YASKAWA Motoman GP50, Maintenance Manual

Page 1: ...initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN GP50 GP35L INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR S MANUAL GENERAL SUBJEC...

Page 2: ...3 3 1 2 Replacement of Motor or Speed Reducer 3 3 3 3 1 3 Home Position Adjustment 3 4 3 3 2 Using Keys 3 5 3 3 3 Using Encoder Backup Error Recovery Function 3 8 3 3 4 Robot Calibration MOTOCALV EG 3...

Page 3: ...Reassembly of the U Axis Speed Reducer 6 8 6 4 Disassembly and Reassembly of the R Axis Speed Reducer 6 12 6 5 Disassembly and Reassembly of the B Axis Speed Reducer 6 15 6 6 Disassembly and Reassemb...

Page 4: ...how details Make sure that all the covers or shields are installed in place before operating this product The drawings and photos in this manual are representative examples and differences may exist b...

Page 5: ...otentially hazardous situation which if not avoided will result in death or serious injury Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those i...

Page 6: ...e safety precautions may result in death or serious injury from unexpected turning of the manipulator s arm WARNING Maintenance and inspection must be performed by specified personnel Failure to obser...

Page 7: ...safety fence when going into the area enclosed by the safety fence In addition the operator of the teaching operation must display the sign that the operation is being performed so that no other pers...

Page 8: ...k for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the YRC1000 cabinet after use If the programming pendant is left unattended on the manip...

Page 9: ...trainings offered by YASKAWA is indispensable for replacing the L axis of the balancer equipped manipulator Fig Warning Label Locations Crush hazard label Fall down hazard label Collision hazard label...

Page 10: ...own which may result in personal injury and or equipment damage Collision hazard label Description Personal injury may result if a person enters the manipulator s operating range during operation Imme...

Page 11: ...4673 HW1484673 Crush hazard label Description Keep clear of moving parts when performing a teaching operation within the manipulator s operating range Failure to observe this instruction may result in...

Page 12: ...e motor of each axis lead wires are connected to each part of the manipulator When replacing a motor or lead wire prepare the necessary parts and perform maintenance operations by referring to fig 2 1...

Page 13: ...the motor Power cable Not provided with the motor B axis motor 1 Encoder cable Not provided with the motor Power cable Not provided with the motor T axis motor 1 Encoder cable Not provided with the m...

Page 14: ...r the internal wire harness Refer to fig 2 3 Wiring Connection of Multi Port Connector When removing the multi port connector for a battery replacement etc be careful not to remove the connector betwe...

Page 15: ...Fixing bolt for the cover When the Cover for U R B T axes is Removed Multi port Cable tie Protective tube Cable tie When the Cover for S L axes is Removed Battery pack for S L axes Multi port Battery...

Page 16: ...1000 stores the position data of the job program hereinafter called JOB as the pulse number from the home position of each axis Thus by precisely resetting the home position the JOB used before resett...

Page 17: ...rm occurs run the Backup Alarm Restoration software on the programming pendant This function cannot be used when the motor or absolute encoder is replaced 3 2 4 Robot Calibration MOTOCALV EG If any me...

Page 18: ...l end effector or the jigs related unit including the rotary table It is rec ommended to use a specific jig if necessary Use a pointed object stylus etc to create the check point so that deviation is...

Page 19: ...check JOB to move the axis to the position where the axis does not interfere with jigs etc when it moves to the home position Ensure that the manipulator does not interfere with jigs etc when moving...

Page 20: ...6VXL35 A00 are required Prepare them beforehand Table 3 2 Parts List YR 1 06VX50 A00 Drawing No Name Qty Note HW0409786 2 Shaft 1 For S L and U axes HW0402155 2 Plate 1 For R axis HW9405595 4 Shaft 1...

Page 21: ...Positioning As shown in fig 3 3 L Axis Positioning insert the shaft HW0409786 2 from the pin hole on the S head and perform positioning by using the programming pendant so that the shaft fits into th...

Page 22: ...so that the shaft fits into the slot of the L arm Fig 3 4 U Axis Positioning 4 R Axis Positioning YR 1 06VX50 A00 As shown in fig 3 5 a R Axis Positioning YR 1 06VX50 A00 perform positioning by using...

