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YASKAWA MOTOMAN-SDA20, Инструкция по эксплуатации, Страница: 42 / 66

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8-4

155492-1CD

HW0484820

8  Electrical Equipment Specification
8.1  Internal Connections

SDA20

Fig. 8-1(c): Internal Connection Diagram

E 

E 

E 

E 

E 

E 

E 

PG

PG

PG

PG

PG

PG

PG

Lamp

U
V

BAT2

1-CN1

1-CN2

1-CN3

1-CN4

1-CN6

1-CN5

No.42CN

No.41CN

BAT1
0BAT1

BAT2
0BAT2
BAT3
0BAT3

6

5

2

4

3

1

0BAT7

8

BAT4
0BAT4

BAT5
0BAT5
BAT6
0BAT6

BAT7

6

5

2

4

3

1

7

3BC(50)

PG0V8

PG0V7
PG5V7

PG5V8

Base

19

18

17

20

BAT1

0BAT1

CN2

BAT2

0BAT2

CN3

4

3

2

1

BAT12

BAT11

0BAT11

0BT

0BT

BAT

BAT

0BAT12

21

26

24

23

25

22

0BAT7
BAT7

BAT6

31

28

30

29

27

0BAT6

BAT5

BAT4

0BAT4

BAT3

0BAT5

0BAT3

0BAT8

CN4

8

1

BAT22

BAT

0BAT11

7

5
6

BAT21

BAT
0BT

0BT

0BAT22

0BAT21

7

PG0V4

8

10
11

9

PG0V6

PG0V5
PG5V5

PG5V4

6

3

5

4

2

1

PG5V3

PG5V1

PG0V3

PG0V2
PG5V2

PG0V1

CN1

1
3

+24V

0V

8

5

7

6

4

3

BAT21

0BAT21

14

13

15
16

2
4

+24V

0V

12

PG5V6

2

BAT11

32

BAT8

Power Cable

NX100

3BC(10X4)

S-base

No.55CN

No.54CN

No.53CN

No.52CN

No.51CN

No.50CN

No.49CN

No.48CN

No.47CN

No.46CN

No.45CN

No.44CN

No.43CN

8

6

5

2

4

3

1

7

3-CN6

FG7

FG7-2

DATA+7
DATA-7
BAT7

0BAT7
PG5V7

PG0V7

BAT6

0BAT6
PG5V6
PG0V6

FG6-2

FG5-2

6

5

2

4

3

1

3-CN5

DATA+1
DATA-1

BAT1
0BAT1
PG5V1
PG0V1

FG1

FG6

FG3
FG4

BAT3
0BAT3

FG3-2

DATA+2

FG1-2

FG4-2

12

11

FG2

9

FG2-2

FG5

10

DATA6+
DATA-6

BAT5
0BAT5
PG5V5
PG0V5

DATA+5
DATA-5

DATA+4
DATA-4

BAT4
0BAT4
PG5V4
PG0V4

PG0V3

DATA+3
DATA-3

PG5V3

BAT2
0BAT2

PG5V2
PG0V2

DATA-2

9

11

10

8

6

5

2

4

3

1

3-CN4

7

9

10

8

6

5

2

4

3

1

3-CN3

7

9

8

6

5

2

4

3

1

3-CN2

7

8

DATA+1
DATA-1

BAT1
0BAT1
PG5V1
PG0V1

FG1

6

5

2

4

3

1

3-CN1

7

PG5V7
PG0V7

BAT7
0BAT7

DATA+7
DATA-7

FG7

6

5

2

4

3

1

T-PG

7

T-AXIS

PG5V6
PG0V6

BAT6
0BAT6

DATA+6
DATA-6

FG6

6

5

2

4

3

1

B-PG

7

B-AXIS

PG5V5
PG0V5

BAT5
0BAT5

DATA+5
DATA-5

FG5

6

5

2

4

3

1

R-PG

7

R-AXIS

PG5V4
PG0V4

BAT4

0BAT4

DATA+4
DATA-4

FG4

6

5

2

4

3

1

U-PG

7

U-AXIS

PG5V3
PG0V3

BAT3
0BAT3

DATA+3
DATA-3

FG3

6

5

2

4

3

1

7-PG

7

7-AXIS

PG5V2
PG0V2

BAT2
0BAT2

DATA+2
DATA-2

FG2

6

5

2

4

3

1

L-PG

7

L-AXIS

6

5

2

4

3

1

S-PG

7

S-AXIS

Lead Wires in Arm

Manipulator

Internal Connection Diagram (R2-1)

