1. No category

Motoman NXC100 Controller
HP3JC
Manipulator Manual
Part Number:
Revision:
151562-1CD
0
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
COMPLETE OUR ONLINE SURVEY
Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you
received with your Motoman robotic solution.
To participate, go to the following website:
http://www.motoman.com/forms/techpubs.asp
The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2007 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
HP3JC*
151562-1
Chapter 1
Introduction
1.1
About This Document
This manual provides information for the HP3JC manipulator and contains the following sections:
CHAPTER 1 - INTRODUCTION
Provides general information about the structure of this manual, a list of reference documents, and
customer service information.
CHAPTER 2 - SAFETY
This section provides information regarding the safe use and operation of Motoman products.
CHAPTER 3 - HP3JC* INSTRUCTIONS
Provides detailed information for the HP3JC manipulator.
1.2
Reference to Other Documentation
For additional information refer to the following:
1.3
•
NXC100 Controller Manual (P/N 150975-1)
•
Concurrent I/O Manual (P/N 149230-1)
•
Operator’s Manual for your application
•
Vendor manuals for system components not manufactured by Motoman
Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have
the following information ready before you call:
•
Robot Type (HP3JC)
•
Application Type (welding, handling, etc.)
•
Robot Serial Number (located on back side of robot arm)
•
Robot Sales Order Number (located on back of controller)
Final
page 1
User’s Manual
Chapter 1 Introduction
Notes
page 2
Final
HP3JC*
151562-1
Chapter 2
Safety
2.1
Introduction
It is the purchaser’s responsibility to ensure that all local, county, state,
and national codes, regulations, rules, or laws relating to safety and safe
operating conditions for each installation are met and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for
Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries
Association by requesting ANSI/RIA R15.06-1999. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
INTERNET: www.roboticsonline.com
Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel
who are adequately trained to operate, program, and maintain the robot cell. The robot must not be
operated by personnel who have not been trained!
We recommend that all personnel who intend to operate, program, repair, or use the robot system be
trained in an approved Motoman training course and become familiar with the proper operation of the
system.
Final
page 3
User’s Manual
Chapter 2 Safety
This safety section addresses the following:
2.2
•
Standard Conventions (Section 2.2)
•
General Safeguarding Tips (Section 2.3)
•
Mechanical Safety Devices (Section 2.4)
•
Installation Safety (Section 2.5)
•
Programming, Operation, and Maintenance Safety (Section 2.6)
Standard Conventions
This manual includes the following alerts – in descending order of severity – that are essential to the
safety of personnel and equipment. As you read this manual, pay close attention to these alerts to
insure safety when installing, operating, programming, and maintaining this equipment.
DANGER!
Information appearing in a DANGER concerns the protection of personnel from the immediate
and imminent hazards that, if not avoided, will result in immediate, serious personal injury or
loss of life in addition to equipment damage.
WARNING!
Information appearing in a WARNING concerns the protection of personnel and equipment from
potential hazards that can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing in a CAUTION concerns the protection of personnel and equipment,
software, and data from hazards that can result in minor personal injury or equipment damage.
Note: Information appearing in a Note provides additional information which is helpful in understanding the item being
explained.
page 4
Final
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151562-1
2.3
General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. All
personnel involved with the operation of the equipment must understand potential dangers of
operation. General safeguarding tips are as follows:
2.4
•
Improper operation can result in personal injury and/or damage to the equipment. Only
trained personnel familiar with the operation of this robot, the operator's manuals, the system
equipment, and options and accessories should be permitted to operate this robot system.
•
Do not enter the robot cell while it is in automatic operation. Programmers must have the
teach pendant when they enter the robot cell.
•
Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).
•
The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.
•
In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use
lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147
(29CFR, Part 1910), Occupational Safety and Health Standards for General Industry
(OSHA).
Mechanical Safety Devices
The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's
responsibility. The conditions under which the equipment will be operated safely should be reviewed
by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety
standards, and other local codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. The following safety equipment is provided as standard:
•
Safety fences and barriers
•
Light curtains and/or safety mats
•
Door interlocks
•
Emergency stop palm buttons located on operator station, robot controller, and
programming pendant
Check all safety equipment frequently for proper operation. Repair or replace any non-functioning
safety equipment immediately.
Final
page 5
User’s Manual
Chapter 2 Safety
2.5
Installation Safety
Safe installation is essential for protection of people and equipment. The following suggestions are
intended to supplement, but not replace, existing federal, local, and state laws and regulations.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. Installation tips are as follows:
2.6
•
Be sure that only qualified personnel familiar with national codes, local codes, and
ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.
•
Identify the work envelope of each robot with floor markings, signs, and barriers.
•
Position all controllers outside the robot work envelope.
•
Whenever possible, install safety fences to protect against unauthorized entry into the work
envelope.
•
Eliminate areas where personnel might get trapped between a moving robot and other
equipment (pinch points).
•
Provide sufficient room inside the workcell to permit safe teaching and maintenance
procedures.
Programming, Operation, and Maintenance Safety
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. Improper
operation can result in personal injury and/or damage to the equipment. Only trained personnel
familiar with the operation, manuals, electrical design, and equipment interconnections of this robot
should be permitted to program, operate, and maintain the system. All personnel involved with the
operation of the equipment must understand potential dangers of operation.
page 6
•
Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be
sure the area is clean and free of water, oil, debris, etc.
•
Be sure that all safeguards are in place. Check all safety equipment for proper operation.
Repair or replace any non-functioning safety equipment immediately.
•
Do not enter the robot cell while it is in automatic operation. Be sure that only the person
holding the programming pendant enters the workcell.
•
Check the E-STOP button on the programming pendant for proper operation before
programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
•
Back up all programs and jobs onto suitable media before program changes are made. To
avoid loss of information, programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to options, accessories, or
equipment.
Final
HP3JC*
151562-1
•
Any modifications to PART 1, System Section, of the robot controller concurrent I/O
program can cause severe personal injury or death, as well as damage to the robot! Do not
make any modifications to PART 1, System Section. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
•
Some operations require standard passwords and some require special passwords. Special
passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use
these special passwords.
•
The robot controller allows modifications of PART 2, User Section, of the concurrent I/O
program and modifications to controller parameters for maximum robot performance. Great
care must be taken when making these modifications. All modifications made to the
controller will change the way the robot operates and can cause severe personal injury or
death, as well as damage the robot and other parts of the system. Double-check all
modifications under every mode of robot operation to ensure that you have not created
hazards or dangerous situations.
•
Check and test any new or modified program at low speed for at least one full cycle.
•
This equipment has multiple sources of electrical supply. Electrical interconnections are
made between the controller and other equipment. Disconnect and lockout/tagout all
electrical circuits before making any modifications or connections.
•
Do not perform any maintenance procedures before reading and understanding the proper
procedures in the appropriate manual.
•
Use proper replacement parts.
•
Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).
Final
page 7
User’s Manual
Chapter 2 Safety
Notes
page 8
Final
YASKAWA
MOTOMAN-HP3J
INSTRUCTIONS
TYPE: YR-HP3J-J00
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HP3J INSTRUCTIONS
NXC100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NXC100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANUAL NO.
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MANDATORY
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-HP3J.
• General items related to safety are listed in the Section 1: Safety of the
NXC100 Instructions. To ensure correct and safe operation, carefully
read the NXC100 Instructions before reading this 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 and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications.
If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NXC100.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “PROHIBITED”.
WARNING
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
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 practices.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
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WARNING
• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front face of the NXC100 and
on the right side of the programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
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WARNING
• Observe the following precautions when performing teaching operations:
-Always follow the predetermined operating procedure.
-Ensure that you have a safe place to retreat in case of emergency.
Improper operation or unintended manipulator motion may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
-Turing ON the robot system power.
-Moving the manipulator with the programming pendant.
-Running the system in the check mode.
-Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop button is located on the right side of the programming pendant and
on the front face of the NXC100.
Start button
Hold button
Mode selector switch
Emergency
stop button
REMOTE
TEACH
PLAY
START
HOLD
Emergency stop button
SER NO.
TYPE
DATE 3-2005
44A220-011
ERCR-NS00-A200
YASKAWA ELECTRIC CORPORATION
JAPAN
NJ2518-2
POWER SUPPLY
AC200/220V 50/60Hz 1
1 KVA
NXC100
X31
NJ2519-2
Approx mass.
16 Kg
ON (I)
X52
NJ2520-2
F1
FU1
ON
BAT
SOURCE
SOURCE
FU2
BATTERY
FUSE
OFF
X51
OFF (O)
F2
X81
Programming pendant
AC FUSE : F1,F2
I/O FUSE : F1,F2,F3,F4
15A / 250V
3.15A / 250V
SLOW BLOW
FAST BLOW
NXC100
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CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately,
and be sure that all other necessary processing has been performed.
