Oil Seal 178120 1 1 Hexagon socket head cap screw M12 length 45 mm Conical spring washer 2H 12 1 each Tightening torque 84 0N m Housing 1 Collar 178380 1 1 Apply ThreeBond 1206C to both sides 1 2 3 4 5 6 7 8 9...

Page 47: ... M5 on the flange 6 Remove the hexagon socket head cap screws Remove the gear unit gear retaining ring and and the bearing from the R B T axis motor Do not remove the retaining ring and from the gear unit 7 Remove hexagon socket head cap screws and then remove housing from motor Make sure the two O rings stay attached to the housing 8 Remove the collar of the R B axes and the flange of the R B T a...

Page 48: ...or to the housing using hexagon socket head cap screws and washers 6 Tighten the hexagon socket head cap screws 2 with the tightening torque shown in Table 5 4 7 Connect the internal wiring harness to the R B T axis motor 8 Replenish grease Molywhite RE No 00 from the grease inlet 9 Turn ON the DX200 for the MH900 power supply 3 1 10 1 10 12 13 11 11 15 14 12 13 16 4 7 8 9 1 5 6 2 1 Table 5 4 R B ...

Page 49: ... 3 Apply ThreeBond 1206C to both sides of the collar Flange R axis 179293 1 1 B axis 179292 1 1 T axis 179292 1 1 O ring 1333934 3 3 O ring 1333934 4 3 Retaining Ring 153242 1 3 Oil Seal 179109 1 3 Hexagon socket head cap screw M6 length 25 mm Conical spring washer GTS6 12 Adhesive Liquid Gasket 1206C 479014 6 see notes As Needed 133419 Adhesive Loctite 242 see notes As Needed Table 5 4 R B T Axis...

Page 50: ...r screws Fig 6 1 3 Slide the battery holder out until the two white connector ports are accessible Fig 6 2 4 Connect the new battery pack to the unoccupied connector 5 Disconnect the old connector 6 Remove the old battery pack from the battery holder 7 Slide the battery holder back into the connector base 8 Reinstall the screws Make sure the new battery pack is connected If the new battery pack is...

Page 51: ...MH900 Fig 6 1 Battery Pack Location Fig 6 2 Battery Connection Base Battery Holder Battery Holder Screw M4 Connector base Connector Battery pack before replacement See procedure 5 See procedure 4 New battery pack 164675 1 Board Type SGDR EFBA02A 51 of 79 ...

Page 52: ...the backside of the Base Connector Panel Detach the motor power cables encoder cables brake cable I O cable air hose and fieldbus tube from the Base Connector Panel NOTE De pin the motor and encoder connectors to remove them from base connector plate 7 Remove Clamp A Clamp A secures the harness to the bracket on the backside of the connector panel 8 Remove the motor encoder and brake cables from S...

Page 53: ...e S L and U motor encoder and brake cables 7 Feed the top half of the harness through the L arm to the Upper arm casing 8 Fix the internal harness with Harness Fixing Bracket C at the base of the L arm 9 Mount the internal harness to the panel on back of the L arm with Harness Fixing Bracket B 10 Fix the internal harness to the plate on the bottom of the upper arm casing with Harness Fixing Bracke...

Page 54: ... 16 Remove the backup battery 479348 2 from the S L U R B and T Motor Encoders Fig 7 2 Interior Harness Replacement Motor Encoder R T B Connector Plate Harness Fixing Bracket A Harness Fixing Bracket B L Arm U Arm Harness Fixing Bracket C U Motor Encoder L Motor Encoder S Motor Encoder Clamp B Clamp A Base Connector Panel 54 of 79 ...

Page 55: ...8 1 180930 1CD 180930 1CD 8 Parts List 8 1 Manipulator Arm Assembly MH900 8 Parts List 8 1 Manipulator Arm Assembly Fig 8 1 a Robot Arm MH900 55 of 79 ...

Page 56: ...8 2 180930 1CD 180930 1CD 8 Parts List 8 1 Manipulator Arm Assembly MH900 Fig 8 1 b Hardware Pkg Robot Arm MH900 56 of 79 ...

Page 57: ...EL S AXIS MOTOR SHAFT INPUT MH900 19 2 178380 1 COLLAR MOTOR SHAFT PINION L U AXIS DRIVE MH900 20 2 178385 1 COLLAR BEARING SHAFT OIL SEAL A B LINK PIVOT MH900 21 2 178383 1 PLATE RETAINER BEARING SHAFT A B LINK PIVOT MH900 22 1 178362 1 TUBE GUIDE MIDDLE CABLE S AXIS GEAR CASE MH900 23 1 178365 1 FLANGE GUIDE TUBE CABLE EXIT S AXIS GEAR CASE MH900 24 2 178388 1 SHAFT BEARING SPRING BALANCER HOUSI...