Page 23: ...oning insert the shaft HW9405595 4 from the pin hole on the wrist cover and perform positioning by using the programming pendant so that the shaft fits into the slot of the wrist base Fig 3 6 B Axis P...

Page 24: ...mp 0 3 MPa or less rough stan dard When using extrusion air for discharging the grease set air supply pressure at 0 025 MPa or less If the air supply pressure is higher than above mentioned value an o...

Page 25: ...r Grease inlet of R axis Hexagon socket head plug PT1 8 When hung from ceiling Grease exhaust Grease exhaust port of R axis Hexagon socket head plug PT3 8 When hung from ceiling Grease inlet Grease Mo...

Page 26: ...k is delivered with the manipulator 4 Inject the grease through the grease inlet using a grease gun Grease type Molywhite RE No 00 Recommended grease lubricator Powerlube P3C made by Macnaught Amount...

Page 27: ...t of grease receive the discharged grease by using a container and then measure the weight of the discharged grease by weighing the container till the amount reaches to the specified amount Use one of...

Page 28: ...ch it to the grease inlet Tighten the plug with the tightening torque shown in table 4 6 Plug Type and Tightening Torque for Each Axis Also discharge the excess grease in order not to increase the inn...

Page 29: ...htening Torque for Each Axis Table 4 6 Plug Type and Tightening Torque for Each Axis Axis to exchange grease Plug for the grease inlet Plug for the grease exhaust port Plug type Tightening torque Plug...

Page 30: ...urface of Speed Reducer If not wiping whole surface of the speed reducer the rust preventive oil adhered to the speed reducer gradually flows out to the outside of the manipulator and a phenomenon con...

Page 31: ...ed wipe the agent with a new cloth Refer to fig 4 5 Wiping the Agent For the part where wiping cannot be performed such as the concave part use air to blow off 2 Apply ThreeBond 1206C to the sealing s...

Page 32: ...inside of the speed reducer Imme diately perform assembling so that the rust preventive oil does not flow out to the sealing surface 2 After assembling fix them with screws as soon as possible For tig...

Page 33: ...peed reducer hold the manipulator arm by using a hanging tool e g chain block Failure to observe this caution may cause a hazardous condition Replace the motor or speed reducer with due care NOTE Refe...

Page 34: ...e to apply sealing bond refer to fig 5 2 b Surface to Apply Sealing Bond on the S Axis Motor 2 Tighten the hexagon socket head cap screw with the tightening torque shown in table 5 1 S Axis Motor Part...

Page 35: ...2H 12 trivalent chromate 3 each Tightening torque 84 N m Gear HW0313741 1 1 Key 1 Provided with the motor Hexagon socket head cap screw M8 length 100 mm Conical spring washer 2L 8 1 each Tightening t...

Page 36: ...nd on the S Axis Spacer Apply sealing bond here Apply sealing bond here S axis rotation center S head Tapped hole for eyebolt 2 places diagonal Tapped hole for motor and spacer 2 places diagonal MP 1...

Page 37: ...tor Power Cable Put the flat head screw driver into the hole of the side of the gear and tilt it in the direction of the arrow mark to make a space between the shaft and the motor 1 Put the flat head...

Page 38: ...or For the place to apply sealing bond refer to fig 5 3 b Surface to Apply Sealing Bond on the L Axis Motor 2 Pass the hexagon socket head cap screw through the conical spring washer and washer and th...

Page 39: ...H 12 trivalent chromate 4 each Tightening torque 84 N m Shaft HW0312815 2 1 Key 1 Provided with the motor Shaft HW9481343 A 1 Pipe HW9405902 1 1 Gear HW9482771 A 1 Hexagon socket head cap screw M8 len...

Page 40: ...2 Surface to apply sealing bond 1 Apply sealing bond evenly to whole surface Apply sealing bond evenly to whole surface Put the flat head screw driver into the hole of the side of the gear and tilt i...

Page 41: ...tor The key is provided with the L axis motor For the place to apply sealing bond refer to fig 5 3 b Surface to Apply Sealing Bond on the L Axis Motor 2 Apply LOCTITE 243 to the thread part of the scr...

Page 42: ...te 4 each Tightening torque 84 N m Shaft HW0312815 2 1 Key 1 Provided with the motor Shaft HW9481343 A 1 Retaining ring STW9 1 Gear HW0409103 1 1 Hexagon socket head cap screw HW0483473 B Washer HW040...

