YASKAWA MPL500-J00, Operating And Maintenance Manual

Page 1: ...ROBOTICS MPL500 J00 YR MPL0500 J00 Operating and Maintenance Manual ...

Page 2: ...d out Therefore we cannot guarantee full compliance However the information given in this publication is checked regularly and any necessary corrections will be made in subsequent editions Subject to technical modifications Created on 2018 07 Revision 03 Document number E1101000233GB03 Author WOE Modifications made Rev 01 Revised version of original HW1482993 1 in YEU R style Rev 02 Revision of th...

Page 3: ...easures 17 4 2 Ambient conditions and installation location 18 4 3 Installation example 18 5 Wiring 21 5 1 Grounding 21 5 2 Cable connections 22 5 2 1 Connecting the robot 23 5 2 2 Connection of the robot controller 24 5 2 3 Connecting the programming pendant 25 6 Technical data 26 6 1 Parts and work axis label 27 6 2 Robot base dimension 27 6 3 Dimensions and defined working area 28 6 4 Adjustabl...

Page 4: ... 3 2 Grease filling the wrist axes 62 9 3 3 Refilling the amount of grease in joints 63 9 4 Home position calibration 64 9 4 1 Registering all axes at the time 64 9 4 2 Registering individual axes 67 9 4 3 Changing the absolute data 68 9 4 4 Clearing absolute data 69 9 5 Setting the second home position check point 70 9 5 1 Purpose of position check operation 70 9 5 2 Procedure for the second home...

Page 5: ...nt background information and application advice 1 2 Frequently used terms The YASKAWA robot is a product of YASKAWA Electric Corporation GmbH The robot is normally supplied with the robot controller programming pendant and robot cable The terms are designated as follows in this manual Terms Designation Controller Robot controller Industrial robot Robot Programming pendant teach box Programming pe...

Page 6: ... branch office 1 4 Intended use Typical applications Flange mounting tools Installation of spot welding guns Installation of arc welding equipment Installation of grippers Machining and transporting workpieces or products 1 5 Improper use Any use that deviates from the intended use shall be regarded as impermissible misuse This includes Transport of people and animals Use as ascending aid Use outs...

Page 7: ...g instructions of the robot controller Basic Information Setup and Connection and System Setup In order to illustrate details clearly some drawings are shown with the protective covers or shields removed All protective covers and shields must be mounted before the robot is operated The drawings and figures in this manual are representative illustrations They may differ from the product delivered Y...

Page 8: ...Stop button 1 Short Cut Main Menu JOB CONTENT 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 TEST01 TOOL CONTROL GROUP R1 S 0000 NOP SET B000 1 SET B001 0 MOVJ VJ 80 00 MOVJ VJ 80 00 DOUT OT 10 ON TIMER T 3 00 MOVJ VJ 80 00 MOVJ VJ 100 00 MOVJ VJ 100 00 MOVJ VJ 100 00 MOVJ VJ 100 00 Turn on servo power JOB EDIT DISPLAY UTILITY MOVJ VJ 0 78 S SELECT X S X L Y L Y U Z U Z R X R X B Y B ...

Page 9: ...ling or Universal Application An area must be left clear so that the operator can retreat to it in case of emergency The following inspection procedures must be performed prior to teaching the robot If problems are found correct them immediately and be sure that all other necessary measures have been performed Check for problems in robot movement Check the connectors for tight fit and all cables f...

Page 10: ...o promptly detect a warning A warning message is output as a dedicated output signal so it is recommended that you monitor it on the system side as a warning signal for the sake of safety Refer to Concurrent I O E1102000155XX01 or higher for details on the signal output XX is the language of the document Tab 1 1 Dedicated output signal 80290 SOUT 0575 COOLING FAN2 ERROR ...

Page 11: ...anufacturer Address YASKAWA ELECTRIC CORPORATION 2 1 KUROSAKISHIROISHI YAHATANISHI KU KITAKYUSHU JAPAN 1 10 Authorized representative Address YASKAWA Europe GmbH Robotics Division Yaskawastr 1 85391 Allershausen Germany ...

Page 12: ...2 1 Checking the scope of delivery The standard delivery includes the following items Fig 2 1 Scope of delivery Programming pendant Assembly instruction Robot controller Cable Robot MOTOMAN MANUAL 1 2 3 5 4 DX200 1 4 2 5 3 ...