MOTOMAN-SDA20(YR-SDA20-A00/A01)

0V

LB1

+24V

CN 4-8

5V

0V

5V

0V

CN 2-2

CN 2-1

CN 1-8

CN 1-7

CN 1-6

CN 3-7

CN 3-6

CN 3-3

CN 3-2

CN 3-1

CN 2-8

CN 2-7

CN 2-6

CN 3-10

CN 3-9

CN 2-10

CN 3-4
CN 3-5

CN 2-9

CN 2-5

CN 2-4

CN 2-3

CN 4-9

CN 4-5

CN 4-4

CN 4-10

CN 4-3

CN 4-7

CN 4-2

CN 4-6

CN 4-1

CN 3-8

CN 1-3

CN 1-2

CN 1-1

CN 1-9

CN 1-10

CN 1-4

CN 1-5

5V

0V

5V

0V

+24V
0V

SPG-1

SPG+1

FG1

+24V
0V

FG2

FG3

SPG-3

SPG+3

SPG-2

SPG+2

FG4

SPG-5

SPG+5

SPG-4

SPG+4

FG6

SPG+6
SPG-6

SPG+7

FG5

SPG-7

FG7

CN 4-8

AL2

5V

0V

5V

0V

CN 4-9

CN 4-5

CN 4-4

CN 4-10

CN 4-3

CN 4-7

CN 4-2

CN 4-6

CN 4-1

CN 3-7

CN 3-8

CN 3-6

CN 3-3

CN 3-2

CN 3-1

CN 2-8

CN 2-7

CN 2-6

CN 3-10

CN 3-9

CN 2-10

CN 3-4
CN 3-5

CN 2-9

CN 2-5

CN 2-4

CN 2-3

CN 2-2

CN 2-1

CN 1-8

CN 1-7

CN 1-6

CN 1-3

CN 1-2

CN 1-1

CN 1-9

CN 1-10

CN 1-4

CN 1-5

5V

0V

5V

0V

LB1

BC2

AL1

SS2

+24V

0V

SPG-1

SPG+1

FG1

+24V

0V

FG2

FG3

SPG-3

SPG+3

SPG-2

SPG+2

FG4

SPG-5

SPG+5

SPG-4

SPG+4

FG6

+24V

SPG+6

SPG-6

SPG+7

0V

FG5

SPG-7

FG7

E

42 of 66

Содержание MOTOMAN-SDA20

Страница 1: ...ATION Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SDA20 INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator s manual above corresponds to specific usage Be sure to use the appropriate manual 1 of 66 ...

Страница 2: ...ht 2015 Yaskawa America Inc All Rights Reserved In this manual names of companies corporations or products are trademarks registered trademarks or brand names for each company or corporation The indications of R and TM are omitted 2 of 66 ...

Страница 3: ...d 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 or...

Страница 4: ...ible 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 pur...

Страница 5: ...Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and dam age to equipment It may also be used to alert against unsafe practices Always be sure to follow explicitly the items listed under this heading Must never be performed To ensure safe and efficient operation at all times be sure to follow all instructions even if not designa...

Страница 6: ... 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 make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case...

Страница 7: ... 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 programming pendant to the hook on the NX100 cabinet after use The programming pendant can be damaged if it is left in the manipulator s work area on the floor or near fixtures Read and understand the Explanation of the Warni...

Страница 8: ...tant information is placed on the body of the manipulator Prior to operating the manipulator confirm the contents Warning Label B Warning Label A Front View Section A Nameplate Warning Label A Warning Label B Back View A A WARNING Do not enter robot work area WARNING Moving parts may cause injury Warning Label A Warning Label B Nameplate S1 S2 2BC AIR 4 AIR 3 AIR 1 GREASE 5BC 3BC 4BC AIR 2 1BC 8 o...

Страница 9: ...tion of the Safeguarding 3 2 3 2 Mounting Procedures for Manipulator Base 3 2 3 2 1 Mounting Example 3 3 3 3 Location 3 4 4 Wiring 4 1 Grounding 4 2 4 2 Manipulator Cable Connection 4 3 4 2 1 Connection to the Manipulator 4 3 4 2 2 Connection to the NX100 4 3 5 Basic Specifications 5 1 Basic Specifications 5 1 5 2 Part Names and Working Axes 5 2 5 3 Manipulator Base Dimensions 5 3 5 4 Dimensions a...

