HP20 Manipulator Manual - Motoman

Motoman NX100 Controller
HP20
Manipulator Manual
Part Number:
Revision:
149615-1CD
1
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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http://www.motoman.com/forms/techpubs.asp
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
В©2007 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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The Motoman HP20 and NX100 controller represent state-of-the-art technology in robotics
today. The Motoman HP20 is a high speed robot with a 20 kg payload. It has six individual
axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist. The NX100 controller
coodinates the operation of the HP20 robot with external equipment such as power supply
and positioning tables. The NX100 processes input and output signals, maintains variable
data, and performs numeric processing to convert to and from different coordinate systems.
Furthermore, it provides main logic functions, servo control, program and constant data
memory, and power distribution. Please read this manual thoroughly to familiarize yourself
with the many aspects of the HP20 robot and NX100 controller.:
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This manual provides system information for the HP20 robot and NX100 controller and
contains the following sections:
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Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
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This section provides information regarding the safe use and operation of Motoman products.
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Provides detailed information about the HP20, including installation, wiring, specifications,
and maintenance..
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For additional information refer to the following:
вЂў
NX100 Controller Manual (P/N 149201-1)
вЂў
Concurrent I/O Manual (P/N 149230-1)
вЂў
OperatorвЂ™s Manual for your application
вЂў
Vendor manuals for system components not manufactured by Motoman
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If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200.
Please have the following information ready before you call:
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Product Type (HP20)
вЂў
Robot Serial Number (located on back side of robot arm)
вЂў
Robot Sales Order Number (located on back of controller)
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We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for
Industrial Robots and Robot Systems. This information can be obtained from the Robotic
Industries Association by requesting ANSI/RIA R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for providing
personnel who are adequately trained to operate, program, and maintain the robot cell. The
robot must not be operated by personnel who have not been trained!
We recommend that all personnel who intend to operate, program, repair, or use the robot
system be trained in an approved Motoman training course and become familiar with the
proper operation of the system.
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This safety section addresses the following:
вЂў
Standard Conventions (Section 2.2)
вЂў
General Safeguarding Tips (Section 2.3)
вЂў
Mechanical Safety Devices (Section 2.4)
вЂў
Installation Safety (Section 2.5)
вЂў
Programming Safety (Section 2.6)
вЂў
Operation Safety (Section 2.7)
вЂў
Maintenance Safety (Section 2.8)
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This manual includes information essential to the safety of personnel and equipment. As you
read through this manual, be alert to the four signal words:
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NOTE:
Pay particular attention to the information provided under these headings which are defined
below (in descending order of severity).
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Note: Information appearing in a Note caption provides additional information which is helpful in
understanding the item being explained.
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All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the operation of
this equipment. All personnel involved with the operation of the equipment must
understand potential dangers of operation. General safeguarding tips are as follows:
вЂў
Improper operation can result in personal injury and/or damage to the equipment.
Only trained personnel familiar with the operation of this robot, the operator's
manuals, the system equipment, and options and accessories should be permitted to
operate this robot system.
вЂў
Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the robot cell.
вЂў
Improper connections can damage the robot. All connections must be made within
the standard voltage and current ratings of the robot I/O (Inputs and Outputs).
вЂў
The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
вЂў
In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use lockout/tagout
procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR,
Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).
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The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the
user's responsibility. The conditions under which the equipment will be operated safely
should be reviewed by the user. The user must be aware of the various national codes,
ANSI/RIA R15.06 safety standards, and other local codes that may pertain to the installation
and use of industrial equipment. Additional safety measures for personnel and equipment
may be required depending on system installation, operation, and/or location. The following
safety measures are available:
вЂў
Safety fences and barriers
вЂў
Light curtains
вЂў
Door interlocks
вЂў
Safety mats
вЂў
Floor markings
вЂў
Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.
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Safe installation is essential for protection of people and equipment. The following
suggestions are intended to supplement, but not replace, existing federal, local, and state laws
and regulations. Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. Installation tips are as follows:
вЂў
Be sure that only qualified personnel familiar with national codes, local codes, and
ANSI/RIA R15.06 safety standards are permitted to install the equipment.
вЂў
Identify the work envelope of each robot with floor markings, signs, and barriers.
вЂў
Position all controllers outside the robot work envelope.
вЂў
Whenever possible, install safety fences to protect against unauthorized entry into
the work envelope.
вЂў
Eliminate areas where personnel might get trapped between a moving robot and
other equipment (pinch points).
вЂў
Provide sufficient room inside the workcell to permit safe teaching and maintenance
procedures.
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All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the operation of
this equipment. All personnel involved with the operation of the equipment must
understand potential dangers of operation. Programming tips are as follows:
Any modifications to PART 1 of the NX100 controller PLC can cause severe personal injury or
death, as well as damage to the robot! Do not make any modifications to PART 1. Making any
changes without the written permission of Motoman will VOID YOUR WARRANTY!
Some operations require standard passwords and some require special passwords. Special
passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these
special passwords.
Back up all programs and jobs onto a floppy disk whenever program changes are made. To
avoid loss of information, programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to options, accessories, or
equipment.
The concurrent I/O (Input and Output) function allows the customer to modify the internal
ladder inputs and outputs for maximum robot performance. Great care must be taken when
making these modifications. Double-check all modifications under every mode of robot
operation to ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
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Improper operation can result in personal injury and/or damage to the equipment.
Only trained personnel familiar with the operation, manuals, electrical design, and
equipment interconnections of this robot should be permitted to operate the system.
вЂў
Inspect the robot and work envelope to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
вЂў
Be sure that all safeguards are in place.
вЂў
Check the E-STOP button on the teach pendant for proper operation before
programming.
вЂў
Carry the teach pendant with you when you enter the workcell.
вЂў
Be sure that only the person holding the teach pendant enters the workcell.
вЂў
Test any new or modified program at low speed for at least one full cycle.
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All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the operation of
this equipment. All personnel involved with the operation of the equipment must
understand potential dangers of operation. Operation tips are as follows:
вЂў
Be sure that only trained personnel familiar with the operation of this robot, the
operator's manuals, the system equipment, and options and accessories are
permitted to operate this robot system.
вЂў
Check all safety equipment for proper operation. Repair or replace any
non-functioning safety equipment immediately.
вЂў
Inspect the robot and work envelope to ensure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
вЂў
Ensure that all safeguards are in place.
вЂў
Improper operation can result in personal injury and/or damage to the equipment.
Only trained personnel familiar with the operation, manuals, electrical design, and
equipment interconnections of this robot should be permitted to operate the system.
вЂў
Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
вЂў
The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
вЂў
This equipment has multiple sources of electrical supply. Electrical interconnections
are made between the controller, external servo box, and other equipment.
Disconnect and lockout/tagout all electrical circuits before making any modifications
or connections.
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All modifications made to the controller will change the way the robot operates and
can cause severe personal injury or death, as well as damage the robot. This includes
controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
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All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the operation of
this equipment. All personnel involved with the operation of the equipment must
understand potential dangers of operation. Maintenance tips are as follows:
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вЂў
Do not perform any maintenance procedures before reading and understanding the
proper procedures in the appropriate manual.
вЂў
Check all safety equipment for proper operation. Repair or replace any
non-functioning safety equipment immediately.
вЂў
Improper operation can result in personal injury and/or damage to the equipment.
Only trained personnel familiar with the operation, manuals, electrical design, and
equipment interconnections of this robot should be permitted to operate the system.
вЂў
Back up all your programs and jobs onto a floppy disk whenever program changes
are made. A backup must always be made before any servicing or changes are made
to options, accessories, or equipment to avoid loss of information, programs, or jobs.
вЂў
Do not enter the robot cell while it is in automatic operation. Programmers must
have the teach pendant when they enter the cell.
вЂў
The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in
use.
вЂў
Be sure all safeguards are in place.
вЂў
Use proper replacement parts.
вЂў
This equipment has multiple sources of electrical supply. Electrical interconnections
are made between the controller, external servo box, and other equipment.
Disconnect and lockout/tagout all electrical circuits before making any modifications
or connections.
вЂў
All modifications made to the controller will change the way the robot operates and
can cause severe personal injury or death, as well as damage the robot. This includes
controller parameters, ladder parts 1 and 2, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.
вЂў
Improper connections can damage the robot. All connections must be made within
the standard voltage and current ratings of the robot I/O (Inputs and Outputs).
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YASKAWA
MOTOMAN-HP20
INSTRUCTIONS
TYPE: YR-HP20-A00 (STANDARD SPECIFICATIONS)
YR-HP20-A01 (WITH SLU-AXES LIMIT SWITCHES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HP20 INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATORвЂ™S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operatorвЂ™s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANUAL NO. RE-MTO-A247
MANDATORY
вЂў This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-HP20.
вЂў General items related to safety are listed in the Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
CAUTION
вЂў 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.
вЂў The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
вЂў 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.
вЂў 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.
вЂў YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your productвЂ™s warranty.
ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as вЂњWARNING,вЂќ вЂњCAUTION,вЂќ
вЂњMANDATORY,вЂќ or вЂњPROHIBITED.вЂќ
WARNING
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not
avoided, could result in minor or moderate injury to personnel
and damage to equipment. It may also be used to alert
against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as вЂњCAUTIONвЂќ may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as вЂњCAUTIONвЂќ and вЂњWARNING.вЂќ
iii
WARNING
вЂў Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
вЂў Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
вЂў Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
вЂў Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- 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 the manipulator during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop buttons are located on the right of the front door of the NX100 and
the programming pendant.
iv
CAUTION
вЂў Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately,
and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
вЂў Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of manipulator, on the floor, or near fixtures.
вЂў Read and understand the Explanation of the Warning Labels in the
NX100 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
NX100 Controller
NX100
NX100 Programming Pendant
Programming Pendant
Cable between the Manipulator and the Controller
Manipulator Cable
v
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 the body of the manipulator. Prior to operating the manipulator, confirm the contents.
WarningВ labelВ B
WarningВ labelВ A
WarningВ labelВ B
WARNING
MovingВ parts
mayВ cause
injury
WARNING
DoВ notВ enter
robotВ workВ area.
Nameplate
Nameplate
WarningВ LabelВ A:
WARNING
MOTOMAN
TYPE
PAYLOAD
ORDERВ NO.
kg
MASS
MovingВ parts
mayВ cause
injury
kg
DATE
SERIALВ NO.