Page 43: ...whole surface Surface to apply sealing bond 2 Surface to apply sealing bond 1 Apply sealing bond evenly to whole surface Put the flat head screw driver into the hole of the side of the gear and tilt...

Page 44: ...pply ThreeBond 1206C to the contact surface of the collar and gear and then mount the gear For the place to apply sealing bond refer to fig 5 5 b 3 Pass the hexagon socket head cap screw through the w...

Page 45: ...nt chromate Conical spring washer 2H 8 trivalent chromate 4 each Tightening torque 24 5 N m Gear HW0313740 1 1 Key 1 Provided with the motor Collar HW9405257 1 1 Hexagon socket head cap screw M6 lengt...

Page 46: ...ealing bond evenly to whole surface Surface to apply sealing bond 2 Surface to apply sealing bond 1 Put the flat head screw driver into the hole of the side of the gear and tilt it in the direction of...

Page 47: ...TITE 243 to the thread part of the screw Tighten the screw with the tightening torque shown in table 5 5 R Axis Motor Parts Checklist 3 When replacing the old motor with a new motor plug the motor s g...

Page 48: ...Motor Table 5 5 R Axis Motor Parts Checklist No Item Qty Note R axis motor HW1385163 A 1 SGM7G 09APK YR1 Hexagon socket head cap screw M8 length 25 mm trivalent chromate Conical spring washer 2H 8 tr...

Page 49: ...Power Cable Apply sealing bond here Apply sealing bond evenly to whole surface Put the flat head screw driver into the hole of the side of the gear and tilt it in the direction of the arrow mark to m...

Page 50: ...ad part of the screw Tighten the screw with the tightening torque shown in table 5 6 B Axis Motor Parts Checklist 3 When replacing the old motor with a new motor plug the motor s grease detection hole...

Page 51: ...Reassembly of the B Axis Motor Table 5 6 B Axis Motor Parts Checklist No Item Qty Note B axis motor HW1385163 A 1 SGM7G 09APK YR1 Hexagon socket head cap screw M8 length 25 mm trivalent chromate Conic...

Page 52: ...Power Cable Apply sealing bond here Apply sealing bond evenly to whole surface Put the flat head screw driver into the hole of the side of the gear and tilt it in the direction of the arrow mark to m...

Page 53: ...he thread part of the screw Tighten the screw with the tightening torque shown in table 5 7 T Axis Motor Parts Checklist 3 When replacing the old motor with a new motor plug the motor s grease detecti...

Page 54: ...mbly of the T Axis Motor Table 5 7 T Axis Motor Parts Checklist No Item Qty Note T axis motor HW1385163 A 1 SGM7G 09APK YR1 Hexagon socket head cap screw M8 length 25 mm trivalent chromate Conical spr...

Page 55: ...5 23 HW1484673 HW1484673 Fig 5 8 b Surface to Apply Sealing Bond on the T Axis Motor Fig 5 8 c Motor Power Cable Fig 5 9 Layout of the U R B and T Axis Motors Apply sealing bond here Apply sealing bon...

Page 56: ...nd when doing this remove them beforehand 5 Remove the parallel pin 6 Unscrew the hexagon socket head cap screws and then remove the speed reducer from the base 7 Remove the union from the speed reduc...

Page 57: ...fer to chapter 4 1 2 Grease Exchange Procedure S axis 10 Turn ON the power supply of the YRC1000 NOTE If grease is filled before the sealing bond is solidified it may cause grease to leak After tighte...

Page 58: ...484673 Fig 6 1 a Disassembly and Reassembly of the S Axis Speed Reducer Fig 6 1 b Surface to Apply Sealing Bond on the S Axis Speed Reducer View A Section B O B Internal wire harness S axis rotation c...

Page 59: ...S head Reassembly 1 Mount the O ring on the speed reducer 2 Apply ThreeBond 1206C to the contact surface of the speed reducer and the S head and then mount the speed reducer on the S head For the pla...

Page 60: ...rews leave it 30 minutes or more and then fill with grease Table 6 2 L Axis Speed Reducer Parts Checklist No Item Qty Note Speed reducer HW9381465 B 1 YR 1 06VX50 A00 Speed reducer HW9381465 A 1 YR 1...