Страница 10: ...owable Load for Wrist Axis and Wrist Flange 6 1 Allowable Wrist Load 6 1 6 2 Wrist Flange 6 2 7 System Application 7 1 Peripheral Equipment Mounts 7 1 7 2 Internal User I O Wiring Harness and Air Line 7 2 8 Electrical Equipment Specification 8 1 Internal Connections 8 1 9 Maintenance and Inspection 9 1 Inspection Schedule 9 2 9 2 Notes on Maintenance Procedures 9 5 9 2 1 Battery Pack Replacement 9...

Страница 11: ...xi 155492 1CD HW0484820 SDA20 Table of Contents 11 Parts List 11 1 Turning Axis Unit 11 1 11 2 S L Axis Unit R1 R2 11 5 11 3 7th U Axis Unit R1 R2 11 8 11 4 R B T Axis Unit R1 R2 11 9 11 of 66 ...

Страница 12: ...nformation for the content of optional goods is given separately Manipulator NX100 Programming Pendant Manipulator Cables Cables between manipulator and NX100 Set of instruction manuals Confirm that the manipulator and the NX100 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 expecte...

Страница 13: ...ds to the NX100 The order number is located on a label as shown below Fig 1 1 Location of Order Number Labels Order No Label Manipulator Top View NX100 Front View ޓ ޓ 241 4 0 2 0 06 5 0 Order No Label THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER ORDER NO Check that the manipulator and the NX100 have the same order number Label Enlarged View 13 of 66 ...

Страница 14: ...rsely affect the performance as the system consists of precision components Before transporting the manipulator check if the eyebolts are firmly fixed to the manipu lator The mass of the manipulator is approximately 380 kg Use a wire rope strong enough to withstand the mass The attached eyebolts are designed to support the manipulator mass Never use them for anything other than transporting the ma...

Страница 15: ...tion Be sure to lift the manipulator in the original posture used when shipped from the factory Refer to Fig 2 1 Transporting Position Fig 2 1 Transporting Position 749 697 1018 1010 125 25 6 0 0 Rotation axis S1 0 28729 0 128000 92160 92160 61440 T axis B axis R axis U axis 7th axis L axis S axis Factory Setting for Angle of Each Axis Difference from Home Position Common to R1 and R2 Pulse Angle ...

Страница 16: ...ould be fixed on a pallet with shipping bolts as shown in Fig 2 2 Using a Forklift Insert claws under 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 Using a Forklift Forklift claw entries 16 of 66 ...

Страница 17: ...he manipulator will not reach the wall safeguarding or NX100 when the arm is fully extended Failure 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 Do not install or operate the manipulator which is damaged or lacks parts Failure to observe this caution...

Страница 18: ...anipulator shall be firmly mounted on a baseplate or a foundation which is strong enough to support the manipulator and withstands repulsion forces during acceleration and deceleration Refer to Table 3 1 Maximum Repulsion Forces of the Manipulator in an Emergency Stop and Table 3 2 Endurance Torque in Operation to construct a solid foundation with the appropriate thickness to withstand maximum rep...

Страница 19: ...four mounting holes on the manipulator base Securely fix the manipulator to the mounting base with hexagon socket head cap screws M20 Tighten the hexagon socket head cap screws and anchor bolts firmly so that they will not be loosened during the operation See Fig 3 2 Mounting the Manipulator on Baseplate Fig 3 2 Mounting the Manipulator on Baseplate Section A A A 420 591 420 360 270 360 25 20 215 ...

Страница 20: ... to water oil or dust Free from corrosive gas or liquid or explosive gas Free from excessive shock or vibration less than 4 9 m s2 0 5G Free from large electrical noise plasma Flatness for installation is 0 5 mm or less In case of using the wall ceiling mounted type inform Yaskawa of the matter when placing an order Be sure to contact Yaskawa representative listed on the back cover of this instruc...

Страница 21: ...lectric shock Before wiring make sure to turn OFF the primary power supply 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 Wiring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric shock CAUTION 21 of 66 ...

Страница 22: ...ine sharing with other ground lines or grounding electrodes for other electric power motor power welding devices etc Where metal ducts metallic conduits or distributing racks are used for cable laying grounding should be performed in accordance with Electric Equipment Technical Standards NOTE Section A A A Bolt M8 for grounding delivered with the manipulator Grounding wire size 5 5mm2 or more 22 o...

