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Motoman, Incorporated
805 Liberty Lane
West Carrollton, Ohio 45449 USA
937.847.6200 (Voice)
937.847.6277 (Fax)
937.847.3200 (24-Hour Support)

www.motoman.com
[email protected]

Motoman

100

Controller

MotoPos-T1000
Positioner Manual

Part Number:

152163-1

evision

Содержание MotoPos-T1000

Страница 1: ...rty Lane West Carrollton Ohio 45449 USA 937 847 6200 Voice 937 847 6277 Fax 937 847 3200 24 Hour Support www motoman com info motoman com Motoman NX100 Controller MotoPos T1000 Positioner Manual Part...

Страница 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...

Страница 3: ...ovides detailed information for the MotoPos T1000 positioner 1 2 Reference to Other Documentation For additional information refer to the following NX100 Controller Manual P N 149201 1 Concurrent I O...

Страница 4: ...Positioner Manual Chapter 1 Introduction page 2 Final Notes...

Страница 5: ...es Association 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...

Страница 6: ...taining 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 person...

Страница 7: ...E STOP 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...

Страница 8: ...ervisors 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 person...

Страница 9: ...All 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...

Страница 10: ...Positioner Manual Chapter 2 Safety page 8 Final Notes...

Страница 11: ...FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD YPE YR MPT1000 F03 FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD Upon receipt of the product and prior to initial operation read these instructions thor...

Страница 12: ...hotos 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 improvement...

Страница 13: ...items Indicates 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 resu...

Страница 14: ...MOTOPOS work envelope to teach a job Operator injury can occur if the Teach Lock is not set and the MOTOPOS is started from the playback panel Observe the following precautions when performing teachin...

Страница 15: ...ately and be sure that all other necessary processing has been performed Check for problems in MOTOPOS movement Check for damage on insulation and sheathing of external cables Always return the progra...

Страница 16: ...ant information is placed on the body of the MOTO POS Prior to operating the MOTOPOS confirm the contents Motoman No Warning label A Warning label B Nameplate WARNING Do not enter robot work area WARN...

Страница 17: ...TOPOS and Manipulator on a Common Baseplate 3 3 3 2 2 In Case of Mounting the MOTOPOS on the Floor 3 4 3 3 Location 3 5 4 Wiring 4 1 Grounding 4 1 4 2 Cable Connection 4 2 4 2 1 Connection to the MOTO...

Страница 18: ...h 8 1 8 2 Internal Connections 8 1 1 Maintenance and Inspection 1 1 Inspection Interval 9 1 1 2 Notes on Maintenance Procedures 9 4 1 2 1 Battery Pack Replacement 9 4 1 2 2 Grease Replenishment Exchan...

Страница 19: ...ptional goods is given separately Manipulator XRC Programming pendant Cable between the XRC and the manipulator 2 cables or 3 cables MOTOPOS Cable between the MOTOPOS and the XRC 2 cables Confirm that...

Страница 20: ...ER SUPPLY DATE P N MADE IN JAPAN SERIAL NO ERCR NJ2063 1 200 220V 50 60Hz 3PHASE KVA NJ1530 T z T z R B y B y R Z U L 0 9 3 6 7 8 1 4 2 5 Z U X S Y L Y X S YASNAC XRC UP6 ORDER NO a XRC Front View b M...

Страница 21: ...fted using wire rope threaded through attached eyebolts Fig 2 Transporting Position Sling applications and crane or forklift operations must be performed by authorized personnel only Failure to observ...

Страница 22: ...kg Use a wire rope strong enough to withstand the weight Attached eyebolts are designed to support the MOTOPOS weight Never use them for anything other than transporting the MOTOPOS Avoid exerting for...

Страница 23: ...hit against anything such as the wall or the safeguarding Failure to observe this warning may result in injury or damage Do not start the MOTOPOS or even turn ON the power before it is firmly anchore...

Страница 24: ...ing devices barriers interlock barriers perimeter guarding awareness barriers and awareness signals 3 2 Mounting Procedures for MOTOPOS Baseplate The MOTOPOS should be firmly mounted on a baseplate or...

Страница 25: ...plate and the size of the mounting anchor bolts should meet the recommendations in the manual for the manipulator to be com bined Mount the MOTOPOS base securely with four hexagon head screws M20 reco...

Страница 26: ...mm or more can be fixed directly to the floor with anchor bolts M20 Before mounting the MOTOPOS on the floor check the flatness cracks etc of the floor If there are any cracks and the like on the flo...

Страница 27: ...onmental conditions Ambient Temperature 0 to 45 C Humidity 20 to 80 RH at constant temperature Free from dust soot or water Free from corrosive gas or liquid or explosive gas Free from excessive vibra...

Страница 28: ...ply and put up a warning sign ex DO NOT TURN ON THE POWER Failure to observe this warning may result in fire or electric shock Wiring must be performed by authorized or certified personnel Failure to...

Страница 29: ...the main key positions of the MOTOPOS and then tighten the nut until it clicks 4 2 2 Connection to the XRC Remove the cover of the XRC side Pass the power cable 1BC and the encoder cable 2BC through...

Страница 30: ...1357 HS0481357 Fig 6 a Connection of the MOTOPOS and the XRC YR MPT1000 A15 F00 MV7 MW7 MW7 MV7 BA7 E BB7 OT7 ROT7 E 2BC 1BC 7SV 2CN ME7 ME7 1BC 2BC MU7 MU7 Power cable Encoder cable Connection to the...