-Check for problems in movement of the manipulator and servo track.
-Check for damage to insulation and sheathing of external wires.
• Read and understand the Explanation of Warning Labels before operating the robot system.
• For safety, operate under the proper lighting.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
NXC100 Controller
NXC100
NXC100 Programming Pendant
Programming Pendant
Cable between the Manipulator and the Controller
Manipulator Cable
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Explanation of Warning Labels
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.
Warning label B
Warning label B
Nameplate
Warning label A
Nameplate
Warning Label A:
WARNING
MOTOMAN
TYPE
kg
kg
ORDER NO.
Moving parts
may cause
injury
MASS
PAYLOAD
DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORAION JAPAN
Warning Label B:
WARNING
Do not enter
robot
work area.
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1
Product Confirmation
1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . . 1-2
2
Transporting
2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Using a Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
3
Installation
3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . . 3-2
3.2.1 When the Manipulator and Mounting Fixture are Installed on a
Baseplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.2 When the Manipulator is Mounted Directly on the Floor
without the Mounting Fixture. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 Installation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.4 Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
4
Wiring
4.1 Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.2 Connection to the NXC100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
5
Basic Specifications
5.1
5.2
5.3
5.4
5.5
5.6
5.7
Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . . 5-2
Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . . 5-2
Dimensions and P-Point Maximum Envelope . . . . . . . 5-3
Special Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
B-Axis Operating Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
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6
Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7
System Application
7.1 Peripheral Equipment Mount. . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Lines . . . . 7-2
8
Electrical Equipment Specification
8.1 Internal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
9
Maintenance and Inspection
9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . 9-5
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5
9.2.2 Grease Replenishment for S-axis Speed Reducer . . . . . . . . . .9-7
„ Grease Replenishment (Refer to " Fig. 22 S-axis
Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . .9-7
9.2.3 Grease Replenishment for L-axis Speed Reducer . . . . . . . . . .9-8
„ Grease Replenishment (Refer to " Fig. 23 L-axis
Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . .9-8
9.2.4 Grease Replenishment for Speed Reducers of U- and R-axes.9-9
„ Grease Replenishment (Refer to " Fig. 24 UR-Axis Speed
Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-9
9.2.5 Grease Replenishment for Speed Reducers of
B- and T-axes, and T-axis Gear . . . . . . . . . . . . . . . . . . . . . . .9-10
„ Grease Replenishment (Refer to " Fig. 25 BT-Axis
Speed Reducer and T-axis Gear Diagram ".) . . . . . . . . . . .9-10
9.2.6 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-11
„ Battery Pack Connection . . . . . . . . . . . . . . . . . . . . . . . . . . .9-11
10
Recommended Spare Parts
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1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the NXC100 have the same order number. Special care must be taken when more than one manipulator is to
be installed.
If the numbers do not match, manipulators may not perform as expected and cause injury
or damage.
1.1
Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the content of optional
goods is given separately):
• Manipulator
• NXC100
• Programming pendant
• Manipulator cable (2 cables, between the manipulator and NXC100)
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1.2 Order Number Confirmation
1.2
Order Number Confirmation
Check that the order number of the manipulator corresponds to the NXC100. The order
number is located on a label as shown below.
Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
WARNING
HEAVY OBJECT
WARNING
HAZAARDOUS VOLTAGE
Can cause muscle strain or
back injury. Use lifting aids
proper lifting technjques
when removing or replacing
208/110 VAC PRESENT
Check that the manipulator
and the NXC100 have the
same order number.
Contact may cause
electric shock or burn
Turn off and lock out
system power before servicing
(b) Manipulator (Top View)
(a) NXC100 (Top View)
Fig. 1 Location of Order Number Labels
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2 Transporting
CAUTION
• Sling and crane or forklift operations must be performed by authorized
personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transportation.
The system consists of precision components, so failure to observe this caution may
adversely affect performance.
NOTE
• Be sure to mount two eyebolts and check that the eyebolts are securely fastened before
transporting the manipulator.
• The mass of the manipulator is approximately 27 kg. Use a wire rope strong enough to
withstand the mass.
• Attached eyebolts are designed to support the manipulator mass. Do not use them for
anything other than transporting the manipulator.
• Avoid exerting external force on the arm or motor unit when transporting the manipulator.
Use caution when using transporting equipment other than a crane or forklift to avoid
injury.
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2.1 Transporting Method
2.1
2.1.1
Transporting Method
Using a Crane
As a rule, when removing the manipulator from the package and moving it, a crane should be
used. The manipulator should be lifted using wire rope threaded through attached eyebolts.
Be sure the manipulator is fixed with shipping bolts and brackets before transportation, and lift
it in the posture as shown in " Fig. 2 Transporting Position ".
Eyebolt M8 (2 eyebolts)
(Delivered with the manipulator)
Fig. 2 Transporting Position
NOTE
Before turning ON the power, check to be sure that the eyebolts have been removed. The
eyebolts then must be stored for future use, in the event that the manipulator must be
moved by a crane again.
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2.1 Transporting Method
2.1.2
Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet as shown in " Fig. 3 Using a
Forklift ". Insert claws under the pallet and lift it. The pallet must be strong enough to support
the manipulator. Transportation of the manipulator must be performed slowly in order to avoid
overturning or slippage.
Bolts M8 (4 bolts)
Pallet
Forklift claw entry
Fig. 3 Using a Forklift
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3 Installation
WARNING
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the manipulator’s tool or the
workpiece held by the manipulator will not reach the wall, safeguarding,
or NXC100 when the arm is fully extended.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is
firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the ceiling or wall, the base section
must have sufficient strength and rigidity to support the mass of the
manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling.
Failure to observe these warning may result in injury or damage.
CAUTION
• Do not install or operate the manipulator that is damaged or lacks parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the eyebolts
explained in "2.1.1 Using a Crane" are removed.
Failure to observe this caution may result in damage to the driving parts.
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3.1 Installation of Safeguarding
3.1
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and
guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that the safeguarding is provided and
used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of
safeguarding, including any redundancies, shall correspond directly to the type and level of
hazard presented by the robot system consistent with the robot application. Safeguarding may
include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter
guarding, awareness barriers, and awareness signals.
3.2
Mounting Procedures for Manipulator Base
The manipulator should be firmly mounted on a baseplate or foundation strong enough to
support the manipulator and withstand repulsion forces during acceleration and deceleration.
Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator" and " Table. 2 Endurance
Torque in Operation " to construct a solid foundation with the appropriate thickness to
withstand maximum repulsion forces of the manipulator.
A manipulator base flatness must be kept at 0.5 mm or less: insufficient flatness of installation
surface may deform the manipulator shape and affect its functional abilities. Mount the
manipulator base as described in "3.2.1 When the Manipulator and Mounting Fixture are
Installed on a Baseplate" or "3.2.2 When the Manipulator is Mounted Directly on the Floor
without the Mounting Fixture".
Table. 1 Maximum Repulsion Forces of the Manipulator
Horizontal rotating maximum torque
(S-axis moving direction)
294 N‚m
(30 kgf‚m)
Vertical rotating maximum torque
(LU-axes moving direction)
627 N‚m
(64 kgf‚m)
Table. 2 Endurance Torque in Operation
Endurance torque in horizontal operation
(S-axis moving direction)
59 N‚m
(6 kgf‚m)
Endurance torque in vertical operation
(LU-axes moving direction)
194 N‚m
(20 kgf‚m)
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3.2 Mounting Procedures for Manipulator Base
3.2.1
When the Manipulator and Mounting Fixture are
Installed on a Baseplate
For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommended to prepare a baseplate in 25 mm in thickness, and anchor bolts in M8 or larger size.
Next, fix the manipulator base to the baseplate. The manipulator base is tapped for four
mounting holes; securely fix the manipulator base to the baseplate with four hexagon socket
head screws M8 (35 mm long is recommended) and tighten the screw to a tightening torque of
24.5 Nxm (2.5 kgxm). Tighten the hexagon socket head cap screws and anchor bolts firmly so
that they will not work loose during the operation.
See "Fig. 4 Manipulator Installation Example" for the method.
Hexagon socket head cap screw M8
(4 screws),
Tightening torque: 24.5 Nxm (2.5 kgfxm)
Spring washer
Washer
12
Manipulator base
25 or
more
Manipulator base
Baseplate
Anchor bolt (M8 or larger)
Baseplate
6 dia.