YASKAWAВ ELECTRICВ CORPORAIONВ JAPAN
WarningВ LabelВ B:
WARNING
DoВ notВ enter
robotВ workВ area.
vi
1
Product Confirmation
1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . .1-2
2
Transporting
2.1 Transporting Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . .2-4
3
Installation
3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . .3-2
3.2.1 Installation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.3 Installation Method
3.3.1
3.3.2
3.3.3
3.3.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
S-axis Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
Fixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-4
IP (International Protection) for Main Part of the Manipulator . .3-5
3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
4
Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5
Basic Specifications
5.1
5.2
5.3
5.4
5.5
Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . .5-2
Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . .5-3
Dimensions and P-point Maximum Envelope. . . . . . . .5-4
Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . .5-5
vii
6
Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7
System Application
7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Line
8
. . . . . . 7-2
Electrical Equipment Specification
8.1 Position of Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
9
Maintenance and Inspection
9.1 Inspection Schedule
(Manipulator in the Home Position: Refer to вЂњFig.21.вЂќ) . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-5
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.2.2 Grease Replenishment/Exchange for S-axis Speed Reducer . 9-7
В„ Grease Replenishment (Refer to "Fig. 24 S-axis
Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
В„ Grease Exchange
(Refer to "Fig. 24 S-axis Speed Reducer Diagram".) . . . . . 9-8
9.2.3 Grease Replenishment/Exchange for L-axis Speed Reducer . 9-9
В„ Grease Replenishment
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . . 9-9
В„ Grease Exchange
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . 9-10
9.2.4 Grease Replenishment/Exchange for U-axis Speed Reducer 9-11
В„ Grease Replenishment
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-11
В„ Grease Exchange
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-12
9.2.5 Grease Replenishment for R-axis Speed Reducer. . . . . . . . . 9-13
9.2.6 Grease Replenishment for B-, T-axes Speed
Reducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.2.7 Grease Replenishment for T-axis Gear . . . . . . . . . . . . . . . . . 9-15
9.2.8 Grease Replenishment for R-axis Cross Roller Bearing. . . . . 9-16
9.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
viii
В„ Wrist Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17
9.2.10 Encoder Connector (with CAUTION Label) . . . . . . . . . . . . .9-17
В„ Battery Pack Connection (for S-, L-, U-axes Motors) . . . . .9-17
В„ Battery Pack Connection (for R-, B-, T-axes Motors) . . . . .9-19
10
Recommended Spare Parts
11
Parts List
11.1
11.2
11.3
11.4
11.5
S-axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1
L-axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
U-axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5
R-axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7
Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
ix
1.1 Contents Confirmation
1 Product Confirmation
CAUTION
вЂў Confirm that the manipulator and the NX100 have the same order number. Special care must be taken when more than one manipulator is to
be installed.
If the numbers do not match, manipulators may not perform as expected and cause injury
or damage.
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 is given separately):
вЂў Manipulator
вЂў NX100
вЂў Programming pendant
вЂў Manipulator cable
1-1
1.2 Order Number Confirmation
1.2
Order Number Confirmation
Check that the order number of the manipulator corresponds to the NX100. The order number is located on a label as shown below.
LabelВ (EnlargedВ View)
THEВ MANIPULATORВ ANDВ THEВ CONTROLLER
SHOULDВ HAVEВ SAMEВ ORDERВ NUMBER.
CheckВ thatВ theВ manipulatorВ andВ theВ NX100В haveВ theВ sameВ orderВ number.
ORDERВ NO.
NX100
******
ERCR-
TYPE
POWERВ SUPPLY
200V
220V
50Hz
50/60Hz
3PHASE
kVA
SERIALВ No.
DATE
MADEВ INВ JAPAN
NJ2484-1
THEВ MANIPULATORВ ANDВ THEВ CONTROLLER
SHOULDВ HAVEВ SAMEВ ORDERВ NUMBER.
ORDERВ NO.
NJ1529
WARNING
DoВ notВ openВ theВ door
ET
RES
OFF
TR
IPP
ED
ON
(b)В ManipulatorВ (TopВ View)
(a)В NX100В (FrontВ View)
Fig. 1 Location of Order Number Labels
1-2
2.1 Transporting Method
2 Transporting
CAUTION
вЂў Sling and crane or forklift operations must be performed by authorized
personnel only.
Failure to observe this caution may result in injury or damage.
вЂў Avoid excessive vibration or shock during transportation.
The system consists of precision components, so failure to observe this caution may
adversely affect performance.
2.1
2.1.1
Transporting Method
Using a Crane
As a rule, when removing the manipulator from the package and moving it, a crane should be
used. The manipulator should be lifted using wire rope threaded through attached eyebolts.
Be sure the manipulator is fixed with shipping bolts and brackets before transportation, and lift
it in the posture as shown in "Fig. 2 Transporting Position".
вЂў Check that the eyebolts are securely fastened.
NOTE вЂў The mass of the manipulator is approximately 280 kg including the shipping bolts and
brackets. Use a wire rope strong enough to withstand the mass.
вЂў Attached eyebolts are designed to support the manipulator mass. Do not use them for
anything other than transporting the manipulator.
вЂў Be sure to mount the shipping bolts and brackets before transporting the manipulator.
(Refer to "Fig. 2 Transporting Position.")
вЂў Avoid external force on the arm or motor unit when transporting the manipulator. Use
caution when using transporting equipment other than a crane or forklift to avoid injury.
2-1
2.1 Transporting Method
EyeboltВ M12В (2В eyebolts)
(DeliveredВ withВ theВ manipulator)
A
B
EyeboltВ M12В (2В eyebolts)
(DeliveredВ withВ theВ manipulator)
ViewВ E
D
E
C
F
ViewВ F
Fig. 2 Transporting Position
2-2
2.1 Transporting Method
2.1.2
Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and
brackets as shown in "Fig. 3 Using the Forklift." Insert claws under the pallet and lift it. The
pallet must be strong enough to support the manipulator. Transportation of the manipulator
must be performed slowly in order to avoid overturning or slippage.
BoltsВ M16В (4В bolts)
Pallet
ForkliftВ clawВ entry
Fig. 3 Using the Forklift
2-3
2.2 Shipping Bolts and Brackets
2.2
Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and brackets at sections A and B. ("Fig. 2
Transporting Position")
EyeboltsВ M12В (2В eyebolts)
(deliveredВ withВ theВ manipulator)
A
C
EnlargedВ View:В SectionВ A
EnlargedВ View:В SectionВ C
PartsВ DrawingВ forВ SectionВ A
B
D
EnlargedВ View:В SectionsВ BВ andВ D
PartsВ DrawingВ forВ SectionВ B
вЂў The brackets in the sections A and B are painted yellow.
вЂў The section A is fixed with a hexagon socket head cap screw M8, and the section B is
fixed with two hexagon socket head cap screws M6.
вЂў A rubber cushion is respectively wedged at the sections C and D.
Before turning ON the power, check to be sure that the shipping bolts, brackets, and rubber
NOTE cushions have been removed. The shipping bolts, brackets, and rubber cushions then
must be stored for future use, in the event that the manipulator must be moved again.
2-4
3 Installation
WARNING
вЂў Install the safeguarding.
Failure to observe this warning may result in injury or damage.
вЂў Install the manipulator in a location where the manipulatorвЂ™s tool or the
workpiece held by the manipulator will not reach the wall, safeguarding,
or NX100 when the arm is fully extended.
Failure to observe this warning may result in injury or damage.
вЂў 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.
вЂў When mounting the manipulator on the ceiling or wall, the base section
must have sufficient strength and rigidity to support the mass of the
manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling.
Failure to observe these warning may result in injury or damage.
CAUTION
вЂў Do not install or operate the manipulator that is damaged or lacks parts.
Failure to observe this caution may cause injury or damage.
вЂў Before turning ON the power, check to be sure that the shipping bolts
and brackets explained in " 2.2 Shipping Bolts and Brackets " are
removed.
Failure to observe this caution may result in damage to the driving parts.
3-1
3.1 Installation of Safeguarding
3.1
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that the safeguarding is 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 base or foundation strong enough to support
the manipulator and withstand repulsion forces during acceleration and deceleration.
Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop" and
" Table. 2 Endurance Torque in Operation " to construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator.
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 described in " 3.2.1 Installation Example ".
Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop
Horizontal rotating maximum torque
(S-axis moving direction)
8000 NВ‚m
(815 kgfВ‚m)
Vertical rotating maximum torque
(LU-axes moving direction)
5000 NВ‚m
(510 kgfВ‚m)
Table. 2 Endurance Torque in Operation
Endurance torque in horizontal operation
(S-axis moving direction)
1700 NВ‚m
(171 kgfВ‚m)
Endurance torque in vertical operation
(LU-axes moving direction)
3775 NВ‚m
(385 kgfВ‚m)
3-2
3.2 Mounting Procedures for Manipulator Base
3.2.1
Installation Example
For the first process, anchor the baseplate firmly on the floor. The baseplate should have
enough rigidity, which is 32 mm or more in thickness. The size of the anchor bolt recommended for the baseplate fixation is M16 or larger.
Next, fix the manipulator base to the baseplate. There are 4 mounting holes on the manipulator base: securely fix the manipulator to the baseplate using 4 hexagon head screws M16 (60
mm long is recommended). Tighten the hexagon head screws and anchor bolts firmly so that
they will not be loosened during the operation. See "Fig. 4 Manipulator Installation Example"
for the method.
В BoltВ M16В (4В bolts)
SpringВ washer
Washer
ManipulatorВ base
25
Baseplate
40В mmВ orВ more
ManipulatorВ base
AnchorВ boltВ (M16В orВ larger)
Baseplate
375
335
18В dia.В holesВ (4В holes)
200 В±0.1
313
Baseplate
+0.018
12В В В В В В В В dia.В holesВ (2В holes)
0
375
335
170 В±0.1
60
250
200 В±0.1
60
260 В±0.1
ManipulatorВ Base
Fig. 4 Manipulator Installation Example
3-3
3.3 Installation Method
3.3
Installation Method
The manipulator can be mounted in three different ways: floor-mounted (standard), wallmounted, and ceiling-mounted types are available. For wall- and ceiling-mounted types, the
three points listed below are different from the floor-mounted types.
вЂў S-axis Operating Range
вЂў Fixing the Manipulator Base
вЂў Precautions to Prevent the Manipulator from Falling
вЂў IP (International Protection) for Main Part of the Manipulator
3.3.1
S-axis Operating Range
For the wall-mounted type, the S-Axis operating range must be В±30В°. (Adjusted prior to the
shipment.)
3.3.2
Fixing the Manipulator Base
For the wall- or ceiling-mounted types, be sure to use 4 hexagon socket head cap screws M16
(tensile strength: 1200 N/mm2 or more) to fix the manipulator base. Use a torque of 206 Nxm
in 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. 5 When Using Ceiling and Wall-mounted
Types" for details.