Page 61: ...r Fig 6 2 b Surface to Apply Sealing Bond on the L Axis Speed Reducer 1 8 4 3 7 2 5 6 9 L arm Side S head Side Edge surface of sealing bond contacting part ThreeBond 1206C Border line for applying sea...

Page 62: ...e L Axis Speed Reducer 6 7 HW1484673 HW1484673 Fig 6 2 c Surface to Apply Sealing Bond on the L Arm on the Other Side of the L Axis Speed Reducer Bead Cross section Indicated in the figure the bead he...

Page 63: ...Mount the O ring on the speed reducer 2 Apply ThreeBond 1206C to the contact surface of the speed reducer and the U arm unit and then mount the speed reducer on the U arm unit For the place to apply...

Page 64: ...aling bond is solidified it may cause grease to leak After tightening the screws leave it 30 minutes or more and then fill with grease Table 6 3 U Axis Speed Reducer Parts Checklist No Item Qty Note S...

Page 65: ...6 3 a Disassembly and Reassembly of the U Axis Speed Reducer Fig 6 3 b Surface to Apply Sealing Bond on the U Axis Speed Reducer U axis motor U arm unit L arm Apply sealing bond here U axis rotation...

Page 66: ...U Axis Speed Reducer 6 11 HW1484673 HW1484673 Fig 6 3 c Surface to Apply Sealing Bond on the L Arm on the Other Side of the U Axis Speed Reducer Bead Cross section Indicated in the figure the bead he...

Page 67: ...ble 6 4 R Axis Speed Reducer Parts Checklist 3 Apply MP 1 grease to the lip part of the oil seal on the inside of the flange 4 Apply ThreeBond 1206C to the contact surface of the speed reducer and the...

Page 68: ...A 1 Hexagon socket head cap screw M6 length 35 mm Conical spring washer 2L 6 16 each Tightening torque 16 5 N m Flange HW0312838 1 1 Hexagon socket head cap screw M8 length 25 mm Conical spring washer...

Page 69: ...sembly and Reassembly of the R Axis Speed Reducer 6 14 HW1484673 HW1484673 Fig 6 4 b Surface to Apply Sealing Bond on the R Axis Speed Reducer Shaft Side Flange Side Apply sealing bond evenly to whole...

Page 70: ...6 5 b Adjustment of B Axis Gear Part Shim 2 Apply ThreeBond 1206C to the contact surface of the speed reducer and the wrist unit and then mount the speed reducer on the wrist unit For the place to app...

Page 71: ...Flange HW0314090 1 1 Hexagon socket head cap screw M8 length 18 mm Conical spring washer 2L 8 16 each Tightening torque 40 N m Hexagon socket head cap screw M8 length 25 mm Conical spring washer 2L 8...

Page 72: ...7 HW0412695 7 0 6 HW0412695 6 0 5 HW0412695 5 0 4 HW0412695 4 0 3 HW0412695 3 0 1 HW0412695 2 0 05 HW0412695 1 Thickness mm Shim No Use the thinner shim to fill the space Lo L Add the shim to fill th...

Page 73: ...wn in table 6 6 T Axis Speed Reducer Parts Checklist The fine U nut is provided with the speed reducer 3 Apply LOCTITE 518 to the contact surface of the wrist and the speed reducer and then mount the...

Page 74: ...to leak After tightening the screws leave it 30 minutes or more and then fill with grease Table 6 6 T Axis Speed Reducer Parts Checklist No Item Qty Note Speed reducer HW0389043 A 1 Hexagon socket he...

Page 75: ...acing the T axis speed reducer 0 7 HW0412696 7 0 6 HW0412696 6 0 5 HW0412696 5 0 4 HW0412696 4 0 3 HW0412696 3 0 1 HW0412696 2 0 05 HW0412696 1 Thickness mm Shim No Use the thinner shim to fill the sp...

Page 76: ...eassembly of the T Axis Speed Reducer 6 21 HW1484673 HW1484673 Fig 6 6 c Surface to Apply Sealing Bond on the T Axis Speed Reducer Apply sealing bond here Flange Side Wrist Side Apply sealing bond eve...

Page 77: ...the flange 2 Mount the wrist unit on the flange and then tighten the hexagon socket head cap screws with the tightening torque shown in table 7 1 Wrist Unit Parts Checklist 3 Turn ON the power supply...