+0.012
(reference
0
hole)
Baseplate
155
85
88
150
150
170
50
78±0.1
145
±0.1
50±0.1
50
9 dia. mounting hole (4 places)
170
88
±0.1
Units: mm
Fig. 4 Manipulator Installation Example
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3.2 Mounting Procedures for Manipulator Base
3.2.2
When the Manipulator is Mounted Directly on the
Floor without the Mounting Fixture
The floor should be strong enough to support the manipulator. Construct a solid foundation
with the appropriate thickness to withstand maximum repulsion forces of the manipulator as
shown in "Table. 1 Maximum Repulsion Forces of the Manipulator". When there is a concrete
thickness (floor) of 150 mm or more, the base of the manipulator can be fixed directly to the
floor with M8 anchor bolts. (The concrete breaking-stress should be 250 kg/cm2 or more.)
Before mounting the manipulator, check that the floor is level and that all cracks, etc. are
repaired. Any thickness less than 150 mm is insufficient for mounting, even if the floor is concrete.
Anchor bolts M8 (4 places)
45 or more
150 or more
Concrete floor
Units: mm
Fig. 5 Direct Mounting on the Floor
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3.3 Installation Method
3.3
Installation Method
The manipulator can be mounted in three different ways: floor-mounted (standard), wallmounted, and ceiling-mounted types are available. For wall- and ceiling-mounted types, the
three points listed below are different from the floor-mounted types.
1. For the wall-mounted type, the S-axis specification is different from the ceiling- and
floor-mounted types. (The specification is changed before shipment.)
• The S-axis operating range for the wall-mounted type must be ±25°.
2. For the ceiling- and wall-mounted types, four hexagon socket head cap screws M8
(tensile strength: 1200 N/mm2 or more) (35 mm long is recommended) should be used
to fix the manipulator base. Use a torque of 24.5 Nxm in tightening the screws.
3. For the ceiling- and wall-mounted types, take appropriate measures to avoid the falling
of manipulator in case of emergency. See "Fig. 6 Precaution to Prevent the Manipulator from Falling" for details.
Support to prevent the manipulator from fall
Manipulator base
Hexagon socket head cap screw M8 (4 places)
Tightening torque: 24.5 Nxm (2.5 kgfxm)
Spring washer
Washer
Fig. 6 Precaution to Prevent the Manipulator from Falling
NOTE
If the manipulator is to be wall mounted or ceiling mounted, inform Yaskawa of the matter
when placing an order. And also, make sure to contact Yaskawa representative (listed on
the back cover of this instruction manual) for a wall/ceiling installation on side.
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3.4 Location
3.4
Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental
conditions:
• Ambient temperature: 0° to +40°C (ambient temperature)
• Humidity: 20 to 80%RH (no moisture, at constant temperature)
• Free from dust, soot, or water
• Free from corrosive gases or liquids, or explosive gases
• Free from excessive impact or vibration (vibration acceleration: 4.9 m/s2 [0.5 G] or less)
• Free from large electrical noise (plasma)
• The flatness for installation is 0.5 mm or less.
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4 Wiring
WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
• Before 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 must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
• Do not cover the cable or allow it to tangle. Keep the cable as straight
as possible.
Failure to observe this caution may result in preventing heat of the cable from being discharged.
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4.1 Grounding
4.1
Grounding
Follow the local regulations and electrical installation standards for grounding. The recommended grounding wire size is 5.5 mm2 at minimum.
For grounding, connect the ground wire directly to the manipulator as shown in "Fig. 7
Grounding Method".
NOTE
• Do not use this line in common with other ground lines or grounding electrodes for other
electric power, motor power, welding devices, etc.
• Where metal ducts, metallic conduits, or distributing racks are used for cable laying,
ground in accordance with Electric Equipment Technical Standards.
Section A-A’
Bolt M6 (for grounding)
Delivered with the manipulator
A
A’
Fig. 7 Grounding Method
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4.2 Manipulator Cable Connection
4.2
Manipulator Cable Connection
There are two manipulator cables; an encoder cable for detection (1BC) and power cable
(2BC). (See "Fig. 8 Manipulator Cables (1BC and 2BC)".) Connect these cables respectively
to the connectors at the manipulator connector base and the NXC100. Refer to "Fig. 9 (a)
Manipulator Cable Connectors (Manipulator Side)" and "Fig. 9 (b) Manipulator Cable
Connectors (NXC100 Side)".
4.2.1
Connection to the Manipulator
Before connecting the manipulator cables to the manipulator, verify the numbers on both the
cables and the connectors of manipulator connector base. Connect 2BC first, and then 1BC.
Insert the cables and lower each lever until it clicks.
4.2.2
Connection to the NXC100
Before connecting the manipulator cables to the NXC100, verify the numbers on both the
cables and the NXC100 connectors. Connect 2BC first to the connector X21 of NXC100, then
1BC to the connector X11 of NXC100. Insert the cables and lower each lever until it clicks.
The Manipulator Side
The NXC100 Side
1BC
1BC
Encoder Cable 1BC
The Manipulator Side
The NXC100 Side
2BC
2BC
Power Cable 2BC
Fig. 8 Manipulator Cables (1BC and 2BC)
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4.2 Manipulator Cable Connection
2BC
1BC
3BC
Connector details
(Manipulator side)
Fig. 9 (a) Manipulator Cable Connectors (Manipulator Side)
X11
X72
FAN3
X11
FAN2
X54
X21
X53
X12
X55
X71
PPESP
PPESP
X62
X64-X63
X21
Connector details
(NXC100 side)
Fig. 9 (b) Manipulator Cable Connectors (NXC100 Side)
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5.1 Basic Specifications
5 Basic Specifications
5.1
Basic Specifications
Table. 3 Basic Specifications*1
MOTOMAN-HP3J
Item
Model
YR-HP3J-J00
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
3 kg
±0.03 mm
Repeatability
*2
S-axis (turning)
±160°
L-axis (lower arm)
+90°, -85°
U-axis (upper arm)
+260°, -105°
R-axis (wrist roll)
±170°
B-axis (wrist pitch/yaw)
±120°
T-axis (wrist twist)
±360°
S-axis
3.49 rad/s, 200°/s
L-axis
2.62 rad/s, 150°/s
U-axis
3.32 rad/s, 190°/s
R-axis
5.24 rad/s, 300°/s
B-axis
5.24 rad/s, 300°/s
T-axis
7.33 rad/s, 420°/s
Range of
Motion
Maximum
Speed
Allowable
Moment*3
Allowable
Inertia
(GD2/4)*3
R-axis
5.39 N‚m (0.55 kgf‚m)
B-axis
5.39 N‚m (0.55 kgf‚m)
T-axis
2.94 N‚m (0.3 kgf‚m)
R-axis
0.1 kg‚m2
B-axis
0.1 kg‚m2
T-axis
0.03 kg‚m2
Approx. Mass
Ambient
Conditions
27 kg
Temperature
0 to 40°C
Humidity
20 to 80% RH (at constant temperature)
Vibration Acceleration
Less than 4.9 m/s2 (0.5G)
Others
• Free from corrosive gas or liquid, or explosive
gas.
• Free from water, oil, or dust.
• Free from excessive electrical noise (plasma).
Power Requirements
*1
*2
*3
0.5 kVA
SI units are used in this table. However, gravitational unit is used in ( ).
Conformed to ISO9283
Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment of inertia.
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5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
Upper arm
(U-arm)
U
R
Wrist
B
T
Lower arm
(L-arm)
R
U
L
T
B
L
Rotary head
(S-head)
S
S
Base
Fig. 10 Part Names and Working Axes
Manipulator Base Dimensions
6 dia.
155
+0.012
0
hole (reference hole)
88±0.1
85
50±0.1
150
170
150
145
78±0.1
50
50
9 dia. mounting hole (4 places)
170
A
5.3
88±0.1
Units: mm
View A
Fig. 11 Manipulator Base Dimensions
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5.4 Dimensions and P-Point Maximum Envelope
5.4
Dimensions and P-Point Maximum Envelope
R5
R1
R18
04
160
8
32
532
188
0
40
229
372
531
160
270
90
99.5 99.5
57
68
95
85
P-point maximum
envelope
10
5
26
659
P-point
90
0
55
260
474
189
193
133
47
74
21
42
18
0
381
219
158
204
(*1)
0
0
389
337
276
290
68
583
30
79
822
(*2)
(*1) Shows the LU-axes working envelope within the range of S-axis motion: -40 to 40 .
(*2) Shows the LU-axes working envelope within the range of S-axis motion: -160 to 125 or 125 to 160 .
Refer to " 5.5 Special Interference Area" for details.