Страница 23: ...tion to the Manipulator Before connecting the manipulator cables to the manipulator confirm the numbers on both the manipulator cables and the connectors on the manipulator connector base Then connect the cables in the order of 2BC 4BC 5BC 1BC 3BC Insert the connectors and set the lever down until it clicks 1BC 2BC 3BC 4BC Insert each connector until it clicks 5BC 4 2 2 Connection to the NX100 Bef...

Страница 24: ... SDA20 Fig 4 2 Manipulator Cables X23 X22 X12 X21 X11 X23 X22 X12 X21 X11 5BC 5BC 3BC 3BC 4BC 4BC 2BC 1BC 2BC 1BC Manipulator NX100 Manipulator NX100 Connector No Connector No 4BC Power Cable 2BC Power Cable 3BC Encoder Cable 1BC Encoder Cable 5BC Power Cable 24 of 66 ...

Страница 25: ... 2 Manipulator Cable Connection Fig 4 3 a Cable Connections of the Manipulator Fig 4 3 b Cable Connections of the NX100 A View A 22 14 20 29 20 29 S1 S2 2BC AIR 4 AIR 3 AIR 1 GREASE 5BC 3BC 4BC AIR 2 1BC X23 X22 X21 X12 X11 Back View 25 of 66 ...

Страница 26: ...axis lower arm twist 170 170 U axis upper arm 130 130 R axis upper arm twist 180 180 B axis wrist pitch yaw 110 110 T axis wrist twist 180 180 Maximum Speed Rotation axis 2 18 rad s 125 s S axis 2 27 rad s 130 s L axis 2 27 rad s 130 s 7th axis 2 97 rad s 170 s U axis 2 97 rad s 170 s R axis 3 49 rad s 200 s B axis 3 49 rad s 200 s T axis 6 98 rad s 400 s Allowable Moment 3 R axis 58 8 N m 6 0 kgf...

Страница 27: ...A Z Y X R B Rotation T U 7th L R B T U 7th L S S R axis B axis T axis U axis 7th axis S axis S axis R2 R1 R T 7th 7th R T Rotation R2 R1 Reference coordinate of base robot axes Reference coordinate of robot axis Reference coordinate of robot axis Reference coordinate of base axis Reference coordinate of base axis S1 Axis Station 1 Rotation axis 150 150 27 of 66 ...

Страница 28: ...3 155492 1CD HW0484820 SDA20 5 3 Manipulator Base Dimensions Fig 5 2 Manipulator Base Dimensions View A A 22 dia 4 holes 10 dia 2 holes 0 018 0 150 591 420 360 270 360 420 Rotation axis Center S axis Center 0 1 215 0 02 180 0 02 140 0 1 215 0 02 140 28 of 66 ...

Страница 29: ...velope P point R1 P point R2 P point maximum envelope P point maximum envelope R1 P point maximum envelope R2 P point maximum envelope 690 550 770 R 1 3 2 3 1010 385 385 770 R 3 9 0 R 4 2 0 R 4 2 0 R 9 1 0 1590 150 180 420 490 R 3 9 0 R 9 1 0 R 3 9 0 R 9 1 0 R420 120 110 104 97 80 86 M a x i m u m r a d i u s o f r o t a t i o n 110 110 1 3 0 180 1 1 0 130 1 1 0 180 180 180 29 of 66 ...

Страница 30: ...nge of the rotation axis can be altered according to the operating conditions as shown in Table 5 2 Rotation Axis Operating Range If alteration is necessary contact your Yaskawa representative in advance Table 5 2 Rotation Axis Operating Range Item Specifications Rotation Axis Operating Range 180 standard 150 120 90 60 30 30 of 66 ...

Страница 31: ...joint coordinate system When operating the 7th axis hold the SHIFT key and press the S or S key Fig 5 4 Operating the 7th axis HOLD START PLAY TEACH REMOTE T Z T Z B Y R X B Y R X U Z U Z L Y S X L Y S X M O T O M A N M O T O M A N 7 4 2 3 5 6 0 8 1 9 Rotation axis R axis B axis T axis U axis L axis S axis S axis R2 R1 7th axis R axis B axis T axis U axis L axis T Z T Z B Y R X B Y R X HIGH SPEED ...

