YASKAWA MOTOMAN-MH5, Instructions Manual

Page 1: ...uct and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MH5 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR S MANUAL DX100 MAI...

Page 2: ...ted property of Yaskawa and may not be sold or redistributed in any way You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to an...

Page 3: ...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...

Page 4: ...le for providing adequately trained personnel to operate program and maintain the equipment NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE PROGRAM OR REPAIR THE EQUIPMENT We recommend approved Yaskawa tra...

Page 5: ...el CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe pr...

Page 6: ...he manipulator Be sure to use a lockout device to the safeguarding when going inside Also display the sign that the operation is being performed inside the safeguarding and make sure no one closes the...

Page 7: ...ll 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...

Page 8: ...sion Select means that the cursor is moved to the object item and the SELECT key is pressed or that the item is directly selected by touching the screen Registered Trademark In this manual names of co...

Page 9: ...of the manipulator Prior to operating the manipulator confirm the contents Figure 3 Warning Label Locations Nameplate Warning Label B Warning Label B Warning Label A WARNING Moving parts may cause in...

Page 10: ...s not in use In accordance with ANSI RIA R15 06 2012 section 4 2 5 Sources of Energy use lockout tagout procedures during equipment maintenance Refer also to Section 1910 147 29CFR Part 1910 Occupatio...

Page 11: ...ackup must always be made before any service procedures are done and before any changes are made to options accessories or equipment Any modifications to the controller unit can cause severe personal...

Page 12: ...personnel Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment Specific considerations and precautions are also described in the m...

Page 13: ...ponse to your inquiry Please have the following information ready before you call Customer Support techsupport motoman com NOTE Please use e mail for routine inquiries only If you have an urgent or em...

Page 14: ...ing 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...

Page 15: ...plenishment for S Axis Gear 9 10 9 3 2 1 Grease Replenishment 9 10 9 3 3 Grease Replenishment for L Axis Speed Reducer 9 11 9 3 3 1 Grease Replenishment 9 11 9 3 4 Grease Replenishment for U Axis Spee...

Page 16: ...Information for the content of optional goods is given separately Manipulator DX100 NXC100 Programing Pendant Manipulator cables between the DX100 NXC100 and the manipulator CAUTION Confirm that the m...

Page 17: ...rder number Label Enlarged View a DX100 Front View b NXC100 Top View c Manipulator Top View X8 1 PROGRAMMING PENDANT Y C E G N O T P M E E S R ON TR IP PE D RE SE T OFF AVERAGE PEAK kVA kA INTERRUPT C...

Page 18: ...ay adversely affect performance NOTE Check that the eyebolts are securely fastened The weight of the manipulator is approximately 27kg including the shipping bolts and brackets Use a wire rope strong...

Page 19: ...nipulator should be lifted by a crane with two wire ropes when removing it from the package and moving it Be sure the manipulator is fixed with the shipping bolts and brackets before transport and lif...

Page 20: ...a pallet with shipping bolts and brackets 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 mani...

Page 21: ...ion The shipping bolts and brackets are painted yellow 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 f...

Page 22: ...use 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 c...

Page 23: ...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 thi...

Page 24: ...he baseplate with four hexagon socket head cap screws M10 recommended length 35 mm Next fix the manipulator base to the baseplate Tighten the hexagon socket head cap screws and anchor bolts firmly so...

Page 25: ...be sure to use four hexagon socket head cap screws M10 tensile strength 1200 N mm2 or more when fixing the manipulator base Use a torque of 48 N m when tightening the screws 3 3 3 Precautions to Prev...

Page 26: ...vironmental 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 excessi...

Page 27: ...efore wiring make sure to turn the primary power supply OFF and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in fire or electric shock CAUTION Wiring mu...

Page 28: ...e Connection Manipulator Side Fig 4 3 b Manipulator Cable Connection DX100 Side and Fig 4 3 c Manipulator Cable Connection NXC100 Side 4 2 1 Connection to the Manipulator Before connecting cables to t...

