MH24 Manipulator取説
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Transcript of MH24 Manipulator取説
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MANUAL NO.
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YASKAWA ELECTRIC CORPORATION
1
MOTOMAN-MH24
INSTRUCTIONSTYPE: YR-MH00024-A00 (STANDARD SPECIFICATION)
TYPE:
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH24 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)DX200 MAINTENANCE MANUAL (Volume 1) (Volume2)
The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The DX200 maintenance manual above consists of “Volume1” and “Volume2”.
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MANDATORY
• This instruction manual is intended to explain mainly on themechanical part of the MOTOMAN-MH24 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 yourproduct's warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH24.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
DANGERIndicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNINGIndicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTIONIndicates 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.
NOTETo ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION”.
DANGER
• Maintenance and inspection must be performed by specifiedpersonnel.
Failure to observe this 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 orserious injury from unexpected turning of the manipulator's arm.
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WARNING
• Before operating the manipulator, check that servo power is turnedOFF pressing the emergency stop buttons on the front door of theDX200 and the programming pendant.When the servo power is turned OFF, the SERVO ON LED on theprogramming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuitcannot stop the manipulator during an emergency. The manipulatorshould not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of allitems which could interfere with the operation of the manipulator.Then turn the servo 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 themanipulator:
– Be sure to use a lockout device to the safeguarding when goinginside. Also, display the sign that the operation is beingperformed inside the safeguarding and make sure no one closesthe safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against themanipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelopeof the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of themanipulator during operation. Always press an emergency stop buttonimmediately if there is a problem.
The emergency stop buttons are located on the right of front door of theDX200 and the programming pendant.
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Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and TM are omitted.
CAUTION
• Perform the following inspection procedures prior to conductingmanipulator 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 programming pendant to the hook on the cabinet
of the DX200 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 Warning Labels in the
DX200 Instructions before operating the manipulator:
Equipment Manual DesignationDX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
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Explanation of Warning Labels
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on thebody of the manipulator. Prior to operating the manipulator, confirm the
contents.
Note: Taking the maintenance-relevant trainings offered by Yaskawa is
indispensable for replacing the L-axis of the balancer-equipped
manipulator.
Fig. : Warning Label Locations
WARNING Label BWARNING Label A
WARNING Label A
Nameplate
WARNING
Do not enter robotwork area.
WARNING
Moving partsmay causeinjury
Nameplate:
WARNING Label B:
WARNING Label A:
WARNING Label B
WARNING Label A
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Contents
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1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-1
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-2
2.3 Cushioning Material for Transport ..................................................................................... 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Types of Mounting ............................................................................................................. 3-4
3.3.1 S-Axis Operating Range....................................................................................... 3-4
3.3.2 Fixing the Manipulator Base................................................................................. 3-4
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4
3.4 Location ............................................................................................................................. 3-5
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding.......................................................................................................................... 4-2
4.2 Cable Connection .............................................................................................................. 4-3
4.2.1 Connection to the Manipulator.............................................................................. 4-3
4.2.2 Connection to the DX200 ..................................................................................... 4-3
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 at the Emergency Stop............................................................. 5-4
5.5.1 Stop Category 0: Emergency Stop....................................................................... 5-4
5.5.1.1 Position 100% ......................................................................................... 5-45.5.1.2 Position 66% ........................................................................................... 5-5
5.5.1.3 Position 33% ........................................................................................... 5-6
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5.5.2 Stop Category 1: Emergency Stop ....................................................................... 5-7
5.6 Alterable Operating Range ................................................................................................5-8
6 Allowable Load for Wrist Axis and Wrist Flange .............................................................................6-1
6.1 Allowable Wrist Load .........................................................................................................6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application..........................................................................................................................7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification..................................................................................................8-1
8.1 Position of Limit Switch......................................................................................................8-1
8.2 Internal Connections..........................................................................................................8-2
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 ..................................................................................... 9-6
9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-6
9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7
9.3.2.1 Grease Replenishment............................................................................ 9-7
9.3.2.2 Grease Exchange.................................................................................... 9-8
9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer.............................. 9-9
9.3.3.1 Grease Exchange.................................................................................... 9-9
9.3.3.2 Grease Exchange.................................................................................. 9-10
9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-11
9.3.4.1 Grease Replenishment.......................................................................... 9-11
9.3.4.2 Grease Exchange.................................................................................. 9-12
9.3.5 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-13
9.3.6 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-14
9.3.7 Grease Replenishment for T-Axis Gear.............................................................. 9-15
9.3.8 Grease Replenishment for R-Axis Gear ............................................................. 9-17
9.4 Notes for Maintenance..................................................................................................... 9-18
9.4.1 Wrist Unit ............................................................................................................ 9-18
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9.4.2 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 R-Axis Unit..................................................................................................................... 11-7
11.5 Wrist Unit ..................................................................................................................... 11-10
11.6 Gear Unit (No.5040) .................................................................................................... 11-13
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1 Product Confirmation
1.1 Contents Confirmation
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1 Product Confirmation
1.1 Contents Confirmation
Confirm the contents of the delivery when the product arrives.Standard delivery includes the following four items (information for the
content of optional goods are given separately):
• Manipulator
• DX200
• Programming pendant
• Manipulator 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
expected and cause injury or damage.
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1 Product Confirmation
1.2 Order Number Confirmation
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1.2 Order Number Confirmation
Check that the order number of 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)
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2 Transport
2.1 Transport Method
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2 Transport
2.1 Transport Method
2.1.1 Using a Crane
As a rule, the manipulator should be lifted by a crane with two wire ropes
when removing it from the package and moving 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
CAUTION
• Sling applications and crane or forklift operations must be
performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.
