YASKAWA MOTOMAN MYS450L, Operating And Maintenance Instructions Manual

Page 1: ...d Maintenance Instructions MYS450L Please read these instructions before operation and keep them for later reference The operating instructions are only for internal use E1101000117GB01 Part Number 16...

Page 2: ...Reference list Documentnumber List of modifications Creation of original document Modification in the original document In section On page Date Author E1101000117DE01 x 28 12 2010 REB E1101000117GB01...

Page 3: ...r shields removed All protective covers and shields must be mounted before the machine is operated The drawings and figures in this manual are representative illustrations Therefore there may be diffe...

Page 4: ...e important items 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...

Page 5: ...which could interfere with the operation of the robot Then switch on the control voltage Injury may result from unintentional or unexpected robot motion Figure 2 Release of emergency stop button Take...

Page 6: ...programming pendant CAUTION Perform the following inspection procedures prior to conducting manipulator teaching If you find any problems correct them immediately and make sure all other necessary me...

Page 7: ...nd Working Axes 24 5 3 Dimensions 26 5 4 Dimensions and P point Maximum Envelope 27 5 5 Motion Range Setting by Mechanical Stops 28 6 Allowable Load 34 6 1 Mounting an end effector 34 7 System applica...

Page 8: ...tems Information for the content of optional goods is given separately Robot NX100 Programming pendant Robot cable between manipulator and NX100 CAUTION Check whether the robot and the NX100 have the...

Page 9: ...Labels S N PROPERLY CHECK ALL THE DOOR LOCKS NJ3005 1 kVA kVA ERDR Average Peak NJ3053 1 Kammerfeldstr 1 D 85391 Allershausen Motoman 2 1KurosakiShiroishiYahatanishi Ku Kitakyushu City Fukuoka806 0004...

Page 10: ...performan Check that the eyebolts are securely fastened The weight of the manipulator is approximately 20 kg including the shipping bolts and brackets Use a wire rope strong enough to withstand the w...

Page 11: ...om the package and moving it Be sure that the Robot is fixed with the shipping bolts and brackets before transport and lift it in the posture as shown in Figure 2 Transporting Position Figure 2 Transp...

Page 12: ...verturn and cause injury or damage When mounting the robot on the wall the base section must have sufficient strength and rigidity to support the weight of the robot Also it is necessary to consider c...

Page 13: ...mum repulsion forces of the robot referring to Table 1 Maximum Repulsion Forces A baseplate flatness must be kept at 0 5 mm or less insufficient flatness of installation surface may deform the Robot s...

Page 14: ...base plate with four hexagon head bolts M12 40 mm long is recommended Next fix the Robot base to the base plate Tighten the hexagon head bolts and anchor bolts securely so that they will not work loos...

Page 15: ...Flat washer 4 Hole CAUTION Install the floor mounted Robot with four or more people The Robot weights are as follows Be careful not to get hands fingers or feet caught and or have equipment damaged b...

Page 16: ...ut off the wire tie binding the shaft and arm retaining bracket on the bas Figure 5 1 4 screws M12 x 40 2 Sprirng washer 3 Flat washer 4 Hole 1 screw M4 X 15 Plane washer M6 2 Cable tie 3 Arm mounting...

Page 17: ...ditions Ambient temperature 0 to 45 C Air humidity 20 to 80 relative humidity no condensation water Free from dust soot or water Free from corrosive gas or liquid or explosive gas Free from excessive...

Page 18: ...FF the main power supply and put up a warning sign e g DO NOT TURN THE POWER ON Failure to observe this warning may result in a fire or an electric shock CAUTION Wiring must be performed by authorized...

Page 19: ...ng the cables to the robot verify the numbers X1 and X100 on both the cables and the robot base connectors First connect the X100 cable then X1 4 2 2 Connection to the NX100 Before connecting the mani...

Page 20: ...20 E1101000117GB01 MYS450L Figure 7 Robot Cable Connection 1 Power supply cable 2 Encoder cable 3 NX100 4 Robot X21 X100 X11 X21 X11 X81 PP 1 2 3 3 4 4 3...

Page 21: ...MYS450L E1101000117GB01 21 Figure 8 Robot Cable Connection Robot Side 1 Power Cable Connection 2 Encoder connector 1 2...