Page 29: ...DX100 When connecting insert the cables in the order of X21 then X11 and depress each lever low until they click NXC100 After connecting 2BC to X21on the NXC100 connect 1BC to X11 on the NXC100 and d...

Page 30: ...le Connection 4 4 171469 1CD HW0485750 MH5 Fig 4 2 b Manipulator Cables for NXC100 2BC 1BC 1BC 2BC The Manipulator side The NXC100 side The Manipulator side The NXC100 side 1BC Encoder cable 2BC Power...

Page 31: ...tor Side Fig 4 3 b Manipulator Cable Connection DX100 Side Fig 4 3 c Manipulator Cable Connection NXC100 Side AIR1 AIR2 2BC 4BC 3BC 1BC AIR1 AIR2 2BC 3BC 1BC 4BC X11 X21 PPESP PPESP X21 X11 Details of...

Page 32: ...l 190 3 B Axis wrist pitch yaw 125 T Axis wrist twist 360 Maximum Speed S Axis 6 56 rad s 376 s L Axis 6 11 rad s 350 s U Axis 6 98 rad s 400 s R Axis 7 85 rad s 450 s B Axis 7 85 rad s 450 s T Axis 1...

Page 33: ...late Dimensions Fig 5 2 Manipulator Base Dimensions Wrist Upper arm U arm Wrist flange Manipulator base Lower arm L arm Rotary head T T B B R R U U L L S S 12 10 194 105 0 05 100 92 0 1 92 0 1 66 0 1...

Page 34: ...0 MH5 5 4 Dimensions and P Point Maximum Envelope Fig 5 3 Dimensions and P Point Maximum Envelope mm 57 40 310 330 86 5 305 17 0 17 0 R 7 0 6 R235 Dia 187 109 109 243 50 5 59 5 51 203 501 277 233 15 1...

Page 35: ...the moment arm rating shown inFig 6 1 Moment Arm Rating The allowable total inertia is calculated when the moment is at the maximum Contact your YASKAWA representative beforehand when moment of inerti...

Page 36: ...d that the attachment be mounted inside the fitting in order to identify the alignment marks Fitting depth shall be 5 mm or less Fig 6 2 Wrist Flange 6 7 P C D 3 1 5 5 dia 0 012 0 depth 7 Tapped hole...

Page 37: ...lications The following conditions shall be observed to attach or install peripheral equipment 7 1 1 Allowable Load The allowable load on the U Axis is a maximum of 6 kg including the wrist load For i...

Page 38: ...d on the upper arm as shown in Fig 7 2 Connectors for Internal User I O Wiring Harness and Air Line The connector pins 1 to 16 are assigned as shown in Fig 7 3 Details of the Connector Pin Numbers Wir...

Page 39: ...M5 with pipe plug Exhaust port 1 Tapped hole M5 with pipe plug Connector for internal user I O wiring harness HR10A 10R 10S 2 socket connectors Prepare pin connector HR10A 10P 10P HIROSE Connector fo...

Page 40: ...Fig 8 1 b Internal Connection Diagram for DX100 Fig 8 1 c Internal Connection Diagram for NXC100 and Fig 8 1 d Internal Connection Diagram for NXC100 Fig 8 1 Locations and Numbers of Connectors Table...

Page 41: ...o 19CN CN 1 4 OBT6 T AXIS PG CN 1 No 13CN No 12CN P P P P P P V U DATA 4 DATA 4 No 14CN 2 No 15CN 3 CN 1 CN 1 3 2 4 0V4 FG4 OBT BAT BAT4 OBT4 5V4 DATA 3 DATA 3 2 3 2 4 3 CN 1 5V3 0V3 FG3 OBT BAT OBT3...

Page 42: ...3 CN5 5 CN5 6 CN5 4 CN6 2 CN6 3 CN6 4 CN6 5 CN6 6 CN6 1 INTERNAL CABLE IN L AXIS INTERNAL CABLE IN BT AXIS INTERNAL CABLE IN S AXIS POWER CABLE MW1 ME1 ME2 ME2 MU1 MV1 MV2 MU2 MW2 MW2 MU3 MV2 MU2 MW3...