NOTE
• The weight of the manipulator is approximately 275 kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
• Mount the shipping bolts and brackets for transporting the
manipulator.
• Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.
A
Hexagon socket head cap screw M12X30 (2 screws)
Conical spring washer 2H-12 (2 washers)
Plain washer M12 (2 washers)
View A
Shipping bolts and bracket
Shipping bolts and bracket
B
A
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2 Transport
2.2 Shipping Bolts and Brackets
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2.1.2 Using a Forklift
When using a forklift, the manipulator should 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
2.2 Shipping Bolts and Brackets
The manipulator is provided with two shipping bolts and a shipping
bracket. (See fig. 2-3 “Shipping Bolts and Brackets” .)
Fig. 2-3: Shipping Bolts and Brackets
• The shipping bolts and bracket are painted yellow.
• The shipping bracket is to be fixed with the hexagon socket head cap
screw M12(length: 30mm) (2 screws).
Bolt M16 (4 places)
Pallet
Forklift claw entries
NOTE
Before turning ON the power, check to be sure that the ship-
ping bolts and brackets are removed. The shipping bolts
and brackets then must be stored for future use, in the
event that the manipulator must be moved again.
Shipping bolts and bracket
Front ViewSide View
Hexagon socket head cap screw M12X30 (2 screws)
Conical spring washer 2H-12 (2 washers)
Plain washer M12 (2 washers)
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2 Transport
2.3 Cushioning Material for Transport
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2.3 Cushioning Material for Transport
The manipulator is provided with the cushioning materials for transport at
sections A and B. (See fig. 2-4 “Cushioning Materials for Transport” .)
Fig. 2-4: Cushioning Materials for Transport
• A rubber cushion is respectively wedged at the sections A and B.
NOTE
Before turning ON the power, check to be sure that the
cushioning materials for transport are removed.
In the event that the manipulator must be moved again, to
avoid its main body from being damaged, the cushioning
materials such as rubber plate, etc. must be used.
A
B
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3 Installation
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3 Installation
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 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.
• When mounting the manipulator on the wall, the base section must
have sufficient strength and rigidity to support the weight of the
manipulator. Also, it is necessary to consider countermeasures to
prevent the manipulator from falling.
Failure to observe these warnings may result in injury or damage.
CAUTION• Do not install or operate the 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 cushioning
materials for transport explained in chapter 2.2 “Shipping Bolts and
Brackets” and chapter 2.3 “Cushioning Material for Transport” are
removed.
Failure to observe this caution may result in damage to the driving
parts.
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3 Installation
3.1 Safeguarding Installation
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3.1 Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguards
are provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.
3.2 Mounting Procedures for Manipulator 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 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
chapter 3.2.1 “Mounting Example” .
Fig. 3-1: Manipulator Repulsion Force and Torque
Table 3-1: Manipulator Repulsion Force and TorqueHorizontal rotation Vertical rotation
Repulsion force FHTorque MH Repulsion force FH Torque MV
Emergency stop 8820 N
(900 kgf)
6370 N•m
(650 kgf•m)
10290 N
(1050 kgf)
13720 N•m
(1400 kgf•m)
Acceleration/
deceleration
2940 N•m
(300 kgf)
1915 N•m
(195 kgf•m)
3430 N•m
(350 kgf)
5145 N•m
(525 kgf•m)
VM
HM
VF
HF
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3 Installation
3.2 Mounting Procedures for Manipulator Base
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3.2.1 Mounting Example
For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon head bolts M16
(50 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: Mounting the Manipulator on Baseplate
335
375
2 9 2
316
6 0
A
60
3 3 5
3 7 5
View A
2 5
Hexagon head screw M16 (4 screws)
Spring washer
Washer
Manipulator base
Baseplate
Manipulator base
Anchor bolt (M16 or larger)
Baseplate
40 mm
or more
Baseplate18 dia. (4 holes)
12 dia. H7
(2 hole)
C5
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3 Installation
3.3 Types of Mounting
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3.3 Types of Mounting
The MOTOMAN-MH24 is available in three types: floor-mounted type
(standard), wall-mounted type, and ceiling-mounted type. For wall-
mounted and ceiling-mounted types, the three points listed below are
different from the floor-mounted type.
• S-Axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-Axis Operating Range
For wall-mounted type, the S-axis operating range is ±30°.
(The range is adjusted prior to the shipment.)
3.3.2 Fixing the Manipulator Base
For wall- and ceiling-mounted types, be sure to use four hexagon sockethead cap screws M16 (tensile strength: 1200 N/mm2 or more) when fixing
the manipulator base. Use a torque of 206 N•m when tightening the
screws.
3.3.3 Precautions to Prevent the Manipulator from Falling
For the wall- or ceiling-mounted types, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to fig. 3-3
“Precaution Against Falling” for details.
Fig. 3-3: Precaution Against Falling
NOTE
In case of using the wall/ceiling-mounted type, inform
Yaskawa of the matter when placing an order. Be sure to
contact your Yaskawa representative (listed on the back
cover of this instruction manual) to perform a wall/ceiling
installation on site.
Manipulator base
Support for fall prevention
Hexagon socket head cap
screw M16 (4 places)
(Tensile strength: 1200 N/mm2 or more)
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3 Installation
3.4 Location
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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 (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
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4 Wiring
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4 Wiring
WARNING• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn 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.
• 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 the
cable from being discharged.
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4 Wiring
4.1 Grounding
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4.1 Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to fig. 4-1 “Grounding Method” to connect the ground line directly
to the manipulator.
Fig. 4-1: Grounding Method
NOTE
• Never use this wire 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, ground in accordance with elec-
trical installation standards.