Страница 32: ...7 axis arm can take any arm posture allowing users to freely modify the elbow angle the arm angle keeping its wrist at the same position and angle Fig 5 5 Characteristics of the 7 Axis Arm e g MOTOMAN SIA20 To modify the elbow angle without changing its current wrist position and angle select the cartesian coordinate system tool coordinate system or user coordinate system then hold the SHIFT key a...

Страница 33: ... attachment perform drip proof treatment on the flange face As an option waterproof flange is available The connectors for internal user I O wiring harness are not drip proof type if the manipulator is installed at a location where some water is splashed on the manipulator apply drip proof treatment on those connectors when connection is completed Example use of silicon tape or connection within a...

Страница 34: ...r to the moment arm rating shown in Fig 6 1 Moment Arm 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 is small while inertia moment is large Also contact your Yaskawa representative in advance in a case where the load mass is combined with an external force Fig 6 1 Moment Arm Rating Tabl...

Страница 35: ...eyond 12 mm of the tapped hole to avoid any possible adverse affect on the manipulator performance Each flange has a cable through hole When mounting equipment such as an attach ment ensure that no foreign objects including liquid oil or dust go into the hole View A Enlarged P C D 8 0 8 25 6 3 10 dia 9 8 27 dia 6 10 5 Units mm Range where the dimension 100 dia is available 0 0 035 100 dia 0 0 035 ...

Страница 36: ...equipment mounts and tapped holes on the top of the S base for easier installation of the user s system application as shown in Fig 7 1 Location of Peripheral Equipment Mounts Tapped Holes Note that the maximum allowable mass on the peripheral equipment is 20 kg Fig 7 1 Location of Peripheral Equipment Mounts Tapped Holes Tapped hole M8 depth 16mm 6 holes 176 60 40 40 115 36 of 66 ...

Страница 37: ...The maximum pressure for the air line must be 490 kPa 5 kgf cm2 or less Fig 7 2 Internal User I O Wiring Harness and Air Lines A View A Prepare socket connector JL05 6A20 29SC Connector for internal user I O wiring harness JL05 2A20 29PC pin connector with a cap R2 Connectors Air inlet 4 inlets Tapped hole PT3 8 with a pipe plug Connector for internal user I O wiring harness 51216 0800 Prepare con...

Страница 38: ... I O wiring harness 0 1mm 16 wires 2 Internal user I O wiring harness 0 1mm 16 wires 2 R2 Flange R1 Flange Connector Base R2 R1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 S2 2 S2 1 6 10 3 8 5 1 2 7 4 9 14 16 12 11 15 13 16 15 14 13 12 11 10 9 1 4 3 2 7 6 8 5 8 1 2 4 5 6 8 7 3 1 5 6 7 3 4 2 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 S1 2 S1 1 6 10 3 8 5 1 2 7 4 9 14 16 12 11 15 13 16 15 14 13 12 11 10 9 1 4 3 2 7 6 8 5 ...

Страница 39: ... Equipment Specification 8 1 Internal Connections 8 Electrical Equipment Specification 8 1 Internal Connections Internal Connection Diagram Fig 8 1 a through Fig 8 1 d show the internal connections between the manipulator and the NX100 39 of 66 ...

Страница 40: ... CN4 7 9 10 8 6 5 2 4 3 1 1 CN3 7 9 8 6 5 2 4 3 1 1 CN2 7 8 DATA 1 DATA 1 BAT1 0BAT1 PG5V1 PG0V1 FG1 6 5 2 4 3 1 1 CN1 7 PG5V7 PG0V7 BAT7 0BAT7 DATA 7 DATA 7 FG7 6 5 2 4 3 1 T PG 7 T AXIS PG5V6 PG0V6 BAT6 0BAT6 DATA 6 DATA 6 FG6 6 5 2 4 3 1 B PG 7 B AXIS PG5V5 PG0V5 BAT5 0BAT5 DATA 5 DATA 5 FG5 6 5 2 4 3 1 R PG 7 R AXIS PG5V4 PG0V4 BAT4 0BAT4 DATA 4 DATA 4 FG4 6 5 2 4 3 1 U PG 7 U AXIS PG5V3 PG0V3...