Fig. 12 (a) Dimensions and P-Point Maximum Envelope
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5.5 Special Interference Area
Special Interference Area
Shows the LU-axes working envelope within the range of S-axis motion: -160 to 125 or 125 to 160 .
12
35
5
35
5
12
189
193
0
204
158
381
47
0
U-axis does not move the S-axis is in area
of the slash part in above figure.
Shows the LU-axes working envelope within the range of S-axis motion: -40 to 40 .
40
40
133
74
0
0
389
337
5.5
U-axis does not move the S-axis is in area
of the slash part in above figure.
Fig. 12 (b) Special Interference Area (LU interference)
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5.6 B-Axis Operating Range
5.6
B-Axis Operating Range
" Fig. 13 B-axis Operating Range " shows the operating range of the B-axis maintaining a
constant angle to the center of U-axis.
B-axis rotation center
U-axis rotation center
120
°
Wrist
°
120
U-axis rotation center
S-axis rotation center
Fig. 13 B-axis Operating Range
5.7
Alterable Operating Range
The operating range of S-axis can be altered according to the operating conditions as shown
in "Table. 4 S-Axis Operating Range". If alteration is necessary, contact your Yaskawa
representative in advance.
Table. 4 S-Axis Operating Range
Item
S-Axis
Operating
Range
NOTE
Specifications
±160° (standard)
±120°
±90°
±60°
±25°
If readjustment (alteration of the S-axis operating range) is necessary, contact your
Yaskawa representative.
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6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is up to 3 kg. If force is applied to the wrist instead of the load, force
on R-, B-, and T-axes should be within the value shown in " Table. 5 Allowable Moment and
Inertia ". Contact your Yaskawa representative for further information or assistance.
Table. 5 Allowable Moment and Inertia
*1
Axis
Moment N•m (kgf•m)*1
Inertia kg•m2
R-axis
B-axis
T-axis
5.39 (0.55)
5.39 (0.55)
2.94 (0.3)
0.1
0.1
0.03
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment
Arm Rating ".
The allowable inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only load inertia, or load moment is small and inertia is large.
Also, when the load is combined as a force but a mass, contact your Yaskawa representative.
LT (mm)
200
1.5kg
100
3kg
RT-axis rotation center
LB (mm)
100
P-point
200
300
100
200
B-axis rotation center
LT (mm)
Fig. 14 Moment Arm Rating
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6.2 Wrist Flange
6.2
Wrist Flange
The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". In order to see the
alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting
depth of inside and outside fittings must be 5 mm or less.
0
+0.013
0
20 dia.
40 dia. -0.016
Tapped hole M5 (4 places)
(Depth: 9) (Pitch: 0.8)
5 (fitting depth)
45°
PC
D3
1.5
5 (fitting depth)
+0.012
5 dia. 0
hole
(Depth: 7)
Units: mm
Fig. 15 Wrist Flange
NOTE
• Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light
oil before mounting the tools.
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7.1 Peripheral Equipment Mount
7 System Application
7.1
Peripheral Equipment Mount
The peripheral equipment mount is on the upper arm for easier installation of the user’s
system application as shown in " Fig. 16 Installing Peripheral Equipment Mounts ". When
peripheral equipment is attached to the U-axis, the following conditions should be observed.
18
37
80
Tapped hole M8 (3 places)
(Pitch: 1.25) (Depth: 16)
Units: mm
Fig. 16 Installing Peripheral Equipment Mounts
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7.2 Internal User I/O Wiring Harness and Air Lines
7.2
Internal User I/O Wiring Harness and Air Lines
Internal user I/O wiring harness (0.2 mm2 x 10 wires) and four air lines are used in the
manipulator for the drives of the peripheral devices mounted on the upper arm as shown in "
Fig. 17 Connectors for Internal User I/O Wiring Harness and Air Lines ".
The connector pins (1 to 10) are assigned as shown in " Fig. 17 Connectors for Internal User
I/O Wiring Harness and Air Lines ". Wiring must be performed by users, following the
conditions below:
• The allowable current for cables: 2.5 A or less for each cable
• The maximum pressure for the air line: 490 kPa (5 kgf/cm2) or less
(the inside diameter: 2.5 mm)
Connector for internal user I/O wiring harness:
HR10A-10R-12S (socket connector).
Prepare pin connector: HR10A-10P-12P*HIROSE*.
4 Exhaust ports:
Tapped hole M5 with pipe plug
A
View A
4 Air inlets:
Tapped hole M5 with pipe plug
B
2BC
Details of the Connector Pin Numbers
1BC
Internal user I/O wiring harness: 0.2 mm2, 10 wires
Pins Used
1
2
3
4
5
6
7
8
9
10
1
9
10
8
12
7
2
3
11
6
3BC
View B
4
5
Connector for internal user I/O wiring harness:
HR10A-10R-12P (pin connector).
Prepare socket connector: HR10A-10P-12S*HIROSE*.
Fig. 17 Connectors for Internal User I/O Wiring Harness and Air Lines
The same pin number (1-10) of two connectors is connected by the lead wire of single
0.2 mm2.
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8.1 Internal Connections
8 Electrical Equipment Specification
8.1
Internal Connections
High reliability connectors which can be easily put on and removed are used with each
connector part. For the numbers, types, and locations of connectors, see " Fig. 18 Location
Connectors " and " Table. 6 List of Connector Types ". Diagrams for internal connections
of the manipulator are shown in " Fig. 19 (a) Internal Connection Diagram " and " Fig. 19 (b)
Internal Connection Diagram ".
U-arm
Connector for internal user I/O wiring harness
Connector base
Connector for internal user I/O wiring harness
Fig. 18 Location Connectors
Table. 6 List of Connector Types
Name
Type of Connector
Connector for internal user I/O
wiring harness on connector base
HR10A-10R-12P
(HR10A-10P-12S: Optional)
Connector for internal user I/O
wiring harness on U-arm
HR10A-10R-12S
(HR10A-10P-12P: Optional)
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8.1 Internal Connections
0BT
BAT
0BT
BAT
1
2
3
4
0BAT11
BAT11
0BAT12
BAT12
0BT
BAT
0BT
BAT
5
6
7
8
0BAT21
BAT21
0BAT22
BAT22
1
2
3
4
5
6
7
8
NXC100
1BC(10X4)
12
52
CN1-5
CN1-4
+24V
0V
1
3
13
53
6
CN1-10
CN1-9
+24V
0V
2
4
CN1-1
CN1-2
SPG+1
SPG-1
CN1-3
FG1
46
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0BAT1
BAT1
0BAT2
BAT2
Note:
The figure below shows the internal connection diagram for MOTOMAN-HP3J.
