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YASKAWA MOTOMAN-MPL80 II, Инструкция по эксплуатации

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5-11

170904-1CD

HW1482870

5

Basic Specifications

5.7 Alterable Operating Range

MPL80 

II

5.7.3 Alteration of the S-Axis Pulse Soft Limit

Apply the Instruction for “DX200 Instructions section 8.17 Changing the 
Parameter Setting (manual No. RE-CTO-A220)” as part of reference 
materials for adjusting the programming pendant when modifying the 
range of motion of S-Axis.

Pulse limit  (positive (+) direction of the S-axis): S1CxG400

Pulse limit  (negative (-) direction of the S-axis): S1CxG408

Degree     

0



-15



15

-30



30

-45



45

-60



60

Pulse

0

-21203 

- 

+21203

-42406 

- 

+42406

-63609

- 

+63609

-84812 

- 

+84812 

Degree     

-75



75

-90



90

-105



105

-120



120

-135



135

Pulse

-106015 

- 

+106015 

-127217 

- 

+127217

-148420 

- 

+148420

-169623

- 

+169623

-190826 

- 

+190826 

Degree     

-150



150

-165



165

-180



180



(Standard)

Pulse

-212029 

- 

+212029

-233232

- 

+233232

-254434 

- 

+254434 

NOTE

Please do not alter the range of motion with the software 
only, but in combination with the mechanical stopper.

Also, when executing the alteration, be sure to uniform the 
range.

39 of 81

Содержание MOTOMAN-MPL80 II

Страница 1: ... J00 DX200 STANDARD SPECIFICATION Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MPL80 II INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR S MANUAL for each purpose DX200 MAINTENANCE MANUAL 1 of 81 ...

Страница 2: ...pyrighted 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 2014 Yaskawa America Inc Motoman Robotic...

Страница 3: ...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 improve...

Страница 4: ...nsible 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 p...

Страница 5: ...TION 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 follow all in...

Страница 6: ... 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 make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Keep in mind the emergency response measures against the manipulat...

Страница 7: ...r each company or corporation The indications of 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 wires Always return the pr...

Страница 8: ...manipulator Prior to operating the manipulator confirm the contents Fig Warning Label Locations WARNING Do not enter robot work area WARNING Moving parts may cause injury WARNING Label B WARNING Label A Nameplate WARNING label A WARNING label B Nameplate WARNING label A MADE IN JAPAN YASKAWA ELECTRIC CORPORATION Kitakyushu 806 0004 Japan 2 1 Kurosakishiroishi Yahatanishi ku SERIAL NO PAYLOAD kg TY...

Страница 9: ...henever 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 t...

Страница 10: ...t always be made before performing any service procedures or making any changes to options accessories or equipment Any modifications to the Controller can cause severe personal injury or death as well as damage to the Manipulator Do not make any modifications to the Controller unit Making any changes without written permission from Yaskawa will void the warranty Some operations require a standard...

Страница 11: ...ersonnel 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 which may ...

Страница 12: ...o 36 hours for a response 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 contact Customer Support at the telephone number shown above System MPL80 II Primary Application Controller DX200 Software Version Access ...

Страница 13: ...ple 3 3 3 2 2 When the Manipulator is Mounted Directly on the Floor 3 4 3 3 Protection Class 3 5 3 4 Location 3 5 4 Wiring 4 1 4 1 Grounding 4 1 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 Baseplate Dimensions 5 2 5 4 Dimensions and P Point Maximum ...

Страница 14: ...witch 8 1 8 1 3 Setting of Operation Range 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 Connections 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 Re...

Страница 15: ...3 6 Grease Replenishment for B and T Axis Speed Reducers and Gears 9 16 9 3 6 1 Grease Replenishment 9 16 9 3 6 2 Grease Exchange 9 17 9 4 Notes for Maintenance 9 18 9 4 1 Battery Pack Connection 9 18 10 Recommended Spare Parts 10 1 11 Parts List 11 1 11 1 S Axis Unit 11 1 11 2 L Axis Unit 11 3 11 3 U Axis Unit 11 5 11 4 B T Axes Unit 11 7 11 5 Wrist Unit 11 10 15 of 81 ...

