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iii

177010-1CD

HW1483759

MH215

MANDATORY

• This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-MH215

for the application to

the actual operation and for proper maintenance and inspection. It

describes on safety and handling, details on specifications,

necessary items on maintenance and inspection, to explain

operating instructions and maintenance procedures. Be sure to

read and understand this instruction manual thoroughly before

installing and operating the manipulator.

• General items related to safety are listed in Chapter 1: Safety of the

DX200 Instructions. To ensure correct and safe operation, carefully

read the DX200 Instructions before reading this manual.

CAUTION

• 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, 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.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your

product's warranty.

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Содержание MOTOMAN-MH215 II

Страница 1: ...he product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MH215 II INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR S MANUAL for each purpose DX200 MAINTENANCE MANUAL The DX200 operator s manual above corresponds to specific usage Be sure to use the appropriate manual 1 of 102 ...

Страница 2: ...ighted 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 2016 Yaskawa America Inc Motoman Robotics D...

Страница 3: ...nual CAUTION 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 improveme...

Страница 4: ...sible 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 pu...

Страница 5: ...ersonnel CAUTION 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 MANDATORY Always be sure to follow explicitly the items listed under this heading PROHIBITED Must never be performed NOTE To ensure safe and efficient operation at all times be sure to f...

Страница 6: ...power ON Injury may result from unintentional or unexpected manipulator motion Fig Release of Emergency Stop TURN Observe the following precautions when performing teaching operations within 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 mak...

Страница 7: ...demarks or bland names for each company or corporation The indications of R and TM are omitted CAUTION 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...

Страница 8: ...the balancer equipped manipulator Fig Warning Label Locations WARNING Do not enter robot work area WARNING Moving parts may cause injury Nameplate WARNING Label B WARNING Label A MADE IN JAPAN YASKAWA ELECTRIC CORPORATION Kitakyushu 806 0004 Japan 2 1 Kurosakishiroishi Yahatanishi ku SERIAL NO PAYLOAD kg TYPE MASS DATE ORDER NO kg MOTOMAN MODEL NJ3878 WARNING Label B Nameplate WARNING Label A WARN...

Страница 9: ...it is not in 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 equip...

Страница 10: ...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 operatio...

Страница 11: ...ified personnel 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 whi...

Страница 12: ...ly 24 to 36 hours for a response to your inquiry Please have the following information ready before you call Customer Support techsupport motoman com NOTE 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 MH215 II Primary Application _...

Страница 13: ...e 3 3 3 3 Protection Class 3 4 3 4 Location 3 4 4 Wiring 4 1 4 1 Grounding 4 2 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 Angle and Time for S L and U Axes...

Страница 14: ...e 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 Connection Diagram 8 4 9 Maintenance and Inspection 9 1 9 1 Inspection Schedule 9 1 9 2 Notes on Maintenance Procedures 9 5 9 2 1 Battery Pack Replacement 9 5 9 3 Grease Replenishment Exchange 9 7 9 3 1 Notes on Grease Replenishment Exchange Procedures 9 ...

Страница 15: ...xv 177010 1CD HW1483759 Table of Contents MH215 II 11 1 S Axis Unit 11 1 11 2 L Axis Unit 11 4 11 3 U R B T Axis Unit 11 7 11 4 U Arm Unit 11 10 11 5 Wrist Unit 11 13 11 6 Balancer Unit 11 16 15 of 102 ...

Страница 16: ...r 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 expect...

Страница 17: ...the manipulator corresponds to the DX200 The order number is located on a label as shown below 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 b Manipulator Side View a DX200 Front View 17 of 102 ...

Страница 18: ...s caution may adversely affect performance NOTE The weight of the manipulator is approximately 1220kg including the shipping bolts and brackets Use a 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...

Страница 19: ...e manipulator Then lift it in the posture as shown in Fig 2 1 Transport Using a Crane Fig 2 1 Transport Using a Crane B Electrical tape painted in yellow Rubber plate Details of shipping bolt 1 piece Shipping bolt Hook A Shipping bracket 4 pieces Axis Angle When equipped with external cablings those settings are subject to change depending on the specifications Pulse L R U B T S 0 176020 172119 0 ...

