YASKAWA ms80w User Manual
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YASKAWA ms80w User Manual

YASKAWA ms80w User Manual

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MOTOMAN-MS80W
INSTRUCTIONS
TYPE: YR-MS0080W-A00 (STANDARD SPECIFICATION)
TYPE:
YR-MS0080W-A01
(WITH LIMIT SWITCHES FOR SLU-AXES SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MS80W INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
159328-1CD
Revision:
1
MANUAL NO.
HW1480497
1/72
1

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  • Page 1 (WITH LIMIT SWITCHES FOR SLU-AXES SPECIFICATION) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MS80W INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 Operator’s manual above corresponds to specific usage.
  • Page 2 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.
  • Page 3 159328-1CD MS80W Manipulator Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MS80W. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous...
  • Page 4 159328-1CD MS80W Manipulator WARNING • Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the front door of the DX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 5 Read and understand the Explanation of Warning Labels in the DX100 instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant and supply cables.
  • Page 6 159328-1CD MS80W Manipulator 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.

  • Page 7: Table Of Contents

    159328-1CD MS80W Manipulator Table of Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation ....................1-2 2 Transport............................2-1 2.1 Transport Method ......................2-1 2.1.1 Using a Crane ...................... 2-2 2.1.2 Using a Forklift...................... 2-3 2.2 Shipping Bolts and Brackets....................
  • Page 8 159328-1CD MS80W Manipulator Table of Contents 7 System Application.......................... 7-1 7.1 Peripheral Equipment Mounts.................... 7-1 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications ....7-2 8 Electrical Equipment Specification ....................8-1 8.1 Position of Limit Switch ...................... 8-1 8.1.1 Specification of Limit Switch .................
  • Page 9 159328-1CD MS80W Manipulator Table of Contents 11 Parts List ............................. 11-1 11.1 S-Axis Unit ........................11-1 11.2 L-Axis Unit ........................11-3 11.3 U-Axis Unit........................11-5 11.4 R-, B-, T-Axis Unit......................11-7 11.5 Wrist Unit ........................11-10 HW1480497 9/72...

  • Page 10: Product Confirmation

    159328-1CD MS80W Manipulator Product Confirmation 1.1 Contents Confirmation Product Confirmation CAUTION • Confirm that the manipulator and the DX100 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.

  • Page 11: Order Number Confirmation

    159328-1CD MS80W Manipulator Product Confirmation 1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the DX100. The order number is indicated on a label as shown below. Fig. 1-1: Location of Order Number Labels...

  • Page 12: Transport

    159328-1CD MS80W Manipulator Transport 2.1 Transport Method Transport 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 transport.

  • Page 13: Using A Crane

    159328-1CD MS80W Manipulator Transport 2.1 Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with a four-leg bridle sling using the shipping bolts and brackets when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig.2-1 Transport Using a Crane.

  • Page 14: Using A Forklift

    159328-1CD MS80W Manipulator Transport 2.1 Transport Method 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in Fig.2-2 Transport Using a Forklift. Insert forks under the pallet and lift it. The pallet must be strong enough to support the manipulator.

  • Page 15: Shipping Bolts And Brackets

    159328-1CD MS80W Manipulator Transport 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at positions shown in Fig. 2-1 Transport Using a Crane on page 2-2. • The shipping bolts and brackets are painted yellow.

  • Page 16: Installation

    159328-1CD MS80W Manipulator Installation Installation WARNING • Install the safeguarding. Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

  • Page 17: Installation Of Safeguarding

    159328-1CD MS80W Manipulator Installation 3.1 Installation of Safeguarding Installation of Safeguarding To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO 10218)
  • Page 18 159328-1CD MS80W Manipulator Installation 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting the Manipulator on the 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.

  • Page 19: Ip (International Protection)

    159328-1CD MS80W Manipulator Installation 3.3 IP (International Protection) IP (International Protection) For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67. Location When installing a manipulator, it is necessary to satisfy the following environmental conditions.

  • Page 20: Wiring

    159328-1CD MS80W Manipulator Wiring 4.1 Grounding Wiring WARNING Ground resistance must be 100  or less. • Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn OFF the primary power supply, and put up a warning sign.

