Yaskawa Motoman MA1400 Instructions
Below you will find brief information for MOTOMAN-MA1400. This industrial robot is designed for arc welding, boasts six degrees of freedom, and can handle a payload of up to 3 kg. It features a vertically articulated structure and high repeatability (±0.08 mm). The document covers transport, installation, wiring, basic specifications, allowable loads, system applications, electrical information, maintenance, and inspections.
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MOTOMAN-MA1400 INSTRUCTIONS TYPE: YR-MA01400-A00 (STANDARD SPECIFICATION) YR-MA01400-A01 (SLU-AXES WITH LIMIT SWITCHES) YR-MA01400-A10 (CEILING-MOUNTED SPECIFICATION) YR-MA01400-A11 (CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MA1400 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. 15557-1CD 3 YASKAWA ELECTRIC CORPORATION MANUAL NO. HW0484969 5 1/76 HW0484969 MANDATORY • This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-MA1400 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 Instructions. To ensure correct and safe operation, carefully read the DX100 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. ii HW0484969 2/76 HW0484969 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MA1400. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel. DANGER Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. WARNING 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. CAUTION MANDATORY PROHIBITED Always be sure to follow explicitly the items listed under this heading. Must never be performed. 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 “DANGER”, “CAUTION” and “WARNING.” DANGER • 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. • Do not remove the motor, and do not release the brake. Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm. iii HW0484969 3/76 HW0484969 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. Fig. : 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. Fig. : Release of Emergency Stop TURN • Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator: – Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding. – View the manipulator from the front whenever possible. – Always follow the predetermined operating procedure. – 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. iv HW0484969 4/76 HW0484969 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. • Always return the programming pendant to the hook on the cabinet of the DX100 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 Instructions before operating the manipulator: Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows: Equipment Manual Designation DX100 controller DX100 DX100 programming pendant Programming pendant Cable between the manipulator and the controller Manipulator cable Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted. v HW0484969 5/76 HW0484969 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. Fig. : Warning Label Locations WARNING Label B WARNING Label A WARNING Label A Nameplate Nameplate: WARNING Label A: WARNING Moving parts may cause injury WARNING Label B: WARNING Do not enter robot work area. vi HW0484969 6/76 HW0484969 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...................................................................................................... 2-2 2.2 Shipping Bolts and Brackets.............................................................................................. 2-3 3 Installation....................................................................................................................................... 3-1 3.1 Safeguarding Installation ................................................................................................... 3-2 3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2 3.2.1 Mounting Example................................................................................................ 3-3 3.3 Types of Mounting ............................................................................................................. 3-4 3.3.1 S-Axis Operating Range....................................................................................... 3-4 3.3.2 Fixing the Manipulator Base ................................................................................. 3-4 3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4 3.4 Location ............................................................................................................................. 3-5 4 Wiring.............................................................................................................................................. 4-1 4.1 Grounding .......................................................................................................................... 4-1 4.2 Cable Connection .............................................................................................................. 4-2 4.2.1 Connection to the Manipulator.............................................................................. 4-2 4.2.2 Connection to the DX100 ..................................................................................... 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 ........................................................................................... 5-2 5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3 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....................................................................................................................... 6-2 vii HW0484969 7/76 HW0484969 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................................................................... 7-3 8 Electrical Equipment Specification .................................................................................................. 8-1 8.1 Position of Limit Switch ...................................................................................................... 8-1 8.2 Internal Connections .......................................................................................................... 8-2 9 Maintenance and Inspection ........................................................................................................... 9-1 9.1 Inspection Schedule........................................................................................................... 9-1 9.2 Notes on Maintenance Procedures.................................................................................... 9-7 9.2.1 Battery Pack Replacement ................................................................................... 9-7 9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8 9.3.1 Grease Replenishment/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” .) .......................... 9-10 9.3.2 Grease Replenishment/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” .) .......................... 9-12 9.3.3 Grease Replenishment/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” .) .......................... 9-14 9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-15 9.3.5 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-16 9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-17 9.3.7 Grease Replenishment for R-Axis Gear ............................................................. 9-19 9.3.8 Notes for Maintenance........................................................................................ 9-20 9.3.8.1 Wrist Unit ............................................................................................... 9-20 9.3.8.2 Battery Pack Connection ....................................................................... 9-20 10 Recommended Spare Parts........................................................................................................ 10-1 viii HW0484969 8/76 HW0484969 Contents 11 Parts List ..................................................................................................................................... 11-1 11.1 S-Axis Unit ..................................................................................................................... 11-1 11.2 L-Axis Unit ..................................................................................................................... 11-4 11.3 U-Axis Unit..................................................................................................................... 11-5 11.4 Wrist Unit ..................................................................................................................... 11-10 ix HW0484969 9/76 HW0484969 1 1.1 1 Product Confirmation Contents Confirmation Product Confirmation CAUTION • Confirm that the manipulator and the DX100 have the same order number. Special care must be taken when more than one manipulator is to be installed. If the numbers do not match, manipulators may not perform as expected and cause injury or damage. 1.1 Contents Confirmation Confirm the contents of the delivery when the product arrives. Standard delivery includes the following four items (information for the content of optional goods are given separately): • Manipulator • DX100 • Programming pendant • Manipulator cables (between the DX100 and the Manipulator) 1-1 HW0484969 10/76 HW0484969 1 1.2 Order Number Confirmation Check that the order number of the manipulator corresponds to the DX100. 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. DX100 TYPE 50/60Hz 60Hz kVA kVA kA PEAK AVERAGE ER GE N Y AC200V AC220V C 3PHASE INTERRUPT CURRENT EM ERDR- POWER SUPPLY Check that the manipulator and the DX100 have the same order number. SERIAL No. DATE MADE IN JAPAN S NJ2960-1 T O P OFF TR IP PE D ON T SE RE 1.2 Product Confirmation Order Number Confirmation WARNING Do not open the door THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. ORDER NO. NJ1529 PROGRAMMING PENDANT X81 (a) DX100 (Front View) (b) Manipulator (Side View) 1-2 HW0484969 11/76 HW0484969 2 2.1 2 Transport 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 excessive vibration or shock during transport. The system consists of precision components. Failure to observe this caution may adversely affect performance. 2.1 Transport Method • The weight of the manipulator is approximately 135 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight. NOTE • Mount the shipping bolts and brackets for transporting the manipulator. • Avoid putting external force on the arm or motor unit when transporting by a crane, forklift, or other equipment. Failure to observe this instruction may result in injury. 2-1 HW0484969 12/76 HW0484969 2 2.1 2.1.1 Transport Transport Method Using a Crane As a rule, the manipulator should be lifted by a crane with two wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in fig. 2-1 “Transporting Position” . Fig. 2-1: Transporting Position Shipping bracket View A A Hexagon socket head cap screw M10 2 Shipping bracket 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts as shown in fig. 2-2 “Using a Forklift” . Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transport the manipulator slowly with due caution in order to avoid overturning or slippage. 2-2 HW0484969 13/76 HW0484969 2 2.2 Transport Shipping Bolts and Brackets Fig. 2-2: Using a Forklift Bolt M16 (4 places) Pallet Forklift claw entries 2.2 Shipping Bolts and Brackets The manipulator is provided with two shipping bolts and a shipping bracket. (See fig. 2-3 “Shipping Bolts and Brackets” .) Fig. 2-3: Shipping Bolts and Brackets Shipping bracket Front View Hexagon socket head cap screw M10 (2 screws) Side View • The shipping bolts and bracket are painted yellow. • The shipping bracket is to be fixed with the hexagon socket head cap screws M10 (2 screws). NOTE Before turning ON the power, check to be sure that the shipping bolts and brackets are removed. The shipping bolts and brackets then must be stored for future use, in the event that the manipulator must be moved again. 2-3 HW0484969 14/76 HW0484969 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 shipping bolts and brackets explained in fig. 2-3 “Shipping Bolts and Brackets” are removed. Failure to observe this caution may result in damage to the driving parts. 3-1 HW0484969 15/76 HW0484969 3 3.1 3.1 Installation Safeguarding Installation 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 the 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” . Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop Maximum torque in horizontal rotation (S-axis moving direction) 3800 N•m (390 kgf•m) Maximum torque in vertical rotation (L-,U-axes moving direction) 3500 N•m (357 kgf•m) Table 3-2: Endurance Torque in Operation Endurance torque in horizontal operation (S-axis moving direction) 900 N•m (93 kgf•m) Endurance torque in vertical operation (L-,U-axes moving direction) 1500 N•m (158 kgf•m) 3-2 HW0484969 16/76 HW0484969 3 3.2 Mounting Example For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size. The manipulator base is tapped for four mounting holes; securely fix the manipulator base to the baseplate with four hexagon head bolts M16 (50 mm long is recommended). Next, fix the manipulator base to the baseplate. Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation. Refer to fig. 3-1 “Mounting the Manipulator on Baseplate” . Fig. 3-1: Mounting the Manipulator on Baseplate Hexagon head bolt M16 (4 bolts) Spring washer Washer Manipulator base 20 Baseplate 40 mm or more Manipulator base Anchor bolt (M16 or larger) Baseplate +0.018 +0.018 12 dia. 0 132±0.1 60 102±0.1 132±0.1 16 dia. 0 (2 holes) 153±0.1 A 130±0.1 3.2.1 Installation Mounting Procedures for Manipulator Base Baseplate 102±0.1 100±0.1 153±0.1 View A 3-3 HW0484969 17/76 HW0484969 3 3.3 3.3 Installation Types of Mounting Types of Mounting The MOTOMAN-MA1400 is available in three types: floor-mounted type (standard), wall-mounted type, and ceiling-mounted type. For wallmounted and ceiling-mounted types, the three points listed below are different from the floor-mounted type. The ceiling-mounted type manipulators are: YR-MA01400-A10 and A11. • S-Axis Operating Range • Fixing the Manipulator Base • Precautions to Prevent the Manipulator from Falling 3.3.1 S-Axis Operating Range For wall-mounted type, the S-axis operating range is ±30°. (The range is adjusted prior to the shipment.) 3.3.2 Fixing the Manipulator Base For wall- and ceiling-mounted types, be sure to use four hexagon 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 the Manipulator from Falling For the wall- or ceiling-mounted types, take appropriate measures to avoid the falling of the manipulator in case of emergency. Refer to fig. 3-2 “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) 3-4 HW0484969 18/76 HW0484969 3 3.4 Installation Location NOTE 3.4 In case of using the wall/ceiling-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact your Yaskawa representative (listed on the back cover of this instruction manual) to perform a wall/ceiling installation on site. Location When installing a manipulator, it is necessary to satisfy the following environmental conditions: • Ambient temperature: 0° to + 45°C • Humidity: 20 to 80%RH (no-condensing) • Free from dust, soot, oil, or water • Free from corrosive gas or liquid, or explosive gas or liquid. • Free from excessive vibration (Vibration acceleration: 4.9 m/s2 [0.5 G] or less) • Free from large electrical noise (plasma) • Flatness for installation: 0.5 mm or less 3-5 HW0484969 19/76 HW0484969 4 4.1 4 Wiring Grounding Wiring WARNING • Ground resistance must be 100 Ω or less. Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock. CAUTION • Wiring must be performed by authorized or certified personnel. Failure to observe this caution may result in fire or electric shock. 4.1 Grounding Follow electrical installation standards and wiring regulations for grounding. A ground wire of 5.5 mm2 or more is recommended. Refer to fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator. 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 HW0484969 20/76 HW0484969 4 4.2 Wiring Cable Connection Fig. 4-1: Grounding Method A A Section A-A' 5.5 mm2 or more Bolt M8 (For grounding) Delivered with the manipulator 4.2 Cable Connection Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cable (2BC). (Refer to fig. 4-2 “Manipulator Cables” .) Connect these cables to the manipulator base connectors and to the DX100. Refer to fig. 4-3(a) “Manipulator Cable Connectors (Manipulator Side)” and fig. 4-3(b) “Manipulator Cable Connection (DX100 Side)” . 4.2.1 Connection to the Manipulator Before connecting cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, then 1BC. After inserting the cables, depress the lever until it clicks. 4.2.2 Connection to the DX100 Before connecting two cables to the DX100, verify the numbers on both manipulator cables and the connectors on the DX100. When connecting, insert the cables in the order of X21, then X11, and depress each lever low until it clicks. 4-2 HW0484969 21/76 HW0484969 4 4.2 Wiring Cable Connection Fig. 4-2: Manipulator Cables The DX100 Side The Manipulator Side X11 1BC X11 1BC 1BC molex molex Encoder Cable The DX100 Side The Manipulator Side X21 2BC 2BC X21 2BC Power Cable 4-3 HW0484969 22/76 HW0484969 4 4.2 Wiring 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) X11 X21 4-4 HW0484969 23/76 HW0484969 5 5.1 5 Basic Specifications Basic Specifications Basic Specifications 5.1 Basic Specifications Table 5-1: Basic Specifications1) Item Model MOTOMAN-MA1400 Application Arc Welding Structure Vertically Articulated Degree of Freedom 6 Payload 3 kg Repeatability2) ±0.08 mm Range of Motion S-Axis (turning) Maximum Speed Allowable Moment 3) Allowable Inertia (GD 2/4) L-Axis (lower arm) +155°, -90° U-Axis (upper arm) +190°, -175° R-Axis (wrist roll) ±150° B-Axis (wrist pitch/yaw) +180°, -45° T-Axis (wrist twist) ±200° S-Axis 3.84 rad/s, 220°/s L-Axis 3.49 rad/s, 200°/s U-Axis 3.84 rad/s, 220°/s R-Axis 7.16 rad/s, 410°/s B-Axis 7.16 rad/s, 410°/s T-Axis 10.65 rad/s, 610°/s R-Axis 8.8 N•m (0.9 kgf•m) B-Axis 8.8 N•m (0.9 kgf•m) T-Axis 2.9 N•m (0.3 kgf•m) R-Axis 0.27 kg•m2 B-Axis 0.27 kg•m2 T-Axis 0.03 kg•m2 Approx. mass Ambient Conditions Power Requirements ±170° 130 kg Temperature 0°C to 45°C Humidity 20 to 80% RH (non-condensing) Vibration Acceleration 4.9 m/s2 or less (0.5 G) Others Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma) 1.5 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 “Allowable Load for Wrist Axis and Wrist Flange” for details on the permissible moment of inertia. 5-1 HW0484969 24/76 HW0484969 5 5.2 5.2 Basic Specifications Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes U+ U-arm B+ R+ U- L- BWrist flange R- T- L+ T+ L-arm S-head S+ S- Manipulator Base Dimensions Fig. 5-2: Manipulator Base Dimensions 300 260 60 102±0.1 132±0.1 60 20 +0.018 12 dia. 0 130±0.1 260 292 300 18 dia. (4 holes) +0.018 16 dia. 0 (2 holes) 153±0.1 132±0.1 240 102±0.1 153±0.1 100±0.1 A 5.3 Manipulator base View A Units: mm 5-2 HW0484969 25/76 HW0484969 5 5.4 5.4 Basic Specifications Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3(a): Dimensions and P-Point Maximum Envelope (YR-MA01400A00,A01) R4 26 170° R1 434 R2 70 170° P-point maximum envelope 1734 110 P-point 640 199 155 30 726 90 190° ° 614 83 ° 200 200 150 199 450 2511 155° 294 0 361 17 5° 1434 426 0 210 1134 1059 777 5-3 HW0484969 26/76 HW0484969 5 5.4 Basic Specifications Dimensions and P-Point Maximum Envelope Fig. 5-3(b): Dimensions and P-Point Maximum Envelope (YR-MA01400A10,A11) 1434 1284 426 0 210 1059 777 1134 P-Point maximum envelope 175 361 153 0 0 450 90 623 726 19 0 760 752 614 199 294 155 2511 142 P-Point 110 200 200 83 1150 155 199 1734 150 The working envelope of wrist part (B-axis) in downward posture R2 170 26 640 70 R4 30 R1 43 4 170 5-4 HW0484969 27/76 HW0484969 5 5.5 5.5 Basic Specifications Alterable Operating Range 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 ±170°(standard) ±150° ±135° ±120° ±105° ± 90° ± 75° ± 60° ± 45° ± 30° ± 15° 5-5 HW0484969 28/76 HW0484969 6 6.1 6 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load The allowable wrist load is 3 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 Loard” . Contact your Yaskawa representative for further information or assistance. Table 6-1: Allowable Wrist Loard Axis Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia kg•m2 R-Axis 8.8 (0.9) 0.27 B-Axis 8.8 (0.9) 0.27 T-Axis 2.9 (0.3) 0.03 1 ( ): Gravitational unit When the volume load is small, refer to the moment arm rating shown in fig. 6-1 “Moment Arm Rating” . The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative beforehand when only moment of inertia, or load moment is small and moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative beforehand. 6-1 HW0484969 29/76 HW0484969 6 6.2 Allowable Load for Wrist Axis and Wrist Flange Wrist Flange Fig. 6-1: Moment Arm Rating LB Load gravity position LT 200 R-, T-axis rotation center B-axis rotation center LT (mm) 200 100 W=3 Kg 0 100 200 300 400 LB (mm) Wrist Flange 1. The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” . It is recommended that the attachment be mounted inside the fitting in order to identify the alignment marks. Fitting depth shall be 6 mm or less. As shown in the figure below, the attachment shall be mounted on the range of 90 diameter or less with up to 5 mm height from the flange face. Fig. 6-2: Wrist Flange Tapped holes M4 (6 holes) (Depth: 10) (Pitch: 0.7) 30° Attachments shall be mounted within this range. 5 +0.025 (The range of 42 dia. 0 ) 56 .D. 0 P.C 90 dia. 6 42 dia. +0.025 6.2 +0.012 6 dia. 0 (Depth: 6) Units: mm NOTE Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools. 6-2 HW0484969 30/76 HW0484969 7 7.1 7 System Application 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. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ 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 12 kg, including the wrist load. For instance, when the mass installed on the wrist point is 3 kg, the mass which can be installed on the upper arm is 9 kg. The maximum allowable load on the S-axis is 20 kg. Install the peripheral equipment on the S-axis so that the moment of inertia (GD2/4) from the Saxis rotation center is 1.25 kg•m2 or less. 7.1.2 Installation Position There is a limitation on where to install the peripheral equipment as shown in fig. 7-1 “Installing Peripheral Equipment” on the following page. 7-1 HW0484969 31/76 HW0484969 7 7.1 System Application Peripheral Equipment Mounts Fig. 7-1: Installing Peripheral Equipment Tapped hole M6 (2 holes) (Depth: 14) (Pitch: 1.0) View A Tapped hole M8 (3 holes) (Depth: 16) (Pitch: 1.25) 50 36 35 95 70 25 75 Mount the peripheral equipment within this range A 70 300 Mount the peripheral equipment so that the center of gravity of the peripheral equipment on the U-arm should be within this range 2 YB-100 250V 240A 15 105 50 152.5 90 60 Tapped hole M10 (4 holes) (Depth: 20) (Pitch: 1.5) 7-2 HW0484969 32/76 HW0484969 7 7.2 7.2 System Application Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires, 0.75 mm2 x 2 wires and 1.25 mm2 x 4 wires), and two air lines are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in fig. 7-2 “Connectors for Internal User I/O Wiring Harness and Air Line” . The connector pins 1 to 16 are assigned as shown in fig. 7-3 “Details of the Connector Pin Numbers” 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: 8.0mm and 6.5 mm) The allowable current for arc welding power cable Rated current of 350A or less and the rated operational ratio should be 60% or lower. The allowable operational ratio when it is operated with less current. than the allowable current is calculated by the following formula. Allowable operational ratio = 60% x (350A/operating current)2 7-3 HW0484969 33/76 HW0484969 7 7.2 System Application Internal User I/O Wiring Harness and Air Line Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line Connector for the internal user I/O wiring harness: JL05-2A20-29SC (socket connector with a cap) Prepare pin connector: JL05-6A20-29P Exhaust port: B PT3/8 with a pipe plug Exhaust port: A PT3/8 with a pipe plug Power cable terminal for arc welding TS200CHM A Exhaust port: A PT3/8 with a pipe plug Air Inlet: B PT3/8 with a pipe plug 2BC 1BC 3BC Power cable terminal for arc welding Recommended crimped terminal: R100-10 Cover (TCV-2001-04) is supplied. View A Connector for the internal user I/O wiring harness: JL05-2A20-29PC (with a cap) Prepare connector JL05-6A20-29S 7-4 HW0484969 34/76 HW0484969 7 7.2 System Application Internal User I/O Wiring Harness and Air Line Fig. 7-3: 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) 1 8 (Open) 2 3 Pins used 5 9 4 6 10 7 8 11 (0.75 mm2) 9 10 2 12 (0.75 mm ) 12 11 14 13 (1.25 mm2) 13 14 (1.25 mm22) 16 15 (1.25 mm2) 15 16 (1.25 mm ) Internal user I/O wiring harness: 0.2 mm2, 8 wires : 0.75 mm2, 2 wires : 1.25 mm2, 4 wires Connector for Internal User I/O Wiring Harness on the U-arm 1 2 3 4 5 6 7 (+24V: for shock sensor) 2 8 (Shock sensor signal input) 9 4 10 7 2 11 (0.75 mm2) 9 12 (0.75 mm2) 11 13 13 (1.25 mm2) 14 (1.25 mm2) 15 15 (1.25 mm2) 16 (1.25 mm ) Pins used 1 5 3 6 8 12 10 14 16 Internal user I/O wiring harness: 0.2 mm2, 8 wires : 0.75 mm2, 2 wires : 1.25 mm2, 4 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 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” . The same pin-number connectors (1 to 16) at both connector base part and arm part are connected with the single wire lead of 0.2 mm2, 0.75 mm2 or 1.25 mm2. 7-5 HW0484969 35/76 HW0484969 8 8.1 8 Electrical Equipment Specification 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 manipulator with S- and L-axis overrun limit switches, and LU-axis interference limit switch is the type YR-MA01400-A01 (standard specification) or YR-MA01400-A11 (ceiling-mounted specification). Fig. 8-1: Location of Limit Switches LU-axis interference limit switch (optional) L-axis overrun limit switch (optional) S-axis overrun limit switch (optional) 8-1 HW0484969 36/76 HW0484969 8 8.2 8.2 Electrical Equipment Specification Internal Connections Internal Connections Highly reliable connectors are equipped on each connection part of the manipulator to enable easy removal and installation for maintenance and inspection. For the number and location of connectors, see fig. 8-2 “Locations and Numbers of Connectors” . Diagrams for Internal connections of the manipulator are shown in fig. 8-3(a) “Internal Connection Diagram” at page 8-3 and fig. 8-3(b) “Internal Connection Diagram” . Fig. 8-2: Locations and Numbers of Connectors 3BC (for internal user I/O wiring harness) on the U-arm 3BC (for internal user I/O wiring harness) on the connector base Table 8-1: List of Connector Types Name Type of Connector Connector for the internal user I/O wiring harness on the connector base JL05-2A20-29PC (JL05-6A20-29S: Optional) Connector for the internal user I/O wiring harness on the U-arm JL05-2A20-29SC (JL05-6A20-29P: Optional) 8-2 HW0484969 37/76 HW0484969 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-3(a): Internal Connection Diagram <Notes> Power Cable 1.For the limit switch specification, the connection of the section A B is changed as follows: Internal Cable in L-axis Internal Cable in S-axis Internal Cable in BT-axes LC1 LD1 LC1 LD1 LD1 LD2 0BT P BAT 0BT P BAT 0BT P BAT 0BT P BAT 1 2 3 4 5 6 7 8 0BAT11 BAT11 0BAT12 BAT12 0BAT21 BAT21 0BAT22 BAT22 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 P CN1-1 CN1-2 SPG+1 SPG-1 CN1-1 CN1-2 CN1-3 CN1-3 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 0BAT1 BAT1 0BAT2 BAT2 0BAT3 BAT3 9 10 11 12 13 14 15 16 PG0V5 PG5V5 PG0V6 PG5V6 P CN1-8 CN1-8 FG2 Connected to S-AXIS OVERRUN L.S. LB1 LB1 LB2 LA2 LB2 LA3 LB3 SLU-axes with Limit Switch Specification PG0V1 PG5V1 PG0V2 PG5V2 PG0V3 PG5V3 PG0V4 PG5V4 P LB1 LB2 LA2 LB2 A2 P LD1 LD2 LC2 LD2 B2 P P P No.22CN 22CN-1 -2 -6 -5 -4 -9 -7 DATA+1 DATA-1 BAT OBT +5V 0V FG1 No.23CN 23CN-1 -2 -6 -5 -4 -9 -7 DATA+2 DATA-2 BAT OBT +5V 0V FG2 LC1 LA1 LB1 LA1 LB1 A2 L AND U-AXIS INTERFERENCE L.S. Connected to A3 Connected to B1 S-AXIS OVERRUN L.S. LD1 B3 Connected to A1 Connected to L-AXIS OVERRUN L.S. LB2 LB1 LC1 LD1 B2 Connected to LC3 LD3 LA1 0BAT4 BAT4 P SPG+2 SPG-2 B1 L AND U-AXIS INTERFERENCE L.S. LA1 LB1 FG1 CN1-6 CN1-7 Connected to L-AXIS OVERRUN L.S. LD2 LD1 P CN1-6 CN1-7 S-AXIS OVERRUN L.S. LC2 LD2 S-AXIS OVERRUN L.S.Connected to A1 S-axis with Limit Switch Specification 2.For 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 controller. P P P P P P No.18CN 18CN-1 -2 -6 -5 -4 -9 -10 DATA+1 DATA-1 BAT OBT +5V 0V FG1 No.19CN 19CN-1 -2 -6 -5 -4 -9 -10 DATA+2 DATA-2 BAT OBT +5V 0V FG2 Connected Port in DX100 Pin No. Shock sensor power supply; +24V (1A) 7 Shock sensor signal input port 8 PG S-axis 3. When connecting the pins No.7 and No.8 of 3BC connector base and the pins No.7 and No.8 of 3BC U-arm, the crimped contact-pins (SS1.SS2) need to be replaced as shown in C . (Contact your Yaskawa representative in case of modifying the wiring before use.) PG L-axis P CN4-1 CN4-6 P CN4-1 CN4-6 +24V LB1 CN4-2 CN4-7 P CN4-2 CN4-7 SS2 AL1 CN2-1 CN2-2 P CN2-1 CN2-2 SPG+3 SPG-3 CN2-3 FG3 CN2-6 CN2-7 SPG+4 SPG-4 No.16CN 16CN-1 -2 -6 -5 -4 -9 -10 P P CN2-3 1BC(10X4) CN2-6 CN2-7 P P Power Cable DATA+3 DATA-3 BAT OBT +5V 0V FG3 P CN2-8 CN2-8 FG4 CN2-10 CN2-10 +24V CN3-1 CN3-2 P CN3-1 CN3-2 SPG+5 SPG-5 P CN2-4 CN2-5 SPG+7 SPG-7 CN2-9 FG7 P CN3-3 CN3-3 CN2-4 CN2-5 CN2-9 CN3-6 CN3-7 CN3-6 CN3-7 P CN3-8 CN3-8 P FG6 P CN4-10 0V CN3-4 CN3-5 P CN3-4 CN3-5 0V +5V CN3-9 CN3-10 P CN3-9 CN3-10 0V +5V P CN4-4 CN4-5 CN4-9 +24V LD1 FG8 P CN4-4 CN4-5 CN4-9 CN4-1 CN4-2 PG P P -5 -11 -6 +5V 0V FG6 P A1 LA1 LC1 LB1 LD1 U V 24V(1A) SS2 E R-axis E Unused No.1CN 1CN-1 -2 -3 -4 2CN-1 -2 -3 P DATA+6 DATA-6 CN4-1 CN4-2 3BC(20-29) P -4 -10 U-arm 1BC(10X4) Casing DATA+4 DATA-4 BAT OBT +5V 0V FG4 No.3CN 3CN-1 -2 -3 -4 4CN-1 -2 -3 BC2 AL2 CN4-3 CN4-8 CN4-10 P SPG+6 SPG-6 P CN4-3 CN4-8 No.13CN -1 DATA+5 -7 DATA-5 -2 BAT -8 OBT -3 +5V -9 0V FG5 DX100 OBT BAT P P PG U-axis No.9CN 9CN-1 -2 -3 -4 10CN-1 -2 -3 P Internal Cable Connector Base DATA+5 DATA-5 BAT OBT +5V 0V FG5 OBT BAT DATA+6 DATA-6 BAT OBT +5V 0V FG6 OBT BAT PG B-axis PG T-axis 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 SS1 SS2 E E Crimped Contact-Pin C 3BC(20-29) Base E E E 1 2 3 4 5 6 7 8 1 2 P 3 4 P 5 6 P SS1 SS2 P P 1 2 3 4 SS1 SS2 1 2 3 4 SS1 SS2 P 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 FOR LAMP(OPTION) LB2 LB1 P LA3 LB3 LD2 LD1 P LC3 LD3 A3 B3 B1 E E 8-3 HW0484969 38/76 HW0484969 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-3(b): Internal Connection Diagram E E E Base E Casing E E 3BC(20-29) 3BC(20-29) E E 3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16 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 1 2 P 3 4 P 5 6 P SS1 SS2 P 1 2 3 4 SS1 SS2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 P P SS1 SS2 P P 3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16 For Spare Cable C Shock Sensor (Optional) 2BC(6X6) E 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 2BC(6X6) CN2-1 CN2-2 CN2-3 CN2-4 CN2-5 CN2-6 ME1 ME2 ME2 MU1 MV1 MW1 No.20CN MU1 20CN-3 MV1 -2 MW1 -1 ME1 -PE BA1 -4 BB1 -5 MU2 MV2 MW2 MU2 MV2 MW2 No.21CN MU2 21CN-3 MV2 -2 MW2 -1 ME2 -PE BA2 -4 BB2 -5 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 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 SM YB SM CN5-1 CN5-2 CN5-3 CN5-4 CN5-5 CN5-6 L-axis YB No.17CN MU3 17CN-3 MV3 -2 MW3 -1 ME3 -PE BA3 -4 BB3 -5 SM U-axis YB No.11CN MU4 11CN-1 MV4 -2 MW4 -3 ME4 -4 BA4 -1 BB4 -2 No.14CN CN5-1 CN5-2 CN5-3 CN5-4 CN5-5 CN5-6 S-axis 14CN-1 -2 -3 -4 ME3 ME4 ME5 ME6 BA1 BB1 No.12CN MU5 MV5 MW5 ME5 SM R-axis YB No.5CN 5CN-1 -2 -3 -4 -1 -2 MU5 MV5 MW5 ME5 BA5 BB5 SM B-axis YB No.6CN 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 -5 -6 -7 -8 MU6 MV6 MW6 ME6 15CN-1 -2 -3 -4 BA5 BB5 BA6 BB6 No.7CN MU6 7CN-1 MV6 -2 MW6 -3 ME6 -4 BA6 -1 BB6 -2 SM T-axis YB No.8CN No.15CN PE (10)/1C (10)/1C (10)/1C (10)/1C (10)/1C (10)/1C E-WRCT(60sq) 8-4 HW0484969 39/76 HW0484969 9 9.1 9 Maintenance and Inspection Inspection Schedule Maintenance and Inspection DANGER • 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. • Do not remove the motor, and do not release the brake. Failure to observe this caution may result in injury from unexpected turning of the manipulator’s arm. WARNING • Before maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in electric shock or injury. CAUTION • The battery pack must be connected before removing detection connector when maintenance and inspection. Failure to this caution may result in the loss of home position data. 9.1 Inspection Schedule Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are classified into six levels as shown in table 9-1 “Inspection Items” . In table 9-1, 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. 9-1 HW0484969 40/76 Working area and manipulator Motors for S-, L-, U-axes Baseplate mounting bolts 3 4 5 Wire harness in manipulator (SLEU-axis wires) (RBT-axis wires) 8 9 11 Battery pack in manipulator 10 Wire harness in manipulator (BT-axis wires) Connector base Timing belts for B- and T-axes 7 Cover mounting screws External lead 2 Daily • • • • 1000HCycle • • • 6000HCycle 12000HCycle • • • 24000H • • 36000H • Check alignment mark accordance and damage at the home position. Inspection Charge Visual, Multimeter Visual, Multimeter Manual Replace the battery pack when the battery alarm occurs or the manipulator drove for 36000H. Replace4) Check for conduction between terminals and wear of protective spring.3) Replace4) Check for conduction between the main connector of base and intermediate connector with manually shaking the wires. Check for wear of protective spring.3) Check for belt tension and wear. 2) • Visual Check for damage and deterioration of leads. • Visual Clean the work area if dust or spatter is present. Check for • damage and outside cracks. Visual Check for grease leakage. • Spanner Tighten loose bolts. Replace if necessary. • Wrench Screwdriver, Tighten loose bolts. Replace if necessary. • Wrench Manual Check for loose connectors. • Visual Operation • • • • • • • • • • • • • • • • • • • • • • • • 9 9.1 6 Alignment mark 1 Method Specified Personnel Schedule Licensee Items1) Service Company Table 9-1: Inspection Items (Sheet 1 of 3) HW0484969 Maintenance and Inspection Inspection Schedule 9-2 HW0484969 41/76 Daily • Grease Gun Grease Gun Grease Gun Check for malfunction. (Replace if necessary.) Supply grease4) (6000H cycle). See Par. chapter 9.3.4 “Grease Replenishment for R-Axis Speed Reducer” . Check for malfunction. (Replace if necessary.) Supply grease4) (6000H cycle). See Par.chapter 9.3.2 “Grease Replenishment/Exchange for L-Axis Speed Reducer” , chapter 9.3.3 “Grease Replenishment/Exchange for U-Axis Speed Reducer” . Replace grease4) (12000H cycle). See Par. chapter 9.3.2 “Grease Replenishment/ Exchange for L-Axis Speed Reducer” , chapter 9.3.3 “Grease Replenishment/Exchange for UAxis Speed Reducer” . Check for malfunction. (Replace if necessary.) Supply grease5) (6000H cycle). See Par. chapter 9.3.1 “Grease Replenishment/ Exchange for S-Axis Speed Reducer” . Replace grease4). (12000H cycle) See Par. chapter 9.3.1 “Grease Replenishment/ Exchange for S-Axis Speed Reducer” . Operation Inspection Charge • • • • • • 9 9.1 14 R-axis speed reducer • • 1000HCycle 13 Speed reducers for L- and U-axes 6000HCycle • • 12000HCycle 12 S-axis speed reducer Method Specified Personnel Schedule Licensee Items1) Service Company Table 9-1: Inspection Items (Sheet 2 of 3) HW0484969 Maintenance and Inspection Inspection Schedule 9-3 HW0484969 42/76 36000H 24000H • 36000H 24000H 12000HCycle Check for malfunction. (Replace if necessary.) Supply grease4) (6000H cycle). See Par. chapter 9.3.6 “Grease Replenishment for T-Axis Gear” Check for malfunction. (Replace if necessary.) Supply grease4) (6000H cycle). See Par. chapter 9.3.5 “Grease Replenishment for B-Axis Speed Reducer” . Inspection Charge • • • • • 1 Inspection No. correspond to the numbers in fig. 9-1 “Inspection Items” . 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” .) 4 Wire harness in manipulator to be replaced at 24000H inspection. 5 For the grease, refer to table 9-2 “Inspection Parts and Grease Used” . Grease Gun Grease Gun Operation 9 9.1 17 Overhaul • Daily 16 T-axis gear 1000HCycle • 6000HCycle 15 B-axis speed reducer Method Specified Personnel Schedule Licensee Items1) Service Company Table 9-1: Inspection Items (Sheet 3 of 3) HW0484969 Maintenance and Inspection Inspection Schedule 9-4 HW0484969 43/76 5 HW0484969 Fig. 9-1: Inspection Items 14 4 8 Note: This figure shows the standard specification manipulator in the home position. 9 9.1 8 9-5 16 4 13 Maintenance and Inspection Inspection Schedule 15 HW0484969 13 9 11 12 4 44/76 HW0484969 9 9.1 Maintenance and Inspection Inspection Schedule 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 Harmonic Grease 4B No. 2 R-axis speed reducer 15 Harmonic Grease SK-1A B-axis speed reducer 16 Alvania EP Grease 2 T-axis gear The numbers in the above table correspond to the numbers in fig. 9-1 “Inspection Items” . 9-6 HW0484969 45/76 HW0484969 9 9.2 9.2 9.2.1 Maintenance and Inspection Notes on Maintenance Procedures 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, replace the battery in accordance with the following procedure: Fig. 9-2: Battery Location 2BC 1BC 3BC Support Battery pack Connector base Plate fixing screw Fig. 9-3: Battery Connection Battery pack before replacement See step 5 below Connector Circuit board (Type: SGDR-EFBA02A) See step 4 below New battery pack 1. Turn OFF the DX100 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. 9-7 HW0484969 46/76 HW0484969 9 9.3 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures 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 9.3 Do not allow plate to pinch the cables when reinstalling the plate. Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following notes may result in damage to motor and speed reducer. • If grease is added without removing the plug/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/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 hoses, which are joined to the grease inlet, with grease beforehand to prevent air from intruding into the speed reducer. 9-8 HW0484969 47/76 HW0484969 9 9.3 9.3.1 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment/Exchange for S-Axis Speed Reducer Fig. 9-4: S-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT1/8 2BC 1BC 3BC Grease inlet Hexagon socket head plug PT1/8 NOTE 9.3.1.1 S-axis speed reducer For the ceiling-mounted manipulator, the grease exhaust port and the grease inlet are inverted. 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. • 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. 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: 70 cc (140 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. 5. Wipe the discharged grease with a cloth. Remove the grease zerk from the grease inlet, and reinstall the plugs to the grease inlet and grease exhaust port. Before installing the plugs, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m). 9-9 HW0484969 48/76 HW0484969 9 9.3 9.3.1.2 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Exchange (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” .) 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. • 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. 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. 450 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. Wipe the discharged grease with a cloth. Remove the grease zerk from the grease inlet, and reinstall the plugs to the grease inlet and grease exhaust port. Before installing the plugs, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m). 9-10 HW0484969 49/76 HW0484969 9 9.3 9.3.2 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment/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 Grease inlet Hexagon socket head cap screw M6 NOTE 9.3.2.1 For the ceiling-mounted manipulator, the grease exhaust port and the grease inlet are inverted. 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. • 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. 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: 65 cc (130 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 Three Bond 1206C on the thread part of the screw. Then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m). 9-11 HW0484969 50/76 HW0484969 9 9.3 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures 8. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 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). 9.3.2.2 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. • 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. 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. 420 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 Three Bond 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 Three Bond 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). 9-12 HW0484969 51/76 HW0484969 9 9.3 9.3.3 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment/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 9.3.3.1 For the ceiling-mounted manipulator, the grease exhaust port and the grease inlet are inverted. 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. • 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. 4. Install a grease zerk PT1/8 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: 40 cc (80 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 Three Bond 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). 8. Wipe the discharged grease with a cloth, and reinstall the screw. Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m). 9-13 HW0484969 52/76 HW0484969 9 9.3 9.3.3.2 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Exchange (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 the grease exhaust port. 3. Remove the hexagon socket head cap 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. • 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. 4. Install a grease zerk PT1/8 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. 250 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 complete when new grease appears in the grease exhaust port. (The new grease can be distinguished from the old grease by color.) 7. Move the U-axis for a few minutes to discharge excess grease. 8. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 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). 9. Wipe the discharged grease with a cloth, and reinstall the screw to the grease exhaust port. Before installing the plug, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m). 9-14 HW0484969 53/76 HW0484969 9 9.3 9.3.4 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for R-Axis Speed Reducer Fig. 9-7: R-Axis Speed Reducer Diagram R-axis speed reducer Grease exhaust port Hexagon socket head cap screw M6 Grease inlet Hexagon socket head cap screw M6 NOTE For the ceiling-mounted manipulator, the exhaust port and the grease inlet are inverted. 1. Remove the hexagon socket head cap screw M6 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. 9-7 “R-Axis Speed Reducer Diagram” .) – Grease type: Harmonic grease 4B No.2 – Amount of grease: 12 cc (24cc 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. Remove the grease zerk from the grease inlet, and reinstall the screw. Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 6. Reinstall the screw to the exhaust port. Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 9-15 HW0484969 54/76 HW0484969 9 9.3 9.3.5 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for B-Axis Speed Reducer Fig. 9-8: B-Axis Speed Reducers Diagram Cover Grease exhaust port (Plug LPM5) B-axis speed reducer Grease inlet Hexagon socket head cap screw M6 1. Remove the plug LPM5 from the exhaust port. 2. Remove the screw from the grease inlet. 3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is delivered with the manipulator.) 4. Remove the cover, then inject grease through the grease inlet using a grease gun. (Refer to fig. 9-8 “B-Axis Speed Reducers Diagram” .) – Grease type: Harmonic grease SK-1A – Amount of grease: 7 cc (14 cc for the 1st 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. Remove the grease zerk from the grease inlet, and reinstall the screw. Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 6. Reinstall the plug to the exhaust port, then reinstall the cover. 9-16 HW0484969 55/76 HW0484969 9 9.3 9.3.6 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for T-Axis Gear Fig. 9-9: T-Axis Gear Diagram Grease inlet 1 Hexagon socket head cap screw M6 Grease inlet 2 Hexagon socket head cap screw M6 Grease exhaust port Hexagon socket set screw M6 1. Remove the hexagon socket set screw from the exhaust port. 2. Remove the hexagon socket head cap screw M6 from the grease inlet 1. 3. Install a grease zerk A-MT6X1 to the grease inlet 1. (The grease zerk is delivered with the manipulator.) 4. Inject grease through the grease inlet 1 using a grease gun. – Grease type: Alvania EP Grease 2 – Amount of grease: 5 cc 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. Remove the grease zerk from the grease inlet 1, and reinstall the screw. Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 6. Remove the hexagon socket head cap screw M6 from the grease inlet 2. 7. Install a grease zerk A-MT6X1 to the grease inlet 2. (The grease zerk is delivered with the manipulator.) 9-17 HW0484969 56/76 HW0484969 9 9.3 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures 8. Inject grease through the grease inlet 2 using a grease gun. – Grease type: Alvania EP Grease 2 – Amount of grease: 5 cc 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. 9. Remove the grease zerk from the grease inlet 2, and reinstall the screw. Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 10. Reinstall the set screw to the exhaust port. Before installing the set screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 2.9 N•m (0.29 kgf•m). 9-18 HW0484969 57/76 HW0484969 9 9.3 9.3.7 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for R-Axis Gear Fig. 9-10: R-Axis Gear Diagram Grease exhaust port Hexagon socket head plug PT1/8 R-axis gear Grease inlet Hexagon socket head plug PT1/8 NOTE For the ceiling-mounted manipulator, the exhaust port and the grease inlet are inverted. 1. Make the U-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 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. • 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. 4. Install a grease zerk PT1/81 to the grease inlet. (The grease zerk is delivered with the manipulator.) 5. Inject grease through the grease inlet using a grease gun. (Refer to fig. 9-10 “R-Axis Gear Diagram” .) – Grease type: Harmonic grease 4B No.2 – Amount of grease: 55 cc (110 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 R-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 Three Bond 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). 8. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 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). 9-19 HW0484969 58/76 HW0484969 9 9.3 9.3.8 9.3.8.1 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Notes for Maintenance 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 (Three Bond 1206C, refer to table 10-1 “Spare Parts for the YR-MA01400-A00, -A01, -A10, -A11” .) Fig. 9-11: Sealing Part of Wrist Unit Cover Cover jointing face Cover jointing face Cover 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)” and fig. 9-12(b) “Encoder Connector Diagram (for R-, B-, and TAxes)” . Before removing the encoder connector (with CAUTION label), connect the battery pack referring to the following figures. 9-20 HW0484969 59/76 HW0484969 9 9.3 Maintenance and Inspection Notes on Grease Replenishment/Exchange Procedures Fig. 9-12(a): Encoder connector Diagram (for S-, L- and U-Axes) Motor Motor power connector Encoder connector 0BT b a BAT a b BAT* 0BT* Battery pack HW9470932-A Connector for battery back-up 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 OBT BAT CAUTION Connect battery to encoder to save the data before removing connector. CAUTION label a OBT4 b BAT4 b a Encoder connector Battery pack Connection Diagram 0BT BAT b a a 0BT4 b BAT4 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 connector. 9-21 HW0484969 60/76 HW0484969 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-MA1400. 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 the YR-MA01400-A00, -A01, -A10, -A11 (Sheet 1 of 2) Rank Parts Name No. Type Manufacturer Qty Qty per Unit A 1 Grease VIGO Grease RE No. 0 Yaskawa Electric Corporation 16 kg - A 2 Grease Harmonic Grease 4B No.2 Harmonic Drive Systems Co., Ltd. 2.5 kg - A 3 Grease Harmonic Grease SK-1A Harmonic Drive Systems Co., Ltd. 2.5 kg - A 4 Grease Alvania EP Grease 2 Showa Shell Sekiyu K.K. 16 kg - A 5 Liquid Seal Three Bond 1206C Three Bond Co., Ltd. - - A 6 Battery Pack HW0470360-A Yaskawa Electric Corporation 1 1 A 7 Battery Pack HW9470932-A Yaskawa Electric Corporation 1 - B 8 B-Axis Timing Belt 60S4.5M711 Mitsuboshi Belting Limited 1 1 B 9 T-Axis Timing Belt 60S4.5M932 Mitsuboshi Belting Limited 1 1 B 10 S-Axis Speed Reducer HW0386621-B Yaskawa Electric Corporation 1 1 B 11 S-Axis Input Gear HW0312734-1 Yaskawa Electric Corporation 1 1 B 12 L-Axis Speed Reducer HW0387809-A Yaskawa Electric Corporation 1 1 B 13 L-Axis Input Gear HW0312735-1 Yaskawa Electric Corporation 1 1 B 14 U-Axis Speed Reducer HW9280738-B Yaskawa Electric Corporation 1 1 B 15 U-Axis Input Gear HW0303277-4 Yaskawa Electric Corporation 1 1 B 16 R-Axis Speed Reducer HW0381645-A Yaskawa Electric Corporation 1 1 B 17 B-Axis Speed Reducer HW0381646-A Yaskawa Electric Corporation 1 1 B 18 R-Axis Gear HW0303288-A Yaskawa Electric Corporation 1 1 Remarks 10-1 HW0484969 61/76 HW0484969 10 Recommended Spare Parts Table 10-1: Spare Parts for the YR-MA01400-A00, -A01, -A10, -A11 (Sheet 2 of 2) Rank Parts Name No. Type Manufacturer Qty Qty per Unit B 19 R-Axis Gear Unit HW0370905-A Yaskawa Electric Corporation 1 1 B 20 T-Axis Gear (Output Side) HW0372792-A Yaskawa Electric Corporation 1 1 B 21 T-Axis Gear (Input Side) HW0310757-A Yaskawa Electric Corporation 1 1 B 22 Internal Wire Harness HW0174016-A Yaskawa Electric Corporation 1 1 B 23 Internal Cable for B- and T-Axes HW0270867-A Yaskawa Electric Corporation 1 1 C 24 AC Servomotor for SGMRV-05ANAS- and U-Axes YR2* HW0388664-A Yaskawa Electric Corporation 1 2 C 25 L-Axis AC Servomotor SGMRV-09ANAYR1* HW0388665-A Yaskawa Electric Corporation 1 1 C 26 R-Axis AC Servomotor SGMPH-01ANAYR1* HW0389297-A Yaskawa Electric Corporation 1 1 C 27 AC Servo Motor for B- and T-Axes SGMAV-01ANAYR1* HW0389294-A Yaskawa Electric Corporation 1 2 C 28 Circuit Board SGDR-EFBA02A Yaskawa Electric Corporation 1 1 Remarks 10-2 HW0484969 62/76 HW0484969 11 Parts List 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1004 1022 1005 1006 1008 1007 1023 1017 1023 1016 1047 1045 1018 1034 1037 1036 1002 1054 1003 1051 1053 1012 1014 1055 1011 1013 1020 1012 1055 1013 1014 1010 1020 1024 1029 1028 1011 1009 1025 1030 1052 1033 1043 1044 1042 1041 1040 1031 1032 1015 1026 1027 1001 1019 11-1 HW0484969 63/76 HW0484969 11 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit (Sheet 1 of 2) No. DWG No. Name Pcs 1001 HW0102222-1 Base 1 1002 HW0102223-1 S head 1 1003 HW0312732-1 M base 1 1004 SGMRV-05ANA-YR2* Motor 1 1005 M4X10 GT-SA bolt 1 1006 HW0312734-1 Gear 1 1007 M5X85 Socket screw 1 1008 2H-5 Spring washer 1 1009 HW0412662-1 Support 1 1010 HW0412662-2 Support 1 1011 TA1-S10 Clamp 2 1012 M5X8 Round Head Screw with Spring Washer 2 1013 T50R Insulok 2 1014 CD-31 Saddle 2 1015 EZ5036A0 Cap 1 1016 POC6-01 Union 1 1017 NB-0640-0.2 Tube 1 1018 PT1/8 Plug 1 1019 M5X10 APS bolt 6 1020 M6X15 GT-SA bolt 4 1022 M8X30 GT-SA bolt 3 1023 M8X30 GT-SA bolt 25 1024 HW0413455-1 Dog 1 1025 M6X35 GT-SA bolt 16 1026 M12X20 Socket screw 1 1027 2H-12 Spring washer 1 1028 M12X35 Socket screw 1 1029 2H-12 Spring washer 1 1030 HW0386621-B Speed reducer 1 1031 TSH6-01M Union 1 1032 NB-0640-0.3 Tube 1 1033 HW0313539-1 Cover 1 1034 M6X15 GT-SA bolt 8 1036 HW0312987-1 Cover 1 1037 HW0313540-A Cover 1 1040 M6X12 Socket screw 7 1041 2H-6 Spring washer 7 1042 M6 GT-LH washer 5 1043 PMF6-01 Union 1 1044 PT1/8 Plug 1 1045 M5X12 GT-SA bolt 4 1047 M5X12 GT-SA bolt 4 1051 TS200CHM Tarminal 1 11-2 HW0484969 64/76 HW0484969 11 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit (Sheet 2 of 2) No. DWG No. Name Pcs 1052 HW0411175-1 Cover 1 1053 HW0314103-1 Support 1 1054 C-30-SG-30A Glomet 1 1055 2H-5 Spring washer 2 11-3 HW0484969 65/76 HW0484969 11 Parts List 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2005 2001 2012 2003 2013 2010 2009 2018 2016 1002 2006 2011 2002 2020 2019 2004 2015 2014 Table 11-2: L-Axis Unit No. DWG No. Name Pcs 2001 SGMRV-09ANA-YR1* Motor 1 2002 HW0387809-A Speed reducer 1 2003 HW0312735-1 Gear 1 2004 M6X6 Socket screw 1 2005 HW0102224-1 L arm 1 2006 HW0312986-1 Cover 1 2009 M6X75 Socket screw 1 2010 2H-6 Spring washer 1 2011 M8X25 GT-SA bolt 18 2012 M8X30 GT-SA bolt 4 2013 PT1/8 Plug 1 2014 M6X70 Socket screw 16 2015 2H-6 Spring washer 16 2016 M6X15 GT-SA bolt 4 2018 M6 GT-LH washer 4 2019 M14X20 Socket screw 2 2020 M14 GT-SH washer 2 1002 HW0102223-1 S head 1 11-4 HW0484969 66/76 HW0484969 11 Parts List 11.3 U-Axis Unit 11.3 U-Axis Unit Fig. 11-3: U-Axis Unit 3011 3003 3001 3025 3024 3034 3033 3008 3010 3009 3032 3031 3039 3019 3004 3018 3007 3006 3020 3021 3041 3028 3029 3017 3016 3014 3012 3027 3040 3030 3015 3038 3005 3013 3022 3023 3035 3036 3037 2005 11-5 HW0484969 67/76 HW0484969 11 Parts List 11.3 U-Axis Unit R-Axis Unit Table 11-3: U-Axis Unit No. DWG No. Name Pcs 3001 SGMRV-05ANA-YR2* Motor 1 3003 M8X30 GT-SA bolt 4 3004 HW9280738-B Speed reducer 1 3005 M10X30 GT-SA bolt 6 3006 M6X35 Socket screw 16 3007 2H-6 Spring washer 16 3008 HW0303277-4 Gear 1 3009 M5X65 Socket screw 1 3010 2H-5 Spring washer 1 3011 HW0102397-1 Casing 1 3012 HW0200494-1 Cover 1 3013 M4X12 GT-SA bolt 4 3014 HW0404554-2 N base 1 3015 M4X12 GT-SA bolt 4 3016 M3X16 Round Head Screw with Spring Washer 2 3017 M3 Nut 2 3018 M12X20 Socket screw 2 3019 2H-12 Spring washer 2 3020 HW0404719-2 Plate 1 3021 PZ1212 Saddle 1 3022 PZ1208 Saddle 1 3023 M4X10 APS bolt 4 3024 M4X12 GT-SA bolt 2 3025 HW0304458-2 Support 1 3027 TA1-S10 Clamp 2 3028 T50R Insulok 2 3029 M5X8 Round Head Screw with Spring Washer 2 3030 HW0304454-1 Cover 1 3031 M4X12 GT-SA bolt 7 3032 M4 Washer 7 3033 HW0412661-1 Cover 1 3034 M4X10 GT-SA bolt 2 3035 M12X20 Socket screw 2 3036 2H-12 Spring washer 2 3037 M6X6 Socket screw 1 3038 PT1/8 Plug 1 3039 KQE10-03 Union 1 3040 KQE12-03 Union 1 3041 PT3/8*dacro* Plug 1 3048 23184-01A2AYR12 Motor 1 3049 SGMPH-01A3A-YR11 Motor 1 2005 HW0102224-1 L arm 1 11-6 HW0484969 68/76 HW0484969 11 Parts List 11.3 U-Axis Unit Fig. 11-4: R-Axis Unit 5073 4028 4029 4026 4027 4025 4030 4031 4035 4044 4045 4033 4046 4047 4032 4040 4036 4002 4038 4018 4049 4048 4037 4024 4023 4041 4039 4019 4042 4022 4021 4052 4020 4013 4012 4017 4058 4010 5009 4014 4016 4056 4057 4054 4008 4043 4059 4015 4007 4006 4056 4005 4055 4004 4011 3011 4003 4057 4053 4001 11-7 HW0484969 69/76 HW0484969 11 Parts List 11.3 U-Axis Unit Table 11-4: R-Axis Unit (Sheet 1 of 2) No. DWG No. Name Pcs 4001 SGMPH-01ANA-YR1* Motor 1 4002 M5X20 GT-SA bolt 6 4003 M5X16 GT-SA bolt 2 4004 HW0404304-1 Packin 1 4005 AE0478G Oil seal 1 4006 M4X16 Socket screw 1 4007 2H-4 Spring washer 1 4008 HW0410364-1 (HW0410364-2 for the ceilingmounted maniplator) M base 1 4009 M5X16 Socket screw 6 4010 2H-6 Spring washer 6 4011 HW0381645-A Speed reducer 1 4012 HW0304452-1 Housing 1 4013 SWB8-20 Spring 2 4014 HW0403980-1 Pin 4 4015 RTW47 Retaining Ring 1 4016 STW-30 Retaining Ring-C type 1 4017 6906DDU Bearing 1 4018 EZ5036A0 Cap 1 4019 6905 Bearing 1 4020 STW-25 Retaining Ring-C type 1 4021 HW0303725-1 Gear 1 4022 HW0303724-1 Gear 1 4023 HW0403979-1 Coller 2 4024 M4X16 GT-SA bolt 2 4025 HW0304451-1 Shaft 1 4026 M4X14 Socket screw 4 4027 2H-4 Spring washer 4 4028 M6X55 Socket screw 5 4029 2H-6 Spring washer 5 4030 M5X16 GT-SA bolt 6 4031 HW0303345-1 Shaft 1 4032 TC1301427 Oil seal 1 4033 CRBH11016AUE01 Cross roller bearing 1 4035 HW0304453-1 Flange 1 4036 HW0303343-1 Shaft 1 4037 TC1101226 Oil seal 1 4038 HW0303288-1 Gear 1 4039 M4X10 GT-SA bolt 4 4040 M6X30 GT-SA bolt 8 4041 PT1/8 Plug 1 4042 KQE10-03 Union 1 4043 KQL10-00 Coupling 1 11-8 HW0484969 70/76 HW0484969 11 Parts List 11.3 U-Axis Unit Table 11-4: R-Axis Unit (Sheet 2 of 2) No. DWG No. Name Pcs 4044 PZ1208 Saddle 2 4045 M4X6 APS bolt 2 4046 PZ1212 Saddle 2 4047 M4X10 APS bolt 2 4048 PT1/8 Plug 1 4049 M4X10 APS bolt 1 4052 M5X16 GT-SA bolt 4 4053 M5X12 GT-SA bolt 2 4054 M5X35 Socket screw 3 4055 M5X40 Socket screw 2 4056 2H-5 Spring washer 5 4057 M6X6 Socket screw 2 4058 KQE12-03 Union 1 4059 KQL12-00 Coupling 1 3011 HW0102227-1 Casing 1 5073 HW0100617-1 U arm 1 11-9 HW0484969 71/76 HW0484969 11 Parts List 11.4 Wrist Unit 11.4 Wrist Unit Fig. 11-5: Wrist Unit 5045 5048 5075 5041 5043 5096 5042 5097 5099 5076 5046 5047 5095 5035 5085 5044 5042 5084 5079 5078 5083 5081 5092 5093 5090 5087 5088 5080 5100 5037 5091 5050 5039 5063 5038 5040 5017 5094 5026 5082 5052 5051 5062 5029 5023 5028 5022 5021 5101 5098 5054 5086 5089 5091 5091 5016 5027 5049 5030 5034 5024 5025 5033 5031 5015 5014 5071 5070 5074 5032 5019 5018 5036 5072 5004 5005 5006 5007 5020 5001 5012 5052 5013 5061 5002 5003 5060 5077 5008 5057 5056 5055 5059 5058 5010 5009 5012 5053 5011 5070 5071 5064 3011 5073 5069 5001 5072 5068 5067 5066 5065 5074 11-10 HW0484969 72/76 HW0484969 11 Parts List 11.4 Wrist Unit Table 11-5: Wrist Unit (Sheet 1 of 3) No. DWG No. Name Pcs 5001 SGMAV-01ANA-YR1* Motor 2 5002 M6X55 Socket screw 5 5003 2H-6 Spring washer 5 5004 M4X25 Socket screw 1 5005 2H-4 Spring washer 1 5006 HW0480866-B Pulley 1 5007 HW0404353-1 Fly wheel 1 5008 HW0404354-1 Spacer 1 5009 M4X25 Socket screw 2 5010 2H-4 Spring washer 2 5011 T50L Insulok 1 5012 M4X10 GT-SA bolt 2 5013 HW0403207-1 Cover 1 5014 60S4.5M932 Belt 1 5015 HW0100621-1 Cover 1 5016 HW0480867-B Pulley 1 5017 HW0311225-1 Gear 1 5018 CBS4-12 Bolt 4 5019 2H-4 Spring washer 4 5020 HW0401553-1 B cover 1 5021 M5X35 Socket screw 1 5022 2H-5 Spring washer 1 5023 HW0410762-1 Shaft 1 5024 MS4-10 Pin 2 5025 HW0410930-1 Cover 1 5026 M6X6 Socket screw 1 5027 WR20 Sirclip 1 5028 6804DDU Bearing 1 5029 WB22-20 Spring 1 5030 M5X16 Socket screw 1 5031 2H-5 Spring washer 1 5032 HW0301300-2 Gear 1 5033 HW9482218-A Bearing 1 5034 HW0301310-2 Shaft 1 5035 6811LLU Bearing 1 5036 M4X12 GT-SA bolt 4 5037 AR28 Sirclip 1 5038 NA4902 Needle bearing 1 5039 WR15 Sirclip 1 5040 HW0311214-1 Shaft 1 5041 HW0100618-2 Wrist 1 5042 WR12 Sirclip 2 5043 NA4901 Needle bearing 1 5044 IRTW-24 Retaining ring 1 11-11 HW0484969 73/76 HW0484969 11 Parts List 11.4 Wrist Unit Table 11-5: Wrist Unit (Sheet 2 of 3) No. DWG No. Name Pcs 5045 M6X25 Socket screw 1 5046 2H-6 Spring washer 1 5047 HW8411125-3 Washer 1 5048 HW0310757-1 Gear 1 5049 HW0310758-1 Housing 1 5050 688A Bearing 1 5051 6812LLU Bearing 1 5052 HW0381646-A Speed reducer 1 5053 M4X16 GT-SA bolt 4 5054 M4X12 GT-SA bolt 9 5055 M5X16 Socket screw 1 5056 2H-5 Spring washer 1 5057 HW0481692-A Pulley 1 5058 6902ZZ*NS7* Bearing 1 5059 RTW28 Retaining Ring-C type 1 5060 HW0403705-1 Housing 1 5061 M4X12 GT-SA bolt 4 5062 HW0404303-2 Coller 1 5063 LP-M5 Plug 1 5064 60S4.5M711 Belt 1 5065 HW0100622-1 Cover 1 5066 M4X12 Socket screw 1 5067 2H-4 Spring washer 1 5068 HW0481429-A Pulley 1 5069 M4X10 GT-SA bolt 2 5070 M4 Washer 4 5071 M4X16 GT-SA bolt 4 5072 HW0404547-1 M base 2 5073 HW0100617-1 U arm 1 5074 M4X10 GT-SA bolt 22 5075 HW0303390-1 Cover 1 5076 M4X10 APS bolt 2 5077 M6X6 Socket screw 1 5078 HW0404371-2 Bolt 1 5079 M4X16 GT-SA bolt 6 5080 TC65786 Oil seal 1 5081 AR78 Sirclip 1 5082 HW0310763-1 Shaft 1 5083 6812DBLU Bearing 1 5084 HW0401552-1 B cover 1 5085 HW0310762-1 Housing 1 5086 TC70826 Oil seal 1 5087 M4X12 Socket screw 6 5088 2H-4 Spring washer 6 5089 HW0310761-1 Flange 1 11-12 HW0484969 74/76 HW0484969 11 Parts List 11.4 Wrist Unit Table 11-5: Wrist Unit (Sheet 3 of 3) No. DWG No. Name Pcs 5090 M5X16 GT-SA bolt 4 5091 MS4-10 Pin 3 5092 CBS4-12 Bolt 6 5093 2H-4 Spring washer 6 5094 M4X12 GT-SA bolt 2 5095 M5X10 APS bolt 2 5096 HW0404365-1 Cover 1 5097 HW0404366-1 Packin 1 5098 M4X12 GT-SA bolt 5 5099 M6X6 H set screw 1 5100 M6X6 Socket screw 1 5101 HW0372792-A Gear ASSY 1 3011 HW0102227-1 Casing 1 11-13 HW0484969 75/76 MOTOMAN-MA1400 INSTRUCTIONS HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany Phone +49-8166-90-100 Fax +49-8166-90-103 YASKAWA Nordic AB Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden Phone +46-480-417-800 Fax +46-480-417-999 YASKAWA Electric (China) Co., Ltd. 22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299 YASKAWA SHOUGANG ROBOT Co. Ltd. No7 Yongchang North Road, Beijing E&T Development AreaChina 100176 Phone +86-10-6788-2858 Fax +86-10-6788-2878 YASKAWA India Private Ltd. (Robotics Division) #426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India Phone +91-124-475-8500 Fax +91-124-475-8542 YASKAWA Electric Korea Co., Ltd 9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea Phone +82-2-784-7844 Fax +82-2-784-8495 YASKAWA Electric Taiwan Corporation 12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan Phone +886-2-8913-1333 Fax +886-2-8913-1513 YASKAWA Electric (Singapore) PTE Ltd. 151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741 Phone +65-6282-3003 Fax +65-6289-3003 YASKAWA Electric (Thailand) Co., Ltd. 59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road, Huaykwang, Bangkok 10310, THAILAND Phone +66-2-017-0099 Fax +66-2-017-0199 PT. YASKAWA Electric Indonesia Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia Phone +62-21-2982-6470 Fax +62-21-2982-6741 Specifications are subject to change without notice for ongoing product modifications and improvements. C Printed in Japan October 2015 08-10 YASKAWA ELECTRIC CORPORATION MANUAL NO. HW0484969 5 76/76 ">
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Key features
Vertically articulated structure for flexible movement
Designed for arc welding applications
Six degrees of freedom
3 kg payload capacity
High repeatability: ±0.08 mm
Frequently asked questions
Maintenance must be performed by specified personnel.
Check that the servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant.
Ambient temperature: 0° to + 45°C, Humidity: 20 to 80%RH (no-condensing), Free from dust, soot, oil, or water