PreventiveВ supportВ fromВ falling
ManipulatorВ base
HexagonВ socketВ headВ capВ screwsВ M16В (4В screws)
(TensileВ strength:В 1200N/mm2)
Fig. 5 When Using Ceiling and Wall-mounted Types
3-4
3.4 Location
3.3.4
IP (International Protection) for Main Part of the
Manipulator
For wall-mounted or ceiling mounted types, environmental resistance for main part of the
manipulator does not conform to IP54; environmental resistance for IP65 is optionally available. However, the wrist part conforms to IP67.
NOTE
3.4
In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when placing
an order. Be sure to contact Yaskawa representative (listed on the back cover of this
instruction manual) to execute a wall/ceiling installation on site.
Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental
conditions:
вЂў 0В° to +45В°C (ambient temperature)
вЂў 20 to 80%RH (no moisture, at constant temperature)
вЂў Free from dust, soot, or water
вЂў Free from corrosive gases or liquid, or explosive gases
вЂў Free from excessive impact or vibration (vibration acceleration: 4.9 m/s2 [0.5 G] or less)
вЂў Free from large electrical noise (plasma)
вЂў The flatness for installation is 0.5 mm or less.
3-5
4 Wiring
WARNING
вЂў Ground resistance must be 100 в„¦ or less.
Failure to observe this warning may result in fire or electric shock.
вЂў 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
вЂў Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
4-1
4.1 Grounding
4.1
Grounding
Follow the local regulations and electrical installation standards for grounding. The recommended grounding wire size is 5.5 mm2 at minimum.
For grounding, connect the ground wire directly to the manipulator as shown in "Fig. 6
Grounding Method".
A
вЂў Do not use this line in common with other ground lines or grounding electrodes for other
electric power, motor power, welding devices, etc.
вЂў Where metal ducts, metallic conduits, or distributing racks are used for cable laying,
ground in accordance with Electric Equipment Technical Standards.
A
NOTE
5.5В mm2В orВ more
BoltВ M8В (forВ grounding)
(deliveredВ withВ theВ manipulator)
SectionВ A-A
Fig. 6 Grounding Method
4.2
Manipulator Cable Connection
There are two manipulator cables; an encoder cable for detection (1BC) and power cable
(2BC). (Refer to "Fig. 7 Manipulator Cables (1BC and 2BC).") Connect these cables respectively to the connectors at the manipulator base and the NX100. Refer to " Fig. 8 (a) Manipulator Cable Connection to the Manipulator ", and " Fig. 8 (b) Manipulator Cable Connection to
the NX100 ".
4-2
4.2 Manipulator Cable Connection
4.2.1
Connection to the Manipulator
Before connecting the manipulator cables to the manipulator, verify the numbers: 1BC and
2BC on both the cables and the connectors of the manipulator. Connect 2BC first, and then
connect 1BC. After inserting the cables, lower each lever until it clicks.
4.2.2
Connection to the NX100
Before connecting the manipulator cables to the NX100, verify the numbers: 1BC and 2BC on
both the cables and the NX100 connectors. Connect 2BC first, and then connect 1BC. After
inserting the cables, lower each lever until it clicks.
NX100В side
ManipulatorВ side
X11
1BC
X11
1BC
1BC
EncoderВ cable
NX100В side
ManipulatorВ side
X21
2BC
X21
2BC
2BC
PowerВ cable
Fig. 7 Manipulator Cables (1BC and 2BC)
4-3
4.2 Manipulator Cable Connection
2BC
1BC
3BC
ConnectorВ details
(ManipulatorВ side)
Fig. 8 (a) Manipulator Cable Connection to the Manipulator
X11
X21
Fig. 8 (b) Manipulator Cable Connection to the NX100
4-4
5.1 Basic Specifications
5 Basic Specifications
5.1
Basic Specifications
Table. 3 Basic Specifications*1
Item
Model
MOTOMAN-HP20
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
20 kg
Repeatability*2
В±0.06 mm
В±180В°
S-axis (turning)
Range of
Motion
L-axis (lower arm)
+155В°, -110В°
U-axis (upper arm)
+255В°, -165В°
R-axis (wrist roll)
В±200В°
B-axis (wrist pitch/yaw)
+230В°, -50В°
T-axis (wrist twist)
В±360В°
S-axis
2.96 rad/s, 170В°/s
L-axis
2.96 rad/s, 170В°/s
U-axis
3.05 rad/s, 175В°/s
Maximum
Speed
Allowable
R-axis
6.20 rad/s, 355В°/s
B-axis
6.02 rad/s, 345В°/s
T-axis
9.16 rad/s, 525В°/s
R-axis
39.2 NВ‚m (0.9 kgfВ‚m)
B-axis
39.2 NВ‚m (0.9 kgfВ‚m)
T-axis
19.6 NВ‚m (0.25 kgfВ‚m)
R-axis
0.9 kgВ‚m2
B-axis
0.9 kgВ‚m2
T-axis
0.25 kgВ‚m2
Temperature
0 to 45В°C
Humidity
20 to 80% RH (at constant temperature)
Vibration Acceleration
4.9 m/s2 (0.5G) or less
Moment*3
Allowable
Inertia
2/4)*3
(GD
Mass
Ambient
280 kg
вЂў Free from corrosive gasses or liquids, or explo-
Conditions*4
Others
sive gasses
вЂў Clean and dry
вЂў Free from excessive electrical noise (plasma)
Power Requirements
*1
*2
*3
*4
2.8 kVA
SI units are used in this table. However, gravitational unit is used in ( ).
Conformed to ISO9283
Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment and inertia.
Conformed to IP54 for the main part of the manipulator (floor-mounted type only). Conformed to IP67 for the
wrist part (IP65 for the main part is optional.)
5-1
5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
R+
U+
B+
T+
WristВ flange
R-
U-
U-arm
BWrist
L-arm
L+
L-
RotaryВ head
S+
S-
ManipulatorВ base
Fig. 9 Part Names and Working Axes
5-2
T-
5.3 Manipulator Base Dimensions
5.3
Manipulator Base Dimensions
200В±0.1
FittingВ surface
A
25
60
200 В±0.1
60
FittingВ surface
375
335
+0.018
12В В В В В В В В dia.В holesВ В В 0
В (2В holes)
ViewВ 170 В±0.1
395.5
195.5
375
335
313
250
18В dia.В holesВ (4В holes)
(forВ manipulatorВ fixing)
260 В±0.1
Units:В mm
Fig. 10 Manipulator Base Dimensions
5-3
5.4 Dimensions and P-Point Maximum Envelope
5.4
Dimensions and P-Point Maximum Envelope
1717
807
356
421
0
288
514
459
635
1323
1417
A
2072
C
125
150
105
80
795
87.5
180В°
140
В°
760
1003
264 191
150
80
455
P-point
776
155В°
11
0В°
1485
7
71
R1
505
1
42
R
5В°
328
238
135
0
0
R31
4
25
505
505
180В°
P-pointВ maximumВ envelope
165В°
559
524
ViewВ A
807
471
260
917
Fig. 11 Dimensions and P-point Maximum Envelope
5-4
991
Units:В mm
5.5 Alterable Operating Range
5.5
Alterable Operating Range
The operating range of the S-axis can be altered according to the operating conditions as
shown in "Table. 4 S-axis Working Range." If alteration is necessary, contact your Yaskawa
representative in advance.
Table. 4 S-axis Working Range
Item
S-axis
Operating
Range
Specifications
В±180В° (standard)
В±150В°
В±120В°
В±90В°
В±60В°
В±30В°
5-5
6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 20 kg. 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. 5 Allowable Moment and Inertia." Contact your Yaskawa representative for further information or assistance.
Table. 5 Allowable Moment and Inertia
*1
Axis
Moment NвЂўm (kgfвЂўm)*1
Inertia kgвЂўm2
R-axis
B-axis
T-axis
39.2 (4)
39.2 (4)
19.6 (2)
0.9
0.9
0.25
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in "Fig. 12 Moment
Arm Rating."
The allowable inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only load inertia, or load moment is small and inertia is large.
Also, when the load is combined as a force but a mass, contact your Yaskawa representative.
LoadВ gravity
position
LB
300
LT
LВ T mm
105
200
W=6Kg
W=10Kg
W=16Kg
100
T-axis,В R-axisВ rotationВ centerВ line
W=20Kg
B-axisВ rotationВ centerВ line
0
100
200
LВ B mm
Fig. 12 Moment Arm Rating
6-1
300
400
6.2 Wrist Flange
6.2
Wrist Flange
The wrist flange dimensions are shown in " Fig. 13 Wrist Flange ". In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting
depth of inside and outside fittings must be 5 mm or less.
AlignmentВ mark
A
0.5
6
45В°
В 0
В 50В В В В В В В В dia.
-0.039
+0.021
6
В 25В В В В В В В В dia.
В В 0
TappedВ holesВ M6В (depth:В 10)В (pitch:В 1.0)В (4В holes)
P.C
.D4
0
+0.012
6В В В В В В В В dia.В holeВ В В 0
(depth:В 6)
ViewВ A
Units:В mm
Fig. 13 Wrist Flange
NOTE
вЂў Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light
oil before mounting the tools.
вЂў Mount the attachment with the mounting bolts (length: 10 mm or less).
Failure to observe this instruction may affect the manipulator performance.
6-2
7.1 Peripheral Equipment Mounts
7 System Application
7.1
Peripheral Equipment Mounts
The peripheral equipment mounts are fixed on the upper arm for easier installation of
the userвЂ™s system application as shown in " Fig. 14 Installing Peripheral Equipment Mounts ".
When peripheral equipment is attached to the U-axis, the following conditions should be
observed.
7.1.1
Allowable Load
The allowable load on the U-axis is a maximum of 31 kg, including the wrist load.
For instance, when the mass installed in the wrist point is 20 kg, the mass which can be
installed on the upper arm is 11 kg.
7.1.2
Installation Position
There is a limitation on the installation position.
" Fig. 15 Allowable Load on U-axis " shows the distance between the center of U-axis rotation
and the load gravity.
A
W2
Z-coordinateВ direction
W1
220
LimitedВ dimensionВ ofВ Z-coordinate:В 400В atВ aВ maximumВ 70
X-coordinateВ direction
70
CenterВ ofВ U-axisВ rotation
ViewВ A
Fig. 14 Installing Peripheral Equipment Mounts
7-1
Units:В mm
7.2 Internal User I/O Wiring Harness and Air Line
(kg)
30
W1=6kg
W1=10kg
20
W1=16kg
WeightВ W2
W1=20kg*1
*1В В InВ thisВ case,В unbalancedВ В В В В В momentВ isВ notВ permitted.