Page 13: ...ate NOTICE Please contact the local YASKAWA branch office if the serial numbers do not match the information on the delivery note S N DX200 YASAKAW XXXXX Part No Power Supply Peak kVA AC XXXXXXXX Average kVA Serial No Date Signature Type ERDR Robot Type Robot Order No Robot Serial No YASKAWA ELECTRIC CORPORATION 2 1 SHIROISHI KUROSAKI YAHATANISHILU KITAKYUSYU JAPAN YASKAWA Europe Robotics Division...

Page 14: ...rces may be exercised on the robot control the robot or other components 3 1 Transporting method CAUTION Damage to persons and damage to property due to external force influences External forces must not be exerted on the robot or the motors Check that the eyebolts are securely fastened The robot weights approximately 2300 kg Use load carrying devices strong enough to withstand the weight The tran...

Page 15: ...lift and the transportation route have sufficient bearing capacity Always take due care when transporting the robot 3 2 Shipping brackets and bolts NOTICE Before turning ON the power check to be sure that the shipping bolts and brackets are removed After removing the transport securing devices and the shipping bolts keep them at a safe place The transport securing devices and shipping bolts will b...

Page 16: ...Transportation 3 16 The shipping brackets and bolts are painted yellow Fig 3 2 Position of shipping bolts Position Screw type Pcs A Screw M20 12 9 8 B and C Screw M10 12 9 4 C A B ...

Page 17: ...e protective measures can lead to death of people serious bodily harm or material damage Implement the following protection measures Separating protection devices Non contact protection devices Enclosures Marked areas Signs Emergency Stop button Display elements NOTICE Operator s responsibility The operator of a robot or a robot system must ensure that all specifications and requirements of the st...

Page 18: ...pport surface of the robot base 0 5 mm 4 3 Installation example 1 At the first set out anchor the base plate firmly onto the floor 2 The robot base is tapped for 8 mounting holes Fix the robot base with the screws M20 strength class 12 9 Minimum length 80 mm 3 Next fix the robot base to the base plate Tighten the hexagon head bolts and anchor bolts securely so that they will not work loose during ...

Page 19: ...oncrete thickness floor of 200 mm or more the robot base can be fixed directly to the floor with anchor bolts Before mounting the robot however check that the floor is level and that all cracks etc are repaired A floor with a thickness of less than 200 mm does not have sufficient support for an installation Create a sufficient fixation which can withstand the occurring forces see tables 180 x 45 4...

Page 20: ...s and moments of the robot Direction of move ment Horizontal Vertical Force FH Moment MH Force FV Torque MV Emergency stop Stop category 0 12740 N 39200 Nm 69580 N 88200 Nm Acceleration Decelera tion Stop category 1 5880 N 11760 Nm 34300 N 26460 Nm MV MH FH FV ...

Page 21: ...Grounding Follow the applicable electrical installation standards and wiring regulations for earthing The cable cross section must be 6 mm or more With regard to the direct connection of the earthing cable see figure Earthing connection NOTICE Note on the earthing connection Never use the earthing cable together with an earthing cable of for example A different electrical consumer A different moto...

Page 22: ...the robot base and on the robot controller see the following chapter on robot connection and robot controller connection Fig 5 2 Robot cable Robot control side Encoder cable 1BC Robot side Power cable 2BC DX200 YASAKAW DX200 Part No Power Supply Peak kVA AC 400 415 440 Average kVA Serial No Date Signature Type ERDR Robot Type Robot Order No Robot Serial No YASKAWA ELECTRIC CORPORATION 2 1 SHIROISH...

Page 23: ...C and the power cable 2BC 2 Connect the encoder cable 1BC to the connector plate of the robot 3 Connect the power cable 2BC to the connector plate of the robot Make sure that you hear each locking clip snap into place clicking sound Fig 5 3 Connector plate of the robot ...

Page 24: ... order 1 Connect the encoder cable 1BC X11 at X 1 connection to the robot controller 2 Connect the power cable 2BC X21 at X 2 connection to the robot controller Make sure that you hear the locking clips snap into place clicking sound Fig 5 4 Connection of the robot controller X 11 X 21 X 1 X 2 ...

Page 25: ...1 PROGRAMMING PENDANT PROPERLY CHECK ALL THE DOOR LOCKS NJ3005 1 kVA kVA ERDR Average Peak NJ3053 1 Kammerfeldstr 1 D 85391 Allershausen 2 1 Kurosaki Shiroishi Yahatanishi Ku Kitakyushu City Fukuoka 806 0004 Japan YASKAWA Electric corporation Robot Serial No Robot Order No Robot Type Type Date Signature Serial No AC 400 415 440 V Power Supply Part No Motoman DX100 with power ON WARNING Do not open...