Page 22: ...rvomotor Max operating speed 1 1 2 6 440 mm s Z 1 100 mm s U 2470 deg s Repeatability 1 2 0 015 mm Z 0 01 mm U 0 005 deg Max motion range 1 1525 deg 2 142 to 147 5 degrees Z 180 mm U 360 deg Max pulse...

Page 23: ...wire for customer use 24 wires 15 pin 9 pin D sub connector Installed pneumatic tube for customer us 2 pneumatic tubes 6 mm 0 59 Mpa 1 pneumatic tube 4 mm 0 59 Mpa Ambient conditions Ambient temperat...

Page 24: ...24 E1101000117GB01 MYS450L 5 2 Part Names and Working Axes 1 2 3 5 4 6 7 15 14 13 12 11 10 9 8 15 Back View...

Page 25: ...for 6 mm pneumatic tube 3 2 rotating 11 Fitting white for 4 mm pneumatic tube 4 2 12 Fitting black for 4 mm pneumatic tube 5 Z up and down 13 Fitting black for 6 mm pneumatic tube 6 Shaft 14 Power cab...

Page 26: ...26 E1101000117GB01 MYS450L 5 3 Dimensions 4 5 12 1 200 6 7 8 9 10 3 11 Dimensions mm...

Page 27: ...e 7 4 90 conical hole 2 30 2 x M4 depth 10 8 40 mechanical operation limit 3 684 9 20 h7 shaft diameter 4 180 See note below 10 Max 14 mm through hole 5 824 11 indicates the stroke margin by mechanica...

Page 28: ...2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings Install the bolts in the holes corresponding to the angle that you want to set Joints Z can be set to...

Page 29: ...bolts in the holes corresponding to the angle that you want to set 1 Mechanical stop of Z Lower limit mechanical stop 2 Do not move the upper limit mechanical stop 3 Mechanical stop of 2 adjustable 4...

Page 30: ...3600 6116694 5679787 4805974 4369067 Setting Angle 30 20 5 5 20 30 60 Pulse Value 3495254 3203983 2767076 2475805 2038898 1747627 873814 Setting Angle 75 105 120 135 148 152 Pulse Value 436907 436907...

Page 31: ...d the positions of the mechanical stops within the limit 5 5 2 Setting the Mechanical Stops of Z This method applies only to the Standard model Robot MYS450L 1 Turn ON the Controller and turn OFF the...

Page 32: ...al stop down 50 mm Use calipers to measure the distance when adjusting the mechanical stop 1 Lower limit mechanical stop 2 screws M5 x 6 2 Brake release button 3 Shaft When you press the brake release...

Page 33: ...ue is negative Example When lowering the mechanical stop by 90 mm and changing the value of the lower limit Z coordinate to 100 with a stroke of 170 mm 100 20 x 4096 x 1 5 30720 10 Using the IMPULS co...

Page 34: ...due to the weight of the end effector if the power supply is interrupted during operation or if a motor is switched off with the power supply ON To move Z up down or to rotate U when mounting an end...

Page 35: ...he shaft falling and rotating while the brake release button switch is being pressed because the shaft may be lowered by the weight of the end effector 1 Brake release button 2 The shaft may be lowere...

Page 36: ...ditions should be observed to attach or install peripheral equipment 7 1 1 Additional loads Mounting cameras and valves The threaded holes shown in the figure below are provided on 2 Use these holes t...

Page 37: ...17GB01 37 Figure 15 Installing Peripheral Equipment Mounts 1 2 x M4 depth 10 2 4 x M5 depth 10 3 2 x M4 depth 8 4 2 x M5 depth 10 A A A 30 41 35 20 0 2 0 8 9 0 96 391 282 110 90 6 7 1 3 2 4 Units mm G...

Page 38: ...nd Air Line Figure 16 Connectors for Internal User I O Wiring Harness and Air Line The Allowable Current for Internal User I O Wiring Harness max 1 0 A for each wire The Maximum Pressure for the Air L...

Page 39: ...acity Leads Nominal cross section outside diameter Notice AC DC30 V 1 A 15 0 211 mm2 8 3 0 3 mm shielded Table 4 Connector types Maker Stdandard 15 pin Applicable plug JAE DA 15PF N Solder Type Clampi...