Страница 20: ...laws in the forklift claw entries of the shipping brackets or the pallet and lift it The pallet must be strong enough to support the manipulator Transport the manipulator slowly with due caution in order to avoid overturning or slippage Fig 2 2 Transport Using a Forklift Pallet Shipping bolts and brackets Fixed to the manipulator before shipment Screw M20 8 screws Pallet Forklift claw entries Ship...

Страница 21: ...ing Bolts and Brackets The A shipping brackets are painted in yellow The B shipping bolt hexagon socket head cap screw is taped in yellow Position Bolt Type Pcs A Hexagon socket head cap screw M20 X 70 mm 12 B Hexagon socket head cap screw M16 X 20 mm 1 NOTE Before turning ON the power check to be sure that the shipping bolts and brackets are removed The shipping bolts and brackets then must be st...

Страница 22: ... to safeguarding devices barriers interlock barriers perimeter guarding awareness barriers and awareness signals WARNING Install the safeguarding Failure to observe this warning may result in injury or damage Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall safeguarding or controller Failure to observe this warning may res...

Страница 23: ...eaction Force and Torque A baseplate flatness must be kept at 0 5 mm or less insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities Mount the manipulator base as instructed in section 3 2 1 Mounting Example Fig 3 1 Manipulator Reaction Force and Torque Table 3 1 Manipulator Reaction Force and Torque Horizontal rotation Vertical rotation R...

Страница 24: ...or larger size The manipulator base is tapped for eight mounting holes securely fix the manipulator base to the baseplate with eight hexagon head bolts M20 80 mm long is recommended Next fix the manipulator base to the baseplate Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation Refer to Fig 3 2 Mounting the Manipulator on Baseplate Fig 3 2...

Страница 25: ...fy the following environmental 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 NOTE During winter or when the ambient tem...

Страница 26: ...a warning sign ex DO NOT 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 ...

Страница 27: ...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 then 1 BC After inserting the cables depress the lever until it clicks 4 2 2 Connection to the DX200 Before connecting cables to the DX200 ver...

Страница 28: ...ble Connection 4 3 177010 1CD HW1483759 MH215 II Fig 4 2 Manipulator Cables X11 1BC X11 1BC 1BC Power cable Encoder cable Manipulator side DX200 side Manipulator side DX200 side 2BC 2BC X21 HW1270964 2BC X21 28 of 102 ...

Страница 29: ...ng 4 2 Cable Connection MH215 II Fig 4 3 a Manipulator Cable Connectors Manipulator Side Fig 4 3 b Manipulator Cable Connection DX200 Side S1 2BC 1BC A B FB A View A Connector details Manipulator side Key positions X21 X11 29 of 102 ...

Страница 30: ...efer to section 6 1 Allowable Wrist Load for details on the permissible moment of inertia R Axis 1176 N m 120 kgf m B Axis 1176 N m 120kgf m T Axis 710 N m 72 kgf m Allowable Inertia GD2 4 R Axis 317 kg m2 B Axis 317 kg m2 T Axis 200 kg m2 Approx Mass 1140 kg Protective Structure Basic axis IP54 or equivalent Wrist axis only IP67 or equivalent Ambient Conditions Temperature 0 C to 45 C Humidity 20...

Страница 31: ...anipulator Base Dimensions S S U U L L T B R B R T 350 0 1 290 0 1 290 0 1 640 290 0 1 893 290 0 1 540 290 0 1 290 0 1 540 640 735 353 0 1 40 A View A 22 dia through hole 8 holes For fixing the manipulator Units mm Fitting surface Fitting surface 20 dia reamed hole 2 holes Pin hole for manipulator positioning 0 021 0 16 dia reamed hole 2 holes Pin hole for manipulator positioning 0 018 0 31 of 102...

