MOTOMAN-HP20D/HP20F
INSTRUCTIONS
TYPE: YR-HP0020D-A00 (STANDARD SPECIFICATION FOR DX100)
TYPE: YR-HP0020D-A01 (SLU-AXES WITH LIMIT SWITCHES FOR DX100)
YR-HP0020F-A00 (STANDARD SPECIFICATION FOR FS100)
YR-HP0020F-A01 (SLU-AXES WITH LIMIT SWITCHES FOR FS100)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HP20D/HP20F INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The HP20D/HP20F operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
156192-1CD
6
MANUAL NO.
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156192-1CD
HP20D/HP20F
MANDATORY
•
This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-HP20D/HP20F 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
DX100/FS100 Instructions. To ensure correct and safe operation,
carefully read the DX100/FS100 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 your
product's warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-HP20D/HP20F.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
WARNING
CAUTION
MANDATORY
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
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.
Always be sure to follow explicitly the
items listed under this heading.
Must never be performed.
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.
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as “CAUTION”
and “WARNING”.
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<DX100>
WARNING
•
Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
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.
Figure 1: Emergency Stop Button
•
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.
Figure 2: Release of Emergency Stop
TURN
•
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.
– Keep in mind the emergency response measures against the
manipulator’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 envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– 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 front door of the
DX100 and the programming pendant.
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<FS100>
WARNING
•
Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is 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.
Figure 3: Emergency Stop Button
•
In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and 1617 pin of the robot system signal connector (CN2).
•
Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
•
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.
Figure 4: Release of Emergency Stop
Turn
•
Observe the following precautions when performing teaching
operations within the manipulator’s operating range:
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’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 manipulator’s operating
range and that you are in a safe location before:
– Turning ON the FS100 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 manipulator’s operating range
during operation. Always press the emergency stop button
immediately if there is a problem.
The emergency stop button is located on the right of the programming
pendant.
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CAUTION
•
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.
•
For the DX100, always return the programming pendant to the hook
on the cabinet of the DX100 after use.
For the FS100, always return the programming pendant to a safe
place 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
DX100/FS100 Instructions before operating the manipulator:
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Definition of Terms Used Often in This Manual (DX100)
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:
Equipment
Manual Designation
DX100 controller
DX100
DX100 programming pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
Definition of Terms Used Often in This Manual (FS100)
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the FS100 controller,
manipulator cables, the FS100 programming pendant (optional), and the
FS100 programming pendant dummy connector (optional).
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
FS100 controller
FS100
FS100 programming pendant
Programming pendant
Cable between the manipulator
and the controller
Manipulator Cable
FS100 programming pendant
dummy connector
Programming pendant
dummy connector
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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 the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Figure 5: Warning Labels Locations
WARNING Label B
WARNING Label A
WARNING Label B
Nameplate
Nameplate:
WARNING Label A:
WARNING
Moving parts
may cause
injury
WARNING Label B:
WARNING
Do not enter
robot
work area.
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Table of Contents
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 ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-3
2.2 Cushioning Material for Transport ..................................................................................... 2-4
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 Ways of Mounting .............................................................................................................. 3-4
3.3.1 S-Axis Operating Range....................................................................................... 3-4
3.3.2 Fixing Manipulator Base ....................................................................................... 3-4
3.3.3 Precautions to Prevent Manipulator from Falling.................................................. 3-4
3.3.4 IP (International Protection) for Main Part of Manipulator .................................... 3-5
3.4 Location ............................................................................................................................. 3-5
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to Manipulator.................................................................................... 4-2
4.2.2 Connection to DX100/FS100................................................................................ 4-2
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 ........................................................................................... 5-3
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-4
5.5 Alterable Operating Range ................................................................................................ 5-5
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-3
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Table of Contents
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........................................................................................................... 9-2
9.2 Notes on Maintenance Procedures.................................................................................... 9-6
9.2.1 Battery Pack Replacement ................................................................................... 9-6
9.3 Notes on Grease Replenishment and Exchange Procedures ........................................... 9-8
9.3.1 Grease Replenishment and Exchange for S-Axis Speed Reducer ...................... 9-9
9.3.1.1 Grease Replenishment
(Refer to Fig.9-4 S-Axis Speed Reducer Diagram.) ................................ 9-9
9.3.1.2 Grease Exchange
(Refer to Fig. 9-4 S-Axis Speed Reducer Diagram on page 9-9.) ......... 9-10
9.3.2 Grease Replenishment and Exchange for L-Axis Speed Reducer..................... 9-11
9.3.2.1 Grease Exchange
(Refer to Fig.9-5 L-Axis Speed Reducer Diagram.)............................... 9-11
9.3.2.2 Grease Exchange
(Refer to Fig. 9-5 L-Axis Speed Reducer Diagram on page 9-11.) ....... 9-12
9.3.3 Grease Replenishment and Exchange for U-Axis Speed Reducer .................... 9-13
9.3.3.1 Grease Replenishment
(Refer to Fig.9-6 U-Axis Speed Reducer Diagram.) .............................. 9-13
9.3.3.2 Grease Exchange
(Refer to Fig. 9-6 U-Axis Speed Reducer Diagram on page 9-13.) ....... 9-14
9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-15
9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers ............................... 9-16
9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-17
9.3.7 Grease Replenishment for R-Axis Cross Roller Bearing .................................... 9-18
9.3.8 Notes for Maintenance........................................................................................ 9-19
9.3.8.1 Wrist Unit ............................................................................................... 9-19
9.3.8.2 Battery Pack Connection ....................................................................... 9-20
10 Recommended Spare Parts........................................................................................................ 10-1
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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 Wrist Unit ..................................................................................................................... 11-10
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1 Product Confirmation
1.1 Contents Confirmation
Product Confirmation
CAUTION
•
Confirm that the manipulator and the DX100/FS100 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 five (six or seven) items
(Information for the content of optional goods is given separately.):
• For DX100:
• Manipulator
• DX100 (including spare parts)
• Programming pendant
• Manipulator cable (between the DX100 and the manipulator, 4 cables)
• Set of instruction manuals
• For FS100:
• Manipulator
• FS100 (including spare parts) 2 units (for R1 and R2)
• Manipulator cable (between the FS100 and the manipulator, 4 cables)
• Set of instruction manuals
• Programming pendant (optional)
• Programming pendant dummy connector (optional)
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1 Product Confirmation
1.2 Order Number Confirmation
1.2
Order Number Confirmation
Check that the order number of the manipulator corresponds to the
DX100/FS100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
AC200V
AC220V
50/60Hz
60Hz
PEAK
AVERAGE
kVA
kVA
kA
ER
GE N
Y
3PHASE
INTERRUPT CURRENT
C
ERDR-
POWER SUPPLY
EM
DX100
TYPE
Check that the manipulator
and the DX100/FS100 have
the same order number.
SERIAL No.
DATE
MADE IN JAPAN
NJ2960-1
S
T O P
RE
SE
T
OFF
TR
IP
PE
D
ON
F
E
US
CN
ORDER NO.
NJ1529
FBB
CN210 CN211
(c) FS100 (Front View)
PROGRAMMING PENDANT
(a) DX100 (Front View)
(b) Manipulator (Top View)
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2 Transport
2.1 Transport Method
Transport
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 3G or more vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.
In case a message “PULSE LIMIT” appeared on the programming
pendant window after the manipulator is installed and the power supply is
turned ON, execute the following procedures for restoration.
1. From the alarm message, confirm that which axis has exceeded its
motion range.
2. Select “VALID” to {SOFT LIMIT RELEASE} on LIMIT RELEASE
window. (Refer to “8.10 Soft LImit Release Function” in “DX100
INSTRUCTIONS (162536-1CD)” and “8.10 Soft LImit Release
Function” in “FS100 INSTRUCTIONS (159644-1CD)” .
3. Move the axis mentioned in step one to return it into its motion range.
4. Select “INVALID” to {SOFT LIMIT RELEASE} on LIMIT RELEASE
window.
In case a message “OUT OF RANGE(ABSO DATA)” appeared, take
measures by following the instructions mentioned in “6.4 Setting the
Second Home Position (Check Point)” in “DX100 MAINTENANCE
MANUAL (155492-1CD)” and “7.4 Setting the Second Home Position
(Check Point)” in “FS100 MAINTENANCE MANUAL (159645-1CD)”.
2.1
Transport Method
• Check that the eyebolts are securely fastened.
• The weight of the manipulator is approximately 280 kg
including the cushioning material for transport. Use a wire
rope strong enough to withstand the weight.
NOTE
• Attached eyebolts are designed to support the manipulator
mass. Do not use them for anything other than
transporting the manipulator.
• Mount the cushioning material for transport to 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.
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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 cushioning material for transport, and lift it in
the posture as shown in Fig.2-1 Transporting Position.
Fig. 2-1: Transporting Position
Eyebolt M12 (2 eyebolts)
(Delivered with the manipulator)
Factory setting for angle and pulse of each axis
Axis
S
L
U
R
B
T
81920
0
0
Angle
Pulse
0
-196230 -111514
Eyebolt M12 (2 eyebolts)
(Delivered with the manipulator)
View E
B
E
2.1.1
2 Transport
2.1 Transport Method
A
F
View F
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2.1.2
2 Transport
2.1 Transport Method
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
Bolt M16
(4 places)
Pallet
Forklift claw entries
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2 Transport
2.2 Cushioning Material for Transport
2.2
Cushioning Material for Transport
The manipulator is provided with the cushioning materials for transport at
sections A and B. (See Fig.2-3 Cushioning Materials for Transport.)