Page 58: ... Item Qty Part Number Description 180895 1 HARDWARE PKG ROBOT ARM MH900 401 6 479296 6 SCREW SHC M5X16 CLASS 12 9 402 10 151844 2 SCREW HHC M6X12 BSET 6 JIS0209 W CAPTIVE LOCK FLAT YELLOW 403 12 407248 5 SCREW SHC M8X20 CLASS 12 9 404 15 407248 19 SCREW SHC M8X90 CLASS 12 9 405 8 479297 4 SCREW SHC M10X1 5X25 CLASS 12 9 406 40 479297 5 SCREW SHC M10X30 CLASS 12 9 407 18 479297 9 SCREW SHC M10X50 C...

Page 59: ... M24 JIS B TYPE 2 426 1 180542 1 WASHER FLAT M30 56 OD X 31 ID X 5 THK RV 1500E MH900 427 22 479281 105 FITTING PLUG 1 8 BSPT BLACK 428 1 162873 4 PLUG VENT GREASE 3 8 BSPT PRESSURE RELIEF AT 1 5 PSI 429 2 179981 1 FITTING ZERK GREASE M8X1 430 2 133937 1 FITTING ZERK GREASE 1 8 R PT 431 2 162873 3 PLUG VENT GREASE 1 8 BSPT PRES SURE RELIEF AT 1 5 PSI 432 1 130527 7 WASHER LOCK IET 25 ZP 433 1 4792...

Page 60: ...8 6 180930 1CD 180930 1CD 8 Parts List 8 2 S Axis Unit MH900 8 2 S Axis Unit Fig 8 2 S Axis Unit 408 402 410 401 410 410 407 403 409 406 404 405 410 60 of 79 ...

Page 61: ...IVE MH900 9 178369 1 178369 1 PLATE TRANSITION MTG S HEAD BEARING RV900 MH900 10 145514 6 145514 6 FITTING TUBE TO MALE BSPT 11 145558 3 145558 3 TUBING 10MM BLACK POLYURETHANE 12 180888 1 180888 1 HARDWARE PKG BASE ASSY MH900 401 12 131268 3 SCREW FHSC M6X10 BLACK OXIDE ASME ANSI B18 3 5M 402 6 407249 6 SCREW SHC M6X25 CLASS 12 9 403 4 179980 1 SCREW SHC M8x1X12 FINE THREAD CL ASS 12 9 404 30 130...

Page 62: ...8 8 180930 1CD 180930 1CD 8 Parts List 8 3 L Axis Unit MH900 8 3 L Axis Unit Fig 8 3 L Axis Unit 406 403 401 404 402 405 17 17 10 10 24 24 62 of 79 ...

Page 63: ...AXIS DRIVE MH900 5 1 179017 1 RING V SEAL SURFACE B LINK TO L ARM MH900 6 2 178541 1 SEAL OIL 195X220X15 7 1 178138 1 SEAL O RING G650 8 1 179015 1 SEAL O RING G580 579 3MM ID X 5 7 STATIC TYPE 9 1 180892 1 HARDWARE PKG ARM ASSY L ARM MH900 401 10 407249 5 SCREW SHC M6 X 20 402 24 472303 11 SCREW SHC M12X60 CLASS 12 9 403 17 130533 22 SCREW SHC M20X75 404 10 470602 1 WASHER CONICAL SPRING GTS6 YS ...

Page 64: ...1CD 8 Parts List 8 4 Drive Assembly U Axis Unit MH900 8 4 Drive Assembly U Axis Unit Fig 8 4 Drive Assembly U Axis Unit U Nut Included With RV Reducer Spacer Included With RV Reducer 401 404 1 30 30 46 403 402 10 403 64 of 79 ...

Page 65: ...SING CAST RV1500E U AXIS DRIVE MH900 3 1 177062 1 REDUCER RV RV 1500E 236 29 4 1 178137 1 SEAL O RING 489 3MM ID X 5 7 5 1 179016 1 SEAL OIL VR SERIES 550 X 580 X 20 6 1 178965 1 GEAR HELICAL 90 TOOTH L U AXIS DRIVE MH900 401 46 130533 17 SCREW SHC M20X70 CLASS 12 9 402 30 130533 20 SCREW SHC M20 X 130 CLASS 12 9 BLACK 403 76 182525 1 WASHER CONICAL SPRING HEAVY LOAD M20 JIS B TYPE 2 404 1 180542 ...

Page 66: ...8 12 180930 1CD 180930 1CD 8 Parts List 8 5 Balancer Unit MH900 8 5 Balancer Unit Fig 8 5 Balancer Unit 403 402 405 406 3 4XX QTY 404 27 407 401 408 409 HARDWARE SHOWN AS 66 of 79 ...

Page 67: ...BALANCER MIDDLE MH900 12 1 179250 1 FLANGE WELDMENT SPRING BALANCER HEAD END MH900 13 1 180760 1 SPACER TOP FLANGE BALANCER MH900 14 1 178610 1 SEAL DUST DOUBLE LIP 70X84X11 15 1 178391 1 RETAINER SEAL SPRING BALANCER ROD MH900 16 1 178127 1 SEAL OIL 90X115X5 17 1 178129 1 RING RETAINING SNAP AR105 18 1 178126 1 BEARING NEEDLE ROLLER SOLID W INNER RING 85 ID X 105 OD X 54 19 1 179294 1 WELDMENT CL...