Страница 31: ...1000 A16 F01 F02 F03 Fig 6 c Connection of the MOTOPOS and the XRC MU7 E7 MW7 MV7 BA7 E BB7 OT7 1 ROT7 1 E EX PG1 1BC OT7 2 ROT7 2 2BC 2BC 1BC Power cable Encoder cable Connection to the MOTOPOS Conne...

Страница 32: ...e of Freedom 1 Payload 2000 kg Repetitive Positioning Accuracy 2 0 3 mm R1000 mm Motion Range 140 150 130 160 Maximum Speed 0 96 rad s 55 s Allowable Moment 3 4900 N m 500 kgf m Allowable Inertia GD2...

Страница 33: ...ames and Working Axes 5 3 Baseplate Dimensions Fig 8 Baseplate Dimensions Base connector Base section Table Tilting axis motor Stopper pin unit Limit switch box A 245 0 2 200 0 2 50 708 430 278 0 2 27...

Страница 34: ...5 3 HS0481357 HS0481357 5 4 Dimensions and Working Envelope Fig 9 Dimensions and Working Envelope 300 300 600 300 430 730 430 275 705 450 170 280 378 1 480 dia 0 0 040 Units mm 1 For YR MPT F00 F01 F0...

Страница 35: ...he moment rating shown in Fig 10 Moment Rating The allowable total inertia is calculated when the moment is at the maximum Contact your Yaskawa representative when only inertia moment or load moment i...

Страница 36: ...or more be made on the rotational center of the jig baseplate for maintenance of the positioner s motor Be sure to mount a cover on the hole so that spatters and the like will not go inside the MOTOP...

Страница 37: ...ernal User I O Wiring Harness and Air Lines Wiring must be performed by user The allowable current for internal user I O wiring harness 3 A or less for each wire 30 A or less in total The maximum pres...

Страница 38: ...to 29 YR MPT1000 F01 F02 F03 Base Connector for Internal User I O Wiring Harness JL05 2A28 21PC JL05 6A28 21SC Optional 1 to 36 Table Connector for Internal User I O Wiring Harness Terminal A 1 25 3...

Страница 39: ...echanically locked with a stopper pin to stop its rotation Using an air cylinder insert the stopper pin into the hole on the rotary side with the rotary axis positioned at 90 and 90 Note that they can...

Страница 40: ...ition of Limit Switch One limit switch is provided inside the MOTOPOS For the location refer to Fig 15 Location of Limit Switch Fig 15 Location of Limit Switch 8 2 Internal Connections High reliabilit...

Страница 41: ...0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK KIVTW 3 0 75XK S IRV 0 5 S IRV 0 5 RMCV SB O 0 5 3P RMCV S...

Страница 42: ...XK UL1015 AWG10XK UL1015 AWG14XG UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL1015 AWG14XK UL...

Страница 43: ...SLD 13 15 14 17 16 19 18 21 20 22 1 3 2 5 4 6 Y3014 Y3015 24VU X2017 O24VU X2020 13 15 14 17 16 19 18 21 20 22 15 13 14 19 17 18 21 22 20 16 6 5 4 3 2 1 30 15 17 16 19 21 22 20 18 14 13 PB7 PC7 PC7 PB...

Страница 44: ...XK UL1015 AWG10XG TERMINAL A 5 5 5 TERMINAL A 2 3 5 P P P KIVTW 6 2XG Y S IRV 0 5XK R S IRV 0 5XK R S IRV 0 5XK R S IRV 0 5XK R P P P KIVTW 3 0 75XK S IRV 0 5XK R S IRV 0 5XK R KIVTW 3 0 75XK KIVTW 3...

Страница 45: ...e performed by service company personnel Only specified personnel are to do inspection work Before maintenance or inspection be sure to turn OFF the main power supply and put up a warning sign ex DO N...

Страница 46: ...he area where dust or spatter is present Check for damage and outside cracks 5 Baseplate mounting bolts Spanner Wrench Tighten loose bolts Replace if necessary 6 Cover mount ing screws Screw driver Ti...

Страница 47: ...nd Inspection Numbers The numbers in the above table correspond to the numbers in Table 1 Inspection Items 13 Speed reducer Grease Gun Check for malfunc tion Replace if nec essary Supply grease 3 6000...

Страница 48: ...ation Fig 19 Battery Connection 1 Turn OFF the XRC main power supply 2 Remove the connector base 3 Remove the battery pack mounting screw 4 Remove the old battery pack and connect the new battery pack...

Страница 49: ...3 Move the rotary axis for a few minutes to discharge the excess grease 4 Wipe the Wo grease exhaust port with a cloth and reinstall the hexagon socket head plug PT1 8 Apply the modifier silicon caul...

Страница 50: ...grease exhaust port The new grease can be distinguished from the old grease by color 4 Move the rotary axis for a few minutes to discharge the excess grease 5 Wipe the Wo grease exhaust port with a cl...

Страница 51: ...A 1 Grease Molywhite RE No 00 Yaskawa Electric Corporation 16 kg For speed reducers A 2 Silicon Rubber Compound Tube Modifier Silicon Caulk Konishi Co Ltd 1 1 A 3 Battery Pack HW8471030 A Yaskawa Elec...

Страница 52: ...Kalmar 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...

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