Страница 41: ... 5 CN4 4 CN4 2 CN3 4 CN3 1 CN3 6 CN3 5 CN3 2 CN3 3 E CN2 6 CN2 5 CN2 2 CN2 1 CN2 4 CN2 3 CN1 6 CN1 5 CN1 2 CN1 1 CN1 4 CN1 3 MU6 MV6 ME6 MW6 BO6 BO6 2BC 6X6 MU3 MV3 ME3 MW3 BO3 BO3 MU4 MW4 ME4 MV4 BO4 BO4 MU5 MV5 ME5 MW5 BO5 BO5 12 11 9 10 8 7 BO7L BO7L MU7L ME7L MV7L MW7L CN2 4 CN2 3 CN2 2 CN2 1 CN2 6 CN2 5 MW8 ME8 MV8 MU8 BO8 BO8 3 4 2 1 6 5 CN1 3 CN1 4 CN1 2 CN1 1 CN1 5 CN1 6 No 19CN No 18CN No...

Страница 42: ...10 8 6 5 2 4 3 1 3 CN3 7 9 8 6 5 2 4 3 1 3 CN2 7 8 DATA 1 DATA 1 BAT1 0BAT1 PG5V1 PG0V1 FG1 6 5 2 4 3 1 3 CN1 7 PG5V7 PG0V7 BAT7 0BAT7 DATA 7 DATA 7 FG7 6 5 2 4 3 1 T PG 7 T AXIS PG5V6 PG0V6 BAT6 0BAT6 DATA 6 DATA 6 FG6 6 5 2 4 3 1 B PG 7 B AXIS PG5V5 PG0V5 BAT5 0BAT5 DATA 5 DATA 5 FG5 6 5 2 4 3 1 R PG 7 R AXIS PG5V4 PG0V4 BAT4 0BAT4 DATA 4 DATA 4 FG4 6 5 2 4 3 1 U PG 7 U AXIS PG5V3 PG0V3 BAT3 0BA...

Страница 43: ... CN4 6 CN4 5 CN4 4 CN4 2 CN3 4 CN3 1 CN3 6 CN3 5 CN3 2 CN3 3 CN2 6 CN2 5 CN2 2 CN2 1 CN2 4 CN2 3 CN1 6 CN1 5 CN1 2 CN1 1 CN1 4 CN1 3 MU6 MV6 ME6 MW6 BO6 BO6 4BC 6X6 MU3 MV3 ME3 MW3 BO3 BO3 MU4 MW4 ME4 MV4 BO4 BO4 MU5 MV5 ME5 MW5 BO5 BO5 No 58CN No 57CN No 56CN No 71CN No 72CN No 69CN No 70CN No 67CN No 68CN No 65CN No 66CN No 63CN No 64CN No 61CN No62CN No 59CN No 60CN 1 2 1 2 1 2 1 2 1 2 1 2 1 2 ...

Страница 44: ...ase the brake Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator s arm Before maintenance or inspection be sure to turn OFF the main power supply and put up a warning sign ex DO NOT TURN ON THE POWER Failure to observe this warning may result in electric shock or injury The battery pack must be connected before removing enco...

Страница 45: ...here the manipulator is used for handling application If the manipulator is used for other application or if it is used under special conditions a case by case examination is required The inspection may be conducted at shorter intervals if the manipulator is used very frequently even in case of the handling application For details contact your Yaskawa representative Table 9 1 Inspection Items Item...

Страница 46: ... Tighten loose screws Replace if necessary 7 Connector base Manual Check for loose connectors and tighten if necessary 8 Wire harness in arm Visual Check for damages Replace 1 9 Wire harness in manipulator Lead wires for rotation axis Visual Check for damages Replace 1 10 Battery pack in manipula tor Replace the battery pack when the battery alarm occurs or the manipulator has been driven for 3600...

Страница 47: ...pection Schedule Inspection numbers correspond to the numbers in Table 9 1 Inspection Items Fig 9 1 Inspection Parts and Inspection Numbers View A Enlarged A 3 3 4 4 5 7 10 Grease leakage detection hole S1 S2 2BC AIR 4 AIR 3 AIR 1 GREASE 5BC 3BC 4BC AIR 2 1BC 47 of 66 ...

Страница 48: ...nting screws 4 screws x 2 and pull out the battery holder 3 Connect the new battery pack to the unoccupied connector on the board 4 Remove the old battery connectors from the board Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear S1 S2 2BC AIR 4 AIR 3 AIR 1 GREASE 5BC 3BC 4BC AIR 2 1BC Screws to mount battery holder Circled 4 screws x2 B...