Page 43: ...V4 DATA 3 DATA 3 2 3 2 4 3 CN 1 5V3 0V3 FG3 OBT BAT OBT3 BAT3 FOR SPARE X CN1 8 CN1 7 CN1 6 SPG 2 SPG 2 FG2 CN1 10 CN1 9 CN1 2 CN1 5 CN1 4 CN1 3 1BC 10X4 CN1 1 SPG 1 SPG 1 24V FG1 0V 24V 0V CN3 7 SPG...

Page 44: ...IN L AXIS INTERNAL CABLE IN BT AXIS INTERNAL CABLE IN S AXIS POWER CABLE MW1 ME1 ME2 MU1 MV1 MV2 MW2 MU3 MU2 MW3 MV4 MU4 MV5 MU5 MW4 MU6 MW6 MV6 ME3 ME5 ME4 MW5 BA1 BA2 BB1 BA3 BA4 BB4 BA5 BA6 ME6 MV3...

Page 45: ...ning sign ex 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 obse...

Page 46: ...rewdriver Wrench Tighten loose bolts Replace if necessary 5 Connector base Manual Check for loose connectors 6 LURBT axes timing belt Manual Check for belt tension and wear 7 Wire harness in manipulat...

Page 47: ...ecking 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 Otherwis...

Page 48: ...485750 MH5 Fig 9 1 Inspection Items 1 10 10 12 1 6 12 6 3 11 1 9 7 5 8 1 4BC 3BC AIR2 AIR1 1BC 2BC R axis R axis U axis U axis L axis S axis S axis T axis B axis 1 1 T axis B axis Note This figure sho...

Page 49: ...on Schedule The numbers in the above table correspond to the numbers in Table 9 1 Inspection Items Table 9 2 Inspection Parts and Grease Used No Grease Used Inspected Parts 9 10 11 12 Harmonic Grease...

Page 50: ...ment The battery packs are installed in the position shown in Fig 9 2 Battery Location If the battery alarm occurs in the DX100 NXC100 replace the battery in accordance with the following procedure Fi...

Page 51: ...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 6 Mount the new battery pack on the battery holder 7...

Page 52: ...e 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 Do not install a joint a hose etc to the gr...

Page 53: ...the S axis for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the screw M6 and the plug PT1 8 to the exh...

Page 54: ...to discharge excess grease 5 Wipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the plug PT1 8 to the grease inlet and to the exhaust port Apply Three B...

Page 55: ...c 4 Wipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the screw M6 and the plug M5 to the exhaust port before reinstalling the cover Apply Three Bond 1...

Page 56: ...ipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the screw M6 and the plug M5 to the exhaust port before reinstalling the cover Apply Three Bond 1206C...

Page 57: ...let and reinstall the plug to the exhaust port before reinstalling the cover Apply Three Bond 1206C on the thread part of the plug Grease inlet Exhaust port Plug M5 R axis speed reducer Exhaust port P...

Page 58: ...the thread part of the plug Low head socket head cap screw M6 Grease inlet T axis speed reducer Exhaust port B axis speed reducer Plug M5 T axis speed reducer Exhaust port T axis gear Plug M5 Grease...

Page 59: ...Amount of grease 5cc 4 Wipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the screw M6 and the plug M5 to the exhaust port Apply Three Bond 1206C on the...

Page 60: ...005 C00 YR MH0005N C00 Fig 9 10 Sealing Part of Wrist Unit 9 3 7 2 Battery Pack Connector with CAUTION label Before removing the encoder connector with CAUTION label connect the battery pack referring...

Page 61: ...Manufacturer Qty Qty per Unit Remarks A 1 Grease Harmonic Grease SK 1A Harmonic Drive Systems Co Ltd 2 5 kg A 2 Liquid Gasket Three Bond 1206C Three Bond Co Ltd A 3 Battery Pack HW0470360 A YASKAWA 1...

Page 62: ...ANA YR1 YASKAWA 1 2 C 19 U Axis AC Servomotor HW038650 A SGMAV 02ANA YR1 YASKAWA 1 1 C 20 R Axis AC Servomotor HW0388708 1 SGMAV A5ANA YR1 YASKAWA 1 1 C 21 R B and T Axes AC Servomotor HW0388794 A SGM...