Page 26: ...360 360 Protection class IP Main axes 54 Wrist axes 54 Maximum speed S axis 1 48 rad s 85 s L axis 1 48 rad s 85 s U axis 1 48 rad s 85 s R axis B axis T axis 3 40 rad s 195 s Allowed moment Nm 3 3 See the following diagram Moment of arm rating in section 7 for further information on the permissible moment of inertia R axis B axis T axis Permissible moment of inertia kgm R axis B axis T axis 200 k...

Page 27: ...g 6 2 Robot base dimensions Upper arm U arm Rotating head of S axis Wrist flange Robot base Lower arm L arm 2 holes Ø 20 H7 Hole Ø 12 H7 8 mounting holes Ø 22 All dimensions in mm T U L S S L U T 1 3 2 4 5 1 4 2 5 3 540 540 710 350 879 519 640 640 360 0 1 320 0 1 360 0 1 220 0 1 220 0 1 300 0 1 320 0 1 1 2 3 1 3 2 ...

Page 28: ...Dimensions and defined work area P point Working area defined with point P T point All dimensions in mm 0 270 1250 880 1037 3159 820 0 1400 250 300 2204 1 5 5 2529 R1124 2781 614 2167 2363 2624 45 9 0 120 1 2 678 1356 678 3 R 6 9 7 1300 1300 1600 1600 R3 159 R1037 1 3 2 ...

Page 29: ... may be changed depending on the type of application If any modification is necessary please contact the local YASKAWA branch office The mechanical stop can only be adjusted in 60 steps Item Specifications S axis working range 180 standard 165 150 135 120 105 90 75 60 45 30 15 ...

Page 30: ...e Working Area To change the working area of S axis the following components are required see the following figure Fig 6 4 Components of the S axis limit 3 screws M20 x 70 strength category 12 9 and 3 x M20 washers Pin Limit stop HW0307574 1 1 2 3 1 3 2 ...

Page 31: ...ing table 6 4 3 Adjusting the S Axis Pulse Limit Check whether both sides are stabilized with screws as shown in the following diagram Fig 6 5 Mounted correctly with regard to the force limitation of the unit When adjusting the setting angle of the mechanical S axis limit the machine must be symmetrical to the illustrations see in chapter 6 4 3 Adjusting the S Axis Pulse Limit on page 32 As descri...

Page 32: ...both the pulse limit and the angle of the mechanical S axis limit Fig 6 6 Adjustable angle for the S axis limit Degree 15 30 45 60 75 90 Number of pulses 0 34092 68183 102275 136367 170458 204550 Degree 120 135 150 165 180 Number of pulses 238642 272733 306825 340917 375008 409100 The angle in plus direction adjustable angle The angle in minus direction non adjustable angle 180 165 150 135 120 105...

Page 33: ...limitation The limit can be used on both sides Screw 2 1 2 1 180 165 1 2 1 2 150 135 1 2 1 2 120 105 1 2 1 2 90 75 1 2 1 2 60 45 1 2 2 1 30 15 165 2 1 150 165 150 2 1 135 120 135 2 1 120 1 2 105 90 105 2 1 9 0 2 1 75 60 7 5 2 1 2 1 45 30 2 1 2 1 1 2 0 1 2 15 1 2 ...

Page 34: ...stances and overrun times may differ due to internal and external influence on the braking torque According to the mode robot application and number of triggered safety stops with stop category 0 a different brake wear may occur We recommend that the coastdown path be checked once a year Fig 6 7 Main axes at 100 66 and 33 deflection In Fig 6 7 Main axes at 100 66 and 33 deflection the S L and U ax...

Page 35: ...Technical data 6 35 6 5 1 Stop category 0 6 5 1 1 Stop position S axis 100 deflection 66 deflection 33 deflection ...

Page 36: ...Technical data 6 36 6 5 1 2 Stop position L axis 100 deflection ...

Page 37: ...Technical data 6 37 6 5 1 3 Stop position U axis 100 deflection ...

Page 38: ...Technical data 6 38 6 5 2 Stop category 1 6 5 2 1 Stop position S axis 100 deflection 6 5 2 2 Stop position L axis 100 deflection 6 5 2 3 Stop position U axis 100 deflection ...

Page 39: ...E Before mounting a tool remove anticorrosive coating on the flange Thinner or light fuel oil are the most suitable for this purpose Fig 7 1 Wrist flange 7 2 Maximum load of the S axis For peripheral devices of specific applications additional mounting options are provided on the robot 7 3 Optimal robot performance To achieve optimal robot performance the maximum load of the S axis must never exce...