Fig. 2-3: Cushioning Materials for Transport
Eyebolts M12 (2 eyebolts)
(delivered with the manipulator)
B
A
Enlarged View: Section A
Enlarged View: Section B
• A rubber cushion is respectively wedged at the sections A and B.
Before turning ON the power, check to be sure that the
cushioning materials for transport are removed.
NOTE
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.
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3
3
Installation
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 Fig. 2-3 Cushioning Materials for
Transport on page 2-4 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
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
Maximum Repulsion Forces of Manipulator at Emergency Stop and Table
3-2 Endurance Torque in Operation.
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” at page 3-3.
Table 3-1: Maximum Repulsion Forces of Manipulator at Emergency Stop
Maximum torque in horizontal rotation
(S-axis moving direction)
8000 N•m
(815 kgf•m)
Maximum torque in vertical rotation
(L-,U-axes moving direction)
5000 N•m
(510 kgf•m)
Table 3-2: Endurance Torque in Operation
Endurance torque in horizontal operation
(S-axis moving direction)
1700 N•m
(171 kgf•m)
Endurance torque in vertical operation
(L-,U-axes moving direction)
3775 N•m
(385 kgf•m)
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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 32 mm or more thickness, and anchor bolts of M16 or larger
size.
Next, fix the manipulator base to the baseplate. The manipulator base is
tapped for four mounting holes; securely fix the manipulator base to the
baseplate with four hexagon head bolts M16 (60 mm long is
recommended). Tighten the hexagon head bolts and anchor bolts firmly
so that they will not work loose during the operation.
Refer to Fig.3-1 Mounting Manipulator on Baseplate.
Fig. 3-1: Mounting Manipulator on Baseplate
Bolt M16 (4 bolts)
Spring washer
Washer
Manipulator base
25
Baseplate
40 mm
or more
Manipulator base
Anchor bolt (M16 or larger)
Baseplate
375
335
313
200±0.1
375
60
170±0.1
335
60
250
18 dia. holes
(4 holes)
200±0.1
3.2.1
3 Installation
3.2 Mounting Procedures for Manipulator Base
Baseplate
260±0.1
+0.018
0 dia.
12
holes (2 holes)
Manipulator Base
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3 Installation
3.3 Ways of Mounting
3.3
Ways of Mounting
The MOTOMAN-HP20D/HP20F is available in three ways of mounting:
floor-mounted way (standard), wall-mounted way, and ceiling-mounted
way. For wall-mounted and ceiling-mounted ways, the three points listed
below are different from the floor-mounted way.
• S-Axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
• IP (International Protection) for Main Part of the Manipulator
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 Manipulator Base
For wall- and ceiling-mounted types, be sure to use four hexagon socket
head 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 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.3-2
Precaution Against Falling for details.
Fig. 3-2: Precaution Against Falling
Support for fall prevention
Manipulator base
Hexagon socket head cap
screw M16 (4 places)
(Tensile strength: 1200 N/mm2 or more)
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3.3.4
3 Installation
3.4 Location
IP (International Protection) for Main Part of Manipulator
For wall-mounted or ceiling mounted ways, 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
In case of using the wall-mounted or the ceiling-mounted
way, 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 or
ceiling installation on site.
Also, thoroughly read the instructions described in “8.4
ARM Control” in both “DX100 INSTRUCTIONS (1625361CD)” and “FS100 INSTRUCTIONS (159644-1CD)” before
installing and using the manipulator.
3.4
Location
When the manipulator is installed, it is necessary to satisfy the following
environmental conditions:
• Ambient temperature: 0 to + 45C
• Humidity: 20 to 80%RH (non-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
[0.5G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less
3-5
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HP20D/HP20F
4
4 Wiring
4.1 Grounding
Wiring
WARNING
•
Ground resistance must be 100  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. (e.g. 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.
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 on page 4-2 to connect the ground
line directly to the manipulator.
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
electrical installation standards.
4-1
HW0484979
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HP20D/HP20F
4 Wiring
4.2 Cable Connection
A
A
Fig. 4-1: Grounding Method
5.5 mm2 or more
Bolt M8 (For grounding)
Delivered with the manipulator
4.2
Section A-A’
Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to fig. 4-2(a) Manipulator
Cables (DX100) on page 4-3 and fig. 4-2(b) Manipulator Cables (FS100)
on page 4-3.)
Connect these cables to the manipulator base connectors and to the
DX100/FS100. Refer to fig. 4-3(a) Manipulator Cable Connectors
(Manipulator Side) on page 4-4, fig. 4-3(b) Manipulator Cable Connection
(DX100 Side) on page 4-4 and fig. 4-3(c) Manipulator Cable Connection
(FS100 Side) on page 4-4.
4.2.1
Connection to 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 DX100/FS100
Before connecting cables to the DX100/FS100, verify the numbers on
both manipulator cables and the connectors on the DX100/FS100. When
connecting, connect the cables in the order of X21, then X11.
For the DX100, after inserting the connectors, depress each lever until it
clicks. For the FS100, insert each connector until it clicks.
4-2
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4 Wiring
4.2 Cable Connection
Fig. 4-2(a): Manipulator Cables (DX100)
Manipulator side
DX100 side
X11
1BC
X11
1BC
1BC
Encoder cable
DX100 side
Manipulator side
2BC
X21
2BC
X21
2BC
Power cable
Fig. 4-2(b): Manipulator Cables (FS100)
Manipulator side
FS100 side
X11
1BC
1BC
X11
1BC
molex
Encoder cable
Manipulator side
FS100 side
2BC
X21
HP20D/HP20F
2BC
X21
2BC
Power cable
4-3
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HP20D/HP20F
4 Wiring
4.2 Cable Connection
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
2BC
1BC
3BC
Connector Details
(Manipulator Side)
Fig. 4-3(b): Manipulator Cable Connection (DX100 Side)
X21
X11
Fig. 4-3(c): Manipulator Cable Connection (FS100 Side)
X21
X11
Back View
4-4
HW0484979
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HP20D/HP20F
5
5 Basic Specifications
5.1 Basic Specifications
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications1)
Item
Model
MOTOMAN-HP20D/HP20F
Structure
Vertically articulated
Degree of Freedom
6
Payload
20 kg
2)
±0.06 mm
Repeatability
Range of Motion
Maximum Speed
Allowable Moment
3)
2/4)
Allowable Inertia (GD
S-Axis (turning)
-180 - +180
L-Axis (lower arm)
-110 - +155
U-Axis (upper arm)
-165 - +255
R-Axis (wrist roll)
-200 - +200
B-Axis (wrist pitch/yaw)
-50
T-Axis (wrist twist)
-360 - +360
S-Axis
3.44 rad/s, 197°/s
L-Axis
3.05 rad/s, 175°/s
U-Axis
3.58 rad/s, 205°/s
R-Axis
6.98 rad/s, 400°/s
B-Axis
6.98 rad/s, 400°/s
T-Axis
10.47 rad/s, 600°/s
R-Axis
39.2 N•m (4 kgf•m)
B-Axis
39.2 N•m (4 kgf•m)
T-Axis
19.6 N•m (2 kgf•m)
R-Axis
1.05 kg•m2
B-Axis
1.05 kg•m2
T-Axis
0.75 kg•m2 5)
Approx. Mass
Ambient Conditions
- +230
257 kg
4)
Power Requirements
Temperature
0°C to 45°C
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
4.9 m/s2 or less (0.5G)
Others
Free from corrosive gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
2.0 kVA
1 SI units are used in this table. However, gravitational unit is used in (
).
2 Conformed to ISO9283
3 Refer to table chapter 6.1 Allowable Wrist Load on page 6-1 for details on the permissible moment
of inertia.
4 Conformed to IP54 for the main part of the manipulator (only floor-mounted type). Conformed to
IP67 for the wrist part (IP65 for the main part is optional.)
5 The allowable inertia of T-axis varies depending on the added value of the moment. Refer to
chapter 6.1 Allowable Wrist Load on page 6-1 for the details.
5-1
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HP20D/HP20F
5 Basic Specifications
5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
Fig. 5-1: Part Names and Working Axes
U-arm
U+
R+
B+
T+
Wrist flange
U-
L-
R-
B-
T-
L+
L-arm
S-head
Manipulator base
S+
S-
5-2
HW0484979
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HP20D/HP20F
5 Basic Specifications
5.3 Manipulator Base Dimensions
5.3
Manipulator Base Dimensions
Fig. 5-2: Manipulator Base Dimensions
200±0.1
Fitting surface
A
25
60
200±0.1
60
Fitting surface
375
335
View A
170±0.1
195.5
395.5
335
375
313
250
18 dia. holes (4 holes)
(for manipulator fixing)
12 +0.018
dia. holes
0
(2 holes)
260±0.1
Units: mm
5-3
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HP20D/HP20F
5 Basic Specifications
5.4 Dimensions and P-Point Maximum Envelope
5.4
Dimensions and P-Point Maximum Envelope
Fig. 5-3: Dimensions and P-Point Maximum Envelope
180°
7
71
R31
4
R
42
1
150
R1
180°
807
1717
A
349
413
0
288
635
514
459
2072
P-point
Lamp (optional)
150
138.5
1003
L-axis
760
768
421
264 157
505
°
334
255
505
155°
11
0°
1485
81
°
140
80
795
87.5
105
1417
1323
View A
238
0
0
31
P-point maximum
envelope
165°
524
559
807
471
0
260
917
991
Note:
This figure shows the standard specification
manipulator in the home position.