0BAT4
BAT4
0BAT5
BAT5
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
P
P
P
1
No.1CN
1CN-1
-2
-3
-4
2CN-1
-2
-3
No.2CN
7
47
CN1-6
CN1-7
SPG+2
SPG-2
CN1-8
FG2
DATA+1
DATA-1
BAT1
OBT1
+5V1
0V1
FG1
PG
OBT
BAT
P
P
P
P
2
No.3CN
3CN-1
-2
-3
-4
4CN-1
-2
-3
No.4CN
P
CN2-1
CN2-2
8
48
SPG+3
SPG-3
No.5CN
5CN-1
-2
-3
-4
6CN-1
-2
-3
P
P
CN2-3
3
S-axis
FG3
No.6CN
DATA+2
DATA-2
BAT2
OBT2
+5V2
0V2
FG2
PG
L-axis
PG
U-axis
OBT
BAT
DATA+3
DATA-3
BAT3
OBT3
+5V3
0V3
FG3
OBT
BAT
For lamp (Option)
P
1BC(10X4)
CN2-6
CN2-7
9
49
SPG+4
SPG-4
P
P
P
CN2-8
41
FG4
No.7CN
7CN-1
-2
-3
-4
8CN-1
-2
-3
No.8CN
CN3-1
CN3-2
10
50
SPG+5
SPG-5
DATA+4
DATA-4
BAT4
OBT4
+5V4
0V4
FG4
PG
OBT
BAT
P
P
CN3-3
42
FG5
R-axis
P
P
No.9CN
9CN-1
-2
-3
-4
10CN-1
-2
-3
No.10CN
11
51
CN3-6
CN3-7
SPG+6
SPG-6
43
CN3-8
FG6
P
P
P
No.11CN
11CN-1
-2
-3
-4
12CN-1
-2
-3
No.12CN
37
77
CN4-1
+24V
CN4-6
LB1
CN4-3
BC2
DATA+5
DATA-5
BAT5
OBT5
+5V5
0V5
FG5
PG
B-axis
PG
T-axis
OBT
BAT
DATA+6
DATA-6
BAT6
OBT6
+5V6
0V6
FG6
OBT
BAT
32
33
34
35
36
76
E
E
Fig. 19 (a) Internal Connection Diagram
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8.1 Internal Connections
E
Base
E
3BC
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
3BC
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
P
P
P
P
P
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
For spare (X)
2BC(6X6)
E
C5
No.13CN
D5
CN1-1
CN1-2
E5
A4
B4
CN1-3
CN1-4
CN1-5
13CN-1
-2
-3
-4
14CN-1
-2
BA1
BA2
BB1
ME1
ME2
MU1
MV1
MW1
ME1
BA1
BB1
SM
S-axis
YB
No.14CN
No.15CN
CN2-1
CN2-2
A1
A2
A3
B1
B2
B3
CN2-3
CN2-4
CN2-5
CN2-6
15CN-1
-2
-3
-4
16CN-1
-2
MU1
MV1
MW1
MU2
MV2
MW2
MU2
MV2
MW2
ME2
BA2
BB2
SM
L-axis
YB
No.16CN
No.17CN
CN3-4
C1
C2
C3
2BC(6X6)
CN3-5
CN3-6
17CN-1
-2
-3
-4
18CN-1
-2
MU3
MV3
MW3
MU3
MV3
MW3
ME3
BA3
BB3
SM
U-axis
YB
No.18CN
No.19CN
CN4-1
CN4-2
D1
D2
D3
E1
E2
E3
CN4-3
CN4-4
CN4-5
CN4-6
19CN-1
-2
-3
-4
20CN-1
-2
MU4
MV4
MW4
MU5
MV5
MW5
MU4
MV4
MW4
ME4
BA4
BB4
SM
R-axis
YB
No.20CN
No.21CN
CN5-1
CN5-2
A5
A6
B6
C4
D4
E4
CN5-3
CN5-4
CN5-5
CN5-6
21CN-1
-2
-3
-4
22CN-1
-2
MU6
MV6
MW6
ME3
ME4
ME5
MU5
MV5
MW5
ME5
BA5
BB5
SM B-axis
YB
No.22CN
No.23CN
C6
CN6-1
CN6-2
E6
D6
CN6-3
CN6-4
CN6-5
CN6-6
23CN-1
-2
-3
-4
24CN-1
-2
ME6
BA3
BB4
BA4
BA5
BA6
MU6
MV6
MW6
ME6
BA6
BB6
SM T-axis
YB
No.24CN
PE
Fig. 19 (b) Internal Connection Diagram
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9.1 Inspection Schedule
9 Maintenance and Inspection
WARNING
• Before maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning 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 observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• Do not remove the motor or release the brake.
Failure to observe this caution may result in injury from unexpected turning of the manipulator’s arm.
• The battery pack must be connected before removing detection connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
9.1
Inspection Schedule
Proper inspections are essential not only to assure that the mechanism will be able to function
for a long period, but also to prevent malfunctions and assure safe operation. Inspection
intervals are classified into six levels. Conduct periodical inspections according to the
inspection schedule in " Table. 7 Inspection Items ".
In " Table. 7 Inspection Items ", the inspection items are categorized by three types of
operations: operations which can be performed by personnel authorized of the user,
operations which can be performed by personnel being trained, and operations which can be
performed by service company personnel. Only specified personnel are to do the inspection
work.
9-1
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9.1 Inspection Schedule
NOTE
• The inspection interval must be based on the servo power supply ON time.
Table. 7 Inspection Items
Inspection Charge
Schedule
Items*4
Daily
1000
H
Cycle
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Method
Operation
Clean the working
area if dust or spatter
is present.
Check for damage
and exterior cracks.
c
Working area
and whole exterior of manipulator
{
Visual
d
LU-axis joint
{
Visual
e
Manipulator
base
mounting bolts
{
Wrench
f
Cover mounting
screws
{
Phillips
screwdriver,
wrench
g
Connector base
{
Manual
Check for loose connectors.
h
LURBT-axis
timing belts
Manual
Check for belt
tension and wear.
i
{
leakage.*5
Tighten loose bolts.
Replace if necessary.
Tighten loose bolts.
Replace if necessary.
Check for conduction between the
main connector of
connector base and
Visual,
intermediate connecmultimeter tor with manually
shaking the wire.
Check for wear of
{
Wire harness in
manipulator
Check for grease
Specified
Service
Licensee
Person
Company
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
{
protective spring.*1
{
j
Battery pack in
manipulator
k
S-axis speed
reducer
l
LU-axis speed
reducer
Replace.*2
{
Replace the battery
pack when the batMultimeter tery alarm occurs or
the manipulator
drove for 36000H.
Grease
gun
{
Grease
gun
{
{
Check for malfunction. (Replace if necessary.) Supply
grease *3 (6000H
cycle). See Par.9.2.2.
Check for malfunction. (Replace if necessary.) Supply
grease *3 (6000H
cycle). See Par.9.2.3
and 9.2.4.
{
{
{
{
{
{
9-2
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9.1 Inspection Schedule
Table. 7 Inspection Items
Inspection Charge
Schedule
Items*4
Daily
R-axis speed
11
reducer
BT-axis speed
12 reducer and Taxis gear
13
1000
H
Cycle
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
{
Grease
gun
{
Grease
gun
*2
*3
*4
*5
Specified
Service
Licensee
Person
Company
Check for malfunction. (Replace if necessary.) Supply
grease *3 (6000H
cycle). See Par.9.2.4.
Check for malfunction. (Replace if necessary.) Supply
grease *3 (6000H
cycle). See Par.9.2.5.
{
{
{
{
{
Overhaul
*1
Operation
Method
{
When checking for conduction with multimeter, connect the battery pack 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 " 9.2.6 Notes for Maintenance ".)
Internal cables to be replaced at 24000H inspection.
For the grease, refer to " Table. 8 Inspection Parts and Grease Used ".
Inspection No. correspond to the numbers in " Fig. 20 Inspection Parts and Inspection Numbers ".
The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa representative.
Table. 8 Inspection Parts and Grease Used
No.
Grease Used
Harmonic Grease SK-1A
9 , 10 , 11 , 12
Inspected Parts
S-, L-, U-, R-, B- and T-axis speed
reducers,
T-axis gear
The numbers in the above table correspond to the numbers in " Table. 7 Inspection Items ".
9-3
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9.1 Inspection Schedule
11
6
12
6
12
10
6
2
6
10
7
2
9
5
2BC
3
1BC
3BC
8
Fig. 20 Inspection Parts and Inspection Numbers
9-4
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9.2 Notes on Maintenance Procedures
9.2
Notes on Maintenance Procedures
9.2.1
Battery Pack Replacement
The battery packs are installed in the two positions indicated in " Fig. 21 (a) Battery Pack
Location ".
• Battery Pack Type: HW0470360-B
If the battery alarm occurs in the NXC100, replace the battery pack in accordance with the
following procedure:
Connector base fixing screw
Connector base
2BC
1BC
3BC
Battery pack
tied with INSULOK-tie (T50R)
Fig. 21 (a) Battery Pack Location
See the step 5.
Battery pack before replacement
Connector
Circuit board
See the step 4.
New battery pack
Fig. 21 (b) Battery Pack Connection
9-5
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9.2 Notes on Maintenance Procedures
1.
2.
3.
4.
Turn the NXC100 main power supply OFF.
Remove the connector base fixing screws and pull out the connector base.
Remove the INSULOK-tie that ties the battery pack.
Connect the new battery pack to an unconnected connector.
5. Remove the old battery pack.
NOTE
Connect the new battery pack before removing the old one so that the encoder absolute
data do not disappear.
6. Tie the new battery pack with INSULOK-tie, and reinstall the connector base.
NOTE
Do not pinch the cable when the connector base is installed.
9-6
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9.2 Notes on Maintenance Procedures
9.2.2
Grease Replenishment for S-axis Speed Reducer
Si: Grease inlet
Hexagon socket head plug PT1/8
S-axis speed reducer
2BC
1BC
3BC
So: Exhaust port
Hexagon socket head plug PT1/8
Fig. 22 S-axis Speed Reducer Diagram
„
Grease Replenishment (Refer to " Fig. 22 S-axis Speed Reducer Diagram ".)
1. Remove the hexagon socket head plug PT1/8 on the So exhaust port.
NOTE
Injecting grease with the plug on increases inner pressure and may cause damage. Never
fail to remove the plug before the grease injection.
2. Remove the hexagon socket head plug PT1/8 on the Si grease inlet.
3. Install the grease zerk PT1/8 to the Si grease inlet. (The grease zerk PT1/8 is delivered
with the manipulator.)