A A
Bolt M8 (For grounding)
Delivered with the manipulator
Section A
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4 Wiring
4.2 Cable Connection
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4.2 Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to fig. 4-2 “Manipulator
Cables” .)
Connect these cables to the manipulator base connectors and to theDX200. Refer to fig. 4-3(a) “Manipulator Cable Connectors (Manipulator
Side)” and fig. 4-3(b) “Manipulator Cable Connection (DX200 Side)” “.
4.2.1 Connection to the Manipulator
Before connecting cables to 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 1BC. After inserting the cables, depress the lever until it clicks.
4.2.2 Connection to the DX200
Before connecting two cables to the DX200, verify the numbers on both
manipulator cables and the connectors on the DX200. When connecting,
insert the cables in the order of X21, then X11, and depress each lever low
until it clicks.
Fig. 4-2: Mani pulator Cables
2BC
The Manipulator Side
X 1 1
1 B C
1BC
X212BC
X11 1BC
X 2 1
2 B C
The DX200 Side
Encoder Cable
Power Cable
The Manipulator SideThe DX200 Side
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4 Wiring
4.2 Cable Connection
4-4
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Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
Fig. 4-3(b): Manipulator Cable Connection (DX200 Side)
Connector Details
(Manipulator Side)
X11
X21
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5 Basic Specifications
5.1 Basic Specifications
5-1
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5 Basic Specifications
5.1 Basic Specifications
Table 5-1: Basic Specifications1)
1 SI units are used in this table. However, gravitational unit is used in ( ).
Item Model MOTOMAN-MH24
Structure Vertically Articulated
Degree of Freedom 6
Payload 24 kg
Repeatability2)
2 Conformed to ISO9283
±0.06 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -105° - +155°
U-Axis (upper arm) -170° - +240°
R-Axis (wrist roll) -200° - +200°
B-Axis (wrist pitch/yaw) -150° - +150°
T-Axis (wrist twist) -455° - +455°
Maximum Speed S-Axis 3.44 rad/s, 197°/s
L-Axis 3.32 rad/s, 190°/s
U-Axis 3.67 rad/s, 210°/s
R-Axis 7.16 rad/s, 410°/s
B-Axis 7.16 rad/s, 410°/s
T-Axis 10.82 rad/s, 620°/s
Allowable Moment3)
3 Refer to table chapter 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
R-Axis 50 N•m (5.1 kgf•m)
B-Axis 50 N•m (5.1 kgf•m)
T-Axis 30.4 N•m (3.1 kgf•m)
Allowable Inertia (GD2/4) R-Axis 2.1 kg•m2
B-Axis 2.1 kg•m2
T-Axis 1.1 kg•m2
Approx. mass 268 kg
Ambient Conditions Temperature 0°C to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gasses or liquids, or explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 2.0 kVA
Noise4)
4 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
-between 1.2m and 1.5m above the ground.
-400mm away from the P-point maximum envelope.
Less than 77 dB
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5 Basic Specifications
5.2 Part Names and Working Axes
5-2
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5.2 Part Names and Working Axes
Fig. 5-1: Part Names and Working Axes
5.3 Manipulator Base Dimensions
Fig. 5-2: Manipulator Base Dimensions
Wrist flange
Manipulator base
S-head
L-arm
U-arm
T-
T+
B-
B+
R-
R+
U-
U+
L- L+
S-
S+
335
375
2 9 2
316
2 5
A
6 0
60
3 3 5
3 7 5
View A
Baseplate18 dia. (4 holes)
12 dia. H7
(2 hole)
C5 Units: mm
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5 Basic Specifications
5.4 Dimensions and P-Point Maximum Envelope
5-3
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5.4 Dimensions and P-Point Maximum Envelope
Fig. 5-3: Dimensions and P-Point Maximum Envelope
P-point maximumenvelope
P-point
5 0 5
7 6 0
2 0 0
150 795 100
3 0 8
8
1003
1 7 3 0
519
0
326
761
2085
0
1 4 2 9
1 0 2 4
6 9 4
2 7 7
4 0 6
1 2 0
R 4 0 6
8 0 7
495
96
139
R 1 7 3 0
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5 Basic Specifications
5.5 Stopping Angle and Time at the Emergency Stop
5-4
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5.5 Stopping Angle and Time at the Emergency Stop
Following data on stopping angle and time at the emergency stop are
measured under the standard of ISO10218.
5.5.1 Stop Category 0: Emergency Stop
5.5.1.1 Position 100%
Fig. 5-4: Category 0, Position 100% : Stopping Angle and Time for each
Axis at the Emergency Stop
(a)S-Axis
(b)L-Axis
(c)U-Axis
Stop position of S-axis category0 100%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g t i m
e [ s e c ]
Load100% Load66% Load33%
Stop position of S-axis category0 100%
0
5
10
15
20
25
30
35
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of L-axis category0 100%
0
5
10
15
20
25
30
35
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of L-axis category0 100%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Load100% Load66% Load33%
Stop position of U-axis category0 100%
0
5
10
15
20
25
30
35
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of U-axis category0 100%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Load100% Load66% Load33%
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5 Basic Specifications
5.5 Stopping Angle and Time at the Emergency Stop
5-5
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5.5.1.2 Position 66%
Fig. 5-5: Category 0, Position 66% : Stopping Angle and Time for each
Axis at the Emergency Stop
(a)S-Axis
(b)L-Axis
(c)U-Axis
Stop position of S-axis category0 66%
0
5
10
15
20
25
30
35
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of S-axis category0 66%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Load100% Load66% Load33%
Stop position of L-axis category0 66%
0
5
10
15
20
25
30
35
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of L-axis category0 66%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Load100% Load66% Load33%
Stop position of U-axis category0 66%
0
5
10
15
20
25
30
35
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g
a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of U-axis category0 66%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n
g t i m e [ s e c ]
Load100% Load66% Load33%
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5 Basic Specifications
5.5 Stopping Angle and Time at the Emergency Stop
5-6
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5.5.1.3 Position 33%
Fig. 5-6: Category 0, Position 33% : Stopping Angle and Time for each
Axis at the Emergency Stop
(a)S-Axis
(b)L-Axis
(c)U-Axis
Stop position of S-axis category0 33%
0
5
10
15
20
25
30
35
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of S-axis category0 33%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Load100% Load66% Load33%
Stop position of L-axis category0 33%
0
5
10
15
20
25
30
35
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of L-axis category0 33%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Load100% Load66% Load33%
Stop position of U-axis category0 33%
0
5
10
15
20
25
30
35
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a
n g l e [ d e g ]
Load100% Load66% Load33%
Stop position of U-axis category0 33%
0
0.1
0.2
0.3
0.4
0.5
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n
g t i m e [ s e c ]
Load100% Load66% Load33%
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5 Basic Specifications
5.5 Stopping Angle and Time at the Emergency Stop
5-7
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5.5.2 Stop Category 1: Emergency Stop
The stopping angle and time at the emergency stop in category 1 are not
subjected to the manipulator position and the load.