Страница 32: ... and P Point Maximum Envelope P point P point maximum envelope 375 491 844 899 739 371 784 1141 1477 1225 509 77 650 2222 2912 5133 236 177 583 3311 1008 1490 1 4 2 5 0 R 8 9 9 73 R2912 410 R608 250 18 12 2 12 2 285 25 4 2 153 250 5 0 650 1150 1 2 2 60 0 A 2203 0 76 1401 Note This figure shows the standard specification manipulator in the home position 32 of 102 ...

Страница 33: ...ISO10218 5 5 1 Stop Category 0 Stopping Angles and Times 5 5 1 1 Position 100 Fig 5 4 Category 0 Position 100 Stopping Angle and Time for Each Axis a S Axis b L Axis c U Axis Stop category 0 Position 100 Stop category 0 Position 100 Stop category 0 Position 100 Stop category 0 Position 100 Stopping angle deg 35 30 25 20 25 15 10 5 0 Stop category 0 Position 100 Stop category 0 Position 100 35 30 2...

Страница 34: ...15 II 5 5 1 2 Position 66 Fig 5 5 Category 0 Position 66 Stopping Angle and Time for Each Axis a S Axis b L Axis c U Axis Stop category 0 Position 66 Stop category 0 Position 66 Stop category 0 Position 66 Stop category 0 Position 66 Stop category 0 Position 66 Stop category 0 Position 66 34 of 102 ...

Страница 35: ...15 II 5 5 1 3 Position 33 Fig 5 6 Category 0 Position 33 Stopping Angle and Time for Each Axis a S Axis b L Axis c U Axis Stop category 0 Position 33 Stop category 0 Position 33 Stop category 0 Position 33 Stop category 0 Position 33 Stop category 0 Position 33 Stop category 0 Position 33 35 of 102 ...

Страница 36: ... and Time for Each Axis NOTE Stopping angles and times at Stop category 1 are not subjected to the load of the manipulator a S Axis b L Axis c U Axis Stop category 1 Position 100 Stop category 1 Position 100 Note Not depends on the load Stop category 1 Position 100 Stop category 1 Position 100 Note Not depends on the load Stop category 1 Position 100 Stop category 1 Position 100 Note Not depends o...

Страница 37: ...le 5 2 S Axis Operating Range If alteration is necessary contact your YASKAWA representative in advance The interval between stoppers must be 60 or more Table 5 2 S Axis Operating Range Item Specifications S Axis Operating Range 180 180 standard 165 165 150 150 135 135 120 120 105 105 90 90 75 75 60 60 45 45 30 30 15 15 NOTE When altering the operating range to 15 or 165 please contact your YASKAW...

Страница 38: ...ifying the angle of S axis 1 Pin drawing No HW0402104 1 1 pin 2 Stopper drawing No HW0302424 2 1 stopper 3 Hexagon socket head cap screw M20 length 45 mm 3 screws tightening torque 402 N m 4 Flat washer M20 3 flat washers Fig 5 8 Components of the S Axis Stopper HW0302424 2 Section A A Hexagon socket head cap screws M20 3 screws length 45 tightening torque 12 9 Stopper Flat washer M20 HW0402104 1 ...

Страница 39: ...make sure to fix both sides of the protrusion with screws DO NOT fix only one side of the protrusion See Fig 5 9 Properly Mounted Image The figures from Fig 5 10 a Properly Mounted Models for S Axis Stopper to Fig 5 10 g Properly Mounted Models for S Axis Stopper show how to install the S axis mechanical stopper for positive directions For negative directions install the stopper symmetrically As i...

Страница 40: ...ying 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 section 5 6 Alterable Operating Range Degree 0 15 30 45 60 75 90 Number of Pulse 0 35840 71680 107520 143360 179200 215040 Degree 105 120 135 150 165 180 Standard Number of Pulse 250880 286720 322560 358400 394240 430080 NOTE Adju...

Страница 41: ... 60 75 90 105 120 135 150 165 180 180 165 150 135 120 105 90 75 60 45 30 15 0 15 30 45 60 75 90 105 120 135 150 165 180 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 41 of 102 ...

Страница 42: ...H215 II Fig 5 10 a Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Installation at 180 Hexagon head screws Installation at 165 The stopper is reversible Either side of the stopper can be used Hexagon head screws 42 of 102 ...