Page 40: ...g conditions should be observed to attach or install peripheral equipment Tab 7 1 Installation Conditions Fig 7 3 Installing peripheral equipment mounts P point B axes rotation center line R T axes rotation center line All dimensions in mm View A 6 threaded holes M6 x 15 Section B B 2 threaded holes M6 x 15 All dimensions in mm 200 200 200 400 600 800 1000 LB mm 800 600 1000 W 500 kg W 450 kg W 40...

Page 41: ...Allowable load for wrist axis and wrist flange 7 41 Tab 7 1 Installation Conditions Application Notice Wiring and valve load Up to 500 kg for attaching load mass including wrist load ...

Page 42: ...axis varies and depends on the permissible torque Contact your YASKAWA branch office in a timely manner if you have questions regarding the calculation of the load or centroidal distance Example In the case of the YASKAWA HP20D robot for example the permissible moment of inertial for the T axis amounts to 0 25 kgm at a permissible torque of 19 6 Nm and to 0 75 kgm at a permissible torque of 0 1 Nm...

Page 43: ... The air pressure for the air hose must not exceed 600 kPA the inner diameter of the air hose is Ø 7 5 Fig 8 1 Plug for internal cables and compressed air routing Air inlet A B C D and E with cap Tube for fieldbus cable Ø12 on stand Connector for the internal cable bushing on the stand View B Air inlet A B C D and E with cap Tube for fieldbus cable Ø12 on casing There is a connecting plug for inte...

Page 44: ... pipe for the field bus cable inner diameter 12 mm 12 mm will be connected over a connection inthere the cable is lead Step 2 Remove the connection from the field bus cable pipe Pull the field bus cable fastened at the cable is until it gains the connection Step 4 Separate the cable from field bus cable by cutting off Step 5 Remove the connection fasten cable at the field bus cable and then lead i...

Page 45: ...2 A sufficient clearance must be maintained between the protective cover and the internal cables etc The ratio of the total cross section the internal cables and the protective cover may not exceed 30 The pins used on the connectors 23 wires 23 x 0 50 mm and 5 pneumatic lines are connected to the stand and arm with individual wires In the standard specification pins 7 and 8 are connected as follow...

Page 46: ... BAT2 BAT3 0BAT3 0BAT1 BAT1 0BAT2 8 6 7 5 6 PG5V3 8 7 4 5 3 PG5V2 PG0V3 PG0V2 3 2 4 1 12 13 14 15 16 10 11 9 PG5V6 PG0V6 CN1 5 CN1 4 0V 24V 24V 0V CN1 9 CN1 10 P P CN1 10 CN1 4 CN1 5 CN1 9 24V 24V 0V 0V 0V 24V 0V 24V 1 3 2 4 1BC 10PX4 No 20CN X No 5CN 1 4 3 2 BAT1 PG0V1 PG5V1 OBAT1 S 1 No 1CN P P P PG 6 BAT 10 9 5 4 BAT OBT OBT 5V 0V FG1 2 DATA 1 DATA 1 S AXIS DATA 2 DATA 2 FG2 10 BAT OBT No 6CN O...

Page 47: ...3 MU3 MV3 MV3 MW3 MW3 ME3 BB6 ME3 B 10 B 11 D 8 D 7 B 9 D 3 D 4 D 5 D 6 D 2 D 1 35 34 12 11 10 MU2 MU2 MV2 MV2 MW2 MW2 ME2 ME2 BA1 BA2 F 8 F 7 F 2 F 1 F 5 F 6 F 3 B 5 B 4 F 4 E MU1 MV1 MU1 MW1 MW1 MV1 ME1 ME1 2BC 8X5 E 8 15 E 7 E 2 E 5 E 6 E 1 E 4 E 3 14 13 C D B A No 15CN MU3 MW3 ME3 MV3 C D B No 13CN A MW6 ME6 MV6 MU6 SM T AXIS SM U AXIS MU2 ME2 MW2 MV2 D C B No 11CN A MV1 MW1 MU1 ME1 BB1 BA1 B ...

Page 48: ...king maintenance and inspection measures Turn OFF the main power supply Put up the required warning sign e g Do not turn the power on Install a switch on guard as prescribed If you have any questions regarding disassembly or repair please contact the local YASKAWA branch office NOTICE Home position data is lost Before removing the connector of the encoder cable to perform maintenance or inspection...