Stop of category1 doesn't depend on the robot position and the load.
Fig. 5-7: Category 1: Stopping Angle and Time for each Axis at the
Emergency Stop
(a)S-Axis
(b)L-Axis
(c)U-Axis
Stop position of S-axis category1
0
10
20
30
40
50
60
70
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Stop position of S-axis category1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0 50 100 150 200 250
Speed[deg/s]
S t o p p
i n g t i m e [ s e c ]
Stop position of L-axis category1
0
10
20
30
40
50
60
70
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Stop position of L-axis category1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0 50 100 150 200 250Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
Stop position of U-axis category1
0
10
20
30
40
50
60
70
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g a n g l e [ d e g ]
Stop position of U-axis category1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0 50 100 150 200 250
Speed[deg/s]
S t o p p i n g t i m e [ s e c ]
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5 Basic Specifications
5.6 Alterable Operating Range
5-8
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5.6 Alterable Operating Range
The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in table 5-2 “S-Axis Operating Range” .
If alteration is necessary, contact your Yaskawa representative in
advance.
Table 5-2: S-Axis Operating Range
Item Specifications
S-Axis Operating
Range
-180° - +180° (standard)
-150° - +150°
-120° - +120°
-90° - +90°
-60° - +60°
-30° - +30°
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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6-1
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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 24 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in table 6-1 “Allowable Wrist Load” . Contact your Yaskawa
representative for further information or assistance.
When the volume load is small, refer to the moment arm rating shown 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 Wrist Load
Axis Moment N•m (kgf •m)1)
1 ( ): Gravitational unit
GD2 /4 Total Moment of Inertia
kg•m2
R-Axis 50 (5.1) 2.1
B-Axis 50 (5.1) 2.1
T-Axis 30.4 (3.1) 1.1
L T
LB
100
R-, T-axis
rotation center
Load gravity position
B-axis rotation center
LB[mm]
L T [ m m ]
100 200 300 400 600
100
500
200
300
400
500
129154
193
309
428
W=24kg
W=20kg
W=16kg
W=10kg
W=6kg
213 255 319 458 592
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6 Allowable Load for Wrist Axis and Wrist Flange
6.2 Wrist Flange
6-2
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6.2 Wrist Flange
The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” .
It is recommended that the attachment be mounted outside the fitting in
order to identify the alignment marks. Fitting depth shall be 5 mm or less.
The attachment should be mounted inside the range shown in the figure
below.
Fig. 6-2: Wrist Flange
NOTE Wash off anti-corrosive paint (yellow) on the wrist flange
surface with thinner or light oil before mounting the tools.
4
5
5 6
4 dia. H7
(Depth: 6)
6 2 d i a . h 6
( D e p t h : 5 )
6 2
d i a .
h 6
Attachments should be
mounted within this
range.
Tapped holes M4 (8 holes)
(Pitch: 0.7)(Depth: 8)
D i a . 5
0
D i a . 1 0
0
D i a . 1 0 0
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7 System Application
7.1 Peripheral Equipment Mounts
7-1
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7 System Application
7.1 Peripheral Equipment Mounts
The peripheral equipment mounts are provided on the U-axis (upper arm)
and S-axis (rotary head) as shown in fig. 7-1 “Installing Peripheral
Equipment” for easier installation of the users’s system applications.
The following conditions shall be observed to attach or install peripheral
equipment.
7.1.1 Allowable Load
The maximum allowable load on the U-axis is 36 kg, including the wristload.For instance, when the mass installed on the wrist point is 24 kg, the masswhich can be installed on the upper arm is 12 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral
equipment on the S-axis so that the moment of inertia (GD
2
/4) from theS-axis rotation center is 1.25 kg•m2 or less.
7.1.2 Installation Position
There is a limitation on where to install the peripheral equipment as shownin fig. 7-1 “Installing Peripheral Equipment” on the following page.