Страница 43: ...ig 5 10 b Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Hexagon head screws Hexagon head screws Installation at 150 Installation at 135 The stopper is irreversible Only this side of the stopper can be used at this angle 43 of 102 ...

Страница 44: ...ig 5 10 c Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Hexagon head screws Installation at 120 The stopper is irreversible Only this side of the stopper can be used at this angle Installation at 105 Hexagon head screws 44 of 102 ...

Страница 45: ...MH215 II Fig 5 10 d Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Hexagon head screws Installation at 90 Installation at 75 Hexagon head screws The stopper is reversible Either side of the stopper can be used 45 of 102 ...

Страница 46: ...Fig 5 10 e Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Hexagon head screws Installation at 60 The stopper is irreversible Only this side of the stopper can be used at this angle Installation at 45 Hexagon head screws 46 of 102 ...

Страница 47: ...Fig 5 10 f Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Installation at 30 The stopper is irreversible Only this side of the stopper can be used at this angle Hexagon head screws Installation at 15 Hexagon head screws 47 of 102 ...

Страница 48: ... Alterable Operating Range 5 19 177010 1CD HW1483759 MH215 II Fig 5 10 g Properly Mounted Models for S Axis Stopper The stopper is reversible Either side of the stopper can be used Installation at 0 Hexagon head screws 48 of 102 ...

Страница 49: ...own 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 mass is combined with an outside force contact your YASKAWA representative beforehand Fig 6 1 Moment Arm Rating Table 6 1 Allowable ...

Страница 50: ...e mounted inside the fitting Fitting depth of inside and outside must be 8 mm or less Fig 6 2 Wrist Flange P C D 125 8 8 P C D 92 Alignment mark 63 dia 0 030 0 180 dia 0 0 025 Tapped hole M10 6 holes depth 12 mm Units mm 0 015 0 Tapped hole M10 6 holes depth 12 mm 10 dia 2 holes depth 8 mm 0 015 0 9 dia 2 holes depth 8 mm NOTE Wash off anti corrosive paint yellow on the wrist flange surface with t...

Страница 51: ...The following conditions shall be observed to attach or install peripheral equipment Fig 7 1 Installing Peripheral Equipment 30 50 73 117 255 40 120 73 255 40 410 85 5 40 75 137 5 133 120 255 120 40 255 40 85 5 75 137 5 50 30 73 117 Tapped hole M8 4 holes depth 15mm A1 A2 Tapped hole M8 4 holes depth 15mm B Tapped hole M12 4 holes depth 24mm B Tapped hole M12 4 holes depth 24mm Table 7 1 Applicati...

Страница 52: ...he upper arm as shown in Fig 7 2 Connectors for Internal User I O Wiring Harness and Air Line The connector pins are assigned as shown in Fig 7 2 Wiring must be performed by users Item Specification Conditions Internal user I O wiring harness 0 75 mm2 23 wires For the pin allocation refer to fig 7 2 Connectors for Internal User I O Wiring Harness and Air Line 2 0 A or less per a wire The total cur...

Страница 53: ...nector for internal user I O wiring harness Casing JL05 2A24 28SC socket connector with a cap Connector for internal user I O wiring harness Base JL05 2A24 28PC pin connector with a cap Air A Rc3 8 tapped hole with pipe plug Tube for field bus cable inside dia 12 inside tube for cable arrangement Prepare pin connector JL05 6A24 28P Base Prepare socket connector JL05 6A24 28S Air B Rc3 8 tapped hol...

Страница 54: ... in DX200 INSTRUCTIONS 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 Limit Switch...

Страница 55: ...t switch S axis operation range can be set to those ranges mentioned in Table 5 2 S Axis Operating Range 8 1 3 2 L Axis Operation 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 61 77 L axis crnter of rotation Positive side Negative side 55 of 102 ...

Страница 56: ...nce 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 operation range of U axis can be set to any angles within 8 to 288 as the interference angle with L axis Fig 8 3 LU Axes Interference Angle U axis center of rotation 280 8 56 of 102 ...