4. Inject the grease into the Si grease inlet using a grease gun.
Grease type: Harmonic Grease SK-1A
Amount of grease: 10 cc
NOTE
The So exhaust port is used for air flow. Do not inject excessive grease into the Si grease
inlet.
5. Remove the grease zerk on the Si grease inlet and reinstall the hexagon socket head
plug PT1/8. Tighten the plug to a tightening torque of 4.9 N·m (0.5 kgf·m). Apply Three
Bond 1206C on the thread part of the plug.
6. Reinstall the hexagon socket head plug PT1/8 on the So exhaust port. Apply Three
Bond 1206C on the thread part of the plug.
9-7
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9.2 Notes on Maintenance Procedures
9.2.3
Grease Replenishment for L-axis Speed Reducer
Lo: Exhaust port
Plug
Cover
L-axis speed reducer
Li: Grease inlet
Hexagon socket head cap screw M6×6
Fig. 23 L-axis Speed Reducer Diagram
„
Grease Replenishment (Refer to " Fig. 23 L-axis Speed Reducer Diagram ".)
1. Remove the plug on the Lo exhaust port.
NOTE
Injecting grease with the plug on increases inner pressure and may cause damage. Never
fail to remove the plug before the grease injection.
2. Remove the hexagon socket head cap screw M6×6 on the Li grease inlet.
3. Install the grease zerk A-MT6×1 to the Li grease inlet. (The grease zerk A-MT6×1 is
delivered with the manipulator.)
4. Inject the grease into the Li grease inlet using a grease gun.
Grease type: Harmonic Grease SK-1A
Amount of grease: 15 cc
NOTE
The Lo exhaust port is used for air flow. Do not inject excessive grease into the Li grease
inlet.
5. Remove the grease zerk on the Li grease inlet and reinstall the hexagon socket head
cap screw M6×6. Tighten the screw to a tightening torque of 6 N·m (0.6 kgf·m). Apply
Three Bond 1206C on the thread part of the screw.
6. Reinstall the plug on the Lo exhaust port. Apply Three Bond 1206C on the thread part
of the plug.
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9.2 Notes on Maintenance Procedures
9.2.4
Grease Replenishment for Speed Reducers of U- and
R-axes
Ro: Exhaust port
Plug
R-axis speed reducer
Cover
Li: Grease inlet
Hexagon socket head
cap screw M6×6
Ri: Grease inlet
Hexagon socket head cap
screw M6×6
Uo: Exhaust port
Plug
Cover
U-axis speed reducer
Fig. 24 UR-Axis Speed Reducer Diagram
„
Grease Replenishment (Refer to " Fig. 24 UR-Axis Speed Reducer
Diagram ".)
1. Uninstall the cover to remove the plug on the Uo/Ro exhaust port.
NOTE
If grease is injected with the plug on, the grease will go inside the motor and may damage
it. Never fail to remove the plug before the grease injection.
2. Remove the hexagon socket head cap screw M6×6 on the Ui/Ri grease inlet.
3. Install the grease zerk A-MT6×1 to the Ui/Ri grease inlet. (The grease zerk A-MT6×1 is
delivered with the manipulator.)
4. Inject the grease into the Ui/Ri grease inlet using a grease gun.
Grease type: Harmonic Grease SK-1A
Amount of grease: 10 cc (Ui)
10 cc (Ri)
NOTE
The Uo/Ro exhaust port is used for air flow. Do not inject excessive grease into the Ui/Ri
grease inlet.
5. Remove the grease zerk on the Ui/Ri grease inlet and reinstall the hexagon socket
head cap screw M6×6. Tighten the screw to a tightening torque of 6 N·m (0.6 kgf·m).
Apply Three Bond 1206C on the thread part of the screw.
6. Reinstall the plug on the Uo/Ro exhaust port. Apply Three Bond 1206C on the thread
part of the plug.
9-9
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9.2 Notes on Maintenance Procedures
9.2.5
Grease Replenishment for Speed Reducers of B- and
T-axes, and T-axis Gear
T-axis speed reducer
To: Exhaust port
Plug
Ti: Grease inlet
Hexagon socket head
cap screw M6×6
Bo: Exhaust port
Plug
B-axis speed reducer
Cover
Bi: Grease inlet
Hexagon socket ehad cap screw M6×6
Fig. 25 BT-Axis Speed Reducer and T-axis Gear Diagram
„
Grease Replenishment (Refer to " Fig. 25 BT-Axis Speed Reducer
and T-axis Gear Diagram ".)
1. Uninstall the cover to remove the plug on the Bo/To exhaust port.
NOTE
Injecting grease with the plug on increases inner pressure and may cause damage. Never
fail to remove the plug before the grease injection.
2. Remove the hexagon socket head cap screw M6×6 on the Bi/Ti grease inlet.
3. Install the grease zerk A-MT6×1 to the Bi/Ti grease inlet. (The grease zerk A-MT6×1 is
delivered with the manipulator.)
4. Inject the grease into the Bi/Ti grease inlet using a grease gun.
Grease type: Harmonic Grease SK-1A
Amount of grease: 10 cc (Bi)
5 cc (Ti)
NOTE
The Bo/To exhaust port is used for air flow. Do not inject excessive grease into the Bi/Ti
grease inlet.
5. Remove the grease zerk on the Bi/Ti grease inlet and reinstall the hexagon socket
head cap screw M6×6. Tighten the screw to a tightening torque of 6 N·m (0.6 kgf·m).
Apply Three Bond 1206C on the thread part of the screw.
6. Reinstall the plug on the Bo/To exhaust port. Apply Three Bond 1206C on the thread
part of the plug.
9-10
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9.2 Notes on Maintenance Procedures
9.2.6
„
Notes for Maintenance
Battery Pack Connection
The connectors (crimped contact-pin) for the battery backup are installed at the end point of
the motors (marked as BAT and OBT). Connect the battery pack according to the following
procedure.
1. Connect the battery packs (HW9470932-A) with the battery backup connectors located
at the end point of the cables for the encoder. (Under this condition, remove the
encoder connector and carry out the maintenance checks).
2. After the maintenance check, verify that all the connectors are connected and remove
the battery pack.
NOTE
Do not remove the battery pack in the connector base.
Encoder
Motor
Motor cable, etc.
Wire harness
in manipulator
Power connector
Connection
0BT
a
BAT
b
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Encoder connector
b
0BT
a
BAT
Battery pack
(HW9470932-A)
CAUTION label
0BT
a
b
0BT
BAT
b
a
BAT
CAUTION label (Enlarged view)
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder
to save the data before
removing conector.
Fig. 26 Encoder Connector
9-11
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10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the MOTOMAN-HP3J. The spare parts list for the MOTOMAN-HP3J is shown below.
Check the serial number and contact your Yaskawa representative for preparing lead wires for
internal wiring, etc.
Product performance can not be guaranteed when using spare parts from any company other
than Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
NOTE
To replace parts in Rank B or Rank C, be sure to contact your Yaskawa representative.
Table. 9 Spare Parts for the MOTOMAN-HP3J
Manufacturer
Qty
Qty
per
Unit
Harmonic Grease
SK-1A
Harmonic Drive
System Co., Ltd.
2.5 kg
-
HW0470360-B
Yaskawa Electric
Corporation
1
1
1
1
Three Bond
Co.,Ltd.
-
-
060S3M255
Mitsuboshi Belting Limited
1
1
U-axis Timing Belt
060S3M318
Mitsuboshi Belting Limited
1
1
6
R-axis Timing Belt
060S3M207
Mitsuboshi Belting Limited
1
1
B
7
B-axis Timing Belt
060S3M276
Mitsuboshi Belting Limited
1
1
B
8
T-axis Timing Belt
060S3M312
Mitsuboshi Belting Limited
1
1
B
9
S-axis
Speed Reducer
HW0385336-A
Yaskawa Electric
Corporation
1
1
B
10
L-axis
Speed Reducer
HW0385337-A
Yaskawa Electric
Corporation
1
1
Rank
Parts
No.
A
1
Grease
A
2
Battery Pack
A
3
Liquid Gasket
Three Bond 1206C
B
4
L-axis Timing Belt
B
5
B
Name
Type
HW9470932-A
Remarks
10-1
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48/50
HW0483547
Table. 9 Spare Parts for the MOTOMAN-HP3J
Manufacturer
Qty
Qty
per
Unit
HW0385338-A
Yaskawa Electric
Corporation
1
1
R-axis
Speed Reducer
HW0385323-A
Yaskawa Electric
Corporation
1
1
13
B-axis
Speed Reducer
HW0385324-A
Yaskawa Electric
Corporation
1
1
B
14
T-axis
Speed Reducer
HW0385325-A
Yaskawa Electric
Corporation
1
1
B
15
AC Servomotor for
SLU-axes
HW0384674-A
SGMAH-A8A2AYR1*
Yaskawa Electric
Corporation
1
3
With brake and
lead terminal
treatment
C
16
AC Servomotor for
RBT-axes
HW0384690-A
SGMAH-A3A2AYR1*
Yaskawa Electric
Corporation
1
3
With brake and
lead terminal
treatment
C
17
Wire Harness in
Manipulator
HW0172731-A
Yaskawa Electric
Corporation
1
1
Rank
Parts
No.