Fig. 7-1: Installing Peripheral Equipment
B
A
Mount the peripheral
equipment so that the
center of gravity of
the peripheral equipment
on the U-arm should be
within this range
Tapped hole M10 (2 holes)(Depth: 18) (Pitch: 1.5)
Mount the peripheral
equipment within this range
Tapped hole M6 (2 holes)
(Depth: 12) (Pitch: 1.0)
Tapped hole M6 (4 holes)
(Depth: 14) (Pitch: 1.0)
Tapped hole M6 (2 holes)
(Depth: 12) (Pitch: 1.0)
Tapped hole M8 (4 holes)
(Depth: 16) (Pitch: 1.25)
View A
View B
Tapped hole M10 (2 holes)(Depth: 12) (Pitch: 1.5)
Tapped hole M6 (4 holes)
(Depth: 12) (Pitch: 1.0)
1 3 0
260
1 3
2 6
4515
1 0 0
1 3 0
168 70
630
300 60
50
45 92
3 0
2 2 9
1 5
4 8
1 5
6
28.5
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7 System Application
7.2 Internal User I/O Wiring Harness and Air Line
7-2
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7.2 Internal User I/O Wiring Harness and Air Line
Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires, 0.75 mm2 x2 wires and 1.25 mm2 x 4 wires), and an air line are incorporated in themanipulator for the drive of peripheral devices mounted on the upper armas shown in fig. 7-2 “Connectors for Internal User I/O Wiring Harness and
Air Line” .
The connector pins 1 to 16 are assigned as shown in fig. 7-3 “Details ofthe Connector Pin Numbers” on the following page. Wiring must beperformed by users.
The following optionals can be incorporated in the manipulator.
A. Cables for the primary power source for arc welding and an air line
B. An air line
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
The allowable current for internal user
I/O wiring harness
3 A or less for each wire
(The total current value for pins 1 to 16 must be 40 A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less
(The air line inside diameter: 8.0mm and 6.5 mm (With optional A and B))The allowable current for arc welding
power cable (With optional A)
Rated current of 500A or less and the rated operational ratio should be
60% or lower.
The allowable operational ratio when it is operated with less current
than the allowable current is calculated by the following formula.
Allowable operational ratio = 60% x (500A/operating current )2
View A
Connector for the internal user I/O
wiring harness: JL05-2A20-29PC (with a cap)
Prepare connector JL05-6A20-29
PT3/8with a pipe plug
PT3/8with a pipe plug
Connector for the internal user I/O wiring harness:
JL05-2A20-29SC (socket connector with a cap)
Prepare pin connector: JL05-6A20-29P
Air Inlet A Air Inlet B
PT3/8with a pipe plug
PT3/8with a pipe plug
Air Inlet BPT3/8with a pipe plug
With optional A
With optional B
With optional A and B
Standard specification
Power cable terminal block for arc welding
Power cable terminal block for arc welding
TS200CHM (with a cover)
Recomennded crimpted terminal: R100-10
Cover (TS200CHM) is packed.
A
Exhaust port: B
Exhaust port: A
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7 System Application
7.2 Internal User I/O Wiring Harness and Air Line
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Fig. 7-3: Details of the Connector Pin Numbers
The same pin-number connectors (1 to 16) at both connector base part
and arm part are connected with the single wire lead of 0.2 mm2, 0.75
mm2 or 1.25 mm2.
NOTE
• For the standard specification, the pins No.7 and No.8 of
3BC connector on the U-arm are respectively connected
with the shock sensor power supply and shock sensor sig-
nal input port of the DX200 controller.
• The pins No.7 and No.8 of respective 3BC connectors onthe connector base side and the U-arm side are not con-
nected with each other.
• For wiring, refer to fig. 8-3(a) “Internal Connection Dia-
gram”
Pins used
Internal user I/O wiring harness: 0.2 mm2, 8 wires : 0.75 mm2, 2 wires
: 1.25 mm2, 4 wires
Connector for Internal User I/O Wiring Harnesson the Connector Base
(+24V: for shock sensor)(Shock sensor signal input)
Connector for Internal User I/O Wiring Harnesson the U-arm
Internal user I/O wiring harness: 0.2 mm2, 8 wires : 0.75 mm2, 2 wires : 1.25 mm2, 4 wires
12
13(1.25mm2 )
11
14(1.25mm2 )
15(1.25mm2 )16(1.25mm2 )
14
15
13
16
10
12(0.75mm2 )11(0.75mm2 )
5
9
6
1
34
2
64
9
1
7
25
8
3
10
12
13(1.25mm2 )
11
14(1.25mm2 )15(1.25mm2 )16(1.25mm2 )
14
15
13
16
10
12(0.75mm2 )
5
9
6
1
34
2
64
9
1
7
25
8
3
10
87
8Open7Open
11(0.75mm2 )
Details of the Connector Pin Numbers
Details of the Connector Pin Numbers
Pins used
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8 Electrical Equipment Specification
8.1 Position of Limit Switch
8-1
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8 Electrical Equipment Specification
8.1 Position of Limit Switch
The limit switches are optional. See fig. 8-1 “Location of Limit Switches” “.
Fig. 8-1: Location of Limit Switches
LU-axis interference
limit switch (optional)
L-axis overrun
limit switch (optional)
S-axis overrun
limit switch (optional)
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8 Electrical Equipment Specification
8.2 Internal Connections
8-2
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8.2 Internal Connections
Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see fig. 8-2
“Locations and Numbers of Connectors” .
Diagrams for Internal connections of the manipulator are shown in
fig. 8-3(a) “Internal Connection Diagram” and fig. 8-3(b) “Internal
Connection Diagram” .