5-4
HW0484979
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HP20D/HP20F
5 Basic Specifications
5.5 Alterable Operating Range
5.5
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
5-5
HW0484979
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HP20D/HP20F
Allowable Load for Wrist Axis and Wrist Flange
6.1
Allowable Wrist Load
The allowable wrist load is 20 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.
Table 6-1: Allowable Wrist Load
Axis
Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia kg•m2
R-Axis
39.2 (4)
1.05
B-Axis
39.2 (4)
1.05
1 ( ): Gravitational unit
The allowable moments of inertia for R-axis and B-axis are calculated
when the moment is at the maximum. The allowable moment of inertia for
T-axis varies depending on the moment, as shown in Fig.6-1 T-axis
Allowable Moment of Inertia (Value from Rotation Center of T-axis Flange
Surface). Use the manipulator to meet those conditions.
For example, with MOTOMAN-HP20D/HP20F, the allowable moment of
inertia for the T-axis is 0.25 kg•m2 when the moment is 19.6 N•m, and
0.75 kg•m2 when 0 N•m.
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-2 Moment Arm Rating on page 6-2.
Fig. 6-1: T-axis Allowable Moment of Inertia (Value from Rotation Center of T-axis Flange Surface)
20
19.6
Moment (Nm)
6
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
15
10
5
0
0.25
0.3
0
0.75
0.6
0.9
Total Inertia GD2 /4 Kgm 2
6-1
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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
Fig. 6-2: Moment Arm Rating
Load gravity position
LB
LT
105
R-, T-axis
rotation center
B-axis rotation center
300
T L (mm)
HP20D/HP20F
200
W=6Kg
W=10Kg
100
W=16Kg
W=20Kg
0
100
200
300
400
LB (mm)
6-2
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HP20D/HP20F
6 Allowable Load for Wrist Axis and Wrist Flange
6.2 Wrist Flange
Wrist Flange
The wrist flange dimensions are shown in Fig.6-3 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.
Fig. 6-3: Wrist Flange
Alignment mark
A
0.5
6
Tapped holes M6
(depth: 10)
(pitch: 1.0) (4 holes)
0
50 -0.039 dia.
6
+0.021
dia.
0
45°
25
6.2
P.C
.D4
0
Units: mm
6 +0.012
dia. hole
0
(depth: 6)
View A
• Wash off anti-corrosive paint (yellow) on the wrist flange
surface with thinner or light oil before mounting the tools.
NOTE
• Mount the attachment with the mounting bolts (length: 10
mm or less).
Failure to observe this instruction may affect the
manipulator performance.
6-3
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HP20D/HP20F
7
7 System Application
7.1 Peripheral Equipment Mounts
System Application
7.1
Peripheral Equipment Mounts
The peripheral equipment mounts are provided on the U-axis (upper arm)
and S-axis (rotary head) as shown in Fig. 7-4 Installing Peripheral
Equipment on page 7-1 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 31 kg, including the wrist
load.
For instance, when the mass installed on the wrist point is 20 kg, the mass
which can be installed on the upper arm is 11 kg.
Installation Position
There is a limitation on the installation position.
Fig. 7-5 Allowable Load on U-axis on page 7-1 shows the distance
between the center of U-axis rotation and the load gravity.
A
Fig. 7-4: Installing Peripheral Equipment
Limited dimension
of Z-coordinate:
400 at a maximum
Z-coordinate
direction
W2
Units: mm
W1
220
70
X-coordinate
direction
Center of U-axis rotation
70
7.1.2
Rotating base
View A
Fig. 7-5: Allowable Load on U-axis
(kg)
30
W1=6kg
W1=10kg
20
W1=16kg
Weight W2
W1=20kg*1
10
0
*1 In this case, unbalanced
moment is not permitted.
-200 -100 0 100 200 300 400 500 (mm)
Distance between Center of U-axis
Rotation and Load Gravity (X direction)
7-1
HW0484979
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HP20D/HP20F
7 System Application
7.2 Internal User I/O Wiring Harness and Air Line
7.2
Internal User I/O Wiring Harness and Air Line
Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires and 1.25
mm2 x 6 wires), and an air line are incorporated in the manipulator for the
drive of peripheral devices mounted on the upper arm as shown in Fig.7-6
Connectors for Internal User I/O Wiring Harness and Air Line.
The connector pins 1 to 16 are assigned as shown in Fig. 7-7 Details of
the Connector Pin Numbers on page 7-3 on the following page. Wiring
must be performed by users.
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: 8.0 mm)
Fig. 7-6: Connectors for Internal User I/O Wiring Harness and Air Line
A
Exhaust port (air flow):
Tapped hole PT3/8 with
pipe plug
Connector for internal user I/O
wiring harness: JL05-2A20-29SC
(socket connector with a cap)
Air inlet: Tapped hole
PT3/8 with pipe plug
Prepare pin connector
JL05-6A20-29P.
2BC
1BC
3BC
Connector for internal
user I/O wiring harness:
JL05-2A20-29PC
(pin connector with a cap)
Prepare socket connector
JL05-6A20-29S.
View A
7-2
HW0484979
156192-1CD
HP20D/HP20F
7 System Application
7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-7: Details of the Connector Pin Numbers
Connector for Internal User I/O Wiring Harness
on the Connector Base
1
2
3
4
5
6
7 (Open)
8 (Open)
9
10
11 (1.25 mm2)
12 (1.25 mm2)
13 (1.25 mm2)
14
2
15 (1.25 mm )
16 (1.25 mm2)
Pins used
1
2
3
5
4
7
8
11
12
9
13
6
10
14
16
15
Internal user I/O wiring harness: 0.2 mm2, 8 wires
: 1.25 mm2, 6 wires
Connector for Internal User I/O Wiring Harness
on the U-arm
Pins used
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
(+24V: for shock sensor)
4
(For DX100: shock sensor signal input
7
9
For FS100: Not used)
2
11
5
3
8
6
10
12
13
14
(1.25 mm )
(1.25 mm2)
16
15
(1.25 mm2)
(1.25 mm2)
(1.25 mm2)
Internal user I/O wiring harness: 0.2 mm2, 8 wires
: 1.25 mm2, 6 wires
• 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
signal input port of the DX100/FS100 controller.
NOTE
• The pins No.7 and No.8 of respective 3BC connectors on
the connector base side and the U-arm side are not
connected with each other.
• For wiring, refer to fig. 8-3(a) Internal Connection Diagram
(DX100) on page 8-3 and fig. 8-3(c) Internal Connection
Diagram (FS100) on page 8-5.
The same numbered pins (1 to 16) of the two connectors are connected
with a single lead wire of 0.2 mm2 or 1.25 mm2.
7-3
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HP20D/HP20F
8
8 Electrical Equipment Specification
8.1 Position of Limit Switch
Electrical Equipment Specification
8.1
Position of Limit Switch
The limit switches are optional. See Fig.8-1 Location of Limit Switches.
The manipulators with S- and L-axis overrun limit switches, and LU-axis
interference limit switch are the types YR-HP0020D-A01 and YRHP0020F-A01.
Fig. 8-1: Location of Limit Switches
LU-axes interference
limit switch (optional)
L-axis interference
limit switch (optional)
S-axis overrun
limit switch (optional)
8-1
HW0484979
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HP20D/HP20F
8 Electrical Equipment Specification
8.2 Internal Connections
8.2
Internal Connections
Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see Fig.8-2
Locations and Numbers of Connectors.
Diagrams for Internal connections of the manipulator are shown in fig. 83(a) Internal Connection Diagram (DX100) on page 8-3, fig. 8-3(b) Internal
Connection Diagram (DX100) on page 8-4, fig. 8-3(c) Internal Connection
Diagram (FS100) on page 8-5, and fig. 8-3(d) Internal Connection
Diagram (FS100) on page 8-6.
Fig. 8-2: Locations and Numbers of Connectors
3BC (For internal user
I/O wiring harness)
3BC (For internal user
I/O wiring harness)
Table 8-1: List of Connector Types
Name
Type of Connector
Connector for the internal user I/O
JL05-2A20-29PC
wiring harness on the connector base (JL05-6A20-29S: Optional)
Connector for the internal user I/O
wiring harness on the U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
8-2
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8 Electrical Equipment Specification
8.2 Internal Connections
HP20D/HP20F
Fig. 8-3(a): Internal Connection Diagram (DX100)
POWER CABLE
INTERNAL CABLE IN S-AXIS
INTERNAL CABLE IN L-AXIS
INTERNAL CABLE IN BT-AXIS
<NOTES>
- For the limit switch specification, the connection of the section A is changed as follows:
0BT
P BAT
0BT
P BAT
1
2
3
4
0BAT11
BAT11
0BAT12
BAT12
0BT
P BAT
0BT
P 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
1BC(10X4)
DX100
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
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
- For the IP65 specification, the connection of the section A and B are changed as follows:
P
No.20CN
20CN-1
-2
-6
-5
-4
-9
-10
P
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
No.21CN
21CN-1
-2
-6
-5
-4
-9
-10
P
FG2
CN2-1
CN2-2
SPG+3
SPG-3
PG
P
CN2-3
FG3
CN2-6
CN2-7
CN2-6
CN2-7
SPG+4
SPG-4
S-AXIS
PG
CN2-8
FG4
P
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
P
P
P
LB1
LB1
LB1
LA1
LB1
LA1
P
LD1
LD1
LD1
LC1
LD1
LC1
P
No.22CN
22CN-1
-2
-6
-5
-4
-9
-10
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
L AND U-AXIS INTERFERENCE L.S
P
P
P
LB1
LA1
LA1
LA2
S-AXIS OVERRUN L.S
P
LA2
LB2
LB3
LD1
LC1
LC1
LC2
S-AXIS OVERRUN L.S
A
L-AXIS OVERRUN L.S
LA3
P
LC2
LD2
L AND U-AXIS INTERFERENCE L.S
LB3
L-AXIS OVERRUN L.S
LC3
LD3
L AND U-AXIS INTERFERENCE L.S
LD3
No.23CN
23CN-1
-2
-3
-4
24CN-1
-2
-3
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
DX100 Connection Port
Pin No.