Страница 16: ...includes the following four items Information for the content of optional goods is given separately Manipulator DX200 Programing Pendant Manipulator Cable 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 expected and cause injury or d...

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 a DX200 Front View b Manipulator Side View 17 of 81 ...

Страница 18: ...rsely affect performance NOTE Check that the eyebolts are securely fastened The weight of the manipulator is approximately 580 kg including the shipping bolts and brackets Use a wire rope strong enough to withstand the weight Attached eyebolts are designed to support the manipulator weight Do not use them for anything other than transporting the manipulator Mount the shipping bolts and brackets fo...

Страница 19: ...g it Be sure that the manipulator is fixed with the shipping bolts and brackets before transport and lift it in the posture as shown in Fig 2 1 Transporting Position Fig 2 1 Transporting Position Shipping bracket Hexagon socket head cap screw M12 8 screws Delivered with the manipulator Axis Angle Pulse Factory setting for angle and pulse of each axis 159547 S L U B T 80 0 0 0 0 90 5 144384 3826 19...

Страница 20: ...in order to avoid overturning or slippage Fig 2 2 Using a Forklift 2 2 Shipping Bolts and Brackets The manipulator is provided with shipping bolts and a shipping brackets See Fig 2 1 Transporting Position The shipping bolts and bracket are painted yellow Delivered with the manipulator Shipping bracket Forklift claw entry Pallet Bolt M20 8 bolts NOTE Before turning ON the power make sure that the s...

Страница 21: ...ilure to observe this warning may result in injury or damage Do not start the manipulator or even turn ON the power before it is firmly anchored The manipulator may overturn and cause injury or damage CAUTION Do not install or operate a manipulator that is damaged or lacks parts Failure to observe this caution may cause injury or damage Before turning ON the power check to be sure that the shippin...

Страница 22: ...tor Base The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator referring to Table 3 1 Manipulator Repulsion Force and Torque A baseplate flatness must be kept...

Страница 23: ...larger size Next fix the manipulator base to the baseplate The manipulator base is tapped for eight mounting holes securely fix the manipulator base to the baseplate with hexagon head screws M20 70 mm long is recommended Tighten the hexagon head screws and anchor bolts firmly so that they will not work loose during the operation Refer to Fig 3 2 Mounting the Manipulator Baseplate Fig 3 2 Mounting ...

Страница 24: ... the manipulator however check that the floor is level and that all cracks etc are repaired Any thickness less than 200 mm is insufficient for mounting even if the floor is concrete Fig 3 3 Direct Mounting on the Floor 600 900 800 720 385 320 300 300 400 230 Bolt A Tapped hole M20 8 holes Bolt B Tapped hole M24 4holes Base B 28dia 4 holes Base A 28dia 4 holes Base B Base B Base A Bolt A Bolt M20 X...

Страница 25: ...istance IP65 is also available as optional 3 4 Location When installing a manipulator it is necessary to satisfy the following environmental conditions Ambient Temperature 0 to 45 C Humidity 20 to 80 RH non condensing Free from dust soot oil or water Free from corrosive gas or liquid or explosive gas or liquid Free from excessive vibration 4 9 m s2 0 5G or less Free from large electrical noise pla...

Страница 26: ...rn the primary power supply off and put up 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 NOTE Never use this wire sharing with other ground lines or grounding electrodes for other electric power ...

Страница 27: ...mbers 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 1BC After inserting the cables depress the lever until it clicks 4 2 2 Connection to the DX200 Before connecting cables to the DX200 verify the numbers on both manipu...

Страница 28: ...ring 4 2 Cable Connection 4 3 170904 1CD HW1482870 MPL80 II Fig 4 3 a Manipulator Cable Connectors Manipulator Side Fig 4 3 b Manipulator Cable Connectors DX200 Side AIR 1BC 2BC AIR 1BC 2BC X11 X21 28 of 81 ...

Страница 29: ...uivalent Ambient Conditions Temperature 0 to 45 C Humidity 20 to 80 RH at constant temperature Vibration Acceleration Less than 4 9 m s2 0 5 G Others Free from corrosive gas or liquid or explosive gas Free from water oil or dust Free from excessive electrical noise plasma Power Capacity 4 0 kVA Noise5 70 dB 1 SI units are used in this table However gravitational unit is used in 2 Conformed to ISO9...