10
0
-200 -100
0
100 200 300 400 500 (mm)
DistanceВ betweenВ CenterВ ofВ U-axisВ RotationВ andВ LoadВ GravityВ ( В direction)
Fig. 15 Allowable Load on U-axis
7.2
Internal User I/O Wiring Harness and Air Line
14 wires (0.2 mm2 x 8 wires and 1.25 mm2 x 6 wires) and an air line are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 16
Internal User I/O Wiring Harness and Air Line ". The connector pins (1 to 16) are assigned as
shown in "Fig. 17 Detailed Drawing of Connector Pin Numbers." Wiring must be performed
by users, following the conditions below:
вЂў The allowable current for cables: 3 A or less for each cable (the total current value for pins
1 to 16 must be 40 A or less)
вЂў The maximum pressure for the air line: 490 kPa (5 kgf/cm2) or less
(the inside diameter: 6.5 mm)
7-2
7.2 Internal User I/O Wiring Harness and Air Line
ConnectorsВ onВ ConnectorВ Base
AirВ inlet:В TappedВ holeВ PT3/8В withВ pipeВ plug
ViewВ A
ConnectorВ forВ internal
userВ I/OВ wiringВ harness:
JL05-2A20-29PC
(pinВ connectorВ withВ aВ cap)
В PrepareВ socketВ connectorВ JL05-6A20-29S.
ConnectorsВ onВ U-arm
A
ConnectorВ forВ internalВ userВ I/OВ В wiringВ harness:В JL05-2A20-29SCВ В В В В (socketВ connectorВ withВ aВ cap)В В В В ExhaustВ portВ (airВ flow):
TappedВ holeВ PT3/8В with
pipeВ plug
PrepareВ pinВ connectorВ JL05-6A20-29P.
Fig. 16 Internal User I/O Wiring Harness and Air Line
ConnectorВ forВ InternalВ UserВ I/OВ WiringВ Harness
onВ theВ ConnectorВ Base
PinsВ used
1
2
3
4
5
6
7 (Open)
2
8 (Open)
9
4
10
7
11 (1.25В mm2) 9
12 (1.25В mm2)
11
13 (1.25В mm2) 13
14
2
15
15 (1.25В mm )
16 (1.25В mm2)
ConnectorВ forВ InternalВ UserВ I/OВ WiringВ Harness
onВ theВ U-arm
1
5
3
8
12
PinsВ used
6
10
14
16
1
2
3
4
5
6
7 (+24V:В forВ shockВ sensor)
2
8 (ShockВ sensorВ signalВ input)
9
4
10
7
11 (1.25В mm2)
9
12 (1.25В mm2)
11
13
13 (1.25В mm2)
14
2
15
15 (1.25В mm )
16 (1.25В mm2)
1
5
3
8
12
6
10
14
16
InternalВ userВ I/OВ wiringВ harnessВ :В 0.2В mm2,В 8В leadВ wires
В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В :В 1.25В mm2,В 6В leadВ wires
InternalВ userВ I/OВ wiringВ harnessВ :В 0.2В mm2,В 8В leadВ wires
В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В В :В 1.25В mm2,В 6В leadВ wires
Fig. 17 Detailed Drawing of Connector Pin Numbers
NOTE
вЂў The 7th pin and 8th pin of 3BC connector on the U-arm are respectively connected with
the shock sensor power supply and shock sensor signal input port of the NX100 controller.
вЂў The 7th pins and 8th pins of respective 3BC connectors are not connected with each other.
вЂў For the wiring, refer to "Fig. 20 (a) Internal Connection Diagram" on page 8-3.
The same pin number (1-16) of two connectors is connected by the lead wire of single
0.2 mm2 or 1.25 mm2.
7-3
8.1 Position of Limit Switch
8 Electrical Equipment Specification
8.1
Position of Limit Switch
Limit switches are optional. Refer to " Fig. 18 Location of Limit Switch " for location. A manipulator type with the S- or L-axis overrun limit switch or the LU-axes interference limit switch is
YR-HP20-A01.
LU-axes interference limit switch (optional)
L-axis interference limit switch (optional)
S-axis overrun limit
switch (optional)
Fig. 18 Location of Limit Switch
8-1
8.2 Internal Connections
8.2
Internal Connections
High reliability connectors which can be easily put on and removed are used with each
connector part. For the numbers, types, and locations of connectors, refer to "Fig. 19 Location and Numbers of Connectors." Diagrams for internal connections of the manipulator are
shown in " Fig. 20 (a) Internal Connection Diagram " and in " Fig. 20 (b) Internal Connection
Diagram ".
3BC (For internal user
I/O wiring harness)
3BC (For internal user
I/O wiring harness)
Fig. 19 Location and Numbers of Connectors
Table. 6 List of Connector Types
Name
Type of Connector
Connector for internal user I/O
wiring harness on connector base
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
Connector for internal user I/O
wiring harness on U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
8-2
8.2 Internal Connections
POWER CABLE
INTERNAL CABLE IN S-AXIS
P
P
P
P
0BT
BAT
0BT
BAT
1
2
3
4
0BAT11
BAT11
0BAT12
BAT12
0BT
BAT
0BT
BAT
5
6
7
8
0BAT21
BAT21
0BAT22
BAT22
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
3
4
5
6
7
8
NX100
1BC(4X10)
CN1-5
CN1-4
P
CN1-5
CN1-4
+24V
0V
1
3
CN1-10
CN1-9
P
CN1-10
CN1-9
+24V
0V
2
4
CN1-1
CN1-2
P
CN1-1
CN1-2
SPG+1
SPG-1
CN1-3
CN1-3
FG1
CN1-6
CN1-7
CN1-6
CN1-7
SPG+2
SPG-2
INTERNAL CABLE IN L-AXIS
INTERNAL CABLE IN BT-AXES
<NOTES>
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
- For the limit switch specification, the connection ofthe section A is changed as follows:
S-AXIS OVERRUN LIMIT SWITCH
LA1
LB1
0BAT4
BAT4
LA1
LB1
LA2
LA2
P
LA2
LB2
L-AXIS OVERRUN LIMIT SWITCH
LA3
LB3
A
LB3
L AND U-AXES INTERFERENCE
LIMIT SWITCH
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
SLU-AXES OVERRUN LIMIT SWITCH 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 signal input port of the NX100 controller.
P
P
P
No.20CN
20CN-1
-2
-6
-5
-4
-9
-7
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
No.21CN
21CN-1
-2
-6
-5
-4
-9
-7
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
PG
S-AXIS
PG
L-AXIS
Connected Port in NX100
Pin No.
Shock sensor power supply; +24V (1A)
7
Shock sensor signal input
8
OBT
BAT
P
P
P
CN1-8
CN1-8
FG2
CN2-1
CN2-2
CN2-1
CN2-2
SPG+3
SPG-3
P
- In case of connecting the pin No.7 and No.8 of respective 3BC connectors on the U-arm
and connector base, the connection in the section B should be changed as shown in the
section C below.
(Contact your Yaskawa representative in case of modifying the wiring before use.)
OBT
BAT
P
No.5CN
5CN-1
-2
-3
-4
6CN-1
-2
-3
P
P
P
CN2-3
CN2-3
FG3
CN2-6
CN2-7
CN2-6
CN2-7
SPG+4
SPG-4
CN2-8
FG4
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
P
P
P
No.22CN
22CN-1
-2
-6
-5
-4
-9
-7
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
No.23CN
23CN-1
-2
-3
-4
24CN-1
-2
-3
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
P
P
P
P
CN2-8
U-AXIS
OBT
BAT
No.6CN
1BC(10X4)
PG
P
PG
R-AXIS
OBT
BAT
CN3-1
CN3-2
P
CN3-1
CN3-2
SPG+5
SPG-5
P
No.7CN
7CN-1
-7
-2
-8
-3
-9
DATA+5
DATA-5
BAT
OBT
+5V
0V
P
-4
-10
DATA+6
DATA-6
-5
-11
-6
+5V
0V
FG6
P
P
CN3-3
CN3-3
CN3-6
CN3-7
CN3-6
CN3-7
P
P
P
FG5
No.14CN
14CN-1
-2
-3
-4
15CN-1
-2
-3
DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
No.16CN
16CN-1
-2
-3
-4
17CN-1
-2
-3
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
PG
B-AXIS
PG
T-AXIS
OBT
BAT
P
SPG+6
SPG-6
P
P
CN3-8
CN3-8
P
FG6
P
OBT
BAT
CN4-1
CN4-6
P
CN4-1
CN4-6
+24V
LB1
P
CN4-2
CN4-7
SS2
CN4-3
CN4-8
P
CN4-3
CN4-8
BC2
AL2
CN2-4
CN2-5
P
CN2-4
CN2-5
0V
+5V
CN2-9
CN2-10
P
CN2-9
CN2-10
0V
+5V
CN3-4
CN3-5
P
CN3-4
CN3-5
0V
+5V
P
CN3-9
CN3-10
CN4-2
CN4-7
CN3-9
CN3-10
LA1
LA2
P
LA2
LB3
A
U
V
P
C
POWER CABLE
FOR LAMP (OPTIONAL)
INTERNAL CABLE
CONNECTOR BASE
CN4-1
CN4-1
CN4-2
CN4-2
SS1
+24V(1A)
SS2
SS2
0V
+5V
P
CN4-4
CN4-5
CN4-9
3BC(20-29)
SPG+7
SPG-7
FG7
E
E
E
UNUSED
E E
Base
E
B
Casing
E
E
3BC(20-29)
3BC(20-29)
E
E
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
CRIMPED
CONTACT-PIN
E E
E
CN4-4
CN4-5
CN4-9
U-ARM
1BC(4X10)
NX100
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
7
8
1
2
3
4
5
6
SS1
SS2
1
2
3
4
5
6
SS1
SS2
P
P
Fig. 20 (a) Internal Connection Diagram
8-3
1
2
3
4
P
P
P
P
P
CONNECTOR BASE
1
2
3
4
SS1
SS2
SS1
SS2
P
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
U-ARM
SHOCK SENSOR
(OPTIONAL)
FOR SPARE
CABLE
E
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Casing
Base
E
3BC(20-29)
E
E
1
2
3
4
5
6
7
8
1
2
3
4
5
6
SS1
SS2
P
P
1
2
3
4
1
2
3
4
E
P
P
P
P
SS1
SS2
SS1
SS2
P
P
WIRING OF 3BC CABLE AFTER CHANGING CONNECTIONS OF B
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
8.2 Internal Connections
2BC(6X6)
E
E
2BC(6X6)
CN1-1
CN1-1
CN1-2
CN1-2
CN1-3
CN1-4
CN1-3
CN1-4
CN1-5
CN1-5
CN1-6
CN1-6
CN2-1
CN2-1
CN2-2
CN2-2
CN2-3
CN2-4
CN2-3
CN2-4
CN2-5
CN2-5
CN2-6
CN2-6
CN3-1
CN3-1
CN3-2
CN3-2
CN3-3
CN3-4
CN3-3
CN3-4
CN3-5
CN3-5
CN3-6
CN3-6
CN4-1
CN4-1
CN4-2
CN4-2
CN4-3
CN4-4
CN4-3
CN4-4
CN4-5
CN4-5
CN4-6
CN4-6
CN5-1
CN5-1
CN5-2
CN5-2
CN5-3
CN5-4
CN5-3
CN5-4
CN5-5
CN5-5
CN5-6
CN5-6
CN6-1
CN6-1
CN6-2
CN6-2
CN6-3
CN6-4
CN6-3
CN6-4
CN6-5
CN6-5
CN6-6
CN6-6
3CN-1
-2
-3
-4
-5
-6
MU1
MV1
MW1
MU2
MV2
MW2
4CN -A
-B
-C
-D
-E
-F
No.4CN
MU1
MV1
MW1
ME1
BA1
BB1
SM
MU4
MV4
MW4
MU5
MV5
MW5
MU2
MV2
MW2
ME2
BA2
BB2
SM
Fig. 20 (b) Internal Connection Diagram
L-AXIS
YB
No.26CN
26CN-1
-2
-3
-4
-5
-6
No.10CN
10CN-1
-2
-3
-4
-5
-6
-7
-8
MU5
MV5
MW5
ME5
MU6
MV6
MW6
ME6
MU6
MV6
MW6
ME3
ME4
ME5
ME6
BA3
BB4
BA4
BA5
BA6
S-AXIS
YB
MU2
MV2
MW2
MU3
MV3
MW3
PE
8-4
No.3CN
BA1
BA2
BB1
ME1
ME2
ME2
No.25CN
25CN-1
-2
-3
-4
-1
-2
No.35CN
MU3
MV3
MW3
ME3
BA3
BB3
SM
YB
MU4
MV4
MW4
ME4
BA4
BB4
SM
YB
MU5
MV5
MW5
ME5
BA5
BB5
No.36CN
No.19CN
12CN-1
-2
-3
-4
BA5
BB5
BA6
BB6
19CN-1
-2
-3
-4
-1
-2
No.37CN
R-AXIS
No.18CN
18CN-1
-2
-3
-4
-1
-2
No.12CN
U-AXIS
MU6
MV6
MW6
ME6
BA6
BB6
SM
B-AXIS
YB
SM
YB
T-AXIS
9.1 Inspection Schedule
9 Maintenance and Inspection
WARNING
вЂў Before maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
вЂў Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
вЂў For disassembly or repair, contact your Yaskawa representative.