Shock sensor power supply; +24V (1A)
7
Shock sensor signal input
8
PG
U-AXIS
OBT
BAT
P
CN2-8
LD3
- 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 the shock sensor signal input
port of the DX100 controller.
L-AXIS
No.6CN
1BC(10X4)
L-AXIS OVERRUN L.S
LC3
SLU-axes with Overrun Limit Switch Specification (IP65 specification)
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
No.5CN
5CN-1
-2
-3
-4
6CN-1
-2
-3
P
P
CN2-3
LC2
LD2
LC2
LD3
OBT
BAT
P
L AND U-AXIS INTERFERENCE L.S
SLU-axes with Overrun Limit Switch Specification
P
CN2-1
CN2-2
LD1
P
SPG+2
SPG-2
CN1-8
A
LB3
LC1
LD1
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
P
CN1-8
L-AXIS OVERRUN L.S
LA3
LB3
FG1
CN1-6
CN1-7
LA2
LB2
LA2
S-AXIS OVERRUN L.S
LC1
LD1
OBT
BAT
CN1-6
CN1-7
LB1
P
P
CN1-3
LA1
LB1
P
CN1-3
S-AXIS OVERRUN L.S
LA1
LB1
0BAT4
BAT4
PG
R-AXIS
OBT
BAT
CN3-1
CN3-2
P
CN3-1
CN3-2
SPG+5
SPG-5
No.7CN
7CN-1
-7
-2
-8
-3
-9
P
P
CN3-3
CN3-3
P
DATA+5
DATA-5
BAT
OBT
+5V
0V
No.14CN
14CN-1
-2
-3
-4
15CN-1
-2
-3
P
P
P
FG5
DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
PG
B-AXIS
PG
T-AXIS
OBT
BAT
CN3-6
CN3-7
P
CN3-6
CN3-7
SPG+6
SPG-6
-4
-10
P
DATA+6
DATA-6
No.16CN
16CN-1
-2
-3
-4
17CN-1
-2
-3
P
P
CN3-8
CN4-1
CN4-6
P
CN4-1
CN4-6
+24V
LB1
CN4-2
CN4-7
CN4-2
CN4-7
SS2
P
+5V
0V
FG6
-5
-11
-6
P
CN3-8
FG6
P
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
OBT
BAT
CN4-3
CN4-8
P
CN4-10
AL2
CN4-10
0V
CN2-4
CN2-5
P
CN2-4
CN2-5
CN2-9
CN2-10
P
CN2-9
CN2-10
CN3-4
CN3-5
P
CN3-9
CN3-10
CN4-4
CN4-5
CN4-9
P
P
CN3-4
CN3-5
CN3-9
CN3-10
CN4-4
CN4-5
CN4-9
E
LB1
LC1
LD1
P
LB3
LA2
P
LD3
LC2
BC2
FOR LAMP(OPTION)
P
SPG+7
SPG-7
INTERNAL CABLE
POWER CABLE
U-ARM
CONNECTOR BASE
+24V
LB1
LA1
LB1
LA1
LB1
LD1
LC1
LD1
LC1
LD1
LB1
0V
+5V
+24V
LD1
P
LB3
LA2
P
LD3
LC2
Casing
CN4-1
CN4-2
CN4-1
CN4-2
24V(1A)
SS2
SS1
SS2
E E
Base
3BC(20-29)
Casing
E
UNUSED
3BC(20-29)
3BC(20-29)
E
E
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1BC(10X4)
LD1
P
Section A for IP65 Specification
E E
E
FG7
E
DX100
P
0V
+5V
E
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
- When connecting the pin No.7 and No.8 of the connector base respectively with the pin No.7 and No.8
of 3BC connectors on the U-arm, the connection of crimped contact-pins (SS1, SS2) should be changed
as shown in the section C below.
(Contact your Yaskawa representative when modifying the wiring before use.)
A
AL1
CN4-3
CN4-8
LA1
7
8
1
2
3
4
5
6
SS1
SS2
1
2
3
4
5
6
SS1
SS2
E
1
2
3
4
P
P
P
P
P
SS1
SS2
P
P
C
2
3
4
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
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
E
C
E
Crimped
Contact-Pin
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
P
P
P
P
P
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
B
8-3
HW0484979
156192-1CD
8 Electrical Equipment Specification
8.2 Internal Connections
HP20D/HP20F
Fig. 8-3(b): Internal Connection Diagram (DX100)
2BC(6X6)
E
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6
CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6
MU2
MV2
MW2
MU2
MV2
MW2
3CN-3
-2
-1
-PE
-4
-5
E
No.8CN
MU1
MV1
MW1
ME1
BA1
BB1
8CN-1
2
3
4
5
6
7
8
9
10
9CN-1
2
3
4
5
6
S-AXIS
SM
YB
No.4CN
4CN-1-A
-B
-C
-D
-1
-2
3BC(20-29)
E
No.3CN
ME1
ME2
ME2
MU1
MV1
MW1
FOR SPARE CABLE
Casing
E
MU2
MV2
MW2
ME2
BA2
BB2
L-AXIS
SM
YB
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
P
1
2
3
4
P
SS1
SS2
P
1
2
3
4
P
P
P
SS1
SS2
P
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
SM
B-AXIS
No.9CN
Section B for IP65 Specification
2BC(6X6)
No.26CN
CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6
CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6
MU3
MV3
MW3
MU4
MV4
MW4
26CN-3
-2
-1
-PE
-4
-5
CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
MU5
MV5
MW5
MU6
MV6
MW6
25CN-1
-2
-3
-4
-1
-2
MU3
MV3
MW3
ME3
BA3
BB3
SM
U-AXIS
YB
No.25CN
MU4
MV4
MW4
ME4
BA4
BB4
SM
R-AXIS
YB
No.35CN
No.18CN
No.10CN
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
ME3
ME4
ME5
ME6
BA1
BB1
10CN-1
-2
-3
-4
MU5
MV5
MW5
ME5
18CN-1
-2
-3
-4
-1
-2
MU5
MV5
MW5
ME5
BA5
BB5
YB
No.36CN
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
BA2
BA3
BA4
BB4
BA5
BA6
No.19CN
-5
-6
-7
-8
19CN-1
-2
-3
-4
-1
-2
No.12CN
12CN-1
-2
-3
-4
PE
MU6
MV6
MW6
ME6
BA5
BB5
BA6
BB6
MU6
MV6
MW6
ME6
BA6
BB6
SM
T-AXIS
YB
No.37CN
8-4
HW0484979
156192-1CD
8 Electrical Equipment Specification
8.2 Internal Connections
HP20D/HP20F
Fig. 8-3(c): Internal Connection Diagram (FS100)
<NOTES>
- For the limit switch specification, the connection of the section A is changed as follows:
S-AXIS OVERRUN L.S
LA1
LA1
LB1
LB1
0BT
K R P BAT
0BT
K R P BAT
1
2
3
4
0BAT11
BAT11
0BAT12
BAT12
0BT
K R P BAT
0BT
K R P BAT
5
6
7
8
0BAT21
BAT21
0BAT22
BAT22
1
2
3
4
5
6
7
8
1BC(10X4)
FS100
B2
B1
P
B4
B3
CN1-5
CN1-4
+24V
0V
P
CN1-10
CN1-9
+24V
0V
P
CN1-1
CN1-2
SPG+1
SPG-1
A3
CN1-3
FG1
A4
A5
CN1-6
CN1-7
SPG+2
SPG-2
A1
A2
1
3
2
4
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
LA2
LB2
LA2
LB1
P
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
L-AXIS OVERRUN L.S
LA3
LB3
LB3
L AND U-AXIS INTERFERENCE L.S
LD3
L AND U-AXIS INTERFERENCE L.S
S-AXIS OVERRUN L.S
LC1
LC1
LD1
LD1
LC2
LD2
LC2
LD1
P
0BAT4
BAT4
L-AXIS OVERRUN L.S
LC3
LD3
Section A SLU-axes with Overrun Limit Switch Specification
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
LB1
LB1
LB1
LA1
LB1
LA1
P
LD1
LD1
LD1
LC1
LD1
LC1
P
LB1
LA1
S-AXIS OVERRUN L.S
LA1
LA2
LB2
LA2
P
L-AXIS OVERRUN L.S
LA3
LB3
LD1
LC1
S-AXIS OVERRUN L.S
LC1
LC2
LD2
LC2
P
LB3
L AND U-AXIS INTERFERENCE L.S
LD3
L AND U-AXIS INTERFERENCE L.S
L-AXIS OVERRUN L.S
LC3
LD3
Section A SLU-axes with Overrun Limit Switch Specification (IP65 specification)
No.20CN
20CN-1
-2
-6
-5
-4
-9
-10
P
P
P
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
PG S-AXIS
OBT
BAT
P
No.21CN
21CN-1
-2
-6
-5
-4
-9
-10
P
P
P
A6
CN1-8
FG2
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
PG L-AXIS
OBT
BAT
C1
C2
P
CN2-1
CN2-2
SPG+3
SPG-3
No.5CN
5CN-1
-2
-3
-4
6CN-1
-2
-3
P
P
P
C3
CN2-3
FG3
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
No.22CN
22CN-1
-2
-6
-5
-4
-9
-10
P
P
P
1BC
P
CN2-6
CN2-7
SPG+4
SPG-4
No.23CN
23CN-1
-2
-3
-4
24CN-1
-2
-3
P
P
P
R
K
P
C6
CN2-8
FG4
E1
E2
CN3-1
CN3-2
SPG+5
SPG-5
PG
U-AXIS
OBT
BAT
No.6CN
C4
C5
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
PG
R-AXIS
OBT
BAT
P
P
P
E3
CN3-3
R
K
P
No.7CN
7CN-1
-7
-2
-8
-3
-9
DATA+5
DATA-5
BAT
OBT
+5V
0V
No.14CN
14CN-1