Страница 57: ...0 CN1 4 L AXIS PG U AXIS PG DATA 2 FG1 BAT OBT 10 2CN 1 No 2CN 10 BAT 0V FG2 5V OBT 2 DATA 2 DATA 3 DATA 3 2 BAT BAT 3CN 1 No 3CN 10 OBT 0V FG3 OBT 5V OBT R AXIS PG B AXIS PG DATA 4 DATA 4 2 OBT BAT 4CN 1 No 4CN 10 OBT BAT FG4 0V 5V DATA 5 DATA 5 2 0V BAT OBT 5V 5CN 1 DATA 6 10 OBT BAT FG5 6CN 1 No 6CN No 5CN BAT P P P P P P FG1 SPG 2 FG2 SPG 2 P CN1 7 CN1 6 CN1 8 SPG 3 SPG 3 FG3 P CN2 3 CN2 2 CN2...

Страница 58: ...2 ME2 MV2 B C B No 10CN 10CN A MW3 MV3 MU3 2 1 BA3 BB3 ME3 D SM 13CN A No 13CN B C MU6 MW6 MV6 YB 2 D 1 BB6 BA6 ME6 SM 12CN A No 12CN B C MU5 MW5 MV5 YB 2 D 1 BB5 BA5 ME5 SM 11CN A No 11CN B C MU4 MW4 MV4 YB 2 D 1 BB4 BA4 ME4 ME6 BA6 BA5 BB4 BA4 ME5 ME4 MW5 MV5 MU5 MU6 MV4 MW6 MW4 MV6 MU4 ME6 BA6 BA5 BB4 BA4 B 12 B 11 B 9 B 2 ME5 ME4 C 5 C 8 A 5 MW5 MV5 MU5 MU6 MV4 MW6 MW4 MV6 C 11 C 9 C 6 A 3 C 2...

Страница 59: ...may result in electric shock or injury For disassembly or repair contact 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 ...

Страница 60: ...oose bolts Replace if 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 Balancer Grease Gun Supply grease See section 9 3 1 5 10 Wire harness in manipulator SLU axis wires RBT axis wires Visual Multimeter Check for conduction between the main connector of base and intermediate connector with manual...

Страница 61: ...ion Items 2 The occurrence of a grease leakage indicates the possibility 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 ...

Страница 62: ...ection 9 1 Inspection Schedule MH215 II Fig 9 1 Inspection Items 1 13 4 2 7 S AXIS T AXIS B AXIS R AXIS U AXIS 12 6 6 6 9 1 5 14 15 1 16 1 1 Check that no grease is leaked into the tube 2 tubes L AXIS 10 11 1 7 2 4 7 S1 2BC 1BC A B FB 8 2 62 of 102 ...

Страница 63: ...acks are installed in the position shown in Fig 9 2 a Battery Location Back View and Fig 9 2 b Battery Location 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 Plate Mounting screw M4 Connector base S1 2BC 1BC A B FB Battery pack Board 63 of 102 ...

Страница 64: ... battery holder 4 Connect the new battery pack to the unoccupied connector on the board 5 Remove the old battery pack from the 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 the cables when reinstalling the plate See replacing s...

Страница 65: ...ase exhaust port the grease will leak inside a motor or an oil seal of a speed reducer will come off which may result in damage to the motor Make sure to remove the plug screw Do not install a joint a hose 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 supp...

Страница 66: ...the S axis for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug PT3 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 23 N m 2 3 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 4 Apply Three Bond 1206C to the thread part of the p...

Страница 67: ...rease 6 Wipe the discharged grease with a cloth and reinstall the plug PT3 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 23 N m 2 3 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 4 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque ...

Страница 68: ...Move the L axis for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT3 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 23 N m 2 3 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of ...

Страница 69: ...discharge excess grease 7 Wipe the discharged grease with a cloth and reinstall the plug PT3 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 23 N m 2 3 kgf m 8 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a ...

Страница 70: ... Move the U axis for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part o...

Страница 71: ...discharge excess grease 7 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 8 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a...