Page 49: ...Y UTILITY 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 OPERATING TIME 1998 10 22 16 12 0 0 0 1 Short Cut Main Menu JOB CONTENT 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 TEST01 TOOL CONTROL GROUP R1 S 0000 NOP SET B000 1 SET B001 0 MO...

Page 50: ...robot Visual inspection Dirty working area has to be cleaned Please control the robot for damage and external cracks 4 Motors for L and U axes Visual inspection Check for grease leakage2 5 Fastening bolts of baseplate Using correspond ing tool Tighten loose screws replace if necessary 6 Power input module Manual Check for loose connectors 7 L and U axes motor connec tion Manual Check for loose plu...

Page 51: ...Battery unit in robot If a battery alarm appears or after the robot has been operated for 36 000 hours the battery must be replaced 13 S L U and T axes gear Grease gun Check for faults replace if necessary The grease5 has to be refilled every 5 000 hours or replaced every 9 000 hours see chapter 9 3 1 Grease filling the main axes on page 60 and 9 3 2 Grease filling the wrist axes on page 62 14 Bea...

Page 52: ...KAWA branch office 3 When checking for conduction with multimeter connect the battery to BAT and OBT of connectors on the motor side for each axis Now remove the connectors of the encoders of the respective motor Failure to observe this sequence can lead to loss of home positions 4 Wire harness in Robot is to be changed at 18 000 H inspection 5 The grease and or lubricants used can be found in the...

Page 53: ...Maintenance and inspection 9 53 Fig 9 2 Inspection intervals The numbers in the above figure are equal to the numbers in the table of Inspection intervals A ...

Page 54: ...g 9 4 Battery unit location top view The battery units are installed as shown in picture The location of the battery unit If battery alarm occuring in the robot controller battery pack has to be changed in the following form 4 screws M4 Stand Power input module Battery unit Circuit board S1 2BC 1BC FB C D E A B 1 3 2 1 3 2 1 2 1 2 ...

Page 55: ...he plug from circuit board 4 Connect the new battery pack to the unoccupied connector on the board Fig 9 6 Battery pack connections 5 Remove the old battery pack from the battery holder 6 Mount the new battery pack to the battery holder NOTICE The absolute encoder data will be lost Never remove old battery pack before having installed new battery pack Main power switch in switch off position Old b...

Page 56: ...rd NOTICE Make sure that no wires are pinched when you install the battery pack and the cover plate again 8 Please apply Teroson Plast sealing compound material no 143813 to thread part of screws Exchanging the battery unit iscompleted after reinstalling the cover plate on the plug plate ...

Page 57: ...Battery unit connector diagram for R B and T axes Motor Battery unit Motor power connector Plug for backup Encoder connector Encoder Warning label Motor cable Power connector Battery unit Wiring harness of the robot a Plug socket b Plug pin Motor Encoder connector b a a b OBT BAT BAT OBT 4 1 2 3 5 1 4 2 5 3 Connect battery to encoder to save the data before removing connector CAUTION OBT BAT OBT4 ...

Page 58: ... to the grease outlet If this instruction is not followed the motor will be damaged Avoid air getting into the gear Insert grease with a grease gun If an automatic lubricating pump is used the grease supply pressure must be 0 3 kPa Set the grease injection rate to a value not higher than 7 g s The limit values may not be exceeded also if a conventional grease gun is used In ceiling mounted robots ...

Page 59: ...ueeze out the excess fat all taxes must be brought to operating temperature In a operating JOB or a special moving JOBs about 20 minutes at 100 speed 5 Wipe away excess grease with a cloth 6 Remove the lubricating nipple from the grease inlet opening and mount the plug again Before mounting the plug apply to thread part Tightening torque of sealing plug Designation Tightening torque Nm PT 3 8 23 P...

Page 60: ...the axes Amount of grease S axis gear Replenishment 2100 cm approx 1827 g Exchange 10400 cm approx 9048 g1 1 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 L axis gear Replenishment 460 cm approx 400 g Exchange 2300 cm approx 2000 g1 U axis gear Replenishment 560 cm approx 487 g Exchange 2800 cm approx ...

Page 61: ...Maintenance and inspection 9 61 Air outlet cap Joint 80 9 0 170 1 1 2 2 2 1 2 ...

Page 62: ...rist axes Grease filling the wrist axes Figure the axes Amount of grease BT axis gear Replenishment 320 cm approx 278 g Exchange 1600 cm approx 1392 g1 U axis cross roller bearing Replenishment 60 cm approx 54 g1 Grease outlet opening Grease inlet opening 1 2 ...