вЂў The battery pack must be connected before removing detection connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
9.1
Inspection Schedule
Proper inspections are essential not only to assure that the mechanism will be able to function
for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are classified into six levels. Conduct periodical inspections according to the inspection
schedule in "Table 7 Inspection Items".
In "Table 7 Inspection Items", the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized of the user, operations
which can be performed by personnel being trained, and operations which can be performed
by service company personnel. Only specified personnel are to do the inspection work.
NOTE
вЂў The inspection interval must be based on the servo power supply ON time.
вЂў These inspections were developed for applications where the manipulator is used for arc
welding work. For any different or special applications, the inspection process should be
developed on an case-by-case basis.
For axes which are used very frequently (in handling applications, etc.), it is recommended that inspections be conducted at shorter Intervals. Contact your Yaskawa representative.
9-1
9.1 Inspection Schedule
Table. 7 Inspection Items
Inspection Charge
Schedule
Items*4
Daily
1000
H
Cycle
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Method
Operation
Specified
Service
Licensee
Person
Company
c
Alignment mark
{
Visual
Check alignment
mark accordance
and damage at the
home position.
{
{
{
d
External lead
{
Visual
Check for damage
and deterioration of
leads.
{
{
{
e
Working area
and whole exterior of manipulator
{
Visual
Clean the working
area if dust or spatter
is present.
Check for damage
and exterior cracks.
{
{
{
f
SLU-axes
motors
{
Visual
Check for grease
leakage.*5
{
{
{
g
Manipulator
base
mounting bolts
{
{
{
h
Cover mounting
screws
{
Phillips
screwdriver,
wrench
{
{
{
i
Connector base
{
Manual
Check for loose connectors.
{
{
{
j
BT-axes
timing belts
{
Manual
Check for belt
tension and wear.
{
{
{
{
k
{
Wrench
Wire harness in
manipulator
(for SLU-axes)
(for RBT-axes)
Tighten loose bolts.
Replace if necessary.
Check for conduction between the
main connector of
connector base and
Visual,
intermediate connecmultimeter tor with manually
shaking the wire.
Check for wear of
{
protective spring.*1
Replace.*2
{
l
Tighten loose bolts.
Replace if necessary.
Check for connecVisual,
tion between termimultimeter
nals.*1
{
Wire harness in
manipulator
(for BT-axes)
{
Replace.*2
{
Battery pack in
11
manipulator
{
{
Replace the battery
pack when the battery alarm occurs or
the manipulator
drove for 36000H.
{
{
{
{
{
{
Check for malfunction. (Replace if necessary.) Supply
12
S-axis speed
reducer
{
Grease
Gun
{
grease *3 (6000H
cycle). See Par.9.2.2.
Exchange grease
(12000H cycle).
See Par. 9.2.2
9-2
*3
9.1 Inspection Schedule
Table. 7 Inspection Items
Inspection Charge
Schedule
Items*4
Daily
1000
H
Cycle
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Method
Operation
Specified
Service
Licensee
Person
Company
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
13
LU-axes speed
reducers
{
Grease
Gun
{
cycle)*3
See Par. 9.2.3 and
9.2.4
Exchange grease
{
{
{
{
{
{
{
{
(12000H cycle). *3
See Par. 9.2.3 and
9.2.4
14
15
RBT-axes speed
reducers
{
Grease
Gun
{
Grease
Gun
{
T-axis gear
16
R-axis cross
roller bearing
17
Overhaul
Grease
Gun
{
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
cycle).*3
See Par. 9.2.5 and
9.2.6.
Check for malfunction. (Replace if necessary.) Supply
grease*3 (12000H
cycle).
See Par. 9.2.7.
Check for malfunction. (Replace if necessary.) Supply
grease*3 (12000H
cycle).
See Par. 9.2.8.
{
{
*1
When checking for conduction with multimeter, connect the battery pack to вЂњBATвЂќ and вЂњOBTвЂќ of connectors
on the motor side for each axis, and then remove connectors on detector side for each axis from the motor.
Otherwise, the home position may be lost. (Refer to " 9.2.9 Notes for Maintenance.")
*2
*3
*4
Internal cables to be replaced at 24000H inspection.
*5
The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa representative.
For the grease, refer to "Table 8 Inspection Parts and Grease Used."
Inspection No. correspond to the numbers in "Fig. 21 Inspection Parts and Inspection Numbers (Manipulator
in Home Position)."
Table. 8 Inspection Parts and Grease Used
No.
12
,
13
14 , 15
16
Grease Used
Inspected Parts
Molywhite RE No. 00
S-, L-, and U-axes speed reducers
Harmonic Grease SK-1A
R-, B- and T-axes speed reducers,
T-axis gear
Alvania EP Grease 2
R-axis cross roller bearing
The numbers in the above table correspond to the numbers in "Table 7 Inspection Items."
9-3
9.1 Inspection Schedule
5
4
2
S-axis
1
S-axis
8 T-axis
8
10
1
Note: The manipulator is in the home position.
B-axis
14 BT-axes
U-axis
13
R-axis
1
14
4
15
1
9
16
U-axis
L-axis
11
13
4
12
7
11
Fig. 21 Inspection Parts and Inspection Numbers (Manipurator in Home Position)
9-4
4
9.2 Notes on Maintenance Procedures
9.2
9.2.1
Notes on Maintenance Procedures
Battery Pack Replacement
The battery packs are attached in the two positions indicated in "Fig. 22 Battery Pack Location". If the battery alarm occurs in the NX100, replace the battery pack in accordance with
the following procedure:
Battery pack
Connector base
Support
Connector base
Connector base fixing screw
Fig. 22 Battery Pack Location
9-5
9.2 Notes on Maintenance Procedures
Battery pack before replacement
See the step 5.
Connector
Circuit board
See the step 4.
New battery pack
Fig. 23 Battery Pack Connection
1.
2.
3.
4.
Turn the NX100 main power supply OFF.
Remove the mounting screws for the battery pack on the support.
Remove the battery pack from the holder.
Connect the new battery pack to an unconnected connector.
5. Remove the old battery pack from the circuit board.
NOTE
Connect the new battery pack before removing the old one so that the encoder absolute
data does not disappear.
6. Mount the new battery pack to the battery holder.
7. Reinstall the plate.
NOTE
Do not pinch the cable when the plate is installed.
9-6
9.2 Notes on Maintenance Procedures
9.2.2
Grease Replenishment/Exchange for S-axis Speed
Reducer
Grease exhaust port
(Hexagon socket head plug PT1/8)
Grease exhaust port
(Hexagon socket
head plug PT1/8)
S-axis speed reducer
Grease inlet
(Hexagon socket head plug PT1/8)
Fig. 24 S-axis Speed Reducer Diagram
NOTE
В„
For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted.
Grease Replenishment (Refer to "Fig. 24 S-axis Speed Reducer
Diagram".)
Replenish the grease in accordance with the following procedure:
1. Remove plugs from exhaust port and grease inlet.
NOTE
If grease is injected with the plug on, the grease will go inside the motor and may damage
it. Never fail to remove the plug before the grease injection.
9-7
9.2 Notes on Maintenance Procedures
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk PT1/8 is delivered
with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: 30 cc
(60 cc for the 1st supply)
4. Move the S-axis for a few minutes to discharge the excess grease.
5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond 1206C (listed on
table9) on the thread part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with
a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond 1206C on the thread part
of the plug.
В„
Grease Exchange
(Refer to "Fig. 24 S-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure:
1. Remove plugs from exhaust port and grease inlet.
NOTE
If grease is injected with the plug on, the grease will go inside the motor and may damage
it. Never fail to remove the plug before the grease injection.