Страница 72: ...ase exhaust port T axis speed reducer Hexagon socket head plug PT1 16 T axis speed reducer Grease Inlet B and T axes speed reducer Hexagon socket head plug PT1 8 R axis speed reducer B axis speed reducer Grease exhaust port R and B axes speed reducer Hexagon socket head plug PT1 8 Grease inlet R axis speed reducer Hexagon socket head plug PT1 8 Hexagon socket head plug PT1 8 Grease exhaust port in...

Страница 73: ... B T Axes for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the p...

Страница 74: ...is for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and...

Страница 75: ...is for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and...

Страница 76: ...s for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth and reinstall the plug PT1 16 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 3 9 N m 0 4 kgf m 6 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and...

Страница 77: ...ge excess grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tighte...

Страница 78: ...ss grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening to...

Страница 79: ...ss grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 8 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening to...

Страница 80: ...ss grease 6 Wipe the discharged grease with a cloth and reinstall the plug PT1 16 on the grease exhaust port Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening torque of 3 9 N m 0 4 kgf m 7 Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 Apply Three Bond 1206C to the thread part of the plug and tighten the plug with a tightening t...

Страница 81: ...d using a grease gun 3 Reinstall the plugs PT1 8 of connection and 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 9 N m 0 5 kgf m Hexagon socket head plug PT1 8 Hexagon socket head plug PT1 8 Exhaust port 1 Exhaust port 2 Hexagon socket head plug PT1 8 Connection 1 Tapered roller bearing 2 bearings Grease zerk A ...

Страница 82: ...er the maintenance check and remove the battery packs Install the caps attached to the battery backup connectors of the motors Fig 9 9 Battery Pack Connection 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 be sure to connect the battery pack to the battery backup connector before removing t...

Страница 83: ...balancer joint part A 3 Liquid Seal Three Bond 1206C Three Bond Co Ltd 1 1 A 4 Battery Pack HW0470360 A YASKAWA Electric Corporation 1 1 A 5 Battery Pack HW9470932 A YASKAWA Electric Corporation 1 For wire harness in manipulator replacing B 6 S Axis Speed Reducer Kit Y005C MH00215J00S YASKAWA Electric Corporation 1 1 B 7 L Axis Speed Reducer Kit Y005C MH00215J00L YASKAWA Electric Corporation 1 1 B...

Страница 84: ...Electric Corporation 1 1 Optional Treatment of lead terminal is done C 19 Limit switch set for L axis HW0374590 A YASKAWA Electric Corporation 1 1 Optional Treatment of lead terminal is done C 20 Limit switch set for U axis HW0374590 B YASKAWA Electric Corporation 1 1 Optional Treatment of lead terminal is done Table 10 1 Spare Parts for the YR MH00215 J00 Sheet 2 of 2 Rank Parts No Name Type Manu...

Страница 85: ...s List 11 1 S Axis Unit Fig 11 1 S Axis Unit 1001 1002 1039 1040 1003 1004 1005 1006 1007 1008 1009 1041 1010 1011 1012 1013 1014 1015 1016 1017 1020 1021 1022 1023 1024 1018 1019 1025 1026 1027 1028 1029 1030 1029 1030 1031 1032 1033 1034 1036 1037 1038 1035 1042 85 of 102 ...

Страница 86: ...t 1 1015 MSTH12 30 Pin 1 1016 MSTH12 40 Pin 2 1017 MSTH6 20 Pin 2 1018 KQ2L10 01S Union 1 1019 NB 1075 1 Tube 1 1020 PT3 8 Hexagon socket head plug 1 1021 G415 O ring 1 1022 G105 O ring 1 1023 M6X16 Hexagon socket head cap screw 1 1024 2H 6 Conical spring washer 1 1025 M12X50 Hexagon socket head cap screw 16 1026 SW2H 12 Conical spring washer 16 1027 M8X40 Hexagon socket head cap screw 1 1028 2H 8...