Page 63: ...ints 1 2 3 6 6 cm approx 5 g Amount of grease for joints 4 5 9 12 cm approx 10 g Amount of grease for joints 7 8 3 cm approx 2 5 g Amount of grease for joints 10 11 5 cm approx 4 5 g 10 5 1 6 2 5 2 3 6 4 6 7 9 9 3 10 10 7 8 2 4 11 10 10 3 9 9 1 7 8 2 3 10 8 1 11 11 5 2 4 A A 1BC A 4BC 2BC 3BC F E B C A ...

Page 64: ...on of the absolute encoder must match it Although this operation is performed prior to shipment at the factory the following cases require this operation to be performed again Change in the combination of the robot and robot controller Replacement of the motor or absolute encoder Clearing stored memory by replacement of the main CPU board weak battery pack etc Home position deviation caused by hit...

Page 65: ...E POSITIONING window appears 3 Select DISPLAY under the menu or select PAGE to display the selection window for the control group or press PAGE The pull down menu appears 4 Select the desired control group 5 Select EDIT in the main menu The pull down menu appears ...

Page 66: ...d inspection 9 66 6 Select SELECT ALL AXES A confirmation dialog box is displayed 7 Select YES Displayed position data of all axes are registered as home position When NO is selected the registration will be canceled ...

Page 67: ...e module to be calibrated e g R1 ROBOT Perform steps 3 and 4 which have been described in Registering All Axes at One Time to select the desired control group 4 Select the axis to be registered A confirmation dialog box appears 5 Select YES Displayed position data of the axis are registered as home position When NO is selected the registration will be canceled ...

Page 68: ...ct ROBOT from the main menu 2 Select HOME POSITION 3 Select the desired control group Perform steps 3 and 4 which have been described in chapter Registering All Axes at One Time to select the desired control group 4 Select the absolute data to be registered The number can now be entered 5 Enter the absolute data using the numeric keys 6 Select ENTER Absolute data are modified ...

Page 69: ... have been described in Registering All Axes at One Time to display the HOME POSITIONING window and select the desired control group 3 Select DATA under the menu The pull down menu appears 4 Select CLEAR ALL DATA The confirmation dialog box appears 5 Select YES The all absolute data are cleared When NO is selected the registration will be canceled ...

Page 70: ...ion related components but the robot was moved after the power supply was turned OFF If there is an error in the encoder communication related components the robot may stall when playback is started If the absolute data allowable range error alarm has occurred playback and test runs will not function and the position must be checked If the OUT OF RANGE ABSO DATA alarm occurs Reset alarm Turn ON SE...

Page 71: ...ition Setting Check Point 3 Alarm Occurrence If the alarm occurs again there may be an error in the encoder communication related components Check the components After adjusting the erroneous axis calibrate the home position of the axis and then check the position again NOTICE Home position calibration of all the axes at the same time enables playback operations without having to check the positio...

Page 72: ...Select ROBOT under the main menu 2 Select SECOND HOME POS The SECOND HOME POS window appears The Message Available to move to and modify specified point shown 3 Press the page key PAGE or select PAGE to display the selection window for the control group The group axes by which the second home position is set is selected when there are two or more group axes 4 Press the axis keys Move the robot to ...

Page 73: ...e necessary operation such as replacing the PG system etc The robot current position data when turning main power supply ON and OFF can be confirmed in POWER ON OFF POS window NOTICE For details on the POWER ON OFF POS window refer to Position Data When Power is Turned ON OFF in Maintenance manual 1 Select ROBOT on the main menu The sub menu choices appear 2 Select SECOND HOME POS on the main menu...

Page 74: ...ected manual speed 5 Select DATA on the menu 6 Select CONFIRM POSITION A message Home position checked appears Pulse data of the second home position and current pulse data should be compared Automatic mode can be done if compared error is in allowed range If the error is beyond the allowed range the alarm occurs again ...

Page 75: ...0 176891 Grease Shell Gadus S2 V220 2 146745 Sealing compound Teroson Plast 143813 Battery pack Robot 128708 Battery pack Controller 155543 S axis gear HW0281280 A 112628 Pinion HW0172031 B 112637 L and U axes gear HW9381442 B 112520 Pinion for L and U axes HW9482358 A 112604 Bearing for L and U axes HW9481343 A 111887 T axis gear HW0389883 A 146406 Pinion for T axis HW0315061 1 146407 Cross rolle...