Page 78: ...rews for the internal user I O wiring harness which are mounted on the support and remove the connector 3 Remove the air line connected to the back of the union NOTE Refer to chapter 2 Notes for Maint...

Page 79: ...g harness from the IN port of the multi port connector on the S head side in the casing 3 Cut off the cable ties 4 Turn the connector on the cable side of the power connector for the U R B and T axis...

Page 80: ...HW1173234 B 1 YR 1 06VXL35 A00 Cross head APS bolt M4 length 8 mm trivalent chromate 3 Cover HW1200707 A 1 Hexagon socket flat head screw M8 length 20 mm trivalent chromate 4 Tightening torque 24 5 N...

Page 81: ...g Harness S Head 1 Cut off the cable ties that secure the internal wiring harness around the S head 2 Cut off the cable ties and then remove the cover 3 Unscrew the hexagon socket head cap screws and...

Page 82: ...nal Wiring Harness S Head Table 8 4 Internal Wiring Harness Parts Checklist S Head No Item Qty Note Cover HW0481522 A 1 Saddle CD63 1 Hexagon socket head cap screw M6 length 12 mm trivalent chromate C...

Page 83: ...xagon socket head cap screws and then remove the saddle 8 Unscrew the hexagon socket head cap screws and then remove the saddle 9 Cut off the connector sticking out from the connector base box and the...

Page 84: ...g Harness 8 7 HW1484673 HW1484673 Fig 8 5 Disassembly and Reassembly of the Internal Wiring Harness Connector Base Section A A A A AIR1 AIR2 S1 1BC Grease Moly White RE No 00 IN 4CN LAMP 1BC connector...

Page 85: ...her with the gasket on the connector base and then tighten it with pan head sems screws 7 Connect the 1BC connector 8 Mount the ground lead wire by using the cross head APS bolts 9 Cover the connector...

Page 86: ...ocket head cap screws and tighten them with the tightening torque shown in table 8 2 3 Connect the IN port of the multi port connector of the casing to the IN connector of the internal wiring harness...

Page 87: ...en replacing the battery pack Refer to chapter 2 Notes for Maintenance before replacing a battery Fig 9 1 Location of the Battery and Multi port Connector Fixing bolt for the cover Fixing bolt for the...

Page 88: ...mount the new battery pack 6 Fix the new battery pack by using the cable tie T50R HSW 7 After placing the connector and the lead wires around the connector into the protective tube fix the opening of...

Page 89: ...Cut the cable ties 2 places fixing the protective tube and take out the connector 7 Remove the old battery pack from the multi port connector and mount the new battery pack 8 Remove the lead wires for...

Page 90: ...tube fix the opening of the protective tube by using the cable tie T18L HSW 11 Fix the new battery pack and the protective tube in which the connector is placed at step 10 by using the cable tie T18L...

Page 91: ...84673 HW1484673 10 Parts List 10 1 S Axis Unit Fig 10 1 S Axis Unit 1019 1001 1002 1003 1004 1005 1007 1009 1008 1010 1011 1013 1014 1016 1018 1020 1017 1021 1022 1025 1026 1028 1023 1024 1012 1030 10...

Page 92: ...screw 3 1014 2H 12 TRIVALENT CHROMATE Conical spring washer 3 1016 STW 50 Retaining ring C type 1 1017 M8X100 Hexagon socket head cap screw 1 1018 2L 8 Conical spring washer 1 1019 PT3 8 STAINLESS Plu...

Page 93: ...HW1484673 HW1484673 10 2 L Axis Unit YR 1 06VX50 A00 Fig 10 2 L Axis Unit YR 1 06VX50 A00 2002 2005 2016 2004 2003 2026 2009 2008 2006 2007 2026 2013 2014 2015 2010 2011 2019 2020 1009 2012 2001 2021...

Page 94: ...ew 6 2009 2H 16 Conical spring washer 6 2010 HW9481343 A Shaft 1 2011 HW9482771 A Gear 1 2012 HW9405902 1 Pipe 1 2013 M8X130 Hexagon socket head cap screw 1 2014 2L 8 Conical spring washer 1 2015 M8 S...

Page 95: ...5 HW1484673 HW1484673 10 3 L Axis Unit YR 1 06VXL35 A00 Fig 10 3 L Axis Unit YR 1 06VXL35 A00 3002 3005 3016 3004 3003 3026 3009 3008 3006 3007 3026 3011 3013 3014 3010 3019 3020 1009 3015 2001 2021 2...