-2
-3
-4
15CN-1
-2
-3
P
P
P
FG5
DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
PG B-AXIS
OBT
BAT
E4
E5
P
CN3-6
CN3-7
SPG+6
SPG-6
-4
-10
P
DATA+6
DATA-6
No.16CN
16CN-1
-2
-3
-4
17CN-1
-2
-3
P
P
E6
CN3-8
+5V
0V
FG6
-5
-11
-6
P
FG6
P
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
PG T-AXIS
OBT
BAT
D3
D4
B5
D1
F6
D2
P
CN4-1
CN4-6
+24V
OT_1+
NC
P
CN4-2
CN4-7
P
CN4-3
CN4-8
F2
CN4-10
D5
D6
B6
CN2-4
CN2-5
CN2-9
P
F1
CN2-10
G1
G2
CN3-4
CN3-5
P
G3
F3
P
G4
G5
G6
P
E
CN3-9
CN3-10
CN4-4
CN4-5
CN4-9
NC
LA1
LB1
LC1
LD1
P
LB3
LA2
P
LD3
LC2
A
LAMPNC
0V
U
V
P
FOR LAMP(OPTION)
NC
NC
NC
OT_1-
LB1
LA1
LB1
LA1
LB1
LD1
LC1
LD1
LC1
LD1
LB1
P
NC
NC
NC
NC
OT_2+
OT_2-
P
LB3
LA2
P
LD3
LC2
LD1
P
Section A for IP65 specification
NC
E
8-5
HW0484979
156192-1CD
8 Electrical Equipment Specification
8.2 Internal Connections
HP20D/HP20F
Fig. 8-3(d): Internal Connection Diagram (FS100)
E E
E
Base
E
Casing
E
FOR SPARE CABLE
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
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
E
1
2
3
4
P
P
2
3
4
R
SS1
SS2
K
P
K
P
R
P
SS1
SS2
P
P
R
P
C
Item-A
B
2BC(6X6)
CN1-1
H6
CN1-2
G6
A2
CN1-3
CN1-4
A3
CN1-5
A4
CN1-6
B6
CN2-1
D6
CN2-2
F6
A6
CN2-3
CN2-4
C6
CN2-5
E6
CN2-6
ME1
ME2
ME2
MU1
MV1
MW1
MU2
MV2
MW2
MU2
MV2
MW2
3CN-3
-2
-1
-PE
-4
-5
E
No.8CN
MU1
MV1
MW1
ME1
BA1
BB1
8CN-1
2
3
4
5
6
7
8
9
10
9CN-1
2
3
4
5
6
S-AXIS
SM
YB
No.4CN
4CN-1 -A
-B
-C
-D
-1
-2
3BC(20-29)
E
No.3CN
A5
FOR SPARE CABLE
Casing
E
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
K
MU2
MV2
MW2
ME2
BA2
BB2
L-AXIS
SM
YB
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
P
1
2
3
4
P
SS1
SS2
K
R
P
K
R
1
2
3
4
K
P
R
K
P
R
K
P
R
K
R
SS1
SS2
K
P
R
K
P
R
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
No.9CN
Section B for IP65 Specification
2BC
H5
CN3-1
H4
CN3-2
H3
H1
CN3-3
CN3-4
G1
CN3-5
F1
CN3-6
D1
CN4-1
C1
CN4-2
B1
C2
CN4-3
CN4-4
C3
CN4-5
C4
CN4-6
No.26CN
MU3
MV3
MW3
MU4
MV4
MW4
26CN-3
-2
-1
-PE
-4
-5
MU5
MV5
MW5
MU6
MV6
MW6
25CN-1
-2
-3
-4
-1
-2
MU3
MV3
MW3
ME3
BA3
BB3
SM U-AXIS
YB
No.25CN
MU4
MV4
MW4
ME4
BA4
BB4
SM R-AXIS
YB
No.35CN
No.18CN
No.10CN
H2
CN5-1
E1
CN5-2
A1
C5
CN5-3
CN5-4
D5
CN5-5
D4
CN5-6
ME3
ME4
ME5
ME6
BA1
BB1
10CN-1
-2
-3
-4
MU5
MV5
MW5
ME5
18CN-1
-2
-3
-4
-1
-2
MU5
MV5
MW5
ME5
BA5
BB5
SM B-AXIS
YB
No.36CN
D3
CN6-1
E5
CN6-2
E3
E2
CN6-3
CN6-4
F5
CN6-5
F3
CN6-6
BA2
BA3
BA4
BB4
BA5
BA6
No.19CN
-5
-6
-7
-8
19CN-1
-2
-3
-4
-1
-2
No.12CN
12CN-1
-2
-3
-4
PE
MU6
MV6
MW6
ME6
BA5
BB5
BA6
BB6
MU6
MV6
MW6
ME6
BA6
BB6
SM T-AXIS
YB
No.37CN
8-6
HW0484979
156192-1CD
HP20D/HP20F
9
9
Maintenance and Inspection
Maintenance and Inspection
WARNING
•
Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (e.g. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
•
Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
•
For disassembly or repair, contact your Yaskawa representative.
•
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
HW0484979
156192-1CD
HP20D/HP20F
9 Maintenance and Inspection
9.1 Inspection Schedule
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 as shown in Table 9-1 Inspection Items on page 9-3.
In Table 9-1 Inspection Items on page 9-3, the inspection items are
categorized by three types of operations: operations which can be
performed by personnel authorized by the user, operations to be
performed by trained personnel, and operations to be performed by
service company personnel. Only specified personnel shall perform the
inspection work.
• The inspection interval depends on the total servo
operation time.
NOTE
• The following inspection schedule is based on the case
where the manipulator is used for arc welding application.
If the manipulator is used for other application or if it is
used under special conditions, a case-by-case
examination is required.
The inspection may be conducted at shorter intervals if the
manipulator is used very frequently for the application
such as handling; in this case, contact your Yaskawa
representative.
• In Table 9-2 Inspection Parts and Grease Used on page 96, the speed reducers which use VIGO grease RE No.0
may make noises at the initial operation or at the first
operation after a long interval. These noises are
eliminated after the running-in period of one or two days.
9-2
HW0484979
3
Working area and
manipulator
4
Motors for S-, L-, U-axes
5
Baseplate mounting bolts
6
Cover mounting screws
7
Connector base
8
Timing belts for B- and
T-axes
9
Wire harness in manipulator
(SLEU-axis wires)
(RBT-axis wires)
HW0484979
10 Wire harness in manipulator
(BT-axis wires)
•
•
•
•
12 S-axis speed reducer
• •
Visual
Clean the work area if dust or spatter is present.
Check for damage and outside cracks.
Visual
Check for grease leakage.2)
Spanner,
wrench
Tighten loose bolts. Replace if necessary.
Screwdriver,
wrench
Tighten loose bolts. Replace if necessary.
Manual
Check for loose connectors.
Manual
Check for belt tension and wear.
Visual,
multimeter
Check for conduction between the main connector of base and intermediate
connector with manually shaking the wires.
Check for wear of protective spring.3)
Specified
Personnel
Check for damage and deterioration of leads.
•
Replace.4)
Visual,
multimeter
•
11 Battery pack in manipulator
Visual
36000 H
24000 H
12000 H Cycle
6000 H Cycle
•
•
Check alignment mark accordance and damage at the home position.
Check for conduction between terminals and wear of protective spring.3)
Replace4)
•
Replace the battery pack when the battery alarm occurs or the manipulator
drove for 36000 H.
Grease gun
Check for malfunction. (Replace if necessary.) Supply grease5) (6000 H
cycle). See chapter 9.3.1 at page 9-9 .
Replace grease5). (12000 H cycle) See chapter 9.3.1 at page 9-9 .
•
•
•
•
•
•
•
Service
Company
External lead
Visual
Inspection
Charge
Licensee
2
•
•
•
•
Operation
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
• •
•
• •
• •
Maintenance and Inspection
Inspection Schedule
Alignment mark
Method
9
9.1
9-3
1
1000 H Cycle
Daily
Schedule
156192-1CD
Items1)
HP20D/HP20F
Table 9-1: Inspection Items (Sheet 1 of 2)
Service
Company
Inspection
Charge
Licensee
Operation
Specified
Personnel
Method
36000 H
24000 H
12000 H Cycle
6000 H Cycle
1000 H Cycle
Schedule
Daily
Items1)
• •
Grease gun
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000 H cycle). See chapter 9.3.2 at page 9-11 and
chapter 9.3.3 at page 9-13 .