Страница 30: ...g 5 1 Part Names and Working Axes 5 3 Baseplate Dimensions Fig 5 2 Baseplate Dimensions T B T B U U L L S S Wrist Wrist flange Lower arm L arm Upper arm U arm Rotary head S head Manipulator base 30 A 153 455 608 455 195 385 320 195 0 1 195 230 22 dia 8 holes View A 0 018 0 12 dia 2 holes 230 400 195 Base dimensions 30 of 81 ...

Страница 31: ...4 Dimensions and P Point Maximum Envelope Fig 5 3 Dimensions and P Point Maximum Envelope 253 343 210 870 540 187 1807 145 1025 175 57 234 234 15 15 55 90 1 3 5 160 6 5 2061 131 6 248 471 543 2192 623 1121 312 925 1300 2170 3291 85 276 R543 R2061 R 377 180 1 8 0 P point maximum envelope P point 31 of 81 ...

Страница 32: ...ess of the L or U axis angle The operating range is 15 0 degree is defined as the angle when the wrist flange is horizontal and facing to the ground When the B axis position exceeds this limit Special Soft Limit occurs Note In relation with interference with the upper arm the range of motion can be limited Fig 5 4 B Axis Operating Range 15 B axis rotation center Wrist flange 15 15 15 15 55 1 U axi...

Страница 33: ...g angl e deg Load100 Load66 Load33 Stop posi ti on ofS axi s category0 100 0 0 0 1 0 2 0 3 0 4 0 5 0 30 60 90 120 150 180 Speed deg s Stoppi ng ti m e sec Load100 Load66 Load33 Stop posi ti on ofL axi s category0 100 0 5 10 15 20 25 30 35 0 30 60 90 120 150 180 Speed deg s Stoppi ng angl e deg Load100 Load66 Load33 Stop posi ti on ofL axi s category0 100 0 0 0 1 0 2 0 3 0 4 0 5 0 30 60 90 120 150 ...

Страница 34: ...5 20 25 30 35 0 30 60 90 120 150 180 Speed deg s Stoppi ng angl e deg Load100 Load66 Load33 Stop posi ti on ofS axi s category0 66 0 0 0 1 0 2 0 3 0 4 0 5 0 30 60 90 120 150 180 Speed deg s Stoppi ng ti m e sec Load100 Load66 Load33 Stop posi ti on ofL axi s category0 66 0 5 10 15 20 25 30 35 0 20 40 60 80 100 120 140 160 180 Speed deg s Stoppi ng angl e deg Load100 Load66 Load33 Stop posi ti on o...

Страница 35: ... 10 15 20 25 30 35 0 30 60 90 120 150 180 Speed deg s Stoppi ng angl e deg Load100 Load66 Load33 Stop posi ti on ofS axi s category0 33 0 0 0 1 0 2 0 3 0 4 0 5 0 30 60 90 120 150 180 Speed deg s Stoppi ng ti m e sec Load100 Load66 Load33 Stop posi ti on ofL axi s category0 33 0 5 10 15 20 25 30 35 0 30 60 90 120 150 180 Speed deg s Stoppi ng angl e deg Load100 Load66 Load33 Stop posi ti on ofL axi...

Страница 36: ...ory1 0 10 20 30 40 50 60 0 30 60 90 120 150 180 Speed deg s Stoppi ng angl e deg Stop posi ti on ofS axi s category1 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 30 60 90 120 150 180 Speed deg s Stoppi ng ti m e sec Stop posi ti on ofL axi s category1 0 10 20 30 40 50 60 0 30 60 90 120 150 180 Speed deg s Stoppi ng angl e deg Stop posi ti on ofL axi s category1 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 30 60 90 120 150 180 ...

Страница 37: ... M20 length 40 mm Tensile strength 1200N mm2 x 1 screw for the mechanical stopper 2 Collar drawing No HW9405875 2 x 1 3 Pin drawing No HW9405032 2 x 1 4 Washer M6X3 Note 3 4 only Necessary only when the manipulator is equipped with the S axis overrun limit switch Fig 5 9 S Axis Mechanical Stopper Table 5 2 S Axis Operating Range Item Specifications S Axis Operating Range 180 180 standard 165 165 1...

