MH24 Manipulator取説

8/18/2019 MH24 Manipulator

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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


result in death or serious injury to

personnel.

CAUTIONIndicates a potentially hazardous


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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1.1 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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1.2 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


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.


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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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


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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

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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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5.2 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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5.4 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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5.5 Stopping Angle and Time at the Emergency Stop

5-4

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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%


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 ]


Stop position of L-axis category0 100%

0

5

10

15

20

25

30

35

0 50 100 150 200 250Speed[deg/s]




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 ]


Stop position of U-axis category0 100%

0

5

10

15

20

25

30

35

0 50 100 150 200 250

Speed[deg/s]




0

0.1

0.2

0.3

0.4

0.5

0 50 100 150 200 250Speed[deg/s]



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5-5

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5.5.1.2 Position 66%



(a)S-Axis

(b)L-Axis

(c)U-Axis


0

5

10

15

20

25

30

35

0 50 100 150 200 250

Speed[deg/s]




0

0.1

0.2

0.3

0.4

0.5

0 50 100 150 200 250

Speed[deg/s]




0

5

10

15

20

25

30

35

0 50 100 150 200 250Speed[deg/s]




0

0.1

0.2

0.3

0.4

0.5

0 50 100 150 200 250

Speed[deg/s]




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 ]



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 ]


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5-6

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5.5.1.3 Position 33%



(a)S-Axis

(b)L-Axis

(c)U-Axis


0

5

10

15

20

25

30

35

0 50 100 150 200 250

Speed[deg/s]




0

0.1

0.2

0.3

0.4

0.5

0 50 100 150 200 250Speed[deg/s]




0

5

10

15

20

25

30

35

0 50 100 150 200 250Speed[deg/s]




0

0.1

0.2

0.3

0.4

0.5

0 50 100 150 200 250Speed[deg/s]




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 ]



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 ]


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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]


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]


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]


Stop position of U-axis category1

0

10

20

30

40

50

60

70

0 50 100 150 200 250

Speed[deg/s]


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]


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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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6.1 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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6.2 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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7.1 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)







View A

View B

Tapped hole M10 (2 holes)(Depth: 12) (Pitch: 1.5)



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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7.2 Internal User I/O Wiring Harness and Air Line

7-2

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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


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



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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7-3

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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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8.1 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


S-axis overrun


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8.2 Internal Connections

8-2

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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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8-3

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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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8-4

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


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


CN3-1

CN3-2CN3-3CN3-4CN3-5CN3-6

CN1-3

CN4-2CN4-1




2BC(6X6)

C


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9 Maintenance and Inspection

9.1 Inspection Schedule

9-1

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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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9-2

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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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9-3

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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


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



.

•

•

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



.

•

•

1 7

T - a x i s

g e a r

•

G r e a s e G u n


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


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

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