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk PT1/8 is delivered
with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: Approx. 1440 cc
The grease exchange is completed when new grease appears in the grease exhaust
port. The new grease can be distinguished from the old grease by color.
4. Move the S-axis for a few minutes to discharge the excess grease.
5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond 1206C on the thread
part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with
a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond 1206C on the thread part
of the plug.
9-8
9.2 Notes on Maintenance Procedures
9.2.3
Grease Replenishment/Exchange for L-axis Speed
Reducer
L-arm
Grease exhaust port
(Hexagon socket head plug PT1/8)
L-axis speed reducer
Grease inlet
(Hexagon socket head
cap screw M6)
Fig. 25 L-axis Speed Reducer Diagram
NOTE
В„
The exhaust port and the grease inlet are inverted in case of ceiling installation.
Grease Replenishment
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure:
1. Posture the L-axis vertical to the ground.
2. Remove the plug and the screw from grease exhaust port and grease inlet respectively.
NOTE
If grease is injected with the plug on, the grease will go inside the motor and may damage
it. Never fail to remove the plug before the grease injection.
3. Install the grease zerk A-MT6X1 on the grease inlet. (The grease zerk A-MT6X1 is
delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: 30 cc
(60 cc for the 1st supply)
5. Move the L-axis for a few minutes to discharge the excess grease.
6. Remove the grease zerk and reinstall the hexagon socket head cap screw M6 on the
grease inlet. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply
Three Bond 1206C on the thread part of the screw.
9-9
9.2 Notes on Maintenance Procedures
7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with
a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond 1206C on the thread part
of the plug.
В„
Grease Exchange
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".)
Exchange the grease according to the following procedure:
1. Posture the L-arm vertical to the ground.
2. Remove the plug and the screw from grease exhaust port and grease inlet respectively.
NOTE
If grease is injected with the plug on, the grease will go inside the motor and may damage
it. Never fail to remove the plug before the grease injection.
3. Install the grease zerk A-MT6X1 on the grease inlet. (The grease zerk A-MT6X1 is
delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: approx. 560 cc
The grease exchange is completed when new grease appears in the grease exhaust
port. The new grease can be distinguished from the old grease by color.
5. Move the L-axis for a few minutes to discharge the excess grease.
6. Remove the grease zerk on the grease inlet and reinstall the hexagon socket head cap
screw M6. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply
Three Bond 1206C on the thread part of the screw.
7. Wipe the grease exhaust port with a cloth and reinstall the hexagon socket head plug.
Tighten the plug with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond
1206C on the thread part of the plug.
9-10
9.2 Notes on Maintenance Procedures
9.2.4
Grease Replenishment/Exchange for U-axis Speed
Reducer
U-arm
Grease exhaust port
(Hexagon socket head
cap screw M6)
U-axis
speed
reducer
Grease inlet
(Hexagon socket head
plug PT1/8)
Fig. 26 U-axis Speed Reducer Diagram
NOTE
В„
The exhaust port and the grease inlet are inverted in case of ceiling installation.
Grease Replenishment
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure:
1. Posture the U-arm as shown in "Fig. 26 U-axis Speed Reducer Diagram".
2. Remove the screw and the plug from grease exhaust port and grease inlet respectively.
NOTE
If grease is injected with the screw on, the grease will go inside the motor and may damage
it. Never fail to remove the screw before the grease injection.
3. Install the grease zerk A-MT6X1 on the grease inlet. (The grease zerk A-MT6X1 is
delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: 30 cc
(60 cc for the 1st supply)
5. Move the U-axis for a few minutes to discharge the excess grease.
6. Remove the grease zerk and reinstall the hexagon socket head plug on the grease
inlet. Tighten the plug with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three
Bond 1206C on the thread part of the plug.
7. Wipe the grease exhaust port with a cloth and reinstall the hexagon socket head cap
screw. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three
Bond 1206C on the thread part of the screw.
9-11
9.2 Notes on Maintenance Procedures
В„
Grease Exchange
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".)
Exchange the grease according to the following procedure:
1. Posture the U-arm as shown in "Fig. 26 U-axis Speed Reducer Diagram".
2. Remove the hexagon socket head cap screw on the grease exhaust port.
NOTE
If grease is injected with the screw on, the grease will go inside the motor and may damage
it. Never fail to remove the screw before the grease injection.
3. Remove the hexagon socket head plug PT1/8 on the grease inlet and install the grease
zerk A-MT6X1.
4. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: approx. 320 cc
The grease exchange is completed when new grease appears in the grease exhaust
port. The new grease can be distinguished from the old grease by color.
5. Move the U-axis for a few minutes to discharge the excess grease.
6. Remove the grease zerk and reinstall the hexagon socket head plug on the grease
inlet. Tighten the plug with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three
Bond 1206C on the thread part of the plug.
7. Wipe the grease exhaust port with a cloth and reinstall the hexagon socket head cap
screw. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three
Bond 1206C on the thread part of the screw.
9-12
9.2 Notes on Maintenance Procedures
9.2.5
Grease Replenishment for R-axis Speed Reducer
Grease inlet
(Grease zerk A-MT6X1)
Exhaust port
(Hexagon socket head cap screw M6)
Fig. 27 R-axis Speed Reducer Diagram
1. Remove the hexagon socket head cap screw M6 on the exhaust port.
2. Inject the grease into the grease inlet using a grease gun.
Grease type: Harmonic grease SK-1A
Amount of grease: 8cc
(16cc for the 1st supply)
NOTE
The exhaust port is used for air flow. Do not inject excessive grease into the grease inlet.
3. Reinstall the hexagon socket head cap screw on the exhaust port. Tighten the screw
with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three Bond 1206C on the thread
part of the screw.
9-13
9.2 Notes on Maintenance Procedures
9.2.6
Grease Replenishment for B-, T-axes Speed
Reducers
Exhaust port (for B-axis)
(Plug LP-M5)
T-axis speed reducer
Exhaust port (for T-axis)
(Hexagon socket
set screw M6)
B-axis speed reducer
Gease inlet (for T-axis)
(Hexagon socket head
cap screw M6)
Gease inlet (for B-axis)
(Hexagon socket head cap screw M6)
Fig. 28 B-, T-axes Speed Reducers Diagram
1. Remove the plug on the exhaust port for B-axis or the hexagon socket set screw on the
exhaust port for T-axis.
NOTE
Remove the cover for the B-axis speed reducer.
2. Remove the hexagon socket head cap screw on the grease inlet and install the grease
zerk A-MT6X1.
3. Inject the grease into the grease inlet using a grease gun.
Grease type: Harmonic grease SK-1A
Amount of grease:
For B-axis: 10 cc (20 cc for the 1st supply)
For T-axis: 5 cc (10 cc for the 1st supply)
NOTE
The exhaust port is used for air flow. Do not inject excessive grease into the grease inlet.
4. Reinstall the plug on the exhaust port for B-axis or the hexagon socket set screw on
the exhaust port for T-axis. Apply Three Bond 1206C on the thread parts.
5. Remove the grease zerk on the grease inlet and reinstall the hexagon socket head cap
screw. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m). Apply Three
Bond 1206C on the thread part.
NOTE
Mount the cover for the B-axis speed reducer. (Refer to " 9.2.9 Notes for Maintenance.")
9-14
9.2 Notes on Maintenance Procedures
9.2.7
Grease Replenishment for T-axis Gear
Exhaust port
(Plug LP-M5)
Gear grease inlet
(Hexagon socket head cap screw M6)
Fig. 29 T-axis Gear Diagram
1. Remove the plug on the exhaust port.
2. Remove the hexagon socket head cap screw on the grease inlet and install the grease
zerk A-MT6X1.
3. Inject the grease into the gear grease inlet using a grease gun.
Grease type: Harmonic grease SK-1A
Amount of grease: 5 cc
(10cc for the 1st supply)
NOTE
The exhaust port is used for air flow. Do not inject excessive grease into the gear grease
inlet.
4. Reinstall the plug on the exhaust port. Apply Three Bond 1206C on the thread part of
the plug.
5. Remove the grease zerk on the gear grease inlet and reinstall the hexagon socket
head cap screw. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m).
Apply Three Bond 1206C on the thread part of the screw.
9-15
9.2 Notes on Maintenance Procedures
9.2.8
Grease Replenishment for R-axis Cross Roller Bearing
Exhaust port
(Plug LP-M5)
R-axis cross roller bearing
Grease inlet
(Hexagon socket head cap
screw M6) (Length: 6mm)
Fig. 30 R-axis Cross Roller Bearing Diagram
1. Remove the plug on the exhaust port.
2. Remove the hexagon socket head cap screw from the grease inlet and install the
grease zerk A-MT6X1.
3. Inject grease into the grease inlet using a grease gun.
Grease type: Alvania EP grease 2
Amount of grease: 8 cc
(16 cc for the 1st supply)
NOTE
The exhaust port is used for air flow. Do not inject excessive grease into the grease inlet.
4. Reinstall the plug on the exhaust port. Apply Three Bond 1206C on the thread part of
the plug.
5. Remove the grease zerk on the gear grease inlet and reinstall the hexagon socket
head cap screw. Tighten the screw with a tightening torque of 5 NВ·m (0.51 kgfВ·m).
Apply Three Bond 1206C on the thread part of the screw.
9-16
9.2 Notes on Maintenance Procedures
9.2.9
В„
Notes for Maintenance
Wrist Axes
The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if the wrist
cover is disassembled, reseal with sealing bond (Three Bond 1206C). Refer to "Table 9
Spare Parts for the MOTOMAN-HP20".
Cover
Cover jointing face
Cover
Cover jointing face
Fig. 31 Sealing Part of Wrist Unit
9.2.10
NOTE
В„
Encoder Connector (with CAUTION Label)
вЂў When performing maintenance such as replacement of a wire harness in the manipulator,
the encoder connector (with CAUTION label) may be necessary to be removed. In this
case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector. Removing the encoder connector without connecting the battery backup leads to disappearance of the encoder absolute data.
For the battery pack connection, refer to "Fig. 32 (a) Encoder Connector for S-, L-, Uaxes" and "Fig. 32 (b) Encoder Connector for R-, B-, T-axes."
Battery Pack Connection (for S-, L-, U-axes Motors)
The connectors (crimped contact-pin) for the battery backup are installed at the end point of
the motors (marked as BAT and OBT). Connect the battery pack according to the following
procedure.
1. Remove the cap attached to the battery backup connector of the motors.
2. Connect the battery packs (HW9470932-A) with the battery backup connectors located
at the end point of the cables for the encoder. (Under this condition, remove the
encoder connector and carry out the maintenance checks).