Страница 38: ...per mount the S axis mechanical stopper to the S head using the collar with the screws with the tightening torque of 167 N m 17 kgf m The S axis mechanical stopper can be mounted in every 15 degree pitch as shown in Fig 5 10 S Axis Stopper Mounting Position When the manipulator is equipped with the S axis overrun limit switches install the pins drawing No HW9405032 2 and washer M6 to the same degr...

Страница 39: ...sitive direction of the S axis S1CxG400 Pulse limit negative direction of the S axis S1CxG408 Degree 0 15 15 30 30 45 45 60 60 Pulse 0 21203 21203 42406 42406 63609 63609 84812 84812 Degree 75 75 90 90 105 105 120 120 135 135 Pulse 106015 106015 127217 127217 148420 148420 169623 169623 190826 190826 Degree 150 150 165 165 180 180 Standard Pulse 212029 212029 233232 233232 254434 254434 NOTE Pleas...

Страница 40: ...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 the moment of inertia is created or when the load moment is small while the 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 Rati...

Страница 41: ...t the attachment be mounted inside the fitting Fitting depth of inside and outside fittings must be 5 mm or less Fig 6 2 Wrist Flange Unit mm axis Tapped hole M8 8 dia Alignment mark 6 dia 0 012 0 50 dia 0 0 025 depth 10mm depth 14 mm pitch 1 25 6 holes depth 14mm 0 015 0 100 dia 0 0 022 P C D 80 42 40 6 8 NOTE Wash off anti corrosive paint yellow on the wrist flange surface with thinner or light ...

Страница 42: ...ld be observed to attach or install peripheral equipment Fig 7 1 Installing Peripheral Equipment Table 7 1 Conditions for Installation Section Application Note A Cable processing 80 kg max for attaching load mass including wrist load B Cable processing and valve load 10 kg max 49 N m 5 kgf m max for increased moment amount of upper arm C Others 30 kg max 611 5 200 100 100 57 223 5 40 105 105 223 5...

Страница 43: ...r each wire The total current value for pins 1 to 23 must be 34 5 A or less The maximum pressure for the air line 490 kPa 5 kgf cm2 or less The air line inside diameter 8 0 mm A Exhaust port Tapped hole PT3 8 with pipe plug Connector for Internal User I O Wiring Harness Pins used Internal user I O wiring harness 0 5 mm2 23 lead wires 8 4 9 6 5 1 7 2 3 14 19 20 15 17 11 12 18 13 21 22 23 10 16 P P ...

Страница 44: ...tor is interrupted then the manipulator makes an emergency stop as a result Refer to section 8 9 Overrun Tool Shock Sensor Releasing 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 Location of Limit Switch The limit switches are optional See Fig 8 1 Location of Limit Switches Fi...

Страница 45: ...imit 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 91 to 136 as mentioned in the figure below Fig 8 2 L Axis Overrun Limit Switch Setting Range Negative side Positive side L axis center of rotation 45 of 81 ...

Страница 46: ...erence 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 9 to 276 as the interference angle with L axis Fig 8 3 LU Axes Interference Angle U axis center of rotation 46 of 81 ...

Страница 47: ...No 20CN 3 4 5V 4 P FG3 BAT OBT 0V 10 9 P P U P BAT OBT DATA 3 DATA 3 No 3CN 3CN 1 6 5 2 5V FG2 OBT BAT 0V 9 4 10 8 CN1 2 SPG 2 SPG 2 CN1 7 CN1 6 FG1 CN1 3 Controller CN1 4 24V SPG 1 SPG 1 0V CN1 9 CN1 1 CN1 10 24V 0V CN1 5 P CN1 6 CN1 7 SPG 2 SPG 2 CN1 3 FG1 P P CN1 10 CN1 9 CN1 1 CN1 2 24V 0V SPG 1 SPG 1 P CN1 4 CN1 5 24V 0V 1BC 10 4 0V 24V 4 2 2 4 0V 24V 1 No 24CN 3 1 3 X 6 BAT R K P BAT21 2 3 6...