Page 76: ... 1023 1024 1025 1026 1027 1029 1052 1051 1050 1048 1004 1049 1045 1031 1032 1033 1031 1035 1036 1037 1034 1004 1038 1039 1040 1042 1043 1043 1044 1045 1046 1044 1042 1047 1038 1039 1008 1007 1001 1002 1003 1004 1005 1017 1013 1055 1056 1054 1053 1015 1010 1011 1012 1016 1028 1009 1006 1014 ...

Page 77: ...rew 9 1015 G415 O ring 1 1016 HW0101153 1 Housing 1 1017 M16 70 Screw 12 1018 HW0101152 2 Housing 1 1019 HW0307564 1 Pinion 1 1020 HW0307562 1 Pinion 1 1021 2H 6 Washer 10 1022 M6 20 Screw 10 1023 6828ZZ Bearing 1 1024 AR175 Circlip 1 1025 WR140 Circlip 1 1026 TC8511013 Oil seal 1 1027 S180 O ring 1 1028 HW0308464 1 Flange 1 1029 M5 16 Screw 8 1030 M8 100 Screw 10 1031 HR33206J Bearing 2 1032 HW03...

Page 78: ...4 6207ZZ Bearing 2 1045 IRTW 72 Circlip 2 1046 HW9381477 B Pinion 1 1047 HW9405051 1 Cover 1 1048 HW0307565 3 Shaft 1 1049 M8 115 Screw 1 1050 HW0407533 1 Flywheel 1 1051 HW0402627 2 Washer 1 1052 HW0389698 A SGMRV 44ANA YR1 Motor 1 1053 HW0307574 1 Stop 1 1054 HW0407007 1 Pin 1 1055 M20 Washer 3 1056 M20 70 Screw 3 No DWG no Designation Piece ...

Page 79: ...5 2006 2006 2007 2007 2008 2008 2009 2009 2010 2011 2012 2010 2011 2012 2017 2017 2018 2018 2003 2019 2019 2003 2024 2025 2003 2026 2028 2027 2029 2030 2031 2032 2029 2030 2033 2034 2035 2035 2036 2037 2035 2035 2035 2038 2039 2040 2041 2042 2041 2022 2043 2044 2045 2046 2047 2022 2048 2035 2049 2050 2035 2051 2052 2053 2054 2053 2054 2055 2003 2056 2050 2057 2059 2045 2058 2035 2035 2060 2022 206...

Page 80: ...rew 21 2022 2H 16 Washer 30 2023 UB 0640 0 1C Pipe 2 2024 HW0300930 1 Shaft 1 2025 M12 30 Screw 21 2026 HW0308094 1 Joint 1 2027 HW0406923 1 Washer 1 2028 HW1303053 1 Shaft 1 2029 2H 10 Washer 2 2030 M10 25 Screw 2 2031 AG3217A4 Oil seal 1 2032 HW0484003 A 45CHI CAP32208JR 5CS 12 Bearing 1 2033 G75 O ring 1 2034 HW0406922 1 Cover 1 2035 PT1 8 STAINLESS Grub screw 9 2036 M6 20 Screw 3 2037 HW010115...

Page 81: ...1 2050 M6 15 Screw 8 2051 HW0400012 1 5 Adjusting washer 1 2052 G85 O ring 1 2053 HR32011XJ Bearing 2 2054 AG3512E1 Oil seal 2 2055 HW0400015 1 Shaft 1 2056 M12 70 Screw 1 2057 HW0400008 1 Cover 1 2058 M6 6 Screw 1 2059 HW0400016 1 Shaft 1 2060 HW0200692 1 Counter weight 1 2061 M16 50 Screw 6 2062 HW0101146 1 Joint 1 2063 TSH6 01M Connection 2 No DWG no Designation Piece ...

Page 82: ...g 1 3013 M6 x 15 Screw 8 3014 HW0400008 1 Cover 1 3015 2H 6 Washer 1 3017 3001 3020 3019 3022 3021 3018 3011 3012 3010 3006 3005 3009 3008 3004 3013 3003 3003 3013 3016 3005 3007 3006 3014 3015 3054 3054 3018 3021 30223019 3020 3003 35 3040 3041 3032 3038 3039 3021 3003 3028 3037 3036 3042 3029 3021 3032 3003 3019 3030 3031 3056 3055 3033 3035 3003 3034 3003 3035 3041 3032 3021 3039 3038 3003 3037...