Page 40: ...40 E1101000117GB01 MYS450L 8 Electrical Equipment Specification 8 1 Signal cable BASE ARM2...

Page 41: ...MYS450L E1101000117GB01 41 8 2 Power cable BASE ARM2...

Page 42: ...42 E1101000117GB01 MYS450L 8 3 User cable Table 6 Cable color Code Cable Color Code Cable Color B Black P pink BR Brown R Red G Green V Purple L Blue W White LG Light Green Y yellow O Orange...

Page 43: ...MYS450L E1101000117GB01 43 Table 7 Cable color Code Cable Color Code Cable Color B Black R Red BR Brown V Purple G Green W White L Blue Y yellow...

Page 44: ...Main Menu ShortCut CONTROL POWER TIME 1998 07 06 10 00 2385 42 02 SERVO POWER TIME 1998 07 06 10 30 36000 00 00 PLAYBACK TIME 1998 10 22 11 12 2210 00 20 MOVING TIME 1998 10 22 15 30 1875 15 30 OPERAT...

Page 45: ...points must be added every 250 hours 750 hours 1500 hours and 3000 hours operation h hour Table 8 Inspection Position Inspection Position Daily inspection Monthly inspection Quarterly inspection Half...

Page 46: ...ng bolts Each arm locking bolts Bolts screws around shaft Bolts screws securing motors reduction gear units etc Check looseness of connectors If the connectors are loosen push it securely or tighten E...

Page 47: ...sert or pull out the motor connectors while the power to the robot system is turned ON Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious...

Page 48: ...s applied to both Z and U When the brake release button switch is pressed the respective brakes of the Z and U are released simultaneously Be careful of the shaft falling and rotating while the brake...

Page 49: ...ables of used lithium battery 6 Cut off the wire tie banding the lithium battery and remove the lithium battery Battery unit lithium battery 1 Mount the new lithium battery to the battery board 2 Plea...

Page 50: ...ns is called Calibration Battery board Removal 1 Turn OFF the Controller 2 Push down the shaft to its lower limit while pressing the brake release button switch Be sure to keep enough space and preven...

Page 51: ...rd Battery board Installation 1 Mount the new battery board and secure it with screws 2 Connect the connectors X61 X62 X63 and X64 3 Please follow disassembly step 4 to fasten the connector wires with...

Page 52: ...52 E1101000117GB01 MYS450L 4 Mount the arm top cover 5 Turn ON the Controller 6 Perform the calibration of all joints...

Page 53: ...ing bolts Each arm locking bolts Bolts screws around shaft Bolts screws securing motors reduction gear units etc Check looseness of connectors If the connectors are loosen push it securely or tighten...

Page 54: ...sound or vibration occurs Whole Measure the accuracy repeatedly by a gauge Whole CAUTION Make sure the sliding parts of the robot are sufficiently lubricated Operating the robot with insufficient gre...

Page 55: ...refasten these bolts in some procedures in this manual except special cases as noted use a torque wrench so that the bolts are fastened with the appropriate tightening torques as shown below Table 13...

Page 56: ...elow Do not fasten all bolts securely at one time Tighten the bolts with two or three moves Use it a hex wrench Then use a torque wrench so that the bolts are fastened with tightening torques shown in...

Page 57: ...peed reducer 10 Z belt 2 2 motor 11 Lithium battery and Battery board 3 Arm cover 12 Z brake 4 Brake release button 13 Z motor 5 LED lamp 14 1 speed reducer 6 Ball screw spline unit 15 1 motor 7 U mot...

Page 58: ...R13ZA00100800 E148949 1 1 5 Ball screw spline unit for 170 mm stroke R13ZA00120800 E148994 1 1 6 Ball screw spline unit for 300 mm stroke R13ZA00120900 E1489945 1 1 7 Cable unit R13A020000500 E148996...

Page 59: ...1 Control Power Supply Fan JZNC NZU01 52111792 1 1 3 Robot I F unit JZNC NIF02B 1 including item 2 1 3 2 E103806 1 1 3 1 Robot I O board JANCD NIF01 1 E147491 1 1 3 2 I O board JANCD NIO02B 1 5214018...

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Page 62: ...niederlassung Training centre and sales office nderungen welche dem technischen Fortschritt dienen vorbehalten Alterations in the course of technical progress are reserved without separate information...