Page 68: ...8 14 180930 1CD 180930 1CD 8 Parts List 8 6 U Arm Assembly MH900 8 6 U Arm Assembly Fig 8 6 a U Arm Assembly 413 417 408 408 418 415 402 415 4XX 402 417 410 415 402 62 75 HARDWARE SHOWN AS QTY 68 of 79 ...

Page 69: ...8 15 180930 1CD 180930 1CD 8 Parts List 8 6 U Arm Assembly MH900 Fig 8 6 b U Axis Unit Sub Assemblies 69 of 79 ...

Page 70: ...8 16 180930 1CD 180930 1CD 8 Parts List 8 6 U Arm Assembly MH900 Fig 8 6 c R Axis Unit 70 of 79 ...

Page 71: ...8 17 180930 1CD 180930 1CD 8 Parts List 8 6 U Arm Assembly MH900 Fig 8 6 d R Axis Unit Sub Assemblies 71 of 79 ...

Page 72: ...8 18 180930 1CD 180930 1CD 8 Parts List 8 6 U Arm Assembly MH900 Fig 8 6 e R B and T Axes Unit 72 of 79 ...

Page 73: ... 178414 1 SHAFT SPLINED TORQUE TUBE U ARM T AXIS MH900 17 1 178353 1 SHAFT SPLINED 32 TOOTH B AXIS DRIVE MH900 18 1 178407 1 SHAFT ADAPTER B AXIS TORQUE TUBE MH900 19 1 178403 1 SHAFT TORQUE TUBE CASING R AXIS DRIVE MH900 20 1 178406 1 SHAFT TORQUE TUBE CASING B AXIS DRIVE MH900 21 1 179213 1 HOUSING WELDMENT R B T AXIS GEARS MH900 22 1 179306 1 HOUSING MACHINED SPACER CASING TO R B T MOTOR MOUNT ...

Page 74: ...MM NO LUG WR60 56 3 131657 5 RING RETAINING INTERNAL 85MM 57 3 159047 1 MOTOR AC SERVO 5 5kW SIGMA 5 L U AXIS MPL500 DX100 Table 8 6 U Arm Assembly Sheet 3 of 4 Item Qty Part No Description 58 3 178392 1 COLLAR MOTOR SHAFT PINION R B T AXIS DRIVE MH900 59 1 178393 1 SPACER R AXIS TORQUE TUBE MH900 60 1 180893 1 HARDWARE PKG ARM ASSY U ARM MH900 401 6 407249 6 SCREW SHC M6X25 CLASS 12 9 402 56 4792...

Page 75: ...8 21 180930 1CD 180930 1CD 8 Parts List 8 7 Wrist Unit MH900 8 7 Wrist Unit Fig 8 7 a Wrist Unit 178523 PAGE 8 B1 SUBASSEMBLY B2 SUBASSEMBLY 75 of 79 ...

Page 76: ...80930 1CD 8 Parts List 8 7 Wrist Unit MH900 Fig 8 7 b Wrist Unit Subassemblies 178523 PAGE 9 T2 Subassembly T3 Subassembly T4 Subassembly T1 Subassembly Collar Included with Reducer U Nut Included with Reducer 76 of 79 ...

Page 77: ...05 16 1 178396 1 RETAINER BEARING ID WRIST B AXIS MH900 17 1 178395 1 RETAINER BEARING OD WRIST B AXIS MH900 18 1 178427 1 RETAINER BEARING WRIST T AXIS DRIVE MH900 19 1 178410 1 SHAFT TORQUE TUBE WRIST B AXIS DRIVE MH900 20 1 178411 1 SHAFT WRIST B AXIS DRIVE MH900 21 1 178412 1 HOUSING BEARING WRIST B AXIS DRIVE MH900 22 1 178421 1 HOUSING BEARING WRIST T AXIS DRIVE MH900 23 1 178607 1 HOUSING B...

Page 78: ...1 HARDWARE PKG WRIST ASSY MH900 401 5 407249 3 SCREW SHC M6X12 CLASS 12 9 402 16 407249 4 SCREW SHC M6X16 CLASS 12 9 403 6 407249 5 SCREW SHC M6 X 20 404 30 407248 6 SCREW SHC M8X25 CLASS 12 9 405 6 407248 7 SCREW SHC M8X30 CLASS 12 9 406 12 407248 8 SCREW SHC M8X35 CLASS 12 9 407 5 472303 8 SCREW SHC M12X45 CLASS 12 9 Table 8 7 Wrist Unit Assembly Sheet 3 of 4 Item Qty Part No Description 408 33 ...

Page 79: ...td 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 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 H...

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