B
11
U-axis
Speed Reducer
B
12
B
Name
Type
Remarks
10-2
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MOTOMAN-HP3J
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686
Fax
1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800
Fax
46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377
Fax
60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003
Fax
886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C
Printed in Japan July 2006 06-07
MANUAL NO.
HW0483547
50/50
RE-MTO-A235
9.2 Notes on Maintenance Procedures
9.2.6
Notes for Maintenance
Connect the battery with reference to the following figure before removing the encoder connector (with WARNING label).
Motor
Encoder
Motor cable, etc.
Power connector
Internal
cable
b
a
Connect battery to encoder
to save the data bofore
removing connector.
0BT
BAT
a
b
Encoder connector
WARNING label
a: Insertion-type pin terminal (female)
b: Insertion-type pin terminal (male)
0BT
BAT
a
b
b
a
0BT
BAT
Connection Diagram
WARNING Label Enlarged View
Connect battery to encoder
to save the data bofore
removing connector.
Fig. 26 Encoder Connector Diagram
9-11
0BT
BAT
Battery
RE-MTO-A235
9.2 Notes on Maintenance Procedures
9-12
RE-MTO-A235
10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the MOTOMAN-UPJ. The spare parts list for the MOTOMAN-UPJ is shown below. Product
performance cannot be guaranteed when using spare parts from any company other than
Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
NOTE
For replacing parts in Rank B or Rank C, contact your Yaskawa representative.
Table. 8 Spare Parts for the MOTOMAN-UPJ
Rank
Parts
No.
A
1
A
2
Name
Type
Manufacturer
Qty
Qty
per
Unit
2.5kg
-
1
1
Grease
Harmonic Grease
SK-1A
Harmonic Drive
System Co, Ltd.
Battery
HW9470917-B
Yaskawa Electric
Corporation
For SLU-axes
HW9470917-A
B
3
B
4
B
5
B
6
B
7
B
8
Remarks
For RBT-axes
L-axis Timing Belt
060S3M249
Mitsuboshi Belting Limited
1
1
U-axis Timing Belt
060S3M318
Mitsuboshi Belting Limited
1
1
R-axis Timing Belt
060S3M213
Mitsuboshi Belting Limited
1
1
B-axis Timing Belt
060S3M273
Mitsuboshi Belting Limited
1
1
T-axis Timing Belt
060S3M300
Mitsuboshi Belting Limited
1
1
Gear
HW9381785-A
Yaskawa Electric
Corporation
1
1
HW9381786-A
B
9
S-axis
Speed Reducer
HW9381718-A
Yaskawa Electric
Corporation
1
1
B
10
L-axis
Speed Reducer
HW9381719-A
Yaskawa Electric
Corporation
1
1
B
11
U-axis
Speed Reducer
HW9381720-A
Yaskawa Electric
Corporation
1
1
10-1
Only for YRUPJ3-B00
RE-MTO-A235
Table. 8 Spare Parts for the MOTOMAN-UPJ
Manufacturer
Qty
Qty
per
Unit
HW9381721-A
Yaskawa Electric
Corporation
1
1
B-axis
Speed Reducer
HW9381726-A
Yaskawa Electric
Corporation
1
1
T-axis
Speed Reducer
HW9381727-A
Yaskawa Electric
Corporation
1
1
S-, L-, and U-axis
AC Servomotors
HW9381714-A
15
Yaskawa Electric
Corporation
1
3
With brake, lead
terminal treatment completion
16
(R-,) B-, and T-axis
AC Servomotors
HW9381716-A
C
Yaskawa Electric
Corporation
1
2
With brake, lead
terminal treatment completion
C
17
Internal Cable
HW0170338-A
Yaskawa Electric
Corporation
1
1
C
18
B- and T-axis
Internal Cable
HW0270114-A
Yaskawa Electric
Corporation
1
1
Rank
Parts
No.
B
12
R-axis
Speed Reducer
B
13
B
14
B
Name
Type
10-2
Remarks
Only for YRUPJ3-B00
Only for YRUPJ3-B00
RE-MTO-A235
11.1 S-axis Driving Unit
11 Parts List
11.1 S-axis Driving Unit
2056
1026
1027
1004
1054
1055
1012
1049
1053
1043
1044
1011
1051
1052
1046
1042
1050
1048
1041
1047
1045
1001
1040
1002
1032
1029
1037
1038
1006
1005
1003
1033
1030
1031
1008
1009
1007
1033
1039
5007
1013
1014
1015
5010
5010
5011 5002
5011
5002
5009
1016
5001
5001
1017
11-1
RE-MTO-A235
11.1 S-axis Driving Unit
No.
DWG No.
Name
Pcs
1001
M3 × 20
Socket screw
1
1002
2H-3
Spring washer
1
1003
UE10257
Oil seal
1
1004
HW0100064-1
S head
1
1005
M3 × 30
Socket screw
12
1006
2H-3
Spring washer
12
1007
M4 × 20
Socket screw
2
1008
2H-4
Spring washer
2
1009
F6-M5MS
Plug
1
1011
M6 × 10
Socket screw
1
1012
2H-6
Spring washer
1
1013
HW0100061-1
Base
1
1014
HW9381714-A
Motor
1
1015
GT-SA M4 × 10
Socket screw
2
1016
HW0400655-1
Cover
1
1017
M 4×10
Cross recessed
head screw
4
1026
HW0400654-1
Cover
1
1027
M 4×10
Cross recessed
head screw
4
1029
HW9381718-A
Reduction gear
1
1030
GT-SA M4 × 16
Socket screw
8
1031
HW0400653-1
M base
1
1032
HW9406341-1
Support
1
1033
M4 × 8
APS bolt
4
1037
HW9406328-2
N base
1
1038
M4 × 8
APS bolt
4
1039
M 4×10
Cross recessed
head screw
4
1040
HW0400657-1
Support
1
1041
GT-SA M4 × 10
Socket screw
2
1042
CD-12
Saddle
1
1043
M5 × 6
APS bolt
2
1044
M5 Washer
Washer
2
1045
TA1-S8
Clamp
1046
M4 × 8
Round head
screw
1
1047
T50R
Insulok’tie
1
1048
HW0400657-2
Support
1
1049
GT-SA M4 × 10
Socket screw
2
1050
CD-12
Saddle
1
1051
M5 × 6
APS bolt
2
1052
M5 Washer
Washer
2
1053
TA1-S8
Clamp
1
1054
M4 × 8
Round head
screw
1
1
1055
T50R
Insulok’tie
2056
LP-M5
Plug
1
5001
CD-15
Saddle
2
5002
M5 × 8
Round head
screw
4
5007
HW9302878-1
Connector base
1
5009
TA1-S8
Clamp
2
5010
M4 × 8
Round head
screw
2
5011
T50R
Insulok’tie
2
11-2
RE-MTO-A235
11.2 L-axis Driving Unit
11.2 L-axis Driving Unit
2023
2015
2043
2044
2015
2038
2045
2037
2001
2039
2042
2036
2035
2040
2042
2034
2032
2042
2041
2058
2023
2002
2033
2029
2030
2057
2059
2028
2013
2016
2031
2014
2058
2017
2017
2016
2027
2020
2057
2002
2025
2024
2013
2022
2014
2019
2020
2009
2018
2026
2010
2008
2021
11-3
RE-MTO-A235
11.2 L-axis Driving Unit
No.
DWG No.
