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151521-1CD

151521-1CD

Copyright ©2016, 2005, 2003 Yaskawa America, Inc.

Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the
operation of YASKAWA Motoman robots, related equipment and software This manual is copyrighted
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 Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200

www.motoman.com

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Содержание MOTOMAN-NX100

Страница 1: ...nitial operation read these instructions thoroughly and retain for future reference YASKAWA MOTOMAN INSTRUCTIONS YASKAWA MOTOMAN NX100 CONTROLLER INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MANUA...

Страница 2: ...yrighted 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...

Страница 3: ...elds 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...

Страница 4: ...this manual the equipment is designated as follows Description of the Operation Procedure In the explanation of the operation procedure the expression Select means that the cursor is moved to the obje...

Страница 5: ...st of Tools 3 1 3 2 Lifting Instructions 3 2 3 3 Installation Safety 3 3 3 3 1 Dimensions 3 3 3 3 2 Mounting 3 4 3 4 Connection to YASKAWA NX100 Controller 3 4 3 4 1 Conducting a Safety Operation Chec...

Страница 6: ...ndix B Illustrated Parts List B 1 Introduction B 3 B 1 1 Explanation of Parts List B 3 B 1 1 1 Contents B 3 B 1 1 2 Parts List Form B 3 B 2 Parts List B 4 B 2 1 Explanation of Parts List Arrangement B...

Страница 7: ...of the HD Drive Module APPENDIX A POSITIONER ASSEMBLY KIT Provides detailed information on the HD table positioner kit APPENDIX B ILLUSTRATED PARTS LIST Appendix B provides exploded views and illustra...

Страница 8: ...KAWA Motoman system If your system is a custom or modified system please use the drawing and Bill of Material BOM provided with the system for troubleshooting and spares provisioning NOTE OUTER CIRCUM...

Страница 9: ...in 350 mm 13 8 in 1436 mm 56 5 in 1140 mm 44 9 in 960 mm 37 8 in 720 mm 28 3 in 609 mm 24 0 in 441 mm 17 4 in 330 mm 13 0 in 1325 mm 52 2 in 1230 mm 48 4 in 1125 mm 44 3 in 925 mm 36 4 in 820 mm 32 3...

Страница 10: ...P N 149230 1CD Vendor manuals for system components not manufactured by YASKAWA Table 1 1 HD Drive Module Specifications Max Speed rpm 3 9 Reduction Ratio Number 21 Reduction Ratio Denom 21375 Motor...

Страница 11: ...o your inquiry Please have the following information ready before you call Customer Support techsupport motoman com Please use e mail for routine inquiries only If you have an urgent or emergency need...

Страница 12: ...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 train...

Страница 13: ...ded could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially h...

Страница 14: ...rgency Stop Observe the following precautions when performing teaching operations within the P point maximum envelope of the manipulator View the manipulator from the front whenever possible Always fo...

Страница 15: ...connections can damage the robot All connections must be made within the standard voltage and current ratings of the robot I O Inputs and Outputs The robot must be placed in Emergency Stop E STOP mode...

Страница 16: ...ation Repair or replace any non functioning safety equipment immediately 2 5 Installation Safety Safe installation is essential for protection of people and equipment The following suggestions are int...

Страница 17: ...ssories or equipment Any modifications to PART 1 System Section of the robot controller concurrent I O program can cause severe personal injury or death as well as damage to the robot Do not make any...

Страница 18: ...into your system 3 1 Materials Required This section identifies customer supplied items and tools required to complete installation 3 1 1 Customer Supplied Items Incoming power supply to controller 2...

Страница 19: ...ly 2 Inspect drive assembly for shipping damage 3 Unbolt the module from the shipping skid using a inch socket 4 Attach slings from lifting device to the four lifting eyes see Fig 3 1 Shipping Fig 3 1...

Страница 20: ...regarding Machine Safety 3 3 1 Dimensions Fig 3 2 Dimensions 1325 mm 52 2 in 1436 mm 56 5 in 1140 mm 44 9 in 663 mm 26 1 in 288 mm 11 3 in 1050 mm 41 3 in 700 mm 27 6 in 350 mm 13 8 in 1436 mm 56 5 in...

Страница 21: ...e See separate schematics for electrical connections Forklift truck operation should be performed only by licensed personnel Never place any part of your body under a suspended load or move a suspende...

Страница 22: ...per ANSI RIA R15 06 2012 Robot Safety Standard 2 Verify that cable connections are tight and system is level and secure Your HD Drive Module is now ready for power up This system should be operated o...

Страница 23: ...l indicator and base Digital level 370 Nm torque wrench 3 4 drive recommended 30 mm socket same drive as torque wrench Pry bar 1 Remove drive gear cover and pinion grease wiper Fig 3 3 Gear Cover Remo...

Страница 24: ...Gear Alignment 1 Loosen the three M20 bolts locking the levelling bolts Fig 3 4 Leveling Bolts 2 Loosen the four M20 bolts securing the spring assembly Fig 3 5 Spring Assembly Bolts M20 LOCKING BOLT...

