9.1 Replacing XRC Parts
9-7
b) UP130, UP165, UP200, UP130R
• How to Replace Converter
1.
Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2.
Verify that the converter CHARGE lamp (red LED) is unlit.
3.
Disconnect all the cables connected externally to the converter.
#
Main circuit power supply terminals (TM1: L1, L2, L3)
&
Regenerative resistor terminals (TM1: B1, B2)
%
Servo control power supply connectors (1CN and 2CN)
+
PN power supply terminals (P
×
2, N
×
2)
4.
Remove the ground wiring connected to the converter.
5.
Remove the four screws in the four corners of the converter.
6.
With the top and bottom grips, pull out the converter.
7.
Install the new converter and reconnect the connectors in the reverse order of that
listed above.
• How to Replace PWM Amplifier
1.
Turn OFF the primary power supply and wait at least 5 minutes before replacing. Do
not touch any terminals during this period.
2.
Verify that the converter CHARGE lamp (red LED) is unlit.
3.
Disconnect all the cables connected externally to the control board.
#
PG cable connectors(CNPB123, CNPB456)
&
Communication cable connector (CN10)
%
Power ON signal cable connector (CN20)
+
Motor cable terminal (EUVW), motor cable connectors (CN4 to CN6)
4.
Remove the ground wiring connected to the PWM amplifier.
5.
Remove the four screws in the four corners of the PWM amplifier.
6.
With the top and bottom grips, pull out the PWM amplifier.
7.
Install the new PWM amplifier and reconnect the connectors in the reverse order of
that listed above.
Configuration of Servopack (UP130, UP165, UP200, UP130R)
Servo Control
P o w e r S u p p l y
G r o u n d W i r i n g
Top Grip
Control Board
C N 1 0
C N P B 4 5 6
C N P B 1 2 3
T M 1 L 1 L 2 L 3 B 1 B 2
Bottom Grip
1 C N
R e d L E D
C N 2
0
Top Grip
G r o u n d W i r i n g
C N 4 t o C N 6
Bottom Grip
2 C N
P
N
P N W i r i n g
Converter
P W M A m p l i f i e r
E U V W 1 1 - 1 2 E U V W 2 1 - 2 2 E U V W 3 1 - 3 2
Содержание SK300X
Страница 2: ......
Страница 4: ...SK300X Manipulator Manual XRC 2001 ii MOTOMAN NOTES...
Страница 7: ...INTRODUCTION MOTOMAN 1 3 SK300X Manipulator Manual XRC 2001 NOTES...
Страница 21: ...viii...
Страница 25: ...xii...
Страница 41: ...1 7 Notes on MOTOMAN Disposal 1 16...
Страница 59: ...4 3 Connection Methods 4 12...
Страница 67: ...6 1 Movement of the Axes 6 4...
Страница 73: ...8 2...
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Страница 93: ...3 3 Location 3 6...
Страница 99: ...4 2 Cable Connection 4 6...
Страница 102: ...5 4 Dimensions and Working Range 5 3 5 4 Dimensions and Working Range Fig 10 a Dimesions and Working Range YR SK300 J0...
Страница 103: ...5 4 Dimensions and Working Range 5 4 Fig 10 b Dimesions and Working Range YR SK300 J1...
Страница 104: ...5 4 Dimensions and Working Range 5 5 Fig 10 c Dimesions and Working Range YR SK300 J2...
Страница 109: ...6 2 Wrist Flange 6 4...
Страница 133: ...9 2 Notes on Maintenance Procedures 9 18...
Страница 136: ...11 1 S Axis Driving Unit 11 1 11 Parts List 11 1 S Axis Driving Unit...
Страница 138: ...11 2 L U Axis Driving Unit 1 11 3 11 2 L U Axis Driving Unit 1...
Страница 140: ...11 3 L U Axis Driving Unit 2 11 5 11 3 L U Axis Driving Unit 2...
Страница 234: ...2 8 General I O Signal Assignment 2 72...
Страница 270: ...4 4 Recommended Spare Parts 4 30...
Страница 285: ...xiv...
Страница 286: ...Setup Diagnosis...
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Страница 289: ...1 2...
Страница 297: ...2 1 Protection Through Security Mode Settings 2 8...
Страница 395: ...3 17 File Initialize 3 98...
Страница 417: ...4 2 Addition of Base and Station Axis 4 22...
Страница 435: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Страница 436: ...Hardware...
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Страница 447: ...6 4 Equipment Configuration 6 10...
Страница 456: ...8 8 Open Phase Check 8 8...
Страница 476: ...9 4 Recommended Spare Parts 9 20...
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