Страница 49: ...le approx 1 500 cc Molywhite RE No 00 S L axis Exchange 6 000H cycle 68cc Unilite FS No 0 7th U axis Exchange 6 000H cycle 47cc R B T axis Replenishment 6 000H cycle 2cc 3cc for the 1st supply Harmonic Grease SK 1A Back View Rotation axis grease inlet Rotation axis grease exhaust port R2 R1 R2 R1 R1 R2 T axis T axis L axis R axis 7th axis U axis B axis R axis B axis U axis 7th axis L axis L axis R...

Страница 50: ...ll the plug Tighten the plug to a tightening torque of 5 N m 0 51 kgf m Grease Replenishment for the Actuator R B T axis 1 Remove the plug LP M5 from the air outlet 2 Remove the hexagon socket head cap screw M6 from the grease inlet and install the grease zerk A MT6X1 The grease zerk is delivered with the manipulator 3 Inject grease with the grease zerk Refer to Table 9 3 Grease Type and Amount of...

Страница 51: ...ep the exhausted grease to measure the amount of grease exhausted during running in 7 Perform running in operation of the axis with grease injected for approximately 10 minutes to discharge excess grease Refer to Table 9 4 Rough Standard of the Amount of Exhausted Grease For the operation pattern of the running in if possible set the speed to 100 and the amount of movement to 40000 pulses or more ...

Страница 52: ...measured such as an injec tion syringe When supplying air making a small air hole on the plastic bag makes the work easier 8 Remove the grease zerk from the grease inlet apply ThreeBond 1206C to the thread part of the hexagon socket head cap screw M6 and reinstall the screw Tighten the screw with a tightening torque of 9 8 N m 1 0 kgf m 9 Wipe off the grease discharged from the grease exhaust port...

Страница 53: ...escribed in this section For calibration the positioning key attached as accessory shall be used Refer to Table 9 5 Parts List Using the programming pendant adjust each axis home position so that the positioning key fits into the key slot as shown in Fig 9 5 Home Position Calibration then register each position to the NX100 For details refer to Home Position Calibration described in the NX100 INST...

Страница 54: ...4820 SDA20 Fig 9 5 Home Position Calibration R2 R1 T axis B axis R axis R1 U axis 7th axis L axis S axis T axis B axis R axis R2 U axis 7th axis L axis S axis S axis S axis R1 R2 Top View Rotation axis Back View Front View S1 S2 2BC AIR 4 AIR 3 AIR 1 GREASE 5BC 3BC 4BC AIR 2 1BC 54 of 66 ...

Страница 55: ...olywhite RE No 00 Yaskawa 16 kg for Rotation axis A 2 Grease Unilite FS no 0 Yaskawa for S L 7th U axis A 3 Grease Harmonic Grease SK 1A Showa Shell Sekiyu K K 2 5 kg for R B T axis A 4 Liquid Gasket Three Bond 1206C ThreeBond Co Ltd A 5 Battery Pack HW0470360 A Yaskawa 2 2 B 6 Wire Harness in Rotation Axis HW0174201 A Yaskawa 1 1 B 7 Rotation Axis Speed Reducer HW0380902 A Yaskawa 1 1 B 8 Arm Uni...

Страница 56: ...1 Turning Axis Unit 1002 1020 1014 1059 1013 1012 1011 1065 1010 1009 1008 1030 1060 1033 1038 1095 1037 1070 1042 1074 1073 1036 1034 1057 1052 1075 1076 1053 1016 1017 1015 1058 1054 1031 1050 1051 1080 1096 1068 1069 1039 1037 1041 1045 1044 1046 1043 1019 1066 1018 1056 1055 56 of 66 ...

Страница 57: ...ts List 11 1 Turning Axis Unit 1042 1041 1043 1047 1001 1080 1063 1064 1005 1067 1079 1087 1032 1062 1061 1048 1026 1027 1004 1040 1045 1044 1046 1077 1003 1029 1028 1025 1007 1078 1006 1024 1022 1022 1021 1049 1023 1083 1084 1090 57 of 66 ...

Страница 58: ...1026 M6X35 Socket screw 4 1027 2H 6 Spring washer 4 1028 M6X80 Socket screw 1 1029 2H 6 Spring washer 1 1030 S65 O ring 1 1031 HW0412930 1 Pin 1 1032 HW0412931 1 Collar 1 1033 HW0412932 1 Stopper 1 1034 HW0412936 1 Cover 1 1036 M5X16 APS bolt 4 1037 M5X10 APS bolt 6 1038 PT3 8 DACROTIZED coating Plug 1 1039 M6X12 APS bolt 14 1040 PT1 8 Plug 1 1041 HW9403595 1 Metallic orna ments 2 1042 M4X12 Flat ...