Страница 87: ...exagon head screw 3 1036 M20 Washer 3 1037 M16X60 Hexagon socket head cap screw 12 1038 GT SH 16 GT Conical spring washer 12 1039 HW0404753 1 Spacer 1 1040 HW0404752 1 Fly wheel 1 1041 HW1371907 A Connector base 1 1042 EZ5002A0 Cap 1 Table 11 1 S Axis Unit No DWG No Name Pcs 87 of 102 ...

Страница 88: ...11 2 L Axis Unit 2001 2002 2003 2005 2006 2009 2019 2019 2009 2010 2011 2012 2012 2017 2017 2018 2018 2019 2019 2005 2007 2015 2016 2049 2004 2008 2020 26 2020 26 2031 2032 2037 2038 2013 6004 2014 1008 2031 2032 2034 2033 2033 2034 2027 2019A 2019 2039 2040 2029 2030 2035 2036 88 of 102 ...

Страница 89: ...3 A Gear 1 2016 HW0301778 1 Gear 1 2017 KE901107 Oil seal 2 2018 HW9405699 1 B cover 2 2019 PT1 8 Stainless Hexagon socket head plug 5 2019A PT3 8 Stainless Hexagon socket head plug 1 2020 HW9405195 Shim 2027 M12X35 GT SA Bolt 4 2029 M12X50 Hexagon socket head cap screw 21 2030 2H 12 Conical spring washer 21 2031 M10X50 Hexagon socket head cap screw 18 2032 2H 10 Conical spring washer 18 2033 M8X2...

Страница 90: ...is Unit 11 6 177010 1CD HW1483759 MH215 II 2040 SW 2H 12 Conical spring washer 24 2049 HW0408806 1 Conical spring washer 1 1008 HW0100471 1 S head 1 6004 HW0100477 1 Case 1 Table 11 2 L Axis Unit No DWG No Name Pcs 90 of 102 ...

Страница 91: ... 3005 3006 3007 3008 3009 3010 3011 3012 3015 3016 3017 3056 3056 3056 3020 3020 3020 3022 3025 3026 3027 3028 5001 3029 3030 3031 3032 3033 3034 3035 3036 3037 3038 3039 3040 3041 3042 3024 3044 3045 3046 3047 3048 3049 3050 3051 3052 3053 3053 3010 3011 3053 3054 3055 3055 3055 3018 3023 3043 3013 2006 3014 R axis B axis T axis 91 of 102 ...

Страница 92: ...13 PT1 8 Hexagon socket head plug 1 3014 PT1 8 Hexagon socket head plug 1 3015 HW0401507 1 Plate 1 3016 M12X40 Hexagon socket head cap screw 4 3017 2H 12 Conical spring washer 4 3018 IRTW 55 Retaining rings 1 3020 M8X25 GT SA bolt 12 3022 HW0100239 4 Casing 1 3023 M12X40 Hexagon socket head cap screw 18 3024 2H 12 Conical spring washer 18 3025 HW9405703 1 Flange 1 3026 M6X16 Hexagon socket head ca...

Страница 93: ...cap screw 33 3043 2H 12 Conical spring washer 33 3044 HW0481083 A Bolt 1 3045 HW0408806 1 Washer 1 3046 HW0315871 1 Gear 1 3047 HW9481343 A Shaft 1 3048 ISTW 12 Retaining ring C type 1 3049 HW9482306 E Shaft 1 3050 G280 O ring 1 3051 TSH6 01M Union 2 3052 UB0605 0 1C Air tube 2 3053 Y507212 5 Oil seal 3 3054 TAFI405520 Needle bearing 1 3055 HW0401506 1 Plate 3 3056 SGMRV 13ANA YR1 Motor 3 2006 HW0...

Страница 94: ... MH215 II 11 4 U Arm Unit Fig 11 4 U Arm Unit 5016 5022 5002 5023 5025 5026 5018 5035 5010 5012 5001 5011 5003 5013 5032 5031 5017 5021 5024 5020 5019 5028 5028 5009 5014 5015 5036 5034 5033 5030 5029 5006 5005 5027 5004 RBT Axes Casing 5007 5008 94 of 102 ...