Page 63: ...nit Fig 11 1 S Axis Unit 1001 1049 1023 1048 1020 1027 1038 1037 1014 1026 1047 1032 1031 1030 1021 1032 1036 1035 1002 1017 1016 1004 1023 1010 1018 1009 1011 1029 1028 1007 1008 1019 1045 1022 1043...

Page 64: ...1 1016 6810VV Bearing 1 1017 TC405208 Oil seal 1 1018 TC25X35X6FKM Oil seal 1 1019 S39 O ring 1 1020 PT1 8 Plug 3 1021 HW9482404 A Sheet 1 1022 POC6 01M Union 1 1023 M4X10 Button bolt 22 1024 M8X16 So...

Page 65: ...3 171469 1CD HW0485750 MH5 11 Parts List 11 1 S Axis Unit 1047 SGMAV 04ANA YR11 Motor 1 1048 HW0414483 1 Cover 1 1049 HW0414484 1 Packing 1 Table 11 1 S Axis Unit Sheet 2 of 2 No DWG No Name Pcs 65 of...

Page 66: ...2029 2011 2007 2046 2047 2014 2014 1002 2001 2018 2023 2015 2049 2050 2013 2018 2023 2053 2026 2025 2057 2057 2055 2055 2013 2053 2028 2030 2019 2022 2048 2044 2015 2015 2051 2052 2017 2036 2035 2034...

Page 67: ...Belt 1 2021 100S5M305 Belt 1 2022 SC901107 Oil seal 1 2023 SC751007 Oil seal 3 2024 LP M5 Plug 2 2025 SGMAV 04ANA YR11 Motor 1 2026 SGMAV 02A2A YR11 Motor 1 2027 HW0200555 1 Cover 1 2028 HW0200555 2...

Page 68: ...2051 M4X16 Socket screw 30 2052 2H 4 Spring washer 30 2053 M4X10 GT SA bolt 12 2055 M4X16 GT SA bolt 8 2057 M4 Washer 8 2058 M8X16 Socket screw 2 2059 2H 8 Spring washer 2 2060 HW0414027 2 M base 1 1...

Page 69: ...50 MH5 11 Parts List 11 3 R Axis Unit 11 3 R Axis Unit Fig 11 3 R Axis Unit 2001 3001 3002 3024 3023 3025 3026 3012 3011 3018 3014 3029 3013 3005 3016 3019 3003 3028 30273030 3010 3006 3004 3008 3007...

Page 70: ...earing 1 3009 6806ZZ Bearing 1 3010 060S3M219 Belt 1 3011 SGMAV A5ANA YR11 Motor 1 3012 OB 31 Plug 1 3013 M4X10 Button bolt 4 3014 M3X12 GT SA bolt 2 3016 M3X12 GT SA bolt 2 3018 M3 Washer 2 3019 M3X1...

Page 71: ...072 4075 4091 4091 4075 4070 4070 4080 4071 4085 4083 4085 4083 4096 4086 4080 4076 4076 4092 94 4082 4082 4071 4088 4086 4095 4098 4097 4090 4089 4072 4081 4019 4016 4015 4004 4028 4002 4018 4062 402...

Page 72: ...16 TC56665 Oil seal 2 4017 AB2551E0 Oil seal 1 4018 SC20304 Oil seal 2 4019 060S3M300 Belt 1 4020 060S3M285 Belt 1 4021 S31 5 O ring 1 4022 S56 O ring 1 4023 HW0201199 1 Cover 2 4024 HW0314324 1 Shaft...

Page 73: ...et screw 1 4068 SGMAV A5ANA YR21 Motor 2 4069 HW0414026 1 Housing 1 4070 HW0314323 1 Housing 2 4071 HW0414080 1 B holder 2 4072 HW0414077 A Pulley 2 4075 HW0414030 1 Shaft 2 4076 HW0472643 A Break 2 4...

Page 74: ...c China Co Ltd 22F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 59 1st 5th Floor Flourish Bu...