YASKAWA MOTOMAN MPL80 II, Supplementary Instructions Manual

Page 1: ...d prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MPL80 II INSTRUCTIONS MOTOMAN MPL80 II SUPPLEMENTAL INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR S MANUAL for each purpose DX200 MAINTENANCE MANUAL The DX200 operator s manual above corresponds to specific usage Be sure to use the appropriate manual ...

Page 2: ...al is copyrighted 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 another website blog cloud storage site or any other means of storing or distributing online content Printed in the United States of America First Printing 2016 Yaskawa America Inc Motoman...

Page 3: ...0 II INSTRUCTIONS 170904 1CD Point of Difference YR MPL0080 JF0 differ from the YR MPL0080 J00 in the following point 1 Food grade grease specification 3 4 Location Page 3 5 5 1 Basic Specifications Page 5 1 9 1 Inspection Schedule Page 9 2 to 9 3 9 3 Grease Replenishment Exchange Page 9 8 to 9 17 10 Recommended Spare Parts Page 10 1 The differences are described based on MOTOMAN MPL80 II INSTRUCT...

Page 4: ...atisfy the following environmental conditions Ambient Temperature 15 C 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 ...

Page 5: ... S Axis 2 97 rad s 170 s L Axis 2 97 rad s 170 s U Axis 2 97 rad s 170 s B Axis 2 97 rad s 170 s T Axis 6 11 rad s 350 s Allowable Moment4 B Axis 78 4 N m 8 kgf m T Axis 20 5 N m 2 1 kgf m Allowable Inertia GD2 4 B Axis 16 kg m2 T Axis 6 1 kg m2 Approx Mass 550 kg Protective Structure Basic axis IP54 or equivalent Wrist axis only IP67 or equivalent Ambient Conditions Temperature 15 C to 45 C Humid...

Page 6: ...wever motion may be limited by the relative angle between the B axis and the upper arm Refer to section 5 5 B Axis Operating Range 4 Refer to section 6 1 Allowable Wrist Load for details on the permissible moment of inertia 5 Conformed to ISO6926 1 Measurement is carried out when the maximum load is mounted to the manipulator and operated in the maximum speed 2 Measurement is carried out between 1...

Page 7: ...S L U B T axes motor Visual Check for grease leakage 2 5 Baseplate mounting bolts Spanner Wrench Tighten loose bolts Replace if necessary 6 Cover mounting screws Screwdriver Wrench Tighten loose bolts Replace if necessary 7 S L U B T axes motor connector Manual Tighten loose bolts 8 Connector base Manual Check for loose connectors 9 Wire harness in manipulator Visual Multimeter Check for conductio...

Page 8: ... 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 section 9 4 Notes for Maintenance 4 The grease might leak out from the air breather or the internal pressure migh...

Page 9: ...s 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 6 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1 4 Before installing the plug apply Three Bond 1206C on ...

Page 10: ...e hexagon socket head plug PT 3 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 23 N m 2 3 kgf m 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 ...

Page 11: ...ars 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 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8 to the exhaust port Before installing the plugs apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque o...

Page 12: ...troller Maintenance 9 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT1 8 to the grease inlet Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m ...

Page 13: ...rease inlet The grease zerk is delivered with the manipulator 5 Inject grease through the grease inlet using a grease gun Grease type Cassida Grease EPS 00 Amount of grease approx 700 cc Air supply pressure of grease pump 0 3 MPa or less Grease injection rate 8 g s or less U arm U axis speed reducer Grease inlet Hexagon socket head plug PT1 8 Grease exhaust port Hexagon socket head plug PT3 8 NOTE...

Page 14: ...et head plug PT3 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 23 N m 2 3 kgf m 9 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT1 8 Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tight...

Page 15: ... exhaust port The new grease can be distinguished from the old grease by color 6 Move the B axis for a few minutes to discharge the excess grease 7 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 23 N m 2 3 ...

Page 16: ... DX100 Controller Maintenance 8 Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT1 8 Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m ...

Page 17: ...te 8 g s or less 5 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 6 Move the B axes for a few minutes to discharge the excess grease 7 Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT1 8 to the exhaust port Before installing the plug apply Three Bond 1206C on the th...

Page 18: ...d reinstall the hexagon socket head plug PT1 8 Before installing the plug apply Three Bond 1206C on the thread part of each plug then tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m NOTE If grease is injected with the plug on grease will leak inside the motor and may cause a damage Make sure to remove the plug before the grease injection ...

Page 19: ...0 Yaskawa 16 kg For speed reducers in each axis A 2 Liquid Gasket Three Bond 1206C Three Bond Co Ltd A 3 Battery Pack HW9470932 A Yaskawa 1 1 For internal wire harness replacement A 4 Battery Pack HW0470360 A Yaskawa 1 1 B 5 S axis Speed Reducers Kit Y005C MPL0080JF0S Yaskawa 1 1 B 6 L axis Speed Reducers Kit Y005C MPL0080JF0L Yaskawa 1 1 B 7 U axis Speed Reducers Kit Y005C MPL0080JF0U Yaskawa 1 1...

Page 20: ...0 6788 2858 Fax 86 10 6788 2878 YASKAWA SHOUGANG ROBOT Co Ltd 426 Udyog Vihar Phase IV Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd 22 F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㸩86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 59 1st 5th Floor...