Replace grease5) (12000 H cycle). See chapter 9.3.2 at page 9-11 and
chapter 9.3.3 at page 9-13 .
• •
14 R-, B- and T-axes speed
reducer
•
Grease gun
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000 H cycle). See chapter 9.3.4
chapter 9.3.5 at page 9-16 .
• •
15 T-axis gear
•
•
Grease gun
17 Overhaul
Grease gun
•
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000 H cycle). See chapter 9.3.6
at page 9-17
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000 H cycle). See chapter 9.3.7
at page 9-18
• •
• •
•
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HW0484979
1 Inspection No. correspond to the numbers in Fig. 9-1 Inspection Items on page 9-5.
2 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.
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” 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 chapter 9.3.8 “Notes for Maintenance” at page 9-19)
4 Wire harness in manipulator to be replaced at 24000 H inspection.
5 For the grease, refer to Table 9-2 Inspection Parts and Grease Used on page 9-6.
Maintenance and Inspection
Inspection Schedule
16 R-axis cross roller bearing
at page 9-15 and
9
9.1
9-4
13 Speed reducers for L- and
U-axes
HP20D/HP20F
Table 9-1: Inspection Items (Sheet 2 of 2)
2
T-AXIS
8
1
S-AXIS
9
9.1
8
B-AXIS
1
14 BT-AXES
U-AXIS
1 R-AXIS
13
4
9-5
16
15
4
U-AXIS
9
1 L-AXIS
13
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11
12
4
7
11
Maintenance and Inspection
Inspection Schedule
10
156192-1CD
5
S-AXIS
4
HP20D/HP20F
Fig. 9-1: Inspection Items
156192-1CD
HP20D/HP20F
9 Maintenance and Inspection
9.2 Notes on Maintenance Procedures
Table 9-2: Inspection Parts and Grease Used
No.
Grease Used
Inspected Parts
12, 13
VIGO Grease RE No. 0
Speed reducers for S-, L- and U-axes
14, 15
Harmonic Grease SK-1A Speed reducers for R-, B- and T-axes
T-axis gear
16
Alvania EP Grease 2
R-axis cross roller bearing
The numbers in the above table correspond to the numbers in Table 9-1
Inspection Items on page 9-3.
9.2
9.2.1
Notes on Maintenance Procedures
Battery Pack Replacement
The battery packs are installed in the position shown in Fig.9-2 Battery
Location. If the battery alarm occurs in the DX100/FS100, replace the
battery in accordance with the following procedure:
Fig. 9-2: Battery Location
Battery pack
Connector base
Support
Connector base
Connector base fixing screw
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9 Maintenance and Inspection
9.2 Notes on Maintenance Procedures
Fig. 9-3: Battery Connection
Battery pack
before replacement
See step 5 below
Connector
Board
(type: SGDR-EFBA02A)
See step 4 below
New battery pack
(HW0470360-A)
1. Turn OFF the DX100/FS100 main power supply.
2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the
board.
5. Remove the old battery pack from the board.
NOTE
Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
6. Mount the new battery pack to the holder.
7. Reinstall the plate.
NOTE
Do not allow plate to pinch the cables when reinstalling the
plate.
9-7
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
9.3
Notes on Grease Replenishment and Exchange Procedures
Make sure to follow the instructions listed below at grease replenishment
and exchange. Failure to observe the following notes may result in
damage to motor and speed reducer.
• If grease is added without removing the plug or screw from
the grease exhaust port, the grease will leak inside a
motor or an oil seal of a speed reducer will come off, which
may result in damage to the motor. Make sure to remove
the plug or screw.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill the hose on the grease inlet with grease
beforehand to prevent air from leaking into the speed
reducer.
9-8
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9.3.1
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment and Exchange for S-Axis Speed Reducer
Fig. 9-4: S-Axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket head plug PT1/8
Grease inlet
Hexagon socket head plug PT1/8
NOTE
S-axis speed reducer
For the ceiling-mounted manipulator, the grease exhaust
port and the grease inlet are inverted.
9.3.1.1 Grease Replenishment (Refer to Fig.9-4 S-Axis Speed Reducer Diagram.)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
2. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
30 cc (60 cc for 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
4. Move the S-axis for a few minutes to discharge excess grease.
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
5. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply ThreeBond 1206C (see Table 10-1
Spare Parts for YR-HP0020D-A00, -A01, YR-HP0020F-A00, -A01 on
page 10-1) on the thread part of the plug, then tighten the plug with a
tightening torque of 5 N•m (0.51 kgf•m).
6. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply ThreeBond 1206C on the thread part of the
plug, then tighten the plug with a tightening torque of 5 N•m (0.51
kgf•m).
9.3.1.2 Grease Exchange (Refer to Fig. 9-4 S-Axis Speed Reducer Diagram on page 9-9.)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
2. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
approx. 1800 cc
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
4. 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 S-axis for a few minutes to discharge excess grease.
6. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply ThreeBond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 5 N•m
(0.51 kgf•m).
7. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply ThreeBond 1206C on the thread part of the
plug, then tighten the plug with a tightening torque of 5 N•m (0.51
kgf•m).
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9.3.2
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment and Exchange for L-Axis Speed Reducer
Fig. 9-5: L-Axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket head plug PT 1/8
L-arm
L-axis speed reducer
Grease inlet
Hexagon socket head cap screw M6
NOTE
For the ceiling-mounted manipulator, the grease exhaust
port and the grease inlet are inverted.
9.3.2.1 Grease Exchange (Refer to Fig.9-5 L-Axis Speed Reducer Diagram.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
4. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
30 cc (60 cc for 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
6. Move the L-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply ThreeBond 1206C on the thread part
of the screw, then tighten the screw with a tightening torque of 5 N•m
(0.51 kgf•m).
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply ThreeBond 1206C on the thread part of the
plug, then tighten the plug with a tightening torque of 5 N•m (0.51
kgf•m).
9-11
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
9.3.2.2 Grease Exchange (Refer to Fig. 9-5 L-Axis Speed Reducer Diagram on page 9-11.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
NOTE
If grease is injected with the screw on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the screw before the grease injection.
4. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
approx. 500 cc
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
6. 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.)
7. Move the L-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply ThreeBond 1206C on the thread part
of the screw, then tighten the screw with a tightening torque of 10 N•m
(1.0 kgf•m).
9. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply ThreeBond 1206C on the thread part of the
plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5
kgf•m).
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9.3.3
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment and Exchange for U-Axis Speed Reducer
Fig. 9-6: U-Axis Speed Reducer Diagram
U-arm
U-axis
speed reducer
Grease exhaust port
Hexagon socket head cap
screw M6
Grease inlet
Hexagon socket head plug PT 1/8
NOTE
For the ceiling-mounted manipulator, the grease exhaust
port and the grease inlet are inverted.
9.3.3.1 Grease Replenishment (Refer to Fig.9-6 U-Axis Speed Reducer Diagram.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from grease exhaust
port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
4. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
30 cc (60 cc for 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
6. Move the U-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply ThreeBond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 5 N•m
(0.51 kgf•m).
8. Wipe the discharged grease with a cloth, and reinstall the screw.
Before installing the screw, apply ThreeBond 1206C on the thread part
of the screw, then tighten the screw with a tightening torque of 5 N•m
(0.51 kgf•m).
9-13
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
9.3.3.2 Grease Exchange (Refer to Fig. 9-6 U-Axis Speed Reducer Diagram on page 9-13.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
NOTE
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.
3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
approx. 300 cc
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
5. The grease exchange is complete when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
6. Move the U-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply ThreeBond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 5 N•m
(0.51 kgf•m).
8. Wipe the discharged grease with a cloth, and reinstall the screw to the
grease exhaust port. Before installing the screw, apply ThreeBond
1206C on the thread part of the screw, then tighten the screw with a
tightening torque of 5 N•m (0.51 kgf•m).
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9.3.4
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment for R-Axis Speed Reducer
Fig. 9-7: R-Axis Speed Reducer Diagram
Grease inlet
Grease zerk A-MT6X1
Exhaust port
Hexagon socket head cap screw M6
1. Remove the hexagon socket head cap screw M6 from the exhaust
port.
2. Inject grease through the grease inlet using a grease gun. (Refer to
Fig.9-7 R-Axis Speed Reducer Diagram.)
– Grease type:
Harmonic grease SK-1A
– Amount of grease:
8 cc (16 cc for the first supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
3. Reinstall the screw on the exhaust port. Before installing the screw,
apply ThreeBond 1206C on the thread part of the screw, then tighten
the screw with a tightening torque of 5 N•m (0.51 kgf•m).
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9.3.5
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment for B- and T-Axis Speed Reducers
Fig. 9-8: B- and T-Axis Speed Reducers Diagram
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)
1. Remove the plug LP-M5 and the hexagon socket head cap screw M6
from the exhaust ports.
NOTE
Remove the cover for the B-axis speed reducer.
2. Remove the hexagon socket head cap screws M6 from the grease
inlets.
3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun. (Refer to
Fig.9-8 B- and T-Axis Speed Reducers Diagram.)
– Grease type:
Harmonic grease SK-1A
– Amount of grease:
For B-axis: 10 cc
(20 cc for the first supply)
For T-axis: 5 cc
(10 cc for the first supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
5. Reinstall the plug/screw to the exhaust ports. Before installing the
plug/screw, apply ThreeBond 1206C on the thread part of the plug/
screw, then tighten the plug/screw with a tightening torque of 5 N•m
(0.51 kgf•m).