3. After the maintenance check, verify that all the connectors are connected and remove
the battery pack. Install the caps attached to the battery backup connector of the
motor.
9-17
9.2 Notes on Maintenance Procedures
NOTE
Do not remove the battery pack in the connector base.
Encoder connector
Motor
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Motor power connector
CAUTION label
0BT
b
a 0BT*
BAT
a
b BAT*
Battery pack (HW9470932-A)
Connector for the battery backup
CAUTION label (Enlarged view)
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Fig. 32 (a) Encoder Connector for S-, L-, U-axes
9-18
9.2 Notes on Maintenance Procedures
В„
Battery Pack Connection (for R-, B-, T-axes Motors)
The connectors (crimped contact-pin) for the battery backup are installed at the end point of
the motors (marked as BAT and OBT). Connect the battery pack according to the following
procedure.
1. Connect the battery packs (HW9470932-A) with the battery backup connectors located
at the end point of the cables for the encoder. (Under this condition, remove the
encoder connector and carry out the maintenance checks).
2. After the maintenance check, verify that all the connectors are connected and remove
the battery pack. Install the caps attached to the battery backup connector of the
motor.
NOTE
Do not remove the battery pack in the connector base.
Encoder
Motor
Motor cable, etc.
Wire harness
in manipulator
Power connector
Connection
0BT
a
BAT
b
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Encoder connector
b
0BT
a
BAT
Battery pack
(HW9470932-A)
CAUTION label
0BT
a
b
0BT
BAT
b
a
BAT
CAUTION label (Enlarged view)
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Fig. 32 (b) Encoder Connector for R-, B-, T-axes
9-19
10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the MOTOMAN-HP20. The spare parts list for the MOTOMAN-HP20 is shown below.
Check the serial number and contact your Yaskawa representative for preparing lead wires for
internal wiring, etc.
Product performance can not be guaranteed when using spare parts from any company other
than Yaskawa. The spare parts are ranked as follows:
вЂў Rank A: Expendable and frequently replaced parts
вЂў Rank B: Parts for which replacement may be necessary as a result of frequent operation
вЂў Rank C: Drive unit
NOTE
To replace parts in Rank B or Rank C, be sure to contact your Yaskawa representative.
Table. 9 Spare Parts for the MOTOMAN-HP20
Manufacturer
Qty
Qty
per
Unit
Molywhite
RE No. 00
Yaskawa Electric
Corporation
16kg
-
Grease
Harmonic Grease
SK-1A
Harmonic Drive
System Co., Ltd.
2.5kg
-
3
Grease
Alvania EP
Grease 2
Showa Oil Co.,
Ltd.
16kg
-
A
4
Liquid Gasket
Three Bond 1206C
Three Bond Co.,
Ltd.
-
-
A
5
Battery Pack
HW0470360-A
Yaskawa Electric
Corporation
1
1
A
6
Battery Pack
HW9470932-A
Yaskawa Electric
Corporation
1
1
B
7
B-axis Timing Belt
80S4.5M653
Mitsuboshi Belting Limited
1
1
B
8
T-axis Timing Belt
80S4.5M518
Mitsuboshi Belting Limited
1
1
B
9
S-axis
Speed Reducer
HW9381641-B
Yaskawa Electric
Corporation
1
1
B
10
S-axis
Input Gear
HW0304301-1
Yaskawa Electric
Corporation
1
1
B
11
L-axis
Speed Reducer
HW9381641-A
Yaskawa Electric
Corporation
1
1
Rank
Parts
No.
A
1
Grease
A
2
A
Name
Type
10-1
Remarks
Table. 9 Spare Parts for the MOTOMAN-HP20
Manufacturer
Qty
Qty
per
Unit
HW0304302-1
Yaskawa Electric
Corporation
1
1
U-axis
Speed Reducer
HW9280880-A
Yaskawa Electric
Corporation
1
1
14
R-axis
Speed Reducer
HW0381463-A
Yaskawa Electric
Corporation
1
1
B
15
B-axis
Speed Reducer
HW9381633-A
Yaskawa Electric
Corporation
1
1
B
16
T-axis
Speed Reducer
HW0382140-A
Yaskawa Electric
Corporation
1
1
B
17
Wire Harness in
Manipulator
HW0171559-A
Yaskawa Electric
Corporation
1
1
B
18
Wire Harness in
Manipulator for Band T-axes
HW0270954-A
Yaskawa Electric
Corporation
1
1
C
19
AC Servomotor for
S-axis
HW0382155-A
SGMRS-12A2BYR1в€—
Yaskawa Electric
Corporation
1
1
C
20
AC Servomotor for
L-axis
HW0382156-A
SGMRS-13A2AYR1в€—
Yaskawa Electric
Corporation
1
1
C
21
AC Servomotor for
U-axis
HW0382154-A
SGMRS-06A2BYR2в€—
Yaskawa Electric
Corporation
1
1
C
22
AC Servomotor for
R-, B-, T-axes
HW0382152-A
SGMPH-02A2AYR1в€—
Yaskawa Electric
Corporation
1
3
Rank
Parts
No.
B
12
L-axis
Input Gear
B
13
B
Name
Type
10-2
Remarks
11.1 S-axis Driving Unit
11 Parts List
11.1 S-axis Driving Unit
1014
1013
1040
1041
1016
1031
1017
1033
1041
1005
1003
1032
1042
1004
1027
1008
1006
1002
1010
1007
1028
1015
1009
6001 (Zeroing Option)
6002 (Zeroing Option)
1029
1011
6005 (Zeroing Option)
6006 (Zeroing Option)
6007 (Zeroing Option)
1023
1019
1018
1039
1025
1038
1020
1021
1024
1001
1012
1022
1026
1037
1034
1035
1036
11-1
11.1 S-axis Driving Unit
No.
1001
DWG No.
EZ5036A0
Name
Pcs
Cap
1
1
1002
CD-31
Saddle
1003
M6X10
Socket screw
2
1004
TA1-S10
Clamp
1
1005
M5X10
Screw with
spring washer
1
1006
TSH6-01M
Union
1
1007
HW0305812-1
Holder
1
1008
M6X15
Socket screw
2
2H-6
Spring washer
2
1009
TA1-S10
Clamp
1
1010
M5X10
Screw with
spring washer
1
2
1011
M12
Eyebolt
1012
PT3/8
Plug
1
1013
SGMRS-12A2B-YR1*
Motor
1
1014
M8X25
Socket screw
3
2H-8
Spring washer
3
1015
HW0304228-1
M base
1
1016
M5X10
APS Bolt
4
1017
HW0305809-1
Cover
1
1018
M16X20
Socket screw
1
1019
2H-16
Spring Washer
1
1020
MSB8-15
Shoulder
1
1021
HW0400645-1
Lever
1
1022
M5X10
APS Bolt
6
1023
HW0100545-1
S head
1
1024
HW9381641-B
Reduction gear
1
1025
M10X40
Socket screw
12
2H-10
Spring washer
12
1026
HW0100544-1
Base
1
1027
M8X60
Socket Screw
3
1028
2H-8
Spring Washer
3
1029
M12X35
Socket screw
9
2H-12
Spring washer
9
1031
HW0304301-1
Gear
1
1032
M6X60
Socket screw
1
1033
2H-6
Spring Washer
1
1034
TSH6-01M
Union
1
1035
HW9406775-1
Cover
1
1036
M6X8
APS Bolt
2
1037
NB-0640B-0.27
Tube
1
1038
HW0304221-1
Cover
1
1039
M6X15
Socket screw
2
2H-6
Spring washer
2
1040
PT1/8
Plug
1
1041
UKM6-01
Union
1
1042
NB-0640B-0.2
Tube
1
6001
HW0405202-1(Zeroing
Option)
Plug
1
6002
HW0405203-1(Zeroing
Option)
Gasket
1
6005
M4X8
Screw
2
6006
HW0404492-1 (Zeroing
Option)
Cover
1
6007
HW0404495-1 (Zeroing
Option)
Cover
1
11-2
11.2 L-axis Driving Unit
11.2 L-axis Driving Unit
2019
6010 (Zeroing Option)
6009 (Zeroing Option)
6008 (Zeroing Option)
2020
2022
2035
2014
2016
2021
2013
2015
2030
2018
2017
2036
2037
2003
2002
2004
6011 (Zeroing Option)
6012 (Zeroing Option)
2012
2010
2001
2009
2008
2011
2007
2006
2025
2024
2023
1023
2024
2032
2025
2031
2026
2023
2027
2033
2028
2029
2029
2034
11-3
2028
11.2 L-axis Driving Unit
No.
2001
DWG No.
PT1/8
Name
Pcs
Plug
1
2
2002
PT1/8
Plug
2003
M8X25
Socket screw
4
2H-8
Spring washer
4
M8X25
Socket screw
4
2H-8
Spring washer
4
2004
2006
HW0304229-1
M base
1
2007
SGMRS-13A2A-YR1*
Motor
1
2008
M6X90
Socket screw
1
2009
2H-6
Spring Washer
1
2010
HW0304302-1
Gear
1
2011
Y426012.5
Oil seal
1
2012
HW0401506-1
Plate
1
2013
HW0304226-1
Support
1
2014
M6X10
Socket screw
2
2015
HW0304227-1
Cover
1
4
2016
M6X8
APS Bolt
2017
M12X35
Socket screw
12
2018
2H-12
Spring Washer
12
2019
HW0100546-1
L arm
1
2020
HW9381641-A
Reduction gear
1
2021
M10X35
Socket screw
12
2022
2H-10
Spring Washer
12
2023
M12X40
Socket screw
2
2024
2H-12
Spring Washer
2
2025
HW0404196-4
Washer
2
2026
FCD-31
Saddle
1
2027
M5X12
Socket screw
2
2H-5
Spring washer
2
2028
TA1-S10
Clamp
2
2029
M5X10
Screw with
spring washer
2
2030
M6X10
Socket screw
1
2031
HW0305813-1
Holder
1
2032
M5X12
Socket screw
4
2H-5
Spring washer
4
1
2033
HW0305698-1
Cover
2034
M5X12
Socket screw
2
2H-5
Spring washer
2
2035
2H-6
Spring Washer
2
2036
TA1-S10
Clamp
4
2037
M5X10
Screw with
spring washer
4
1023
HW0100545-1
S head
1
6008
HW0404522-1 (Zeroing
Option)
Cover
1
6009
HW0404493-1 (Zeroing
Option)
Cover
1
6010
M5X10
Screw
2
6011
HW0405202-1(Zeroing
Option)
Plug
1
6012
HW0405203-1(Zeroing
Option)
Gasket
1
11-4
11.3 U-axis Driving Unit
11.3 U-axis Driving Unit
3002
3003
3034
3016
3004
3001
3004
3005
3018
3020
3019
6016 (Zeroing Option)
3018
3020
3019
3009
3021
3008
3006
3007
3011
3010
3022
3033
3015
6024 (Zeroing Option)
6023 (Zeroing Option)
6022 (Zeroing Option)
2019
11-5
6018 (Zeroing Option)
6019 (Zeroing Option)
6015 (Zeroing Option)
6017
(Zeroing Option)
11.3 U-axis Driving Unit
No.
