YASKAWA MOTOMAN-MA1900, Instructions Manual

Page 1: ...MOUNTED SLU AXES WITH LIMIT SWITCHES Upon receipt of the Upon receipt of the product and prior to initial operation read these product and prior to initial operation read these instructions thoroughl...

Page 2: ...the pr h the protec otectiv tive cov e covers ers or shields removed for clarity or shields removed for clarity Be sure all covers and shields are Be sure all covers and shields are replaced before o...

Page 3: ...on which if not avoided could situation which if not avoided could result in death or serious injury to result in death or serious injury to personnel personnel CAUTION CAUTION Indicates a potentially...

Page 4: ...owing 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 opera...

Page 5: ...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 th...

Page 6: ...rtant information is placed on the body of the manipulator Prior to operating the manipulator confirm the contents Figure 3 Warning Label Locations WARNING label A WARNING label B Nameplate WARNING Mo...

Page 7: ...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 5 3 4 Location 3 6 4 Wiring 4 1 4 1 Grounding 4 1 4 2...

Page 8: ...1BC and a power cable 2BC Refer to Fig 4 2 Manipulator Cables on page 4 3 Connect these cables to the manipulator base connectors and to the DX100 Refer to Fig 4 3 a Manipulator Cable Connectors Mani...

Page 9: ...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 cables to the DX100 verify t...

Page 10: ...able Connection 4 4 156226 1CD HW0484971 MA1900 Fig 4 3 a Manipulator Cable Connectors Manipulator Side Fig 4 3 b Manipulator Cable Connection DX100 Side 2BC 1BC 3BC Connector Details Manipulator Side...

Page 11: ...0 s B Axis 7 16 rad s 410 s T Axis 10 65 rad s 610 s Allowable Moment3 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 Allowable Inertia GD2 4 R Axis 0 27 kg m2 B Axis 0 27...

Page 12: ...3 Manipulator Base Dimensions Fig 5 2 Manipulator Base Dimensions Wrist flange T T B B R R U U L L S S U arm L arm Manipulator base S head 3 9 5 5 1 9 5 5 6 0 0 1 60 200 2 0 0 0 1 0 1 260 1 7 0 0 1 3...

Page 13: ...lope Fig 5 3 a Dimensions and P Point Maximum Envelope YR MA01900 A00 A01 42 dia 408 519 1 7 4 4 1534 154 7 247 138 5 264 157 1166 409 81 165 220 0 341 178 908 R1904 R554 180 55 180 75 1 5 4 0 0 465 5...

Page 14: ...ating 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 Motoman representative...

Page 15: ...5 Basic Specifications 5 5 Alterable Operating Range 5 6 156226 1CD HW0484971 MA1900 30 79...

Page 16: ...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 create...

Page 17: ...ll 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 NOTE Wash off anti...

Page 18: ...g figures Fig 9 12 a Encoder Connector Diagram for S L and U Axes CAUTION label Encoder connector Motor power connector Battery pack HW9470932 A Motor Connector for the battery backup a Crimped contac...

Page 19: ...anipulator Encoder connector CAUTION label Battery pack HW9470932 A a Crimped contact pin pin b Crimped contact pin socket Connection CAUTION label Enlarged view CAUTION Connect battery to encoder to...

Page 20: ...9 Maintenance and Inspection 9 3 Notes on Grease Replenishment Procedures 9 22 156226 1CD HW0484971 MA1900 62 79...

Page 21: ...Grease RE No 0 Yaskawa 16kg A 2 Grease Harmonic Grease 4B No 2 Harmonic Drive Systems Inc 2 5kg A 3 Grease Harmonic Grease SK 1A Harmonic Drive Systems Inc 2 5kg A 4 Grease Alvania EP Grease 2 Showa...

Page 22: ...5 H HW W0 03 30 04 42 22 21 1 1 1 C Co ov ve er r 1 1 1 10 01 16 6 M M6 6X X1 15 5 G GT T S SA A b bo ol lt t 2 2 1 10 01 17 7 M MS SB B8 8 1 15 5 S St tr ri ip pp pe er rb bo ol lt t 1 1 1 10 01 18...

Page 23: ...s Unit is Unit 1002 1002 2012 2012 2011 2011 2018 2018 2006 2006 2032 2032 2002 2002 2003 2003 2004 2004 2005 2005 2001 2001 2023 2023 2024 2024 2007 2007 2019 2019 2008 2008 2010 2010 2017 2017 2009...

Page 24: ...01 16 6 2 2H H 1 10 0 S Sp pr ri in ng g w wa as sh he er r 6 6 2 20 01 17 7 H HW W0 01 10 00 05 54 46 6 2 2 L L a ar rm m 1 1 2 20 01 18 8 H HW W0 03 38 87 77 75 53 3 C C S Sp pe ee ed d r re ed du...

Page 25: ...1 3 U Axis Unit 2017 3048 3013 3008 3041 3043 3042 3040 3020 3018 3021 3022 3023 3045 3047 3046 3017 3017 3016 3016 3015 3015 3019 3014 3014 3001 3002 3028 3029 3037 3026 3027 3035 3036 3030 3031 3032...

Page 26: ...0X50 Socket screw 2 3015 2H 10 Spring washer 2 3016 HW0404196 2 washer 2 3017 HW9405278 1 Dog 2 3018 M4X12 GT SA bolt 4 3019 M4X10 GT SA bolt 4 3020 HW0200494 3 Cover 1 3021 HW0404195 1 N base 1 3022...

Page 27: ...3 U Axis Unit 3043 KQN10 12 Nipple 1 3044 2H 8 Spring washer Dacrotized 4 3045 TA1 S10 Clamp 2 3046 T50R Cable tie 2 3047 M5X10 APS bolt 2 3048 HW0100634 2 Casing 1 2017 HW0100546 2 L arm 1 Table 11 3...

Page 28: ...35 4049 4001 4002 4017 4034 4036 4023 4019 4004 4008 4011 4051 4038 4009 4022 4005 4024 4045 4039 4040 4041 4034 4062 4050 4020 4037 4042 4021 4044 4043 4006 4013 4014 4003 4048 4010 4012 4047 4007 40...

Page 29: ...3 HW0484971 MANUAL NO Specifications are subject to change without notice for ongoing product modifications and improvements MOTOMAN MA1900 INSTRUCTIONS 79 79...