Страница 48: ...N5 2 CN5 1 CN4 2 CN4 1 CN4 6 CN4 7 CN4 3 CN4 5 CN4 4 CN4 8 MW5 MV5 MU5 MU6 MW6 MV6 CN3 1 CN3 2 CN3 5 CN3 4 CN3 7 CN3 8 CN3 6 CN3 3 CN5 5 CN5 8 CN5 7 CN5 6 CN5 4 CN5 3 CN5 2 CN2 8 CN2 7 CN2 8 CN2 7 MV2 MV2 MW2 MU3 MV3 MW2 CN2 1 CN2 3 CN2 2 CN2 5 CN2 6 CN2 4 CN1 8 CN1 7 CN1 6 CN1 5 CN1 4 CN1 3 CN1 2 CN1 8 CN1 7 CN1 6 CN1 5 CN1 4 CN1 3 CN1 2 CN6 9 CN6 10 CN6 12 CN6 11 S AXIS SM YB L AXIS YB SM U AXIS...

Страница 49: ...s caution 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 s...

Страница 50: ... leakage 2 5 Baseplate mounting bolts Spanner Wrench Tighten loose bolts Replace if necessary 6 Cover mounting screws Screwdriver Wrench Tighten loose bolts Replace if necessary 7 S L U B T axes motor connector Manual Tighten loose bolts 8 Connector base Manual Check for loose connectors 9 Wire harness in manipulator Visual Multimeter Check for conduction between the main connecter of base and int...

Страница 51: ...an 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 position may be lost Refer to section 9 4 Notes for Maintenance 4 The grease might leak out from the air breather or ...

Страница 52: ...904 1CD HW1482870 9 Maintenance and Inspection 9 1 Inspection Schedule MPL80 II Fig 9 1 Inspection Items 6 7 2 1 10 8 9 L axis 1 9 1 B axis 6 12 1 U axis 12 5 1 T axis 6 4 12 S axis 13 7 7 2 2 7 2 2 7 52 of 81 ...

Страница 53: ...ry Location Fig 9 3 Battery Connection 1 Turn OFF the DX200 main power supply 2 Remove the plate fixing screws and the plate on the connector base then pull the battery pack out to replace it with the new one AIR 1BC 2BC Top View Backside View Connector base Battery pack HW0470360 A Cross head APS bolt M6 Length 12 8 bolts Cross head APS bolt M4 Length 8 4 bolts See procedure 5 Connector Battery p...

Страница 54: ...battery pack to the unoccupied connectors on the board 5 Remove the old battery pack from the board 6 Mount the new battery pack on the battery 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 54 of 81 ...

Страница 55: ...exhaust port 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 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 supply pressure to...

Страница 56: ...or a few minutes to discharge the excess grease 5 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1 4 Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 12 N m 1 2 kgf m 6 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 3 8 to the exhaust...

Страница 57: ...excess grease 6 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1 4 Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 12 N m 1 2 kgf m 7 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 3 8 to the exhaust port Before installing the plug a...

Страница 58: ... to discharge the excess grease 7 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8 to the exhaust port Before installing the plugs apply Three Bond 1206C on the thread part of each plug then 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 hexagon socket head plug PT1 8 to the grea...

Страница 59: ...charge the excess grease 8 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8 to the exhaust port Before installing the plugs apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 23 N m 2 3 kgf m 9 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT1 8 to the grease inle...

Страница 60: ... The grease zerk is delivered with the manipulator 5 Inject grease through the grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease 140 cc 280 cc for 1st supply Air supply pressure of grease pump 0 3 MPa or less Grease injection rate 8 g s or less U arm U axis speed reducer Grease inlet Hexagon socket head plug PT1 8 Grease exhaust port Hexagon socket head plug PT3 8 NOT...

Страница 61: ...ox 700 cc Air supply pressure of grease pump 0 3 MPa or less Grease injection rate 8 g s or less 6 The grease discharge is complete when new grease appears from the exhaust port The new grease can be distinguished from the old grease by color 7 Move the U axis for a few minutes to discharge the excess grease 8 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8...

Страница 62: ...w minutes to discharge the excess grease 6 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then 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 hexagon socket head plug PT1 8 Bef...

Страница 63: ... the excess grease 7 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then 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 hexagon socket head plug PT1 8 Before installing the plu...