Fig. 8-2: Locations and Numbers of Connectors
3BC (for internal user I/O wiring harness)on the U-arm
3BC (for internal user I/O wiring harness)on the connector base
Table 8-1: List of Connector Types
Name Type of Connector
Connector for the internal user I/O wiring
harness on the connector base
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
Connector for the internal user I/O wiring
harness on the U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
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8 Electrical Equipment Specification
8.2 Internal Connections
8-3
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Fig. 8-3(a): Internal Connection Diagram
E
SLU-axes with Limit Switch Specif
LB1LA1
LB1
LC3LD3P
LA3LB3P
S-A
S-A
P
P
P
P
P
P
P
P
P
No.4CN
No.2CN
No.10CN
LD1LC1
LD2
LB2
LD2
LB2
LD1
LD1
LB1
LC1 LD1LD1
LB1LA1 LB1
P
LD1+24V
+24VCN2-10
CN4-6 LB1
P
P
P
P
P
P
P
LC2LD2P
LB2LA2
P
LB1
LA1
LD1
LC1
LC2LD2
LD1
LA2LB2
LB1
-21CN-1No.1CN
DATA+5DATA-5P
B-AXISPG
T-AXISPG
-4
-2-3
OBT+5V0VFG5
BATOBT
2CN-1
-2
-4
-2
-3
+5VOBT
0V
BAT
No.3CN3CN-1
4CN-1
DATA+6DATA-6
OBTBAT
FG6-3
P
P
P
P
BAT-3
0BAT3BAT3
0BAT2BAT2
P
P
P
P
P
P
DATA-1DATA+1
BAT
0V+5V
FG1
DATA+2DATA-2
+5VOBTBAT
0V
OBT
FG2
22CN-1No.22CN
-2-6
-4-9-7
23CN-1-2
-5-4
-6
-9
No.23CN
-5
-7
AL1
AL2
FG4
0VCN4-10CN4-10
-8-2
OBTBAT
FOR LAMP(OPTION)
+5V0V
0V+5V
CN3-10CN3-9
PCN3-10CN3-9
FG8
FG7
SPG-7SPG+7
CN4-9 CN4-9
CN3-4CN3-5P
CN3-4CN3-5
CN4-4CN4-5 P
CN4-4CN4-5
CN2-9
CN2-10
CN2-9
CN2-4CN2-5 P
CN2-4CN2-5
CN1-4CN1-5
CN1-2CN1-1
CN1-9CN1-10
CN1-3
CN1-8
CN1-7CN1-6
CN2-2CN2-1
CN2-3
CN2-7CN2-6
CN3-2CN3-1
CN2-8
CN3-3
CN3-7CN3-6
CN4-1
CN4-7
CN4-3
CN4-2
CN4-6
CN3-8
CN4-8
1BC(10X4)
DATA-1DATA+1
BAT
0V+5V
FG1
PG
DATA+2DATA-2
+5VOBTBAT
0V
L-AXIS
PG
S-AXIS
OBT
PG
U-AXIS
PG R-AXIS
No.16CN16CN-1
-6-2
-4-5
-10-9
9CN-1
10CN-1
-3-2
-2
-4
-3
No.13CN-1-7
DATA+5DATA-5
No.9CN
FG4
OBTBAT
BAT
+5V0V
OBT
DATA+4DATA-4
+5VOBT
FG30V
BATDATA-3DATA+3
P
-3-9
+5V0V
-4-10
-5-11
DATA+6DATA-6
+5V0V
-6 FG6
FG2
1718
21
1920
22
0BAT1BAT1
12
43
BAT110BAT12BAT12
0BAT11
24
272625
29
28
BAT40BAT4
3132
2
43
1PG5V1
PG5V2PG0V2
PG0V1
30
7
56
8
0BAT21
0BAT22BAT21
BAT22
12
4
65
3
23
18CN-1No.18CN
-2-6
-4-9-10
19CN-1-2
-5-4
-6
-9
No.19CN
-5
678
1011
9
12
PG5V3PG0V4PG5V4
PG5V5PG0V6
PG0V5
PG5V6
151413
16
8
13
42
5 PG0V37
R
R
P
P
K
K
RP
RP
K
K
CN1-5
1BC(10X4)
CN1-4P
CN1-10CN1-9
CN1-1CN1-2
P
P
CN1-3
CN1-6CN1-7
CN1-8
PSPG+2SPG-2
FG2
FG1
SPG-1SPG+1
+24V0V
+24V0V
0BTBAT0BTBAT
0BTBAT
BAT0BT
CN2-1CN2-2P
CN2-3
CN2-6CN2-7P
CN3-1CN3-2P
CN2-8
CN3-3FG5
CN3-6CN3-7P
CN4-1
FG6
CN4-2
CN4-3
CN4-7P
P
CN3-8
SS2
BC2
+24V
SPG-6SPG+6
SPG-5SPG+5
SPG+4SPG-4
FG3
SPG+3SPG-3
-10
E
CN4-8P
B1
A1
B3
A3
B2
A2
1.For the limit switch specification, the
Power Cable Internal Cable
Note
2. Section C applies only if the cable
Controller
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8 Electrical Equipment Specification
8.2 Internal Connections
8-4
Fig. 8-3(b): Internal Connection Diagram
2
EE E
ME1ME2ME2MU1MV1MW1
MV2
MU2MW2
MW2
MU3
MV2
MU2
MW3
MV4MU4
MV5MU5
MW4
MU6
MW6MV6
ME3
ME5ME4
MW5
BA1
BA2
BB1
BA3BA4BB4BA5BA6
ME6
MV3
E
PE
3
12
1
32
SS1SS2
SS1SS2
4 4
E
-5
-2
-4-3
15CN-1
14CN-1
SS2SS1
SS2SS17
8
SMMW3
BA3ME3
MU3MV3
SM
YB
SM
17CN-3-2
-4-PE-1
YB
4
23
1
E
E E
34
1
E E
2
E
-2-3-4 4
23
13BC-1
6
MU13CN-3
6
E
MW1ME1
BB1BA1
-1-PE
-5-4
MU2
MW2MV2
4CN1-A
-C-B
ME2
BB2BA2
-D
-2-1
MV1-2
-6
-8-9
-76
987
-11-12-13-14
11
1312
14
10-10
-16 1615-15
E
555-5
YBBB3-5
MV5MU5
-2
ME5MW5
MU6MV6
-3-4
-7-6
ME6-8MW6
BA5
BA6BB6
BB5
No.24CN
CN1-1
CN1-5CN1-4CN1-3
CN1-6
CN2-1CN2-2CN2-3CN2-4CN2-5CN2-6
CN3-1
CN3-2CN3-3CN3-4CN3-5
CN1-2
CN4-1CN4-2
CN3-6
CN4-3CN4-4CN4-5CN4-6
CN5-1CN5-2CN5-3
CN5-5CN5-6
CN5-4
CN6-2CN6-3CN6-4CN6-5CN6-6
CN6-1
P
P
P
Casing
No.14CN
S-AXIS
L-AXIS
No.17CN
P
P
Base3BC(20-29)
P
P
P
No.20CN
No.21CN
2BC(6X6)
No.15CN
CN1-1CN1-2
CN1-4CN1-5CN1-6
CN2-1CN2-2CN2-3CN2-4CN2-5CN2-6
CN3-1
CN3-2CN3-3CN3-4CN3-5CN3-6
CN1-3
CN4-2CN4-1
CN4-3CN4-4CN4-5CN4-6
CN5-1CN5-2CN5-3CN5-4CN5-5CN5-6
CN6-1CN6-2CN6-3CN6-4CN6-5CN6-6
2BC(6X6)
C
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9 Maintenance and Inspection
9.1 Inspection Schedule
9-1
HW1482751
HW1482751
9 Maintenance and Inspection