Name
Pcs
2001
GT-SA M5 × 10
Socket screw
2
2002
HW9481967-A
Sheet
1
2008
A-MT6 × 1
Grease nipple
1
2009
HW9482887-A
Pulley
1
2010
GT-SA M4 × 12
Socket screw
1
2013
HW9482888-A
Pulley
2
2014
GT-SA M4 × 12
Socket screw
2
2015
HW0200090-1
Cover
2
2016
HW9406271-1
M base
2
2017
GT-SA M4 × 12
Socket screw
4
2018
06S3M249
Belt
1
2019
HW9406283-1
Housing
1
2020
6900ZZ
Bearing
2
2021
GT-SA M4 × 12
Socket screw
4
2022
GT-SA M4 × 12
Socket screw
12
2023
M 4×10
Cross recessed
head screw
12
2024
HW9381719-A
Reduction gear
1
2025
6916DDU
Bearing
1
2026
GT-SA M4 × 12
Socket screw
12
2027
6913DDU
Bearing
1
2028
HW9406255-1
Housing
1
2029
HW010060-1
L arm
1
2030
GT-SA M4 × 12
Socket screw
6
2031
GT-SA M4 × 10
Socket screw
2
2032
GT-SA M4 × 10
Socket screw
2
2033
HW0400658-1
Plate
1
2034
M5
Washer
2
2035
M5 × 6
APS bolt
2
2036
CD-22
Saddle
1
2037
M4 × 8
Round head
screw
1
2038
T50R
Insulok’tie
1
2039
TA1-S8
Clamp
1
2040
GT-SA M4 × 10
Socket screw
2
2041
HW0400659-1
Plate
1
2042
M6 × 6
Bolt
3
2043
M4
Washer
2
2044
CD-16
Sddle
1
2045
M4 × 8
APS bolt
2
2057
HW9381714-A
Motor
2
2058
GT-SA M4 × 10
Socket screw
4
2059
06S3M318
Belt
1
11-4
RE-MTO-A235
11.3 Wrist Unit
11.3 Wrist Unit
3049
3062
3001
2055
3063
3061
3066
3065
3007
3064
3003
3009
3067
2060
3005
3046
3068
3047
3053
3006
3052
3048
3056
3057
3055
3058
3052
3053
3031
3032
3043
3041
3060
3059
3008
3030
3050
3033
3032
3037
3068
3039
3038
3040
3036
3030
3031
3051
3067
3061
3013
3020
3021
3064
3065
3062
3042
3035
3069
3063
3012
3044
3034
3028
3014
3011
3045
3029
3070
3018
3004
3019
3027
3028
3025
3024
2049
3022
3026
3015
3017
3010
3016
2048
3054
3010
3054
11-5
RE-MTO-A235
11.3 Wrist Unit
No.
DWG No.
Name
Pcs
2048
HW9201033-1
Cover
1
2049
M 4×10
Cross recessed
head screw
4
2055
HW9101029-1
U Arm
1
No.
DWG No.
Name
Pcs
3056
M4 × 8
Round head
screw
3057
T30R
Insulok’tie
1
3058
HW9406288-1
Support
1
2
1
2060
LP-M5
Plug
1
3059
M3 × 8
Socket screw
3001
HW9406305-1
Connector base
1
3060
2H-4
Spring washer
1
3003
M 4×10
Cross recessed
head screw
3
3061
HW9406286-1
M base
2
GT-SA M4 × 10
3062
M4 × 12
Socket screw
4
3004
Socket screw
4
GT-LH M4
Washer
4
3005
GT-SA M4 × 12
3063
Socket screw
1
3064
HW9482888-A
Pulley
2
3006
HW9406259-1
B cover
1
3065
GT-SA M3 × 12
Socket screw
2
3007
GT-SA M4 × 10
Socket screw
4
3066
HW9481967-A
Seat
1
3008
HW9406256-1
Housing
1
HW9381716-A
Motor
2
3009
GT-SA M4 × 10
3067
Socket screw
6
3068
GT-SA M4 × 10
Socket screw
4
3010
M 4×10
Cross recessed
head screw
10
3069
LP-M5
Plug
1
3058
HW9406288-1
Support
1
3059
M3 × 8
Socket screw
2
3070
M6×6
H set screw
1
3011
S60
O ring
1
3012
HW9381786-A
Gear
1
3013
GT-SA M3 × 10
Socket screw
6
3014
SP-0090
Sim
1
3015
HW9380739-A
Bearing
1
3016
HW9406262-1
B nut
1
3017
AB2551E0
Oil seal
1
3018
GT-SA M4 × 10
Socket screw
6
3019
2H-4
Spring washer
6
3020
M4 × 20
Socket screw
1
3021
2H-4
Spring washer
1
3022
HW9302842-1
Frange
1
3024
HW9406257-1
Housing
1
3025
HW9106260-1
Housing
1
3026
HW9406266-1
B nut
1
3027
HW9381727-A
Reduction gear
1
3028
6803ZZ
Bearing
2
3029
HW9302841-1
Housing
1
3030
6809DDU
Bearing
2
3031
AD526808
Oil seal
2
3032
6803ZZ
Bearing
2
3033
HW9381726-A
Reduction gear
1
3034
M4 × 20
Socket screw
6
3035
2H-4
Spring washer
6
3036
A-MT6
Grease nipple
1
3037
HW9483147-A
Pulley
1
3038
M4 × 20
Socket screw
1
3039
2H-4
Spring washer
1
3040
HW9406261-A
Housing
1
3041
GT-SA M4 × 10
Socket screw
4
3042
HW9406260-1
Housing
1
3043
GT-SA M4 × 10
Socket screw
6
3044
060S3M273
Belt
1
3045
HW9481967-A
Seat
1
3046
HW9483146-A
Pulley
1
3047
HW8481521-A
Bearing
1
3048
HW9381785-A
Gear
1
3049
06S3M300
Belt
1
3050
LP-M5
Plug
1
3051
HW9302840-1
Wrist base
1
3052
HW0400664-A
Block
2
3053
GT-SA M4 × 16
Socket screw
4
3054
HW9201039-1
Cover
2
3055
TA1-S8
Clamp
1
11-6
RE-MTO-A235
11.4 U(R)-axis Driving Unit
11.4 U(R)-axis Driving Unit
4015
4008
4010
4011
4020
4004
4019
4002
4017
4006
4003
4018
4016
4022
4005
4009
4012
4029
4013
4027
4026
4030
4007
4025
4028
4024
4023
4021
4001
4014
2030
2028
2027
2004
2003
2005
2007
2006
2007
2012
2011
2010
2009
2008
2051
2050
2052
2053
2046
2047
11-7
2053
RE-MTO-A235
11.4 U(R)-axis Driving Unit
No.
DWG No.
Name
Pcs
2003
GT-SA M3 × 12
Socket screw
12
2004
6913DDU
Bearing
1
2005
GT-SA M4 × 12
Socket screw
8
2006
GT-SA M4 × 12
Socket screw
4
2007
6900ZZ
Bearing
2
2008
A-MT6 × 1
Grease nipple
1
2009
HW9482887-A
Pulley
1
2010
GT-SA M4 × 12
Socket screw
1
2011
HW9406282-1
Housing
1
1
2012
HW9381720-A
Reduction gear
2027
6913DDU
Bearing
1
2028
HW9406255-1
Housing
1
2030
GT-SA M4 × 12
Socket screw
6
2046
HW9302859-A
Support
1
2047
GT-SA M4 × 10
Socket screw
2
2050
M5
Washer
1
2051
M5 × 8
APS bolt
1
2052
CH-16
Saddle
1
2053
T50R
Insulok’tie
2
Following parts are applied only for YR-UPJ3-B00.
4001
GT-SA M3 × 10
Socket screw
4002
GT-SA M3 × 1 0
Socket screw
8
4003
HW9406275-1
B cover
1
4004
GT-SA M3 × 12
Socket screw
12
4005
GT-SA M3 ×1 0
Socket screw
6
4006
HW9406276-1
B cover
1
4007
M6 × 6
H set screw
1
4008
HW9406278-1
Washer
1
4009
HW9406285-A
Pipe
1
1
1
4010
HW9482967-1
Pulley
4011
HW9406279-1
Frange
1
4012
M4 × 16
Socket screw
6
4013
GT-LH-4
Spring washer
6
4014
HW9101025-1
Casing
1
4015
GT-SA M3 ×1 0
Socket screw
3
4016
GT-SA M3 × 12
Socket screw
2
4017
6806LLU
Bearing
1
4018
HW9482970-A
Bearing
1
4019
HW9381721-A
RV reduction
gear
1
4020
6808LLU
Bearing
1
4021
06S3M213
Belt
1
4022
GT-SA M3 × 10
Socket screw
1
4023
ST-SA M3 × 12
Socket screw
1
4024
HW9483148-A
Pulley
1
4025
GT-SA M3 × 10
Socket screw
2
4026
HW9481716-A
Motor
1
4027
HW9481967-B
Seat
1
4028
HW9481967-A
Seat
1
4029
HW9101031-1
U arm
1
4030
LP-M5
Plug
1
11-8
MOTOMAN-UPJ
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686
Fax
1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800
Fax
46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377
Fax
60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003
Fax
886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C
MANUAL NO. RE-MTO-A235 1
Printed in Japan June 2006 01-5