Страница 64: ... a few minutes to discharge the excess grease 6 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT1 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then 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 hexagon socket head plug PT1...

Страница 65: ...discharge the excess grease 7 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT1 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then 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 hexagon socket head plug PT1 8 Before installi...

Страница 66: ...the end point of the motors BAT and OBT are marked Connect the battery packs according to the following procedure 1 Remove the cap attached to the battery backup connector of the motors 2 Connect the battery packs HW9470932 A with the battery backup connectors BAT and OBT are marked located at the end point of the cables for the encoder Under this condition remove the encoder connector and carry o...

Страница 67: ...A 1 Grease Molywhite RE No 00 Yaskawa Electric Corporation 16 kg For speed reducers in each axis A 2 Liquid Gasket Three Bond 1206C Three Bond Co Ltd A 3 Battery Pack HW9470932 A Yaskawa Electric Corporation 1 1 For internal wire harness replacement A 4 Battery Pack HW0470360 A Yaskawa Electric Corporation 1 1 B 5 S axis Speed Reducers Kit Y005C MPL0080J00S Yaskawa Electric Corporation 1 1 B 6 L a...

Страница 68: ...GMRV 09ANA YR11 HW0388665 A Yaskawa Electric Corporation 1 2 C 14 Internal Wire Harness HW1171901 A Yaskawa Electric Corporation 1 1 C 15 Connector Base HW0374528 C Yaskawa Electric Corporation 1 1 C 16 Board SGDR EFBA02A Yaskawa Electric Corporation 1 1 Table 10 1 Spare Parts for YR MPL0080 J00 Sheet 2 of 2 Rank Parts No Name Type Manufacturer Qty Qty per Unit Remarks 68 of 81 ...

Страница 69: ... 11 1S Axis Unit MPL80 II 11 Parts List 11 1 S Axis Unit Fig 11 1 S Axis Unit 1019 1001 1002 1003 1004 1005 1007 1009 1008 1010 1011 1013 1014 1016 1018 1020 1017 1021 1022 1025 1026 1028 1023 1024 1012 1030 1033 1029 1032 1031 1035 69 of 81 ...

Страница 70: ...SG 22A Grommet 1 1013 M12X55 Socket screw 3 1014 2H 12 Spring washer 3 1016 STW 50 Retaining Ring C type 1 1017 M8X100 Socket screw 1 1018 2H 8 Spring washer 1 1019 PT3 8 STAINLESS Plug 1 1020 MSTH10 25 Dowel pin 1 1021 M12X55 Socket screw 12 1022 2H 12 Spring washer 12 1023 HW9405875 1 Collar 1 1024 M20X40 Socket screw 1 1025 HW0102236 1 Base 1 1026 KQ2L10 01S Elbow 1 1028 NB 1075 0 43 Tube 1 102...

Страница 71: ...ts List 11 2L Axis Unit MPL80 II 11 2 L Axis Unit Fig 11 2 L Axis Unit 2002 2005 2016 2004 2003 2026 2009 2008 2006 2007 2026 2027 2027 2027 2011 2013 2014 2015 2010 2019 2020 1009 2001 2021 2022 2024 2023 2018 2025 2025 2012 71 of 81 ...

Страница 72: ...2008 M16X45 Socket screw 6 2009 2H 16 Spring washer 6 2010 HW9481343 A Shaft 1 2011 HW9482771 A Gear 1 2012 HW9405902 1 Pipe 1 2013 M8X130 Socket screw 1 2014 2H 8 Spring washer 1 2015 M8 Washer 1 2016 G270 O ring 1 2018 HW0314011 1 M base 1 2019 HW0312815 2 Gear 1 2020 HW9482447 A Oil seal 1 2021 M12X65 Socket screw 4 2022 2H 12 Spring washer 4 2023 M6X30 Socket screw 2 2024 2H 6 Spring washer 2 ...

Страница 73: ...1 Parts List 11 3U Axis Unit MPL80 II 11 3 U Axis Unit Fig 11 3 U Axis Unit 2002 3014 3015 3028 3023 3024 3007 3027 3017 3022 3001 3016 3021 3026 3025 3018 3008 3009 3011 3010 3005 3006 3020 3019 3002 3004 3003 3012 3015 73 of 81 ...