9.1 Inspection Schedule
Proper inspections are essential not only to assure that the mechanismwill be able to function for a long period, but also to prevent malfunctionsand assure safe operation. Inspection intervals are classified into sixlevels as shown in table 9-1 “Inspection Items” .
In table 9-1, the inspection items are categorized by three types ofoperations: operations which can be performed by personnel authorized
by the user, operations to be performed by trained personnel, andoperations to be performed by service company personnel. Only specifiedpersonnel shall perform the inspection work.
DANGER
• Maintenance and inspection must be performed by specifiedpersonnel.
Failure to observe this 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 orserious 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 NOT TURN THEPOWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• The battery pack must be connected before removing detectionconnector when maintenance and inspection.
Failure to observe this caution may result in the loss of home positiondata.
NOTE
• The inspection interval depends on the total servo opera-
tion time.
• The following inspection schedule is based on the case
where the manipulator is used for arc welding applica-
tion. If the manipulator is used for other application or if it
is used under special conditions, a case-by-case exami-
nation is required.
The inspection may be conducted at shorter intervals if the
manipulator is used very frequently for the application
such as handling; in this case, contact your Yaskawa rep-
resentative.
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9 Maintenance and Inspection
9.1 Inspection Schedule
9-2
HW1482751
HW1482751
T a b l e 9 - 1 : I n s p e c t i o n I t e m s ( S h e e t 1 o f 2 )
I t e m s 1 )
S c h e d u l e
M e t h o d
O p e r a t i o
n
I n s p e c t
i o n
C h a r g e
D a i l y
1 0 0 0 H C y c l e
6 0 0 0 H C y c l e
1 2 0 0 0 H C y c l e
2 4 0 0 0 H
3 6 0 0 0 H
S p e c i f i e d
P e r s o n n e l
L i c e n s e e
S e r v i c e
C o m p a n y
1
A l i g n m e n t m a r k
•
V i s u a l
C h e c k a l i g n m e n t m a r k a c c o r d a n c e a n d d a m a g
e a t t h e h o m e p o s i t i o n .
• •
•
2
E x t e r n a l l e a d
•
V i s u a l
C h e c k f o r d a m a g e a n d d e t e r i o r a t i o n o f l e a d s .
• •
•
3
W o r k i n g a r e a a n d
m a n i p
u l a t o r
•
V i s u a l
C l e a n t h e
w o r k a r e a i f d u s t o r s p a t t e r i s p r e s e n
t . C h e c k f o r d a m a g e a n d
o u t s i d e c r a c k s .
• •
•
4
M o t o r s f o r S - , L - , U - a x e s
•
V i s u a l
C h e c k f o r g r e a s e l e a k a g e . 2
)
• •
•
5
B a s e p l a t e m o u n t i n g b o l t s
•
S p a n n e r
W r e n c h
T i g h t e n l o
o s e b o l t s . R e p l a c e i f n e c e s s a r y .
• •
•
6
C o v e r m o u n t i n g s c r e w s
•
S c r e w d r i v e r ,
W r e n c h
T i g h t e n l o
o s e b o l t s . R e p l a c e i f n e c e s s a r y .
• •
•
7
C o n n e c t o r b a s e
•
M a n u a l
C h e c k f o r l o o s e c o n n e c t o r s .
• •
•
8
T i m i n g b e l t s f o r B - a n d
T - a x e
s
•
M a n u a l
C h e c k f o r b e l t t e n s i o n a n d w e a r .
•
•
9
W i r e h a r n e s s i n m a n i p u l a t o r
( S L U - a x e s w i r e s )
( R B T - a x e s w i r e s )
•
V i s u a l ,
M u l t i m e t e r
C h e c k f o r c o n d u c t i o n b e t w e e n t h e m a i n c o n n e c t o r o f b a s e a n d
i n t e r m e d i a t e c o n n e c t o r w i t h m a n u a l l y s h a k i n g t
h e w i r e s . C h e c k f o r w e a r o f
p r o t e c t i v e
s p r i n g . 3
)
•
•
•
R e p l a c e 4
)
•
1 0
W i r e h a r n e s s i n m a n i p u l a t o r
( B T - a
x i s w i r e s )
•
V i s u a l ,
M u l t i m e t e r
C h e c k f o r c o n d u c t i o n b e t w e e n t e r m i n a l s a n d w
e a r o f p r o t e c t i v e s p r i n g . 3
)
•
•
•
R e p l a c e 4
)
•
1 1
P r o t e c t i v e t u b i n g
( v e l c r
o t y p e )
•
V i s u a l
C h e c k f o r h o l e s o r t e a r s , a n d a d h e s i o n o f s p a t t e r s . R e p l a c e i t i f a n y .