6. Remove the grease zerk from the grease inlets, and reinstall the
screws. Before installing the screws, apply ThreeBond 1206C on the
thread part of the screws, then tighten the screws with a tightening
torque of 5 N•m (0.51 kgf•m).
NOTE
Mount the cover for the B-axis speed reducer. (Refer to
chapter 9.3.8 “Notes for Maintenance” at page 9-19.)
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9.3.6
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment for T-Axis Gear
Fig. 9-9: T-Axis Gear Diagram
Exhaust port
Plug LP-M5
Grease inlet
Hexagon socket head cap screw M6
1. Remove the plug LP-M5 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Inject grease through the gear grease inlet using a grease gun. (Refer
to Fig.9-9 T-Axis Gear Diagram.)
– Grease type:
Harmonic grease SK-1A
– Amount of grease:
5 cc (10 cc for the first supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
5. Reinstall the plug to the exhaust port. Before installing the plug, apply
ThreeBond 1206C on the thread part of the plug, then tighten the
screw with a tightening torque of 5 N•m (0.51 kgf•m).
6. Remove the grease zerk from the gear grease inlet, and reinstall the
screw. Before installing the screw, apply ThreeBond 1206C on the
thread part of the screw, then tighten the screw with a tightening
torque of 5 N•m (0.51 kgf•m).
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9.3.7
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Grease Replenishment for R-Axis Cross Roller Bearing
Fig. 9-10: R-Axis Cross Roller Bearing Diagram
Exhaust port
Plug LP-M5
R-axis cross roller bearing
Grease inlet
Hexagon socket head cap screw M6
(Length: 6mm)
1. Remove the plug LP-M5 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun. (Refer to
Fig.9-10 R-Axis Cross Roller Bearing Diagram.)
– Grease type:
Alvania EP grease 2
– Amount of grease:
8 cc (16 cc for the first supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
5. Reinstall the plug to the exhaust port. Before installing the plug, apply
ThreeBond 1206C on the thread part of the plug, then tighten the
screw with a tightening torque of 5 N•m (0.51 kgf•m).
6. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply ThreeBond 1206C on the thread part
of the screw, then tighten the screw with a tightening torque of 5 N•m
(0.51 kgf•m).
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9.3.8
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Notes for Maintenance
9.3.8.1 Wrist Unit
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. If the wrist cover is disassembled, make sure to reseal
with sealing bond (ThreeBond 1206C, refer to Table 10-1 Spare Parts for
YR-HP0020D-A00, -A01, YR-HP0020F-A00, -A01 on page 10-1.)
Fig. 9-11: Sealing Part of Wrist Unit
Cover
Cover
Cover matching surface
Cover matching surface
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
9.3.8.2 Battery Pack Connection
When performing maintenance such as replacement of a
wire harness in the manipulator, the encoder connector
(with CAUTION label) will be removed. In this case, be sure
to connect the battery pack to the battery backup connector
before removing the encoder connector.
NOTE
Removing the encoder connector without connecting the
battery pack leads to disappearance of the encoder absolute data.
For the battery pack connection, refer to fig. 9-12(a)
Encoder Connector Diagram (for S-, L-, and U-Axes) on
page 9-21 and fig. 9-12(b) Encoder Connector Diagram (for
R-, B-, and T-Axes) on page 9-22.

Battery Pack Connection (for S-, L-, and U-Axis 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.
NOTE
Do not remove the battery pack in the connector base.
9-20
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156192-1CD
HP20D/HP20F
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Fig. 9-12(a): Encoder Connector Diagram (for S-, L-, and U-Axes)
Encoder connector
Motor
CAUTION
Motor power connector
Connect battery to encoder
to save the data before
removing conector.
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.

Battery Pack Connection (for R-, B-, and T-Axis 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.
9-21
HW0484979
156192-1CD
HP20D/HP20F
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment and Exchange Procedures
Fig. 9-12(b): Encoder Connector Diagram (for R-, B-, and T-Axes)
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)
CAUTION
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
Connect battery to encoder
to save the data before
removing conector.
9-22
HW0484979
156192-1CD
HP20D/HP20F
10
Recommended Spare Parts
10 Recommended Spare Parts
It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-HP20D/HP20F. Product
performance cannot be guaranteed when using spare parts from any
company other than Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of
frequent operation
• Rank C: Drive unit
NOTE
For replacing parts in Rank B or Rank C, contact your
Yaskawa representative.
Table 10-1: Spare Parts for YR-HP0020D-A00, -A01, YR-HP0020F-A00, -A01 (Sheet 1 of 2)
Rank Parts Name
No.
Type
Manufacturer
Qty.
Qty.
per
Unit
Remarks
A
1
Grease
VIGO Grease RE
No. 0
Yaskawa
16 kg
-
A
2
Grease
Harmonic Grease
SK-1A
Harmonic Drive Systems
Inc.
2.5 kg -
A
3
Grease
Alvania EP Grease 2 Showa Shell Sekiyu K.K.
16 kg
-
A
4
Liquid Seal
ThreeBond 1206C
ThreeBond Co., Ltd.
-
-
A
5
Battery Pack
HW0470360-A
Yaskawa
1
1
for
connector
base
A
6
Battery Pack
HW9470932-A
Yaskawa
1
1
for wire
harness in
manipulator
replacing
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
HW0387753-B
Yaskawa
1
1
B
10
S-Axis Input Gear
HW0313491-1
Yaskawa
1
1
B
11
L-Axis Speed
Reducer
HW0387753-C
Yaskawa
1
1
B
12
L-Axis Input Gear
HW0313492-1
Yaskawa
1
1
B
13
U-Axis Speed
Reducer
HW9280880-G
Yaskawa
1
1
B
14
R-Axis Speed
Reducer
HW0381463-A
Yaskawa
1
1
B
15
B-Axis Speed
Reducer
HW9381633-A
Yaskawa
1
1
B
16
T-Axis Speed
Reducer
HW0382140-A
Yaskawa
1
1
B
17
Internal Wire
Harness
HW0174855-A
Yaskawa
1
1
10-1
HW0484979
156192-1CD
HP20D/HP20F
10
Recommended Spare Parts
Table 10-1: Spare Parts for YR-HP0020D-A00, -A01, YR-HP0020F-A00, -A01 (Sheet 2 of 2)
Rank Parts Name
No.
Type
Manufacturer
Qty.
Qty.
per
Unit
B
18
Internal Cable for
B- and T-Axes
HW0270954-A
Yaskawa
1
1
C
19
S-Axis AC
Servomotor
HW0388665-A
SGMRV-09ANAYR1*
Yaskawa
1
1
C
20
L-Axis AC
Servomotor
HW0388667-A
SGMRV-13ANAYR2*
Yaskawa
1
1
C
21
U-Axis AC
Servomotor
HW0388663-A
SGMRV-05ANAYR1*
Yaskawa
1
1
C
22
AC Servo Motor
for R-, B- and TAxes
HW0389298-A
SGMPH-02ANAYR1*
Yaskawa
1
3
C
23
Board
SGDR-EFBA02A
Yaskawa
1
1
Remarks
10-2
HW0484979
156192-1CD
HP20D/HP20F
11
11 Parts List
11.1 S-Axis Unit
Parts List
11.1
S-Axis Unit
1008
1001
1011
1012
1010
1034
1013
1036
1020
1035
1031
1032
1014
1024
1023
1022
1021
1026
1009
1030
1024
1023
1027
1030
1033
1002
1016
1004
1015
1003
1017
1006
1018
1025
1005
1014
1020
1007
1028
1029
11-1
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.1 S-Axis Unit
Table 11-1: S-axis Unit
No.
DWG No.
Name
Pcs.
1001
SGMRV-09ANA-YR1*
Motor
1
1002
HW0100545-2
S head
1
1003
M16X20
Socket screw
1
1004
2H-16
Spring washer
1
1005
HW0387753-B
Speed reducer
1
1006
M10X40
GT-SA bolt
16
1007
HW0100544-2
Base
1
1008
M8X30
GT-SA bolt
3
1009
HW0305306-2
M base
1
1010
M5X10
APS bolt
1
1011
PT1/8
Plug
1
1012
UKM6-01
Union
1
1013
HW0305809-1
Cover
1
1014
NB-0640-0.3
Tube
2
1015
HW0304221-1
Cover
1
1016
M6X15
GT-SA bolt
2
1017
MSB8-15
Shoulder
1
1018
HW0400645-1
Lever
1
1019
M5X10
APS bolt
6
1020
TSH6-01M
Union
2
1021
CD-31
Saddle
1
1022
M6X10
Socket screw
2
1023
TA1-S10
Clamp
2
1024
M5X10
Screw with spring
washer
2
1025
EZ5036A0
Cap
1
1026
M6X15
GT-SA bolt
2
1027
HW0305812-1
Holder
1
1028
HW9406775-1
Cover
1
1029
M6X8
APS bolt
1
1030
M12
Eye bolt
2
1031
M8X60
Socket screw
3
1032
2H-8
Spring washer
3
1033
M12X35
GT-SA bolt
12
1034
HW0313491-1
Gear
1
1035
M6X60
Socket screw
1
1036
2H-6
Spring washer
1
11-2
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.2 L-Axis Unit
11.2
L-Axis Unit
2024
2025
2001
2023
2017
2005
2004
2008
2011
2012
2019
2010
2009
2018
2028
2003
2006 2002
2007
2032
2026
2027
2014
2013
2022
2021
2020
2014
2013
2016
2015
2029
1002
2031
2030
2033
2034
2035
2036
2031
11-3
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.2 L-Axis Unit
Table 11-2: L-Axis Unit
No.