DWG No.
Name
Socket screw
Pcs
3001
M8X30
4
2H-6
Spring washer
4
3002
HW0404656-1
M cover
2
3003
M4X10
APS Bolt
6
3004
PT1/8
Plug
2
3005
HW0100729-1
Casing
1
3006
HW9280880-A
Reduction gear
1
3007
M8X45
Socket screw
16
2H-8
Spring washer
16
3008
M4X65
Socket screw
1
3009
2H-4
Spring Washer
1
3010
M14X35
Socket screw
6
3011
GT-SH-14
Spring Washer
6
3015
M6X10
Socket screw
1
3016
SGMRS-06A2B-YR2*
Motor
1
3018
HW0404196-2
Washer
2
3019
M10X40
Socket screw
2
3020
2H-10
Spring Washer
2
3021
ARP568-258
O ring
1
3022
M10X20
Socket screw
1
3033
2H-10
Spring Washer
1
3034
M4
L washer
6
2019
HW0100546-1
L arm
1
6015
HW0404491-1 (Zeroing
Option)
Base
1
6016
M5X16 (Zeroing Option)
Socket screw
2
2H-5
Spring washer
2
6017
MS4-10 (Zeroing Option)
Pin
2
6018
HW0405202-1(Zeroing
Option)
Plug
1
6019
HW0405203-1(Zeroing
Option)
Gasket
1
6022
HW0404523-1 (Zeroing
Option)
Cover
1
6023
HW0404494-1 (Zeroing
Option)
Cover
1
6024
M5X10
Screw
2
11-6
11.4 R-axis Driving Unit
11.4 R-axis Driving Unit
4033 4012
4032
4031
4029
4074
4036
4071
4008
4030
4010
4029
4009
4058
4005
4042 3005
4006
4007
4056
4072
4066
4035
4057
4043
4044
4011
4003
4075
4076
4027 4073
4026
4037
4022
4034
4023
4060
4055
4039
4025
4040 4051
3014
4046
4045
3012
4062
4024
4067
4021
4065
4015
4020
4013
4019
4016
4004
4017
4014
4002
4001
4070
4069
4068
4018
6026 (Zeroing Option)
6025 (Zeroing Option)
5046
11-7
11.4 R-axis Driving Unit
No.
DWG No.
Name
Pcs
No.
DWG No.
Name
Pcs
4001
M6X65
Socket screw
8
4060
HW0304930-1
Support
1
4002
2H-6
Spring Washer
8
4062
6811LLU
Bearing
1
4003
M5X20
Socket screw
4
4065
M4X20
Socket screw
2
2H-5
Spring washer
4
4066
KQE12-03
Union
1
M4X12
Socket screw
4
4067
2H-4
Spring Washer
2
2H-4
Spring washer
4
4068
M4X20
Socket screw
2
4005
HW0305305-1
M cover
1
4069
2H-4
Spring Washer
2
4006
M4X20
Socket screw
12
4070
MS4-10
Pin
2
4007
2H-4
Spring Washer
12
4071
2H-4
Spring Washer
1
4008
HW0404196-5
Washer
1
4072
PT 3/8
Plug
1
4009
M6X20
Socket screw
8
4073
M4X12
Socket screw
2
2H-6
Spring washer
8
2H-4
Spring washer
2
M6X30
Socket screw
3
2H-6
Spring washer
3
4004
4010
M4X45
Socket screw
1
4011
M6X6
Socket screw
1
4074
4012
A-MT6X1
G Nipple
1
4075
TA1-S8
Clamp
3
4013
HW0381872-A
Cross roller
bearing
1
4076
M4X8
Screw with
spring washer
3
4014
M6X35
Socket screw
8
3005
HW0100729-1
Casing
1
2H-6
Spring washer
8
3012
M4X16
Socket screw
4
HW0404503-1
Saddle
1
2H-4
Spring washer
4
4015
4016
TC941045*A727*
Oil seal
1
3014
HW0404179-1
Support
2
4017
HW0403857-1
Shaft
1
5046
HW0100623-1
Uarm
1
4018
HW0405201-2
Block
1
6025
Plug
1
HW0405201-1
(For zeroing spec. only)
Block
1
HW0405202-1
(Zeroing Option)
6026
1
HW0304318-1
Housing
1
HW0405203-1
(Zeroing Option)
Gasket
4019
4020
HW0304085-1
Shaft
1
4021
HW0304914-1
Support
1
4022
HW0404503-1
Saddle
1
4023
M4X20
Socket screw
2
4024
M4X12
Socket screw
2
2H-4
Spring washer
2
4025
HW0200530-1
S cover
1
4026
HW0404919-1
Support
1
4027
M5X16
Socket screw
2
2H-5
Spring washer
2
4029
HW0381463-A
Reduction gear
1
4030
HW0404403-1
Shaft
1
4031
AE1314J1
Oil seal
1
4032
HW0304932-1
M base
1
4033
HW0404402-1
Shaft
1
4034
2H-4
Spring Washer
2
4035
HW0404900-1
N base
1
4036
M4X10
Screw with
spring washer
4
4037
M5X16
Socket screw
4
2H-5
Spring washer
4
4039
TA1-S8
Clamp
1
4040
M4X8
Screw with
spring washer
1
1
4042
M5X8
APS bolt
4043
M6X6
Socket screw
1
4044
LP-M5
Plug
1
4045
M5X35
Socket screw
2
4046
2H-5
Spring Washer
2
4051
M4X12
Socket screw
2
2H-4
Spring washer
2
4055
HW0404918-1
Support
1
4056
SGMPH-02A2A-YR1*
Motor
1
4057
EZ5036A0
Cap
1
4058
M6X20
Socket screw
6
2H-6
Spring washer
6
11-8
11.5 Wrist Unit
11.5 Wrist Unit
5045
5005
5069
5068
3005
5002
5001
5003
5046
5011
5006 5070
5007
5008
5055
5057
5026
5008
5005
5007
5044
5070
5045
5006
5064
5003
5037
5038
5039
5043
5071
5035
5048
5034
5013
5014
5019
5018
5063
5040
5049
5036
5010
5041
(Zeroing Option)
5071
5009
5067
(Zeroing Option)
5016
5047
5017
5015
(Zeroing Option)
5062
5042
5061
5012
5071
5023
5032
5050
5029
5053
5033
5020
5021
5022
5031
5024
5028
5027
5025
5066
5065
5052
5026
5030
5060
11-9
11.5 Wrist Unit
No.
DWG No.
Name
Pcs
5001
HW9406556-1
Support
1
5002
M4X12
Socket screw
2
2H-4
Spring washer
2
M5X20
Socket screw
4
2H-5
Spring washer
4
5005
HW9200798-1
Cover
2
5006
SGMPH-02A2A-YR12
Motor
2
5003
5007
M4X16
Socket screw
2
5008
HW9482727-A
Pulley
2
5009
HW0404543-1
(Zeroing Option)
Cover
1
5010
M4X8 (Zeroing Option)
Screw
2
No.
5052
DWG No.
Name
Pcs
M5X16
Socket screw
2H-5
Spring washer
5
5053
M6X6
Socket screw
1
5055
M6X14
Bolt
1
HW0405202-1
(Zeroing Option)
Plug
1
5057
5
M6
L Washer
1
HW0405203-1
(Zeroing Option)
Packin
1
M5X16
Socket screw
4
2H-5
Spring washer
4
5061
M4X12
Socket screw
8
5060
5011
80S4.5M518
Belt
1
2H-4
Spring washer
8
5012
HW9381658-A
Gear
1
5062
LP-M5
Plug
1
5013
M4X12
Socket screw
4
5063
HW9405791-3
Housing
1
2H-4
Spring washer
4
5064
6811LLU
Bearing
1
HW0404606-1
Cover
1
1
5014
HW9405452-1
B cover
1
5065
5015
HW0404544-1
(Zeroing Option)
Cover
1
5066
HW040605-1
Plug
5067
M6X6
Socket screw
1
5016
HW9482725-A
Pulley
1
5068
TA1-S8
Clamp
1
5017
M5X16
Socket screw
1
5069
M4X8
M4X16
Socket screw
4
Screw with
spring washer
1
5018
2
2H-4
Spring washer
4
5070
2H-4
Spring washer
5019
HW9482218-A
Bearing
1
5071
2H-5
Spring washer
3
5020
HW9405199-1
B nut
1
3005
HW0100729-1
Casing
1
5021
SP-0120**
Shim
1
5022
HW9481180-A
Bearing
1
5023
M5X16
Socket screw
1
5024
M5X12
Socket screw
8
2H-5
Spring washer
8
5025
HW0304232-1
Shaft
1
5026
TC60747
Oil seal
2
5027
HW9481187-A
Bearing
1
5028
HW0304233-1
Shaft
1
5029
S75
O ring
1
5030
HW0304087-1
Housing
1
5031
HW0382140-A
Reduction gear
1
5032
HW0304086-1
Housing
1
5033
HW9381659-A
Gear
1
5034
HW9482726-A
Pulley
1
5035
M5X20
Socket screw
1
5036
6002ZZ
Bearing
1
5037
6901ZZ
Bearing
1
5038
6814ZZ
Bearing
1
5039
HW9482668-A
Oil seal
1
5040
HW9381633-A
Reduction gear
1
5041
HW9405792-1
Housing
1
5042
HW0200451-1
Wrist base
1
5043
M5X16
Socket screw
11
2H-5
Spring washer
11
5044
80S4.5M653
Belt
1
5045
M5X12
Socket screw
24
2H-5
Spring washer
24
5046
HW0100623-1
U arm
1
5047
M6X6
Socket screw
1
5048
M4X16
Socket screw
13
2H-4
Spring washer
13
5049
M4X12
Socket screw
4
2H-4
Spring washer
4
5050
M6X6
Socket screw
1
11-10
MOTOMAN-HP20
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686
Fax
1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800
Fax
46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377
Fax
60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003
Fax
886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C
MANUAL NO. RE-MTO-A247
Printed in Japan April 2005 05-04

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