Page 96: ...Hexagon socket head cap screw 6 3009 2H 16 Conical spring washer 6 3010 HW9481343 A Shaft 1 3011 HW0409103 1 Gear 1 3013 HW0483473 B Bolt 1 3014 STW9 Retaining ring 1 3015 HW0408806 2 Washer 1 3016 G2...

Page 97: ...is Unit 10 7 HW1484673 HW1484673 10 4 U Axis Unit Fig 10 4 U Axis Unit 2002 5014 5015 5028 5023 5024 5007 5027 5017 5022 5001 5016 5021 5026 5025 5018 5008 5009 5010 5011 5005 5006 5020 5019 5002 5004...

Page 98: ...ew 1 5011 2L 6 Conical spring washer 1 5012 M12X30 Hexagon socket head cap screw 12 5013 SW 2H 12 Conical knurled washer 12 5014 M10X30 Hexagon socket head cap screw 6 5015 2L 10 Conical spring washer...

Page 99: ...axis T axis 7003 7004 7005 7006 7007 7008 7009 7010 7012 7013 7014 7015 7016 7017 7018 7019 7021 7022 7023 7024 7025 7026 7027 7028 7031 7033 7035 7034 7048 7036 7037 7037 7039 7038 7040 7041 7043 704...

Page 100: ...016 HW1408161 8 20 Pin 1 7017 HW0312834 1 Shaft 1 7018 HW0312832 1 Shaft 1 7019 HW0312831 1 Gear 1 7020 HW0312833 1 Shaft 1 7021 HW0312835 1 Shaft 1 7022 HW0312838 1 Flange 1 7023 HW1408161 6 15 Pin 1...

Page 101: ...ocket head cap screw 16 7045 M8X30 Hexagon socket head cap screw 8 7046 M8X25 TRIVALENT CHROMATE Hexagon socket head cap screw 10 7047 2H 8 TRIVALENT CHROMATE Conical spring washer 10 7048 M8X20 Hexag...

Page 102: ...is 8003 8004 8005 8006 8007 8008 8009 8010 8011 8013 8014 8015 8016 8017 8018 8019 8021 8022 8023 8024 8025 8026 8027 8028 8033 8035 8034 8048 8036 8037 8037 8039 8038 8040 8041 8043 8042 8046 8047 50...

Page 103: ...0313626 1 Gear 1 8016 HW1408161 8 20 Pin 1 8017 HW0312834 1 Shaft 1 8018 HW0312832 1 Shaft 1 8019 HW0312831 2 Gear 1 8020 HW0312833 2 Shaft 1 8021 HW0312835 2 Shaft 1 8022 HW0312838 1 Flange 1 8023 HW...

Page 104: ...rew 8 8046 M8X25 TRIVALENT CHROMATE Hexagon socket head cap screw 10 8047 2H 8 TRIVALENT CHROMATE Conical spring washer 10 8048 M8X20 Hexagon socket head cap screw 1 8049 M4X6 TRIVALENT CHROMATE Slim...

Page 105: ...6 10027 10028 10029 10032 10033 10034 10036 10037 10039 10039 10040 10041 10044 10046 10022 10095 10096 10108 10107 5017 10091 10090 10049 10099 10030 10038 10097 10098 10045 10068 10017 10012 10043 1...

Page 106: ...9405888 Shim 10022 HW9405885 Shim 10027 HW9482772 A Shaft 1 10028 HW9482765 A Shaft 1 10029 HW9381675 A Shaft 1 10030 RTW42 Retaining ring 1 10031 STW 25 Retaining ring C type 1 10032 ISTW40 Retaining...

Page 107: ...washer 6 10099 M4X6 Hexagon socket set screw 1 10100 M8X18 FA COAT Hexagon socket head cap screw 8 10101 2L 8 FA COAT Conical spring washer 8 10102 M6X30 Hexagon socket head cap screw 10 10103 Washer...

Page 108: ...10 18 HW1484673 HW1484673 10116 2L 6 Conical spring washer 10 10117 M4X12 Hexagon socket head cap screw 13 10118 2L 4 Conical spring washer 13 5017 HW0102239 2 Casing 1 Table 10 7 Wrist Unit Sheet 3 o...

Page 109: ...KAWA 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 22F One Co...