Страница 95: ...6904 Bearing 1 5015 STW 20 Retaining ring C type 1 5016 HW0100173 2 Housing 1 5017 HR32013XJ Bearing 1 5018 HW0306798 1 Gear 1 5019 HW0306796 1 Gear 1 5020 HW0401505 1 B nut 1 5021 HW0306787 1 Gear 1 5022 M8X20 Hexagon socket head cap screw 1 5023 2H 8 Conical spring washer 1 5024 M4X6 H set screw 1 5025 M8X20 Hexagon socket head cap screw 6 5026 2H 8 Conical spring washer 6 5027 PT1 8 Hexagon soc...

Страница 96: ...rts List 11 4U Arm Unit 11 12 177010 1CD HW1483759 MH215 II 5034 2H 10 Conical spring washer 16 5035 M5X12 GT SA bolt 3 5036 M5X12 GT SA bolt 3 Table 11 4 U Arm Unit Sheet 2 of 2 No DWG No Name Pcs 96 of 102 ...

Страница 97: ...1 6046 6025 6029 6055 6030 6001 6003 6002 6026 6064 6063 6062 6070 6069 6020 6004 6045 6033 6032 6059 6028 6027 6066 6024 6042 6022 6065 6061 6023 6017 6038 6039 6056 6018 6044 6067 6068 6019 6005 6016 6043 6068 6067 6053 6058 6008 6047 6048 6049 6051 6050 6052 6006 6007 6025 6054 6040 6025 6035 6025 6031 6034 6036 6037 6041 6060 6060 6036 6037 97 of 102 ...

Страница 98: ...1 Housing 1 6013 HW0401510 1 B nut 1 6014 M4X8 H set screw 1 6015 6909 Bearing 1 6016 G195 O ring 1 6017 HW0306792 1 Gear 1 6018 6009 Bearing 1 6019 STW 45 Retaining ring C type 2 6020 HW0309518 1 Gear 1 6021 HW0301223 1 Gear 1 6022 6007 Bearing 1 6023 HW0409072 1 Cover 1 6024 G 140 O ring 1 6025 HR32004XJ Bearing 4 6026 6911 Bearing 1 6027 AE3290E3 Oil seal 1 6028 HW0404270 1 Shim 1 6029 S60 O ri...

Страница 99: ...301782 1 Spacer 1 6052 PT1 16 Hexagon socket head plug 1 6053 HW0402206 Shim 6054 HW9403621 Shim 6055 HW9403622 Shim 6056 HW0402205 Shim 6057 HW0401516 Shim 6058 STW 30 Retaining ring C type 1 6059 6006 Bearing 1 6060 M6X15 GT SA bolt 10 6061 M4X12 GT SA bolt 4 6062 EZ5036A0 Cap 2 6063 HW0410868 Shim 6064 HW0411718 1 Collar 1 6065 HW0411721 1 B nut 1 6066 M5X7 Magic screw 2 6067 M10X40 Hexagon soc...

Страница 100: ...11 16 177010 1CD HW1483759 MH215 II 11 6 Balancer Unit Fig 11 6 Balancer Unit 2041 2042 2044 2045 2046 2043 2047 2048 7001 7002 7017 7003 7004 7005 7006 7007 7008 7009 7010 7011 7018 7012 7012 7013 7014 7015 7016 7003 2006 100 of 102 ...

Страница 101: ...10 FD3187A0 Dust seal 1 7011 EZ2228B0 Cap 1 7012 IRTW 75 Stopper 2 7013 M6X8 Magic screw 2 7014 PT1 8 Stainless Hexagon socket head plug 3 7015 M10X40 Hexagon socket head cap screw 8 7016 2H 10 Conical spring washer 8 7017 HW0481742 A Coil spring 1 7018 M8X40 Hexagon socket head cap screw 3 2006 HW0100647 2 L arm 1 2041 NA6912 Needle bearing 1 2042 HW9302054 1 Shaft 1 2043 AR 85 Clip 1 2044 WR60 S...

Страница 102: ...urgaon 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 THAILA...

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YASKAWA MOTOMAN-MH215 II, Инструкция по эксплуатации

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