• •
•
•
R e p l a c e
• •
•
1 2
B a t t e r y p a c k i n m a n i p u l a t o r
•
R e p l a c e t h e b a t t e r y p a c k w h e n t h e b a t t e r y a l a r m o c c u r s o r t h e m a n i p u l a t o r
d r o v e f o r
3 6 0 0 0 H .
•
•
1 3
S - a x i s s p e e d r e d u c e r
•
•
G r e a s e G u n
C h e c k f o r m a l f u n c t i o n . ( R e p l a c e i f n e c e s s a r y . )
S u p p l y g r e a s e 5 ) ( 6 0 0 0 H c y c l e ) . S e e c h a p t e r 9 . 3 . 2
.
R e p l a c e g r e a s e ( 1 2 0 0 0 H c y c l e ) . S e e c h a p t e r 9 . 3 . 2
.
•
•
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9 Maintenance and Inspection
9.1 Inspection Schedule
9-3
HW1482751
HW1482751
1 4
S p e e d r e d u c e r s f o r L - a n d
U - a x e
s
•
•
G r e a s e G u n
C h e c k f o r m a l f u n c t i o n . ( R e p l a c e i f n e c e s s a r y . )
S u p p l y g r e a s e 5 ) ( 6 0 0 0 H c y c l e ) .
S e e c h a p
t e r 9 . 3 . 3
a n d c h a p t e r 9 . 3 . 4
.
R e p l a c e g r e a s e 5 ) ( 1 2 0 0 0 H c y c l e ) .
S e e c h a p
t e r 9 . 3 . 3
a n d c h a p t e r 9 . 3 . 4
.
•
•
1 5
R - a x i s s p e e d r e d u c e r
•
G r e a s e G u n
C h e c k f o r m a l f u n c t i o n . ( R e p l a c e i f n e c e s s a r y . )
S u p p l y g r e a s e 5 ) ( 6 0 0 0 H c y c l e ) . S e e c h a p t e r 9 . 3 . 5
.
•
•
1 6
B - a x i s s p e e d r e d u c e r
•
G r e a s e G u n
C h e c k f o r m a l f u n c t i o n . ( R e p l a c e i f n e c e s s a r y . )
S u p p l y g r e a s e 5 ) ( 6 0 0 0 H c y c l e ) . S e e c h a p t e r 9 . 3 . 6
.
•
•
1 7
T - a x i s
g e a r
•
G r e a s e G u n
C h e c k f o r m a l f u n c t i o n . ( R e p l a c e i f n e c e s s a r y . )
S u p p l y g r e a s e 5 ) ( 6 0 0 0 H c y c l e ) . S e e c h a p t e r 9
. 3 . 7
•
•
1 8
R - a x i s g e a r
•
G r e a s e G u n
C h e c k f o r m a l f u n c t i o n . ( R e p l a c e i f n e c e s s a r y . )
S u p p l y g r e a s e 5 ) ( 6 0 0 0 H c y c l e ) . S e e c h a p t e r 9
. 3 . 8
•
•
1 9
O v e r h
a u l
•
•
1
I n s p e c t i o n N o . c o r r e s p o n d t o t h e n u m b e r s i n
f i g . 9 - 1 “ I n s p e c t i o n I t e m s ” .
2
T h e o c c u r r e n c e o f a g r e a s e l e a k a g e i n d i c a t
e s t h e p o s s i b i l i t y t h a t g r e a s e h a s s e
e p e d i n t o t h e m o t o r . T h i s c a n c a u s e
a m o t o r b r e a k d o w n . C o n t a c t y o u r Y
a s k a w a
r e p r e s e
n t a t i v e .
3
W h e n c
h e c k i n g f o r c o n d u c t i o n w i t h m u l t i m e t e
r , c o n n e c t t h e b a t t e r y t o “ B A T ” a n d “ O
B T ” o f c o n n e c t o r s o n t h e m o t o r s i d e f o r e a c h a x i s , a n d t h e n r e m o v e c o n n e
c t o r s o n
d e t e c t o r s i d e f o r e a c h a x i s f r o m t h e m o t o r . O t h e r w i s e , t h e h o m e p o s i t i o n m a y b e l o
s t . ( R e f e r t o c h a p t e r 9 . 4 “ N o t e s f o r M
a i n t e n a n c e ” )
4
W i r e h a
r n e s s i n m a n i p u l a t o r t o b e r e p l a c e d a t 2 4 0 0 0 H i n s p e c t i o n .
5
F o r t h e
g r e a s e , r e f e r t o t a b l e 9 - 2 “ I n s p e c t i o n
P a r t s a n d G r e a s e U s e d ” .
T a b l e 9 - 2 : I n s p e c t i o n P a r t s a n d G r e a s e U s e
d
N o .
G r e a s e U s e d
I n s p e c t e d P a r t s
1 2 , 1 3
M o l y w h i t e R E N o . 0 0
S p e e d r e d u c e r s f o r S - , L - a n d U - a x e s
1 4 , 1 5
H a r m o n i c G r e a s e S K - 1 A
S p e e d r e d u c e r s f o r R - a n d B - a x e s , R
- a x i s g