Страница 74: ...3 Washer 1 3010 M6X115 Socket screw 1 3011 2H 6 Spring washer 1 3012 M12X30 Socket screw 12 3013 2H 12 Spring washer 12 3014 M10X30 Socket screw 6 3015 2H 10 Spring washer 6 3016 HW9405257 1 Collar 1 3017 HW0102239 2 Casing 1 3018 Y426012 5 Oil seal 1 3019 M6X30 Socket screw 2 3020 2H 6 Spring washer 2 3021 HW0314012 1 M base 1 3022 G195 O ring 1 3023 M10X40 Socket screw 16 3024 2H 10 Spring washe...

Страница 75: ...t 4029 4030 4003 4001 4004 4005 4007 4008 4010 4012 4013 4014 4016 4017 4021 4022 4023 4024 4025 4026 4027 4028 4031 4031 4033 4035 4034 4048 4036 4037 4037 4039 4038 4040 4041 4044 4045 3017 4007 4020 4002 4046 4047 4002 4049 4050 4042 4043 4006 4053 4054 4051 4046 4047 4055 4056 B axis T axis 4052 75 of 81 ...

Страница 76: ...0200768 1 Shaft 1 4025 HW0312837 1 Housing 1 4026 HW9405662 1 Washer 1 4027 HW0312825 1 Gear 1 4028 HW0412720 1 B nut 1 4029 PT1 8 STAINLESS Plug 1 4030 PT3 8 STAINLESS Plug 1 4031 M5X16 GT SA bolt 10 4033 M4X6 H set screw 1 4034 M6X25 Socket screw 1 4035 2H 6 Spring washer 1 4036 M8X25 Socket screw 18 4037 2H 8 Spring washer 19 4038 M6X20 Socket screw 1 4039 2H 6 Spring washer 1 4040 M6X25 Socket...

Страница 77: ...11 9 170904 1CD HW1482870 11 Parts List 11 4B T Axes Unit MPL80 II 4055 M4X6 Socket screw 1 4056 2H 4 Spring washer 1 3017 HW0102239 2 Casing 1 Table 11 4 B T Axes Unit No DWG No Name Pcs 77 of 81 ...

Страница 78: ...5056 5057 5058 5060 5075 5082 5089 5093 5094 5113 5015 5016 5027 5028 5029 5032 5033 5034 5035 5036 5037 5039 5039 5040 5041 5044 5046 5022 5095 5096 5104 5103 5108 5107 3017 5091 5090 5049 5099 5092 5092 5030 5038 5097 5098 5045 5068 5092 5017 5012 5043 5109 5059 5092 5031 5042 5093 5094 5105 5106 5035 5102 5100 5039 5005 5005 5039 5115 5114 5011 5115 5115 5112 5111 5110 78 of 81 ...

Страница 79: ...WR60 Circlip 1 5017 HW9405888 Shim 5022 HW9405885 Shim 5027 HW9482772 A Gear 1 5028 HW9482765 A Shaft 1 5029 HW9381675 A Shaft 1 5030 RTW42 Retaining Ring 1 5031 STW 25 Retaining Ring C type 1 5032 ISTW40 Retaining Ring 1 5033 HW9405891 1 Housing 1 5034 PT3 8 Plug 2 5035 PT1 8 STAINLESS Plug 3 5036 HW9405892 1 Flange 1 5037 HW9481234 A Bearing 1 5038 6004LBD2PX24V1 Bearing 1 5039 HW9480086 A Beari...

Страница 80: ...5 Spring washer 10 5095 M5X35 Socket screw 6 5096 2H 5 Spring washer 6 5097 M4X25 Socket screw 6 5098 2H 4 Spring washer 6 5099 M4X6 H set screw 1 5100 M8X18 GT SA bolt 8 5102 M6X30 GT SA bolt 10 5103 M6X20 Socket screw 1 5104 2H 6 Spring washer 1 5105 M6X25 Socket screw 16 5106 2H 6 Spring washer 16 5107 M8X25 Socket screw 12 5108 2H 8 Spring washer 12 5109 M6X16 Socket screw 1 5110 2H 6 Spring w...

Страница 81: ...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 Huaykwang Bangkok 10310 THAIL...

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