Страница 59: ...washer 12 1069 M3 Nut 12 1070 HW0412934 A Bracket 1 1073 M5X16 DACROTIZED coating Socket screw 2 1074 2H 5 DACROTIZED coating Spring washer 2 1075 HW0412937 1 Cover 1 1076 M6X15 GT SA bolt 14 1077 HW0413258 2 Spacer 1 1078 HW0313076 1 Cover 1 1079 HW0412935 1 Cover 1 1080 HW0102301 1 S base 1 1083 M5X16 GT SA bolt 12 1084 MSTH6 15 Parallel pin 1 1087 M5X16 GT SA bolt 10 1090 MSTH6 15 Parallel pin ...

Страница 60: ...9 2019 2007 2018 2002 2001 2022 2025 2012 2021 2006 2004 2014 2017 2028 2026 2002 2006 2004 2011 1082 1081 2019 2029 2017 1093 1094 2030 2020 2003 2027 2028 2026 2013 2006 1086 1085 2005 2027 2001 2021 2025 2009 2003 2015 2026 2028 2027 2006 2005 2020 2008 2030 2018 2017 60 of 66 ...

Страница 61: ...817 9 Collar 2 2013 HW0411433 1 Support 2 2014 HW0412790 1 Support 2 2015 HW0411435 1 Support 2 2017 M4X12 GT SA bolt 12 2018 M4X16 Socket screw 44 2019 M6X6 Socket screw 4 2020 M6X35 Socket screw 72 2021 M6X65 Socket screw 70 2022 M6X70 Socket screw 2 2025 2H 6 Spring washer 72 2026 TA1 S8 Clamp 10 2027 T50R Cable tie 10 2028 M4X8 Screw with spring washer 10 2029 LP M5 Plug 4 2030 GT LH 6 Washer ...

Страница 62: ...201169 1 Cover 2 3011 HW0412789 1 Support 2 3012 HW0411624 1 Support 2 3013 HW8411125 2 Washer 48 3015 M4X12 Socket screw 4 3016 M4X14 Socket screw 4 3017 M5X8 Socket screw 2 3018 M5X30 Socket screw 32 3019 M5X35 Socket screw 12 3020 M5X60 Socket screw 48 3021 M6X6 Socket screw 4 3024 2H 5 Spring washer 74 3025 TA1 S8 Clamp 8 3026 T50R Cable tie 8 3027 M4X8 Screw with spring washer 8 3028 WSSM10 6...

Страница 63: ... Axis Unit R1 R2 2009 3002 3006 3004 3001 3020 3029 3024 3013 3028 3008 3017 3024 3003 3006 3005 3002 3006 3004 3011 3001 3020 3024 3033 3024 3013 3028 3021 3021 3025 3024 3013 3019 3007 3029 3003 3018 3032 3006 3005 3009 3034 3012 3015 3025 3027 3026 3010 3034 3027 3026 3016 63 of 66 ...

Страница 64: ...024 4037 4034 4040 4019 4044 4025 4029 4002 4001 4007 4037 4032 4004 4003 4005 4006 4028 4033 4038 4031 4037 4008 4040 4039 4041 4023 4009 4002 4008 4034 4009 4002 4008 4009 4037 4032 4010 4037 4032 4034 4003 4005 4006 4016 4013 4012 4014 4015 4042 4040 4039 4041 4042 4036 4031 4026 4029 4022 4042 4007 4029 4020 64 of 66 ...

Страница 65: ...M2X6 Socket screw 8 4017 M2 5X6 Socket screw 8 4018 M2 6 Washer 8 4019 HW0201100 1 Cover 2 4020 HW0201124 1 Cover 2 4021 HW0102053 1 L arm B 2 4022 HW0102070 1 Wrist 2 4023 HW0312107 1 Spacer 2 4024 HW0311166 1 Flange 2 4025 HW0412791 1 Support 2 4026 HW0411625 1 Support 2 4028 M4X8 Socket screw 2 4029 M4X12 GT SA bolt 8 4030 M4X15 GT SA bolt 24 4031 M4X20 Socket screw 48 4032 M4X25 Socket screw 7...

Страница 66: ... 6788 2858 Fax 86 10 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 Ltd 22 F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㧗86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 252 125 126 27th ...

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