Page 83: ...HW1403708 1 Washer 1 3032 M10 x 25 Screw 4 3033 G130 O ring 1 3034 HW1303040 1 Cover 1 3035 M6 x 20 Screw 12 3036 HW1303053 1 Shaft 2 3037 AG3217A4 Oil seal 2 3038 HW0484003 A 45CHI CAP32208JR 5CS 12 Bearing 2 3039 HW0406923 1 Washer 2 3040 HW0406922 1 Cover 2 3041 G75 O ring 2 3042 HW0308094 1 Joint 1 3043 HW0201319 2 Joint 1 3044 HW0413399 6 Adjusting washer 2 3045 HW0413399 1 Adjusting washer 2...

Page 84: ...Parts lists 11 84 Tab 11 3 U axis drive 3054 CP 30 BC 8 Sealing plug 8 3055 M6 x 20 Screw 4 3056 2H 6 Washer 4 3057 HW1303039 1 Spacer 1 No DWG no Designation Piece ...

Page 85: ...eal 2 4004 HW9404245 1 Shaft 2 4001 4009 4010 4008 4007 4006 4005 4004 4023 4014 4021 4022 4020 4019 4018 4017 4016 4027 4029 4030 4031 4032 4033 4019 4034 4028 4036 4035 4037 4014 4038 4039 4040 4041 4042 4043 4044 4045 4023 4046 4047 4050 4049 4048 4002 4014 4026 4020 4019 4051 4025 4024 4003 4004 4005 4006 4007 4011 4013 4012 4015 4014 4003 4047 4015 ...

Page 86: ... 1 Washer 1 4019 2H 10 Washer 16 4020 M10 x 25 Screw 2 4021 HW0406922 1 Cover 1 4022 S75 O ring 1 4023 M6 x 20 Screw 7 4024 AG3217A4 Oil seal 1 4025 HW1303053 1 Shaft 1 4026 HW0201319 1 Joint 1 4027 AE3400A0 TC658812 Oil seal 1 4028 HW0315338 1 Pinion 1 4029 WR80 Circlip 1 4030 6816 Bearing 1 4031 HW0414964 1 Cover 1 4032 M4 x 10 Screw 4 4033 HW0389883 A RV 120C 36 75 Gear 1 4034 M10 x 85 Screw 14...

Page 87: ...otor 1 4042 HW0414962 1 Flywheel 1 4043 HW0315061 1 Shaft 1 4044 2H 6 Washer 1 4045 M6 x 65 Screw 1 4046 HW9405844 2 Housing 1 4047 HR32907J Bearing 2 4048 HW9405847 1 Nut 1 4049 M6 x 8 Screw 2 4050 HW03315337 1 Pinion 1 4051 HW1404790 1 Washer 1 No DWG no Designation Piece ...

Page 88: ...81 1 Shaft 1 5011 M6 x 8 Screw 2 5012 SOB 607440 Bearing 2 5013 IRTW 75 Circlip 2 5014 FD3187A0 Dust seal 1 5015 HW0200420 1 Flange 1 5016 HW0481742 A Spring 1 5017 HW0481741 A Spring 1 5018 HW0481740 A Spring 1 5019 HW0306033 1 Flange 1 5001 5034 5030 5009 5009 5033 5032 5009 5033 5030 5034 5032 5009 5037 5036 5035 5002 5008 5007 5009 5011 5011 5010 5012 5013 5014 5023 5022 5015 5012 5013 5016 50...

Page 89: ...using 1 5025 KE901107 Oil seal 2 5026 HW9405055 1 Shaft 2 5027 HR32916J Tapered roller bearing 2 5028 M10 x 50 Screw 18 5029 EZ2228B0 Sealing plug 1 5030 2H 8 Washer 11 5031 M8 x 16 Screw 3 5032 HW9405699 1 Cover 2 5033 S105 O ring 2 5034 M8 x 20 Screw 8 5035 HW9302054 1 Shaft 1 5036 2H 12 Washer 12 5037 M12 x 50 Screw 12 No DWG no Designation Piece ...

Page 90: ...ayin 972 3 9004114 NL YASKAWA Benelux B V Son 31 40 2895500 PL YASKAWA Polska Sp z o o Wrocław 48 71 7928670 RUS YASKAWA Nordic AB Moskva 46 480 417 800 SE YASKAWA Nordic AB Torsås 46 480 417 800 SI YASKAWA Slovenia Ribnica 386 1 8372 410 TR YASKAWA Turkey Elektrik Ticaret Ltd Sti İstanbul 90 216 5273450 ZA YASKAWA Southern Africa PTY Ltd Johannesburg 27 11 6083182 DISTRIBUTORS BG ARAMET ROBOTICS ...