DWG No.
Name
Pcs.
2001
SGMRV-13ANA-YR2*
Motor
1
2002
M6X90
Socket screw
1
2003
2H-6
Spring washer
1
2004
HW0313492-1
Gear
1
2005
HW0304229-1
M base
1
2006
Y426012.5
Oil seal
1
2007
HW0401506-1
Plate
1
2008
HW0304226-1
Support
1
2009
M6X10
Socket screw
2
2010
2H-6
Spring washer
2
2011
HW0304227-1
Cover
1
2012
M6X8
APS bolt
4
2013
M12X40
Socket screw
12
2014
2H-12
Spring washer
12
2015
M10X35
Socket screw
6
2016
2H-10
Spring washer
6
2017
HW0100546-2
L arm
1
2018
HW0387753-C
Speed reducer
1
2019
M10X40
Socket screw
16
2020
M12X40
Socket screw
2
2021
2H-12
Spring washer
2
2022
HW0404196-4
Washer
1
2023
M8X30
GT-SA bolt
4
2024
M8X25
*DACROTIZED coating*
Socket screw
4
2025
2H-8
*DACROTIZED coating*
Spring washer
4
2026
TA1-S10
Clamp
4
2027
M5X10
Screw with spring
washer
4
2028
M6X10
Socket screw
1
2029
HW0305813-1
Holder
1
2030
HW0305698-1
Cover
1
2031
M5X12
GT-SA bolt
6
2032
PT1/8
*DACROTIZED coating*
Plug
1
2033
CD-31
Saddle
1
2034
M5X12
GT-SA bolt
2
2035
TA1-S10
Clamp
2
2036
M5X10
Screw with spring
washer
2
1002
HW0100545-2
S head
1
11-4
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.3 U-Axis Unit
11.3
U-Axis Unit
3003
3004
3002
3003
3004
3001
3005
3020
3002
3019
3019
3012
3006
2017
3016
3018
3017
3016
3018
3017
3009
3008
3011
3010
3007
3015
3013
3014
11-5
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.3 U-Axis Unit
Table 11-3: U-Axis Unit
No.
DWG No.
Name
Pcs.
3001
SGMRV-05A3A-YR1*
Motor
1
3002
HW0313489-1
Cover
1
3003
M4X10
APS bolt
7
3004
M4
Washer
7
3005
HW0102378-1
Casing
1
3006
HW9280880-G
Speed reducer
1
3007
M8X45
GT-SA bolt
16
3008
M5X65
Socket screw
1
3009
2H-5
Spring washer
1
3010
M14X35
Socket screw
6
3011
GT-SH-14
GT-SH washer
6
3012
M8X30
GT-SA bolt
4
3013
M10X20
Socket screw
1
3014
H-10
Spring washer
1
3015
M6X10
Socket screw
1
3016
HW0404196-2
Washer
2
3017
M10X35
Socket screw
2
3018
2H-10
Spring washer
2
3019
PT1/8
Plug
2
3020
EZ2940A0
Cap
1
2017
HW0100546-2
L arm
1
11-6
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.3 U-Axis Unit
R-Axis Unit
4033
4012
4031
4032
4029
4071
4074
4036
4072
4066
4010
4030 4029
4008
4042
4005
4058
3005
4057
4035
4009
4056
4043
4006
4007
4044
4011
4003
4028
4027
4026
4076
4075
4073
4022
4034
4023
4037
4060
4055
4039
4025
4040 4051
3014
4062
4046
4045
3012
4020
4013
4024
4019
4021
4015
4017
4067
4065
4014
4002
4016
4004
4001
4070
4069
4068
5046
4018
11-7
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.3 U-Axis Unit
Table 11-4: R-Axis Unit (Sheet 1 of 2)
No.
DWG No.
Name
Pcs.
4001
M6X65
Socket screw
8
4002
2H-6
Spring Washer
8
4003
M5X20
GT-SA bolt
4
4004
M4X12
GT-SA bolt
4
4005
HW0305305-1
M cover
1
4006
M4X20
Socket screw
12
4007
2H-4
Spring Washer
12
4008
HW0404196-5
Washer
1
4009
M6X20
GT-SA bolt
8
4010
M4X45
Socket screw
1
4011
M6X6
Socket screw
1
4012
A-MT6X1
G Nipple
1
4013
HW0381872-A
Cross roller bearing
1
4014
M6X35
GT-SA bolt
8
4015
HW0403879-1
Saddle
1
4016
TC941045*A727*
Oil seal
1
4017
HW0403857-1
Shaft
1
4018
HW0405201-2
Block
1
4019
HW0304318-1
Housing
1
4020
HW0304085-1
Shaft
1
4021
HW0304914-1
Support
1
4022
HW0403879-1
Saddle
1
4023
M4X20
Socket screw
2
4024
M4X12
GT-SA bolt
2
4025
HW0200530-1
S cover
1
4026
HW0404919-1
Support
1
4027
M5X16
Socket screw
2
4028
2H-5
Spring washer
2
4029
HW0381463-A
Speed reducer
1
4030
HW0404403-1
Shaft
1
4031
AE1314A0
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
GT-SA bolt
4
4039
TA1-S8
Clamp
4
4040
M4X8
Screw with spring
washer
4
4042
M5X8
APS bolt
1
4043
M6X6
Socket screw
1
4044
LP-M5
Plug
1
11-8
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.3 U-Axis Unit
Table 11-4: R-Axis Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs.
4045
M5X35
Socket screw
2
4046
2H-5
Spring Washer
2
4051
M4X12
GT-SA bolt
2
4055
HW0404918-1
Support
1
4056
SGMPH-02A2A-YR1*
Motor
1
4057
EZ5036A0
Cap
1
4058
M6X20
GT-SA bolt
6
4060
HW0304930-1
Support
1
4062
6811LLU
Bearing
1
4065
M4X20
Socket screw
2
4066
KQE12-03
Union
1
4067
2H-4
Spring Washer
2
4068
M4X20
Socket screw
2
4069
2H-4
Spring Washer
2
4070
MS4-10
Pin
2
4071
2H-4
Spring Washer
1
4072
PT 3/8
Plug
1
4073
M4X12
GT-SA bolt
2
4074
M6X30
GT-SA bolt
3
4075
TA1-S8
Clamp
3
4076
M4X8
Screw with spring
washer
3
3005
HW0102378-1
Casing
1
3012
M4X16
GT-SA bolt
4
3014
HW0404179-1
Support
2
5046
HW0100623-1
U arm
1
11-9
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.4 Wrist Unit
11.4
Wrist Unit
3005
5045
5046
5005
5001 5002
5003
5006
5007
5011
5008
5008
5007
5045
5026
5044
5006
5037
5064
5003
5035
5071
5043
5005
5048
5038
5014
5019
5039
5049
5040
5013
5012
5036
5018
5041
5062
5016
5031
5032
5063
5017
5047
5023
5071
5042
5029
5020
5022
5053
5028
5050
5027
5024
5034
5033
5021
5025
5026
5065
5030
5066
5052
5060
11-10
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.4 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)
No.
DWG No.
Name
Pcs.
5001
HW9406556-1
Support
1
5002
M4X12
GT-SA bolt
2
5003
M5X20
GT-SA bolt
4
5005
HW9200798-1
Cover
2
5006
SGMPH-02A2A-YR12
Motor
2
5007
M4X16
Socket screw
2
5008
HW9482727-A
Pulley
2
5011
80S4.5M518
Belt
1
5012
HW9381658-A
Gear
1
5013
M4X12
GT-SA bolt
4
5014
HW9405452-1
B cover
1
5016
HW9482725-A
Pulley
1
5017
M5X16
GT-SA bolt
1
5018
M4X16
GT-SA bolt
4
5019
HW9482218-A
Bearing
1
5020
HW9405199-1
B nut
1
5021
SP-0120**
Shim
1
5022
HW9481180-A
Bearing
1
5023
M5X16
GT-SA bolt
1
5024
M5X12
GT-SA bolt
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
Speed reducer
1
5032
HW0304086-1
Housing
1
5033
HW9381659-A
Gear
1
5034
HW9482726-A
Pulley
1
5035
M5X16
Socket screw
1
5036
6002ZZ
Bearing
1
5037
6901ZZ
Bearing
1
5038
6814ZZ
Bearing
1
5039
HW9482668-A
Oil seal
1
5040
HW9381633-A
Speed reducer
1
5041
HW9405792-1
Housing
1
5042
HW0200451-1
Wrist base
1
5043
M5X16
GT-SA bolt
11
5044
80S4.5M653
Belt
1
5045
M5X12
GT-SA bolt
24
5046
HW0100623-1
U arm
1
5047
M6X6
Socket screw
1
5048
M4X16
GT-SA bolt
13
11-11
HW0484979
156192-1CD
HP20D/HP20F
11 Parts List
11.4 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs.
5049
M4X12
GT-SA bolt
4
5050
M6X6
Socket screw
1
5052
M5X16
GT-SA bolt
5
5053
M6X6
Socket screw
1
5057
M6
L Washer
1
5062
LP-M5
Plug
1
5063
HW9405791-3
Housing
1
5064
6811LLU
Bearing
1
5065
HW0404606-1
Cover
1
5066
HW040605-1
Plug
1
3005
HW0102378-1
Casing
1
11-12
HW0484979
MOTOMAN-HP20D/HP20F
INSTRUCTIONS
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
HW0484979
8