Страница 25: ...ack off the spring assembly adjuster bolt Fig 3 6 Spring Assembly Adjuster Bolt 4 Using a pry bar back the pinion away from the ring gear providing a loose engagement Fig 3 7 Loosen Pinion Gear Engage...

Страница 26: ...de a uniform gap approximately 3 mm between the drive assembly plate and support structures Fig 3 8 Uniform Gap 7 Locate a digital level on the lower surface of the ring gear near the pinion gear and...

Страница 27: ...inion gear away from the ring gear Turn levelling bolt C clockwise to raise the back of the pinion gear towards the ring gear Fig 3 10 Level X Coordinate It s best to use only one of the B and C level...

Страница 28: ...p to the left back off the levelling screw and overcompensate to the left making the final adjustment by lifting to the right Fig 3 11 Level Y Coordinate 13 Once the pinion has been made level with th...

Страница 29: ...1 Using the programming pendent slowly rotate the ring gear in both the forward and reverse directions to create an engagement pattern on the teeth of the ring gear Rotate the ring gear forward until...

Страница 30: ...clockwise to tip the top of the pinion gear towards the ring gear Loosen and re tighten locking bolt as required Tipped Left Pattern shows only top left tooth and lower right tooth Turn levelling scr...

Страница 31: ...es while watching the ring and pinion gears The motion should be smooth and quite with no visible lash between the two gears 11 Double check the engagement pattern With full contact and lash removed f...

Страница 32: ...at you understand the procedure have the proper tools and observe all applicable safety precautions 4 1 Ordering Parts Contact the YASKAWA service staff at 937 847 3200 to order spare parts Please hav...

Страница 33: ...anually Noise Daily Aurally Exterior and cleaning as required Clean with dry cloth or compressed air Insulation resistance Annually Make sure that it is more than 10 M Ohm by measuring with a 500V ins...

Страница 34: ...ptor plate The pin may need to be tapped in with a hammer 3 Jog the axis slowly until homing pin just touches stationary edge of structure If you jog the axis too far the pin will bend causing an inac...

Страница 35: ...ke Assemblies 2 Loosen the M12 lock nuts 3 Adjust brake pad by turning each of the M12 adjusting bolts counter clockwise approximately 1 2 turn 4 Tighten the lock nuts One turn maximum should be enoug...

Страница 36: ...tly Overload Reduce load and re check Repeat until problem stops Unstable operation Brake out of adjustment If positioner movement is unstable check brakes and replace if necessary see Section 4 5 Loo...

Страница 37: ...M16x70 hardware provided Fig A 1 Hard Stop Installation 2 Mount limit switch brackets to the top of the drive assembly mounting plate using the M6x20 hardware provided Fig A 2 Limit Switch Mounting L...

Страница 38: ...all the optional zone ring proceed as follows 1 Remove the adaptor plate and brake wear plate to provide access to the drive frame 2 Install the limit switch mounting brackets directly to the drive fr...

Страница 39: ...ose their identity by being welded soldered riveted etc to other parts or assemblies B 1 1 2 Parts List Form This form is divided into four columns as follows 1 Figure Item Number Column This Figure c...

Страница 40: ...hand page Unless the list is unusually long the user will be able to look at the illustration and read the parts list without turning a page B 2 2 Symbols and Abbreviations The following is a list of...

Страница 41: ...B 5 151521 1CD 151521 1CD Fig B 4 Exploded View 1 2 3 4 5 6 7 8 9 12 10 11 13 14 15 16 41 of 47...

Страница 42: ...0976 2 GUARD GEAR RH 1 5 150976 1 GUARD GEAR LH 1 6 149724 1 DRIVE ASSY 1 7 149824 1 PLATE WASHER 1 8 149729 1 SPRING ASSY 1 9 149819 1 BRACKET SUPPORT DRIVE ASSY 1 10 149734 1 BRAKE MOTOSWEEP HD 4 11...

Страница 43: ...ve Assembly Item Number P N Description Qty 1 150270 1 GUARD WIPER Not used on Revision 2 or newer 3 2 149728 1 GEAR PINION 21T 1 3 149726 1 RV 450E 1 4 149725 1 PLATE MTG DRIVE ASSY R1 1 5 149727 1 P...

Страница 44: ...1 Optional Zone Ring Kit Item Number P N Description Qty 1 146429 1 MODULE J BOX 4 PORT 1 2 151043 1 PLATE MTG J BOX 1 3 143963 1 SWITCH LIMIT MINIATURE ROLLER 4 4 149735 1 BRACKET MOUNTING LIMIT SWI...

Страница 45: ...B 9 151521 1CD 151521 1CD Fig B 7 Optional Over Travel Limit Kit 1 1 2 3 4 5 45 of 47...

Страница 46: ...Travel Limit Kit Item Number P N Description Qty 1 149779 1 BLOCK ACTUATOR LIMIT SWITCH 2 2 143789 1 PLATE MTG SWITCH THREADED 2 3 143963 1 SWITCH LIMIT MINIATURE ROLLER 2 4 149735 2 BRACKET MOUNTING...

Страница 47: ...6788 2878 YASKAWA SHOUGANG ROBOT Co Ltd 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...

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