  • Page 21: Cable Connection

    159328-1CD MS80W Manipulator Wiring 4.2 Cable Connection Cable Connection Two manipulator cables are delivered with the manipulator: an encoder cable (1BC) and a power cable (2BC). (Refer to Fig.4-2 Manipulator Cables.) Connect these cables to the connectors on the manipulator connector base and the DX100 board connectors.
  • Page 22 159328-1CD MS80W Manipulator Wiring 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connection (Manipulator Side) OUT1 OUT2 OUT1 OUT2 Fig. 4-3(b): Manipulator Cable Connection (DX100 Side) HW1480497 22/72...

  • Page 23: Basic Specifications

    159328-1CD MS80W Manipulator Basic Specifications 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications ITem Model MOTOMAN-MS80W Structure Vertically Articulated Degree of Freedom Payload 80 kg Repeatability ±0.07 mm Range of Motion S-Axis (turning) -180180 -90 155 L-Axis (lower arm) U-Axis (upper arm) -185160...

  • Page 24: Part Names And Working Axes

    159328-1CD MS80W Manipulator Basic Specifications 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Upper arm (U-arm) Wrist Wrist flange Lower arm (L-arm) Rotary head (S-head ) Base Manipulator Base Dimensions Fig.

  • Page 25: Dimensions And P-Point Maximum Envelope

    159328-1CD MS80W Manipulator Basic Specifications 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope P-point maximum envelope 1025 P-point 2236 3803 HW1480497 25/72...

  • Page 26: Alterable Operating Range

    Alterable Operating Range The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Fig.5-2 S-Axis Operating Range. If alteration is necessary, contact your Yaskawa representative in advance. Table 5-2: S-Axis Operating Range Item...

  • Page 27: Notes On The S-Axis Mechanical Stopper Installation

    159328-1CD MS80W Manipulator Basic Specifications 5.5 Alterable Operating Range 5.5.2 Notes on the S-Axis Mechanical Stopper Installation Mount the collar (drawing No. HW9405785-1) to the hexagon socket head screws M20 (length: 40 mm) (Tensile strength: 1200N/mm ). Then, as shown in Fig. 5-4 S-Axis Mechanical Stopper on page 5-4, mount the S-axis mechanical stopper to the S-head using the collar with the screws with the tightening torque of 167 N•m (17 kgf•m).

  • Page 28: Alteration Of The S-Axis Pulse Soft Limit

    159328-1CD MS80W Manipulator Basic Specifications 5.5 Alterable Operating Range 5.5.3 Alteration of the S-Axis Pulse Soft Limit When limiting the S-axis range of motion, alter the parameter from the programming pendant by referring to the DX100 INSTRUCTIONS (162536-1CD). Pulse limit (positive (+) direction of the S-axis): S1CxG400 Pulse limit (negative (-) direction of the S-axis): S1CxG408 0...

  • Page 29: Allowable Load For Wrist Axis And Wrist Flange

    159328-1CD MS80W Manipulator Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load The allowable wrist load is 80 kg. As shown in Table 6-1 Allowable Wrist Load, the moment of each axis is restricted.

  • Page 30: Wrist Flange

    Fig.6-2 Moment Arm Rating. The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative beforehand when only moment of inertia, or load moment is small and moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative beforehand.

  • Page 31: System Application

    159328-1CD System Application MS80W Manipulator 7.1 Peripheral Equipment Mounts System Application Peripheral Equipment Mounts The peripheral equipment mounts are provided on the U-axis (upper arm) as shown in Fig. 7-1 Installing Peripheral Equipment on page 7-1 for easier installation of the users’s system applications. The following conditions shall be observed to attach or install peripheral equipment.

  • Page 32: Internal User I/O Wiring Harness And Air Lines For User's System Applications

    159328-1CD System Application MS80W Manipulator 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications Internal User I/O Wiring Harness and Air Lines for User’s System Applications Internal user I/O wiring harness, encoder or power cables for external...
  • Page 33 159328-1CD System Application MS80W Manipulator 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Lines for User’s applications Connector for the external axis power cable:...
  • Page 34 159328-1CD System Application MS80W Manipulator 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications Fig. 7-3: Details of the Connector Pin Numbers Pin Used Internal user I/O wiring harness: 0.5 mm , 23 wires Pin Details for Internal User I/O Wiring Harness Connectors 0.2mm...

  • Page 35: Electrical Equipment Specification

    In case of re-adjusting the operating range of each subject axis, it is also required to change the dog location and limit NOