Yaskawa Motoman MH6F Instructions
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MOTOMAN-MH6/MH6F INSTRUCTIONS TYPE: YR-MH00006-A00 (STANDARD SPECIFICATION FOR DX100) YR-MH00006-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES FOR DX100) YR-MH0006F-A00 (STANDARD SPECIFICATION FOR FS100) YR-MH0006F-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES FOR FS100) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MH6/MH6F INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL FS100 INSTRUCTIONS FS100 OPERATOR’S MANUAL FS100 MAINTENANCE MANUAL The DX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 160476-1CD Revision: 0 YASKAWA ELECTRIC CORPORATION MANUAL NO. HW0484977 3 1/77 HW0484977 MH6/MH6F MANDATORY • This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-MH6/MH6F 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 the 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. ii HW0484977 2/77 HW0484977 MH6/MH6F Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MH6/MH6F. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. WARNING CAUTION MANDATORY PROHIBITED 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. 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”. iii HW0484977 3/77 HW0484977 MH6/MH6F <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. 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: – 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 HW0484977 4/77 HW0484977 MH6/MH6F <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. Fig. : 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. Fig. : 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. v HW0484977 5/77 HW0484977 MH6/MH6F 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/FS100 Instructions before operating the manipulator: vi HW0484977 6/77 HW0484977 MH6/MH6F 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 vii HW0484977 7/77 HW0484977 MH6/MH6F 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. viii HW0484977 8/77 HW0484977 MH6/MH6F 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 ...................................................................................................... 2-1 2.1.2 Using a Forklift...................................................................................................... 2-3 2.2 Shipping Bolts and Brackets.............................................................................................. 2-3 3 Installation....................................................................................................................................... 3-1 3.1 Installation of the Safeguarding ......................................................................................... 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/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 Baseplate Dimensions ....................................................................................................... 5-2 5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3 5.5 Alterable Operating Range ................................................................................................ 5-4 6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1 6.1 Allowable Wrist Load ......................................................................................................... 6-1 6.2 Wrist Flange....................................................................................................................... 6-3 ix HW0484977 9/77 HW0484977 MH6/MH6F 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 Location 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 .................................................. 9-9 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” .)............................................................................................. 9-10 9.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” at page 9-9.) .......................................................................... 9-10 9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-11 9.3.2.1 Grease Replenishment (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” at page 9-11.) ........................................................................ 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” at 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 Axis............................................................................................... 9-19 9.3.8.2 Battery Pack Connection ....................................................................... 9-19 10 Recommended Spare Parts........................................................................................................ 10-1 x HW0484977 10/77 HW0484977 MH6/MH6F 11 Contents 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 R-Axis Unit..................................................................................................................... 11-7 11.5 Wrist Unit ....................................................................................................................... 11-9 xi HW0484977 11/77 HW0484977 1 1.1 MH6/MH6F 1 Product Confirmation 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 four items (Information for the content of optional goods is given separately): • Manipulator • DX100/FS100 • Programing Pendant • Manipulator Cable (between the DX100/FS100 and the Manipulator) 1-1 HW0484977 12/77 HW0484977 1 1.2 MH6/MH6F 1.2 Product Confirmation Order Number Confirmation 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) Check that the manipulator and the DX100/FS100 have the same order number. THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. ORDER NO. DX100 TYPE ER 50/60Hz 60Hz kVA kVA kA PEAK AVERAGE GE N Y AC200V AC220V C 3PHASE INTERRUPT CURRENT EM ERDR- POWER SUPPLY SERIAL No. DATE MADE IN JAPAN NJ2960-1 S T O P TR IP PE D ON F OFF RE SE T E US WARNING CN Do not open the door THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. FBB CN210 CN211 ORDER NO. NJ1529 (c) FS100 (Front View) PROGRAMMING PENDANT X81 (a) DX100 (Front View) (b) Manipulator (Top View) 1-2 HW0484977 13/77 HW0484977 2 2.1 MH6/MH6F 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. 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with two wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in fig. 2-1 “Transporting Position” at page 2-2. 2-1 HW0484977 14/77 HW0484977 MH6/MH6F 2 2.1 Transport Transport Method Fig. 2-1: Transporting Position Shipping bracket A View A Rubber plate Rubber plate Hexagon socket head cap screw M10 (2 screws) Shipping bracket 2-2 HW0484977 15/77 HW0484977 2 2.2 MH6/MH6F 2.1.2 Transport Shipping Bolts and Brackets Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with 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 bolts) Pallet Forklift claw entry 2.2 Shipping Bolts and Brackets The manipulator is provided with shipping bolts and a shipping brackets. (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 screw M10 (2 screws). NOTE Before turning ON the power, make 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 HW0484977 16/77 HW0484977 MH6/MH6F 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 ceiling or 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 a 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 HW0484977 17/77 HW0484977 3 3.1 MH6/MH6F 3.1 Installation Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO10218) The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals. 3.2 Mounting Procedures for Manipulator Base The manipulator should be firmly mounted on a 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” at page 3-3. 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 HW0484977 18/77 HW0484977 MH6/MH6F Installation Mounting Procedures for Manipulator Base 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 Baseplate” . Fig. 3-1: Mounting the Manipulator Baseplate Hexagon socket head cap screw M16 (4 screws) Spring washer Washer 20 Manipulator base Baseplate 40 mm or more Manipulator base Anchor bolt M16 or more Baseplate A 300 260 Baseplate 132±0.1 16 dia.+0.0180 (2 holes) 102±0.1 Tapped hole 18 dia. (4 holes) +0.018 12 dia. 0 100±0.1 132±0.1 130±0.1 60 260 300 60 153±0.1 240 292 3.2.1 3 3.2 102±0.1 Units: mm 153±0.1 View A 3-3 HW0484977 19/77 HW0484977 3 3.3 MH6/MH6F 3.3 Installation Types of Mounting Types of Mounting The MOTOMAN-MH6/MH6F 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. • S-axis Operating Range • Fixing the Manipulator Base • Precautions to Prevent the Manipulator from Falling 3.3.1 S-axis Operating Range For the wall-mounted type, the S-axis movable range must be ±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 Manipulator base Hexagon socket head cap screw M16 (4 screws) (Tensile strength: 1200 N/mm2 or above) NOTE In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact your Yaskawa representative (listed on the back cover of this instruction manual) to perform a wall/ceiling installation on site. 3-4 HW0484977 20/77 HW0484977 3 3.4 MH6/MH6F 3.4 Installation Location 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 (non-condensing) • Free from dust, soot, oil, or water • Free from corrosive gas or liquid, or explosive gas or liquid. • Free from excessive vibration (4.9 m/s2 [0.5G] or less) • Free from large electrical noise (plasma) • The flatness for installation is 0.5 mm or less 3-5 HW0484977 21/77 HW0484977 4 4.1 MH6/MH6F 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. (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 the local regulations and electrical installation standards for grounding. A wire of 5.5 mm2 or more is recommended. Refer to fig. 4-1 “Grounding Method” at 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 HW0484977 22/77 HW0484977 4 4.2 MH6/MH6F Wiring Cable Connection Fig. 4-1: Grounding Method A A Bolt M8 (for grounding) Delivered with the manipulator 4.2 View 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)” at page 4-3 and fig. 4-2(b) “Manipulator Cables (FS100)” at 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)” at page 4-4, fig. 4-3(b) “Manipulator Cable Connectors (DX100 Side)” at page 4-4, and fig. 4-3(c) “Manipulator Cable Connectors (FS100 Side)” at page 4-4. 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/FS100 Before connecting cables to the DX100/FS100, verify the numbers on both manipulator cables and the connectors on the DX100/FS100. When connecting, insert the cables in the order of X21, then X11, and depress each lever low until it clicks. 4-2 HW0484977 23/77 HW0484977 4 4.2 Wiring 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 MH6/MH6F 2BC X21 2BC Power cable 4-3 HW0484977 24/77 HW0484977 4 4.2 Wiring Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) 2BC 1BC YB-100 3BC 250V 240A 38-100mm2 10.0Nxm MH6/MH6F Connector details (Manipulator side) Fig. 4-3(b): Manipulator Cable Connectors (DX100 Side) X11 X21 Fig. 4-3(c): Manipulator Cable Connectors (FS100 Side) X21 X11 Back View 4-4 HW0484977 25/77 HW0484977 5 5.1 MH6/MH6F 5 Basic Specifications Basic Specifications Basic Specifications 5.1 Basic Specifications Table 5-1: Basic Specifications1) Item Structure Degree of Freedom Payload Repeatability*2) Range of Motion Maximum Speed Allowable Moment3) Allowable Inertia (GD2/4) Approx. Mass Ambient Conditions Power Capacity Model S-Axis (turning) L-Axis (lower arm) U-Axis (upper arm) R-Axis (wrist roll) B-Axis (wrist pitch/yaw) T-Axis (wrist twist) S-Axis L-Axis U-Axis R-Axis B-Axis T-Axis R-Axis B-Axis T-Axis R-Axis B-Axis T-Axis Temperature Humidity Vibration Acceleration Others MOTOMAN-MH6/MH6F Vertically Articulated 6 6 kg ±0.08 mm -170° - +170° -90° - +155° -175° - +250° -180° - +180° -45° - +225° -360° - +360° 3.84 rad/s, 220°/s 3.49 rad/s, 200°/s 3.84 rad/s, 220°/s 7.16 rad/s, 410°/s 7.16 rad/s, 410°/s 10.65 rad/s, 610°/s 11.8 N•m (1.2 kgf•m) 9.8 N•m (1.0 kgf•m) 5.9 N•m (0.6 kgf•m) 0.27 kg•m2 0.27 kg•m2 0.06 kg•m2 130 kg 0° to 45°C 20 to 80% RH at constant temperature Less than 4.9 m/s2 (0.5G) Free from corrosive gas or liquid, or explosive gas. Free from 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 chapter 6.1 “Allowable Wrist Load” at page 6-1 for details on the permissible moment of inertia. 5-1 HW0484977 26/77 HW0484977 5 5.2 MH6/MH6F 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+ T+ T- R- U- BWrist flange L- L+ L-arm Rotary head S+ S- Baseplate Dimensions Fig. 5-2: Baseplate Dimensions +0.018 16 dia. 0 (2 holes) 300 260 132 ±0.1 240 130 ±0.1 +0.018 12 dia. 0 132 ±0.1 60 260 300 292 60 153 ± 0.1 102 ±0.1 18 dia. (4 holes) 20 5.3 Manipulator base 102±0.1 100±0.1 A 153±0.1 View A 5-2 HW0484977 27/77 HW0484977 5 5.4 MH6/MH6F 5.4 Basic Specifications Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope (YR-MH00006-A00, -A01, YR-MH0006F-A00, -A01) R3 349 381 1422 70 152 0 309 637 R1 R2 170° 1122 422 81 170° 1722 640 95 141 250° P-point P-point maximum envelope 90 ° 614 83 ° 155 150 188 199 155° 681 450 352 0 5 204 316 764 0 538 501 175° Note: This figure shows the standard specification manipulator in the home position. 5-3 HW0484977 28/77 HW0484977 5 5.5 MH6/MH6F 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° - +170° (standard) -150° - +150° -135° - +135° -120° - +120° -105° - +105° -90° - +90° -75° - +75° -60° - +60° -45° - +45° -30° - +30° -15° - +15° 5-4 HW0484977 29/77 HW0484977 6 6.1 MH6/MH6F Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load The allowable wrist load is 6 kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in table 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 11.8 (1.2) 0.27 B-Axis 8.8 (1.0) 0.27 T-Axis 5.9 (0.6) 0.06 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 the moment of inertia is created, or when the load moment is small while the moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative beforehand. Fig. 6-1: Moment Arm Rating LB Load gravity position 95 200 LT R-, T-axes rotation center line 141 LT (mm) 6 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load W = 3 kg 100 W = 6 kg B-axis rotation center line 0 100 167 200 238 300 LB (mm) 6-1 HW0484977 30/77 HW0484977 6 6.1 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load Fig. 6-2: The Diagram Moment/Inertia for R-Axis Moment (Nxm) 15 11.8 10 5 0 0.27 0 0.483 0.2 0.4 0.6 GD2/4 (kgxm2) Fig. 6-3: The Diagram Moment/Inertia for B-Axis Moment (Nxm) 10 9.8 7.5 5 2.5 0 0.27 0.1 0 0.2 0.37 0.3 0.4 GD2/4 (kgxm2) Fig. 6-4: The Diagram Moment/Inertia for T-Axis 6 Moment (Nxm) MH6/MH6F 5.9 4 2 0 0.06 0 0.05 0.14 0.1 0.15 GD2/4 (kgxm2) 6-2 HW0484977 31/77 HW0484977 6 6.2 Wrist Flange The wrist flange dimensions are shown in fig. 6-5 “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. 6-5: Wrist Flange 700 +0.021 25 dia. 0 45° 0 50 dia. -0.016 P.C +0.012 6 dia. 0 (depth: 6) 6 6.2 Allowable Load for Wrist Axis and Wrist Flange Wrist Flange 6 MH6/MH6F .D. 40 Units: mm Tapped holes M6 (depth:9) (pitch:1.0) (4 holes) NOTE Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools. 6-3 HW0484977 32/77 HW0484977 7 7.1 MH6/MH6F 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” at page 7-2 for easier installation of the users’ system applications. The following conditions should be observed to attach or install peripheral equipment. 7.1.1 Allowable Load • The allowable load on the U-axis is a maximum of 15 kg, including the wrist load. For instance, when the mass installed in the wrist point is 6 kg, the mass which can be installed on the upper arm becomes 9 kg. • The allowable load on the S-axis is a maximum of 20 kg. Install the peripheral equipment on the S-axis so that the moment of inertia (GD2/4) from the S-axis rotation center becomes 1.25 kg•m2 or less. 7.1.2 Installation Position There is a limitation also on the installation position. fig. 7-2 “Allowable Load on U-axis” at page 7-2 shows the distance between the U-axis rotation center and the load gravity. 7-1 HW0484977 33/77 HW0484977 7 7.1 MH6/MH6F System Application Peripheral Equipment Mounts Fig. 7-1: Installing Peripheral Equipment A 70 Z-direction Upper arm 230 W1 70 230 X-direction Tapped hole M6 (length: 12) (4 holes) U-axis rotation center 90 105 199 50 152.5 Rotary head Tapped hole M10 (4 holes) (pitch: 1.5) (depth: 20) Fig. 7-2: Allowable Load on U-axis X Direction Restriction 20 W1 = 0 kg 15 Weight W2 (kg) Z-direction restriction 350 or less View A 10 5 W1 = 3 kg W1 = 6 kg 0 -200 -100 0 100 200 300 400 Distance between U-Axis Rotation Center and Load Gravity (mm) 7-2 HW0484977 34/77 HW0484977 7 7.2 MH6/MH6F 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 (0.2 mm2 x 8, 0.75 mm2 x 2 and 1.25 mm2 x 4) and two air lines are incorporated in the manipulator for the drive of peripheral device mounted on the upper arm as shown in fig. 7-3 “Connectors for Internal User I/O Wiring Harness and Air Line” at page 7-4. The connector pins 1 to 16 are assigned as shown in fig. 7-4 “Details of Connector Pin Numbers” at page 7-4. 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.) 7-3 HW0484977 35/77 HW0484977 7 7.2 MH6/MH6F System Application Internal User I/O Wiring Harness and Air Line Fig. 7-3: Connectors for Internal User I/O Wiring Harness and Air Line Connector for internal user I/O wiring harness on U-axis: JL05-2A20-29SC (socket connector with a cap). Prepare pin connector JL05-6A20-29P. Terminal for primary welding power source TS200CHM Exhaust port A Tapped holes PT3/8 with pipe plug Exhaust port B Tapped holes PT3/8 with pipe plug A Air inlet A Tapped hole PT3/8 with pipe plug Air inlet B Tapped hole PT3/8 with pipe plug 2BC 1BC Terminal for primary welding power source Recommended crimped terminal: R100-10 Cover (TCV-2001-04) is supplied. 250V 240A 38-100mm2 10.0Nxm YB-100 3BC View A Connector for internal user I/O wiring harness on S-axis: JL05-2A20-29PC (pin connector with a cap). Prepare socket connector JL05-6A20-29S. Fig. 7-4: Details of Connector Pin Numbers Connector for Internal User I/O Wiring Harness on the Connector Base Pins used 1 2 3 4 5 6 7 (Open) 8 (Open) 9 10 11 (0.75mm22) 12 (0.75mm ) 13 (1.25mm2) 14 (1.25mm2) 15 (1.25mm2) 16 (1.25mm2) Connector for Internal User I/O Wiring Harness on the U-arm 1 2 5 4 9 13 3 Pins used 6 7 8 11 12 15 16 10 14 Internal user I/O wiring harness : 0.2 mm2, 8 lead wires : 0.75 mm2, 2 lead wires : 1.25 mm2, 4 lead wires 1 2 3 4 5 6 7 (+24V (1A): for shock sensor) 2 8 (Shock sensor signal input) (For DX100 only) 4 9 10 7 11 (0.75mm2) 9 12 (0.75mm2) 11 13 13 (1.25mm2) 14 (1.25mm2) 2 15 15 (1.25mm ) 16 (1.25mm2) 1 5 3 6 8 12 10 14 16 Internal user I/O wiring harness : 0.2 mm2, 8 lead wires : 0.75 mm2, 2 lead wires : 1.25 mm2, 4 lead wires 7-4 HW0484977 36/77 HW0484977 MH6/MH6F 7 7.2 System Application Internal User I/O Wiring Harness and Air Line NOTE • For the standard specification, the pins No.7 and No.8 of 3BC connector on the U-Arm are respectively connected with the shock sensor power supply and shock sensor signal input port of the DX100/FS100. • 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 the wiring, refer to fig. 8-3(a) “Internal Connection Diagram (DX100)” at page 8-3 and fig. 8-3(c) “Internal Connection Diagram (FS100)” at 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, 0.75 mm2, or 1.25 mm2. 7-5 HW0484977 37/77 HW0484977 8 8.1 MH6/MH6F 8 Electrical Equipment Specification Location of Limit Switch Electrical Equipment Specification 8.1 Location of Limit Switch The limit switches are optional. See fig. 8-1 “Location of Limit Switches” . The overrun limit switches (the S- and L-axis overrun limit switches and the L- and U-axis interference limit switch) can be mounted only if the manipulator type is: YR-MH00006-A01 or YR-MH0006F-A01. Fig. 8-1: Location of Limit Switches L-and U-axes interference L.S. (optional) L-axis overrun L.S. (optional) S-axis overrun L.S. (optional) 8-1 HW0484977 38/77 HW0484977 8 8.2 MH6/MH6F 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 “Location and Numbers of Connectors” and table 8-1 “List of Connector Types” . Diagrams for internal connections of the manipulator are shown in fig. 8-3(a) “Internal Connection Diagram (DX100)” at page 8-3, fig. 8-3(b) “Internal Connection Diagram (DX100)” at page 8-4, fig. 8-3(c) “Internal Connection Diagram (FS100)” at page 8-5, and fig. 8-3(d) “Internal Connection Diagram (FS100)” at page 8-6. Fig. 8-2: Location and Numbers of Connectors 3BC (for internal user I/O wiring harness) 2BC 1BC 3BC 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 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 HW0484977 39/77 HW0484977 8 Electrical Equipment Specification 8.2 Internal Connections MH6/MH6F Fig. 8-3(a): Internal Connection Diagram (DX100) <Notes> 1.For the limit switch specification, the connection of the section A B are changed as follows: LC1 LD1 LC1 LD1 POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS 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 P CN1-6 CN1-7 0BAT4 BAT4 PG0V1 PG5V1 PG0V2 PG5V2 PG0V3 PG5V3 PG0V4 PG5V4 PG0V5 PG5V5 PG0V6 PG5V6 P LB1 LB2 LA2 LB2 A2 P LD1 LD2 LC2 LD2 B2 P SPG+2 SPG-2 FG2 CN4-1 CN4-6 +24V LB1 Connected to Connected to L AND U-AXES INTERFERENCE L.S. LB1 LA2 LB2 L-AXIS OVERRUN L.S. LA3 LB3 B3 Connected to A2 L AND U-AXIS INTERFERENCE L.S. Connected to 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 LD1 LC1 LA1 LB1 LA1 P CN4-2 CN4-7 P CN4-2 CN4-7 CN2-1 CN2-2 P CN2-1 CN2-2 S-AXIS OVERRUN L.S. Connected to LB1 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. Connected Port in DX100 Shock sensor power supply; +24V (1A) Shock sensor signal input port Pin No. 7 8 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 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 (SS1and SS2) need to be replaced as shown in C . (Contact your Yaskawa representative in case of modifying the wiring before use.) Power Cable Internal Cable Connector Base PG U-arm L-AXIS DX100 1BC(10X4) Casing 1BC(10X4) CN2-3 CN2-6 CN2-7 P CN2-6 CN2-7 CN2-8 CN2-8 CN2-10 SS2 P CN3-1 CN3-2 CN3-3 CN3-3 CN2-4 CN2-5 CN2-4 CN2-5 P CN2-9 CN2-9 CN3-6 CN3-7 P CN3-6 CN3-7 CN3-8 CN3-8 SPG+3 SPG-3 No.16CN 16CN-1 -2 -6 -5 -4 -9 -10 P FG3 P SPG+4 SPG-4 3BC(20-29) DATA+3 DATA-3 BAT OBT +5V 0V FG3 No.9CN 9CN-1 -2 -3 -4 10CN-1 -2 -3 P +24V SPG+5 SPG-5 FG5 P SPG+7 SPG-7 P FG6 CN4-10 CN4-10 0V CN3-4 CN3-5 P CN3-4 CN3-5 CN3-9 CN3-10 P CN3-9 CN3-10 P P P -4 -10 DATA+6 DATA-6 -5 -11 -6 +5V 0V FG6 No.3CN 3CN-1 -2 -3 -4 4CN-1 -2 -3 P P DATA+5 DATA-5 BAT OBT +5V 0V FG5 PG B-AXIS PG T-AXIS E C Base E 3BC(20-29) 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 DATA+6 DATA-6 BAT OBT +5V 0V FG6 OBT BAT BC2 P CN4-4 CN4-5 CN4-9 R-AXIS 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 E Crimped Contact-Pin OBT BAT SPG+6 SPG-6 AL2 P No.1CN 1CN-1 -2 -3 -4 2CN-1 -2 -3 P FG7 CN4-3 CN4-8 CN4-4 CN4-5 CN4-9 PG 3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16 OBT BAT No.13CN -1 DATA+5 -7 DATA-5 -2 BAT -8 OBT -3 +5V -9 0V P DATA+4 DATA-4 BAT OBT +5V 0V FG4 E Unused U-AXIS PG P FG4 P CN4-3 CN4-8 SS1 SS2 E E P CN3-1 CN3-2 24V(1A) SS2 AL1 P CN2-10 CN4-1 CN4-2 CN4-1 CN4-2 P CN2-3 A3 B1 LD1 P CN4-1 CN4-6 B3 SLU-axes with Limit Switch Specification FG1 CN1-8 LD3 LB2 LB1 P CN1-8 B2 L AND U-AXES INTERFERENCE L.S. LA1 0BAT1 BAT1 0BAT2 BAT2 0BAT3 BAT3 P CN1-6 CN1-7 Connected to LC3 LB1 LB2 P CN1-3 CN1-3 B1 Connected to L-AXIS OVERRUN L.S. LD2 LD1 INTERNAL CABLE IN BT-AXIS LA1 LB1 0BT P BAT 0BT P BAT S-AXIS OVERRUN L.S. LC2 LD2 LD1 LD2 U V FOR LAMP (OPTION) 0V +5V A1 0V +5V +24V LD1 LA1 LC1 FG8 LB1 LD1 LB2 LB1 P LA3 LB3 LD2 LD1 P LC3 LD3 A3 B3 B1 E E 8-3 HW0484977 40/77 HW0484977 8 Electrical Equipment Specification 8.2 Internal Connections MH6/MH6F Fig. 8-3(b): Internal Connection Diagram (DX100) E E E Casing Base E 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 P 3 4 P 5 6 P SS1 SS2 P 1 2 3 4 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 2BC(6X6) CN1-1 CN1-1 CN1-2 CN1-2 CN1-3 CN1-4 CN1-3 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 CN2-1 CN2-1 CN2-2 CN2-2 CN2-3 CN2-4 CN2-3 CN2-4 CN2-5 CN2-5 CN2-6 CN2-6 CN3-1 CN3-1 CN3-2 CN3-2 CN3-3 CN3-4 CN3-3 CN3-4 CN3-5 CN3-5 CN3-6 CN3-6 CN4-1 CN4-1 CN4-2 CN4-2 CN4-3 CN4-4 CN4-3 CN4-4 CN4-5 CN4-5 CN4-6 CN4-6 No.20CN ME1 ME2 ME2 MU1 MV1 MW1 20CN-3 -2 -1 -PE -4 -5 MU2 MV2 MW2 MU2 MV2 MW2 21CN-3 -2 -1 -PE -4 -5 MU1 MV1 MW1 ME1 BA1 BB1 SM YB No.21CN MU2 MV2 MW2 ME2 BA2 BB2 SM CN5-1 CN5-2 CN5-2 CN5-3 CN5-4 CN5-3 CN5-4 CN5-5 CN5-5 CN5-6 CN5-6 L-AXIS YB No.17CN MU3 MV3 MW3 MU4 MV4 MW4 MU3 MV3 MW3 ME3 BA3 BB3 17CN-3 -2 -1 -PE -4 -5 SM U-AXIS YB No.11CN MU5 MV5 MW5 MU6 MV6 MW6 11CN-1 -2 -3 -4 -1 -2 No.14CN CN5-1 S-AXIS ME3 ME4 ME5 ME6 BA1 BB1 14CN-1 -2 -3 -4 No.12CN MU5 MV5 MW5 ME5 MU4 MV4 MW4 ME4 BA4 BB4 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 CN6-1 CN6-2 CN6-2 CN6-3 CN6-4 CN6-3 CN6-4 CN6-5 CN6-5 CN6-6 CN6-6 No.7CN BA2 BA3 BA4 BB4 BA5 BA6 -5 -6 -7 -8 MU6 MV6 MW6 ME6 15CN-1 -2 -3 -4 BA5 BB5 BA6 BB6 7CN-1 -2 -3 -4 -1 -2 MU6 MV6 MW6 ME6 BA6 BB6 SM T-AXIS YB No.8CN No.15CN PE (10)/1C (10)/1C (10)/1C (10)/1C E-WRCT(60sq) (10)/1C (10)/1C 8-4 HW0484977 41/77 HW0484977 8 Electrical Equipment Specification 8.2 Internal Connections MH6/MH6F Fig. 8-3(c): Internal Connection Diagram (FS100) <Notes> 1.For the limit switch specification, the connection of the section A B are changed as follows: LC1 LD1 LC1 LD1 LD1 S-AXIS OVERRUN L.S. Connected to LC2 LD2 LD1 L-AXIS OVERRUN L.S. LC3 LD3 0BT K R P BAT 0BT K R P BAT 0BT K R P BAT 0BT K R 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) FS100 P CN1-5 CN1-4 +24V 0V B4 B3 P CN1-10 CN1-9 +24V 0V A1 A2 P CN1-1 CN1-2 SPG+1 SPG-1 B2 B1 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 0BAT1 BAT1 0BAT2 BAT2 0BAT3 BAT3 LB1 LA1 LB1 LA1 LB1 CN1-3 A4 A5 P CN1-6 CN1-7 CN1-8 PG0V1 PG5V1 PG0V2 PG5V2 PG0V3 PG5V3 PG0V4 PG5V4 PG0V5 PG5V5 PG0V6 PG5V6 LA2 LB2 A2 P LC2 LD2 B2 LD1 +24V OT_1+ P NC NC C1 C2 P CN2-1 CN2-2 P P P SPG+3 SPG-3 P P C3 1BC C4 C5 P CN2-3 FG3 CN2-6 CN2-7 SPG+4 SPG-4 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 No.16CN 16CN-1 -2 -6 -5 -4 -9 -10 DATA+3 DATA-3 BAT OBT +5V 0V FG3 P P P P P P PG No.9CN 9CN-1 -2 -3 -4 10CN-1 -2 -3 P P CN2-8 C6 FG4 F1 CN2-10 OT_1- E1 E2 P CN3-1 CN3-2 SPG+5 SPG-5 E3 CN3-3 D5 D6 P CN2-4 CN2-5 NC NC B6 CN2-9 NC E4 E5 CN3-6 CN3-7 P P P CN3-8 E6 SPG+6 SPG-6 FG6 LAMPNC F2 CN4-10 0V G1 G2 P CN3-4 CN3-5 NC NC G3 F3 P CN3-9 CN3-10 NC NC G4 G5 G6 P CN4-4 CN4-5 CN4-9 P P No.13CN -1 DATA+5 -7 DATA-5 -2 BAT -8 OBT -3 +5V -9 0V P P -4 -10 DATA+6 DATA-6 P P -5 -11 -6 +5V 0V FG6 P P FG5 CN4-3 CN4-8 F6 D2 P A1 LA1 LB1 LC1 LD1 OT_2+ OT_2NC B3 Connected to A3 A2 LC1 LD1 LD1 LD2 LD2 LD1 LC2 LD2 LA1 LB1 LB1 LB2 LB2 LB1 LA2 LB2 S-AXIS OVERRUN L.S. Connected to B1 LC3 LD3 S-AXIS OVERRUN L.S. Connected to A1 LA3 LB3 S-axis with Limit Switch Specification FG2 CN4-1 CN4-6 Connected to L AND U-AXIS INTERFERENCE L.S. LA1 LB1 P LB1 SPG+2 SPG-2 CN4-2 CN4-7 L-AXIS OVERRUN L.S. LC1 LD1 FG1 P Connected to SLU-axes with Limit Switch Specification 0BAT4 BAT4 P B5 D1 D3 D4 L AND U-AXIS INTERFERENCE L.S. LA3 LB3 P A6 B2 Connected to S-AXIS OVERRUN L.S. Connected to A1 LA2 LB2 LB1 P A3 B1 LB2 LB2 LB1 LD2 LD2 LD1 No.18CN 18CN-1 -2 -6 -5 -4 -9 -10 DATA+1 DATA-1 BAT OBT +5V 0V FG1 PG S-AXIS No.19CN 19CN-1 -2 -6 -5 -4 -9 -10 DATA+2 DATA-2 BAT OBT +5V 0V FG2 PG L-AXIS U-AXIS DATA+4 DATA-4 BAT OBT +5V 0V FG4 OBT BAT PG No.1CN 1CN-1 -2 -3 -4 2CN-1 -2 -3 P P No.3CN 3CN-1 -2 -3 -4 4CN-1 -2 -3 U V R-AXIS 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 FOR LAMP(OPTION) P LA3 LB3 P LC3 LD3 A3 B3 B1 E E 8-5 HW0484977 42/77 HW0484977 8 Electrical Equipment Specification 8.2 Internal Connections MH6/MH6F Fig. 8-3(d): Internal Connection Diagram (FS100) E E E Casing Base 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 E 3BC(20-29) E 7 8 1 2 3 4 5 6 SS1 SS2 1 2 P 3 4 P 5 6 P SS1 SS2 P E 1 2 3 4 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 2BC(6X6) E E 2BC A5 H6 G6 A2 A3 A4 CN1-1 CN1-2 CN1-3 CN1-4 CN1-5 CN1-6 ME1 ME2 ME2 MU1 MV1 MW1 No.20CN MU1 20CN-3 MV1 -2 MW1 -1 ME1 -PE BA1 -4 BB1 -5 B6 D6 F6 A6 C6 E6 CN2-1 CN2-2 CN2-3 CN2-4 CN2-5 CN2-6 MU2 MV2 MW2 MU2 MV2 MW2 No.21CN MU2 21CN-3 MV2 -2 MW2 -1 ME2 -PE BA2 -4 BB2 -5 H5 H4 H3 H1 G1 F1 CN3-1 CN3-2 CN3-3 CN3-4 CN3-5 CN3-6 MU3 MV3 MW3 MU4 MV4 MW4 D1 C1 B1 C2 C3 C4 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 H2 E1 A1 C5 D5 D4 S-AXIS ME3 ME4 ME5 ME6 BA1 BB1 14CN-1 -2 -3 -4 No.12CN MU5 MV5 MW5 ME5 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 BA5 -2 BB5 BA6 -3 BB6 -4 No.15CN PE R-AXIS YB No.5CN 5CN-1 -2 -3 -4 -1 -2 No.6CN D3 E5 E3 E2 F5 F3 SM MU5 MV5 MW5 ME5 BA5 BB5 No.7CN MU6 7CN-1 MV6 -2 MW6 -3 ME6 -4 BA6 -1 BB6 -2 SM B-AXIS YB SM T-AXIS YB No.8CN E-WRCT (60sq) 8-6 HW0484977 43/77 HW0484977 9 9.1 MH6/MH6F 9 Maintenance and Inspection Inspection Schedule 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 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” at page 9-3. In table 9-1 “Inspection Items” at page 9-3, the inspection items are classified into three types of operation: 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. 9-1 HW0484977 44/77 HW0484977 MH6/MH6F 9 9.1 Maintenance and Inspection Inspection Schedule • 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. 9-2 HW0484977 45/77 Cover mounting screws Base connectors B- and T-axis timing belts Wire harness in manipulator (Leads for S-, L-, U-, R-, B-, and T-axes) 6 7 8 9 12 S-axis speed reducer 11 Battery pack in manipulator 10 Wire harness In manipulator (Leads for B- and T-axes) Daily • • • • 1000 HCycle • • • • • • 12000 HCycle • • 6000 HCycle 24000 H • • 36000 H • Grease Gun Visual Multimeter Manual Visual Multimeter Visual Spanner Wrench Screwdriver Wrench Manual Visual Visual Visual Check for belt tension and wear. Check for conduction between the main connecter of base and intermediate connector with manually shaking the wire. Check for wear of protective spring3). Replace4) Check for conduction between terminals and wear of protective spring3). Replace4). Replace the battery pack when the battery alarm occurs or the manipulator drove for 36000 H. 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 . Check for loose connectors. Tighten loose bolts. Replace if necessary. Check tram mark accordance and damage at the home position. Check for damage and deterioration of leads. Clean the work area if dust or spatter is present. Check for damage and outside cracks. Check for grease leakage2). Tighten loose bolts. Replace if necessary. Charge Inspection • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • 9 9.1 4 5 Alignment mark External lead Working area and manipulator S-, L-, U-axis motors Baseplate mounting bolts Operation MH6 1 2 3 Method Specified Schedule Licensee Items1) Service Table 9-1: Inspection Items (Sheet 1 of 2) HW0484977 Maintenance and Inspection Inspection Schedule 9-3 HW0484977 46/77 • 36000 H 24000 H • • • • • • • • • 1 Inspection No. correspond to the numbers in fig. 9-1 “Inspection Items” at 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” at page 9-6. 17 Overhaul Grease Gun 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 , chapter 9.3.3 at page 9-13 and chapter 9.3.5 at page 9-16 Check for malfunction. (Replace if necessary.) Supply grease5) (6000 H cycle). See chapter 9.3.4 at page 9-15 and chapter 9.3.5 at page 9-16 . 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 . Charge Inspection 9 9.1 Grease Gun Grease Gun Operation MH6 16 R-axis cross roller bearing • • 15 T-axis gear Daily • 1000 HCycle 14 R-, B-, and T-axis speed reducers 6000 HCycle • • 12000 HCycle 13 L- and U-axis speed reducers Method Specified Schedule Licensee Items1) Service Table 9-1: Inspection Items (Sheet 2 of 2) HW0484977 Maintenance and Inspection Inspection Schedule 9-4 HW0484977 47/77 HW0484977 9 9.1 Maintenance and Inspection Inspection Schedule 12 13 4 11 5 Fig. 9-1: Inspection Items 14 R-axis 9 8 B-axis 13 T-axis 15 14 B-axis 16 4 4 MH6 9-5 HW0484977 48/77 HW0484977 MH6/MH6F 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 S-, L-, and U-axis speed reducers 14,15 Harmonic Grease SK-1A R-, B-, and T-axis speed reducers, T-axis gear 16 Alvania EP Grease 2 R-axis cross roller bearings The numbers in the above table correspond to the numbers in table 9-1 “Inspection Items” at page 9-3. 9-6 HW0484977 49/77 HW0484977 MH6/MH6F 9.2 9.2 9.2.1 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/FS100, replace the battery in accordance with the following procedure: Fig. 9-2: Battery Location 2BC 1BC 3BC Support Battery pack Connector base Plate fastening bolt Fig. 9-3: Battery Connection See procedure 5 Battery pack before replacement Connector Board (type: SGDR-EFBA02A) See procedure 4 New battery pack 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 connectors on the board. 5. Remove the old battery pack from the board. 9-7 HW0484977 50/77 HW0484977 MH6/MH6F 9.2 Notes on Maintenance Procedures 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 on the battery holder. 7. Reinstall the plate. NOTE Do not allow plate to pinch the cables when reinstalling the plate. 9-8 HW0484977 51/77 HW0484977 MH6/MH6F 9.3 9.3 Notes on Grease Replenishment/Exchange Procedures Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following instructions may result in damage to a motor and a speed reducer. • If grease is injected 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 a 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 a hose on the grease inlet with grease to keep air from entering into the speed reducer. 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 YB-100 3BC 250V 240A 38-100mm2 10.0Nxm 9.3.1 S-axis speed reducer Grease inlet Hexagon socket head plug PT1/8 NOTE For the ceiling-mounted manipulator, the grease exhaust port and the grease inlet are inverted. 9-9 HW0484977 52/77 HW0484977 MH6/MH6F 9.3.1.1 9.3 Notes on Grease Replenishment/Exchange Procedures 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 plugs on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plugs before the grease injection. • Do not install a joint, a hose, etc. to a 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 the grease zerk PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.) 3. Inject the grease through the 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 the 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 ThreeBond 1206C on the thread part of each plug, then tighten the plugs with a tightening torque of 4.9 N•m (0.5 kgf•m). 9.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” at page 9-9.) 1. Remove the hexagon socket head plug PT 1/8 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 a 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 the 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 complete when new grease appears from the 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 the excess grease. 9-10 HW0484977 53/77 HW0484977 MH6/MH6F 9.3 Notes on Grease Replenishment/Exchange Procedures 6. Wipe the discharged grease with a cloth. Remove the grease zerk from the grease inlet, then reinstall the hexagon socket head plug PT 1/8 to the inlet and exhaust port. Before installing the plugs, apply ThreeBond 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). 9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer Fig. 9-5: L-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT1/8 L-arm Grease inlet Hexagon socket head cap screw M6 NOTE 9.3.2.1 For ceiling-mounted manipulators, the grease exhaust port and the grease inlet are inverted Grease Replenishment (Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” .) 1. Make the L-arm vertical to ground. 2. Remove the hexagon socket head plug PT 1/8 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 exhaust 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 a 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 the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk is delivered with the manipulator.) 5. Inject grease through the grease inlet using a grease gun. 9-11 HW0484977 54/77 HW0484977 MH6/MH6F 9.3 Notes on Grease Replenishment/Exchange Procedures – 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 the 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 each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m). 8. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 1/8 to the exhaust port. Before installing the plug, apply ThreeBond 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). 9.3.2.2 Grease Exchange (Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” at page 9-11.) 1. Make the L-arm vertical to ground. 2. Remove the hexagon socket head plug PT 1/8 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 exhaust 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 a 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 the grease zerk A-MT6 x 1 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 discharge is complete when new grease appears from the 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 the excess grease. 8. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head cap screw M6 to the grease inlet. Before installing the screw, apply ThreeBond 1206C on the thread part of each 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 to the exhaust port. Before installing the plugs, apply ThreeBond 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). 9-12 HW0484977 55/77 HW0484977 MH6/MH6F 9.3.3 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-6: U-Axis Speed Reducer Diagram U-arm Grease exhaust port Hexagon socket head cap screw M6 U-axis speed reducer Grease inlet Hexagon socket head plug PT1/8 NOTE 9.3.3.1 For ceiling-mounted manipulators, 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 ground. 2. Remove the hexagon socket head cap screw M6 from the grease exhaust port. 3. Remove the hexagon socket head plug PT 1/8 from the grease inlet. NOTE • If grease is injected with the bolt on, the grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection. • Do not install a joint, a hose, etc. to a 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 the 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: 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 the excess grease. 9-13 HW0484977 56/77 HW0484977 MH6/MH6F 9.3 Notes on Grease Replenishment/Exchange Procedures 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 each 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 hexagon socket head cap screw M6 to the exhaust port. Before installing the screw, apply ThreeBond 1206C on the thread part of each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m). 9.3.3.2 Grease Exchange (Refer to fig. 9-6 “U-Axis Speed Reducer Diagram” at page 9-13.) 1. Make the U-arm horizontal to ground. 2. Remove the hexagon socket head cap screw M6 from the grease exhaust port. 3. Remove the hexagon socket head plug PT 1/8 from the grease inlet. NOTE • If grease is injected with the bolt on, the grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection. • Do not install a joint, a hose, etc. to a 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 the 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.200 cc – Air supply pressure of grease pump: 0.3 MPa or less – Grease injection rate: 8 g/s or less 6. The grease discharge is complete when new grease appears from the exhaust port. The new grease can be distinguished from the old grease by color. 7. Move the U-axes for a few minutes to discharge the excess grease. 8. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1/8. Before installing the plug, apply ThreeBond 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. Wipe the discharged grease with a cloth and reinstall the hexagon socket head cap screw M6 to the exhaust port. Before installing the screw, apply ThreeBond 1206C on the thread part of each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m). 9-14 HW0484977 57/77 HW0484977 MH6/MH6F 9.3.4 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for R-Axis Speed Reducer Fig. 9-7: R-Axis Speed Reducer Diagram Pipe plug Exhaust port (Plug LP-M5) Grease inlet Grease zerk A-MT6X1 1. Remove a plug LP-M5 from the exhaust port. 2. Remove the pipe plug. 3. 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 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. 4. Reinstall the pipe plug. 5. Reinstall the plug LP-M5 on the exhaust port. 9-15 HW0484977 58/77 HW0484977 MH6/MH6F 9.3.5 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for B- and T-Axis Speed Reducers Fig. 9-8: B- and T-Axis Speed Reducers Diagram Exhaust port (T-axis) (Hexagon socket head cap screw M6) T-axis speed reducer B-axis speed reducer Exhaust port (B-axis) (Plug LP-M5) Grease inlet (T-axis) (Hexagon socket head cap screw M6) Grease inlet (B-axis) (Hexagon socket head cap screw M6) 1. Remove the plug LP-M5 of B-axis or the hexagon socket head cap screw M6 of T-axis from the exhaust ports. NOTE Remove the U-arm cover side of the B-axis speed reducer. 2. Remove the hexagon socket head cap screws M6 from the grease inlets and install the grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.) 3. Inject grease through the grease inlets 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 1st supply) – Amount of grease: For T-axis: 5 cc (10 cc for 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. 4. Remove the grease zerk form the grease inlets and reinstall the screws. Before installing the screws, apply ThreeBond 1206C on the thread part of them, then tighten the screws with a tightening torque of 6 N•m (0.6 kgf•m). 5. Reinstall the plug LP-M5 of B-axis or the hexagon socket head cap screw M6 of T-axis to the exhaust ports. Before installing the plug/screw, apply ThreeBond 1206C on the 9-16 HW0484977 59/77 HW0484977 MH6/MH6F 9.3 Notes on Grease Replenishment/Exchange Procedures thread part, then tighten them with a tightening torque of 6 N•m (0.6 kgf•m). NOTE 9.3.6 Mount the U-arm cover side of the B-axis speed reducer. (Refer to chapter 9.3.8 “Notes for Maintenance” at page 9-19.) 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 grease exhaust port. 2. Remove the hexagon socket head cap screw M6 from the grease inlet, then install the grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.) 3. Inject grease through the 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 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. 4. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head cap screw M6. Before installing the screw, apply ThreeBond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 5. Reinstall the plug LP-M5 to the exhaust port. Apply ThreeBond 1206C to screwed parts when installing the plug. 9-17 HW0484977 60/77 HW0484977 MH6/MH6F 9.3.7 9.3 Notes on Grease Replenishment/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 1. Remove the plug LP-M5 from the exhaust port. 2. Remove the hexagon socket head cap screw M6 from the grease inlet, then install the grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.) 3. 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: 3 cc (6 cc for the 1st supply) NOTE The exhaust port is used for air flow. Do not inject excessive grease through the gear grease inlet. 4. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head cap screw M6. Before installing the screw, apply ThreeBond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m). 5. Reinstall the plug LP-M5 to the exhaust port. Apply ThreeBond 1206C to screwed parts when installing the plug. 9-18 HW0484977 61/77 HW0484977 MH6/MH6F 9.3.8 9.3.8.1 9.3 Notes on Grease Replenishment/Exchange Procedures Notes for Maintenance Wrist Axis The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if the wrist cover is disassembled, be sure to reapply the sealing bond when reassemble the cover. (ThreeBond 1206C, refer to table 10-1 “Spare Parts for YR-MH00006-A00, -A01, YRMH0006F-A00, -A01” at page 10-1.) Fig. 9-11: Sealing Part of Wrist Unit Cover Cover jointing face Cover jointing face Cover 9.3.8.2 Battery Pack Connection Before removing the encoder connector (with CAUTION label), connect the battery pack referring to the following figures. 9-19 HW0484977 62/77 HW0484977 9.3 Notes on Grease Replenishment/Exchange Procedures Fig. 9-12(a): Battery Pack Connector Diagram for S-, L-, and U-Axes Motor Power connector Encoder connector OBT b a OBT* BAT a b BAT* Battery pack: HW9470932 Connector for battery backup Fig. 9-12(b): Battery Pack Connector Diagram for R-, B-, and T-Axes Encoder Motor Motor cable etc. Internal wire MH6/MH6F Power connector Connect OBT BAT b OBT4 a BAT4 a b CAUTION Connect battery to encoder to save the data before removing connector. Encoder connector Battery pack CAUTION label OBT a BAT b b OBT4 a BAT4 CAUTION label (Enlarged view) CAUTION a: Crimped contact-pin (socket) b: Crimped contact-pin (pin) Connect battery to encoder to save the data before removing connector. 9-20 HW0484977 63/77 HW0484977 10 MH6/MH6F 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-MH6/MH6F. 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-MH00006-A00, -A01, YR-MH0006F-A00, -A01 (Sheet 1 of 2) Rank Parts No. Name Type Manufacturer Qty. Qty. per Unit A 1 Grease VIGO Grease RE No.0 Yaskawa Electric Corporation 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 Gasket ThreeBond 1206C ThreeBond Co., Ltd. - - A 5 Battery Pack HW0470360-A Yaskawa Electric Corporation 1 1 A 6 Battery Pack HW9470932-A Yaskawa Electric Corporation 1 1 B 7 B-axis Timing Belt 60S4.5M558 Mitsuboshi Belting Limited 1 1 B 8 T-axis Timing Belt 60S4.5M387 Mitsuboshi Belting Limited 1 1 B 9 S-axis Speed Reducer HW0386621-B Yaskawa Electric Corporation 1 1 B 10 S-axis Input Gear HW0312734-1 Yaskawa Electric Corporation 1 1 B 11 L-axis Speed Reducer HW0387809-A Yaskawa Electric Corporation 1 1 Remarks For replacement of wire harness in manipulator 10-1 HW0484977 64/77 HW0484977 10 MH6/MH6F Recommended Spare Parts Table 10-1: Spare Parts for YR-MH00006-A00, -A01, YR-MH0006F-A00, -A01 (Sheet 2 of 2) Rank Parts No. Name Type Manufacturer Qty. Qty. per Unit B 12 L-axis Input Gear HW0312735-1 Yaskawa Electric Corporation 1 1 B 13 U-axis Speed Reducer HW9280738-B Yaskawa Electric Corporation 1 1 B 14 U-axis Input Gear HW0303277-4 Yaskawa Electric Corporation 1 1 B 15 R-axis Speed Reducer HW0382277-A Yaskawa Electric Corporation 1 1 B 16 B-axis Speed Reducer HW0381646-A Yaskawa Electric Corporation 1 1 B 17 T-axis Speed Reducer HW0382917-A Yaskawa Electric Corporation 1 1 B 18 R-axis Cross Roller Bearing HW0381872-A Yaskawa Electric Corporation 1 1 B 19 Wire Harness in Manipulator HW0172742-A Yaskawa Electric Corporation 1 1 B 20 B- and T-axes Wire Harness in Manipulator HW0270875-A Yaskawa Electric Corporation 1 1 C 21 S-and U-axes AC Servomotor SGMRV-05ANAYR2* HW0388664-A Yaskawa Electric Corporation 1 2 C 22 L-axis AC Servomotor SGMRV-09ANAYR1* HW0388665-A Yaskawa Electric Corporation 1 1 C 23 R- B-, and T-axes AC Servomotor SGMPH-01ANAYR1* HW0389297-A Yaskawa Electric Corporation 1 3 C 24 Board SGDR-EFBA02A Yaskawa Electric Corporation 1 1 Remarks 10-2 HW0484977 65/77 HW0484977 11 Parts List 11.1 S-Axis Unit MH6/MH6F 11 Parts List 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 HW0484977 66/77 HW0484977 MH6/MH6F 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 Cable tie 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 Terminal 1 11-2 HW0484977 67/77 HW0484977 MH6/MH6F 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 Grommet 1 1055 2H-5 Spring washer 2 11-3 HW0484977 68/77 HW0484977 11 Parts List 11.2 L-Axis Unit MH6/MH6F 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 HW0484977 69/77 HW0484977 11 Parts List 11.3 U-Axis Unit MH6/MH6F 11.3 U-Axis Unit 3002 3023 3019 3009 3001 3025 3024 3006 3008 3020 3022 3021 3010 3007 3028 3032 3034 3035 3029 3030 3028 3031 3037 3036 3011 3012 3013 3027 3004 3012 3013 3003 3034 3035 3026 2005 11-5 HW0484977 70/77 HW0484977 MH6/MH6F 11 Parts List 11.3 U-Axis Unit Table 11-3: U-Axis Unit No. DWG No. Name Pcs. 3001 SGMRV-05ANA-YR2* Motor 1 3002 M8X30 GT-SA bolt 4 3003 HW9280738-B Speed reducer 1 3004 M10X30 GT-SA bolt 6 3006 HW0303277-4 Gear 1 3007 M5X65 Socket screw 1 3008 2H-5 Spring washer 1 3009 HW0102336-1 Casing 1 3010 HW0201196-1 Cover 1 3011 M4X12 GT-SA bolt 2 3012 HW0404179-1 Stopper 2 3013 M4X16 GT-SA bolt 4 3019 HW0404718-1 N base 1 3020 M4X10 GT-SA bolt 2 3021 M4X75 Socket screw 2 3022 2H-4 Spring washer 2 3023 HW9481087-A Gasket 1 3024 M3X16 Round head screw with spring washer 2 3025 M3 Nut 2 3026 M6X6 Socket screw 1 3027 PT1/8 Plug 1 3028 PT3/8*dacro* Plug 2 3029 M6X35 Socket screw 16 3030 2H-6 Spring washer 16 3031 KQE10-03 Union 1 3032 KQE12-03 Union 1 3034 M12X20 Socket screw 3 3035 2H-12 Spring washer 3 3036 M6X35 Socket screw 16 3037 2H-6 Spring washer 16 2005 HW0102224-1 L arm 1 11-6 HW0484977 71/77 HW0484977 11 Parts List 11.4 R-Axis Unit MH6/MH6F 11.4 R-Axis Unit 5008 4009 4008 4010 4037 4036 4007 4039 4026 4035 4008 4040 4042 4027 4030 4029 4037 4032 4031 4004 4021 4033 4028 4024 4025 4023 4012 4022 4018 4028 4017 4019 4020 4003 4011 4041 4015 4014 3009 4038 4030 4029 4016 4034 4001 4003 4013 4002 4006 4005 11-7 HW0484977 72/77 HW0484977 MH6/MH6F 11 Parts List 11.4 R-Axis Unit Table 11-4: R-Axis Unit No. DWG No. Name Pcs. 4001 SGMPH-01ANA-YR1* Motor 1 4002 M5X12 GT-SA bolt 4 4003 HW0382277-A Speed reducer 1 4004 M5X16 GT-SA bolt 8 4005 M3X16 Socket screw 12 4006 H-3 Spring washer 12 4007 HW0381872-A Cross roller bearing 1 4008 M6X30 GT-SA bolt 10 4009 M6X60 Socket screw 8 4010 2H-6 Spring washer 8 4011 TC12227FKM Oil seal 1 4012 6809ZZ Bearing 1 4013 HW0404161-1 M base 1 4014 M4X25 Socket screw 9 4015 2H-4 Spring washer 9 4016 HW0404163-1 Fly wheel 1 4017 HW0304348-1 Shaft 1 4018 HW0404196-1 Washer 1 4019 M4X40 Socket screw 1 4020 2H-4 Spring washer 1 4021 HW0404164-1 Shaft 1 4022 HW0404717-2 Support 1 4023 M4X12 GT-SA bolt 2 4024 HW0304455-1 Cover 1 4025 M4X16 GT-SA bolt 6 4026 HW0404478-2 Cover 1 4027 M4X12 GT-SA bolt 2 4028 HW0403879-1 Saddle 2 4029 M4X20 Socket screw 4 4030 2H-4 Spring washer 4 4031 TA1-S8 Clamp 1 4032 M4X10 Round head screw with spring washer 1 4033 T18L Cable tie 1 4034 T50R Cable tie 2 4035 HW0404720-1 Cover 1 4036 M4X10 GT-SA bolt 3 4037 LP-M5 Plug 2 4038 MT6X1 Grease zerk 1 4039 M6X6 Socket screw 1 4040 EZ5036A0 Cap 1 4041 HW0404304-1 Packing 1 4042 M5X10 APS bolt 1 3009 HW0102336-1 Casing 1 11-8 HW0484977 73/77 HW0484977 11 Parts List 11.5 Wrist Unit MH6/MH6F 11.5 Wrist Unit 5041 5042 5040 5046 5059 5054 5007 5060 5045 5043 5044 5050 5061 5010 5029 5024 5038 5026 5011 5017 5019 5024 5060 5031 5023 5015 5014 5001 5012 5002 5013 5053 5039 5060 5051 5028 5030 5032 5016 5005 5036 5037 5027 5035 5052 5062 5063 5064 5033 5003 5049 5057 5058 5055 5060 5001 5004 5002 5048 5047 5022 5034 5018 5020 5056 5008 5021 5025 5010 5024 5011 3009 11-9 HW0484977 74/77 HW0484977 MH6/MH6F 11 Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 1 of 2) No. DWG No. Name Pcs. 5001 SGMPH-01ANA-YR1* Motor 2 5002 M4X16 GT-SA bolt 4 5003 HW0381646-A Speed reducer 1 5004 M4X16 GT-SA bolt 9 5005 HW0382917-A Speed reducer 1 5006 M4X12 GT-SA bolt 1 5007 M5X12 GT-SA bolt 6 5008 HW0100620-1 U arm 1 5009 HW0200491-1 Wrist base 1 5010 HW9200780-1 Cover 2 5011 M5X12 GT-SA bolt 12 5012 HW9406556-3 Support 1 5013 M4X12 GT-SA bolt 2 5014 TA1-S8 Clamp 1 5015 M4X8 Round head screw with spring washer 1 5016 T18L Cable tie 1 5017 HW9482352-A Pulley 1 5018 HW0481429-A Pulley 1 5019 60S4.5M387 Belt 1 5020 60S4.5M558 Belt 1 5021 HW0481692-A Pulley 1 5022 RTW28 Retaining ring C-type 1 5023 HW9482220-A Pulley 1 5024 M4X12 GT-SA bolt 3 5025 M5X16 GT-SA bolt 1 5026 HW9404988-1 B cover 1 5027 M4X12 GT-SA bolt 4 5028 HW0404266-1 Housing 1 5029 M4X12 GT-SA bolt 4 5030 HW9381452-A Gear 1 5031 6811LLU Bearing 1 5032 HW9482218-A Bearing 1 5033 688A Bearing 1 5034 6902ZZ*NS7* Bearing 1 5035 6812LLU Bearing 1 5036 HW9381384-A Gear 1 5037 M4X12 GT-SA bolt 1 5038 HW9405199-1 B nut 1 5039 HW9481180-A Bearing 1 5040 HW0404550-1 Housing 1 5041 M4X30 Socket screw 4 5042 2H-4 Spring washer 4 5043 HW9481024-A Bearing 1 11-10 HW0484977 75/77 HW0484977 MH6/MH6F 11 Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 2 of 2) No. DWG No. Name Pcs. 5044 HW0307678-1 Shaft 1 5045 HW0307679-1 Flange 1 5046 M4X10 GT-SA bolt 6 5047 HW0403705-1 Housing 1 5048 M4X12 GT-SA bolt 4 5049 M4X16 GT-SA bolt 4 5050 SP-0120** Shim 1 5051 HW0404302-1 Shaft 1 5052 M3X12 GT-SA bolt 2 5053 HW0303912-1 Housing 1 5054 M4X12 GT-SA bolt 8 5055 HW0404303-1 Collar 1 5056 HW0404279-1 Block 1 5057 M4X20 Socket screw 2 5058 2H-4 Spring washer 2 5059 HW0404371-2 Bolt 1 5060 M6X6 Socket screw 4 5061 LP-M5 Plug 1 5062 M6X14 Socket screw 1 5063 2H-6 Spring washer 1 5064 M6 Washer 1 3009 HW0102336-1 Casing 1 5060 M6X6 Socket screw 4 5061 LP-M5 Plug 1 5062 M6X14 Socket screw 1 5063 2H-6 Spring washer 1 5064 M6 Washer 1 3009 HW0102336-1 Casing 1 5060 M6X6 Socket screw 4 5061 LP-M5 Plug 1 5062 M6X14 Socket screw 1 5063 2H-6 Spring washer 1 5064 M6 Washer 1 3009 HW0102336-1 Casing 1 11-11 HW0484977 76/77 MOTOMAN-MH6/MH6F INSTRUCTIONS Specifications are subject to change without notice for ongoing product modifications and improvements. C Printed in Japan December 2011 08-10 YASKAWA ELECTRIC CORPORATION MANUAL NO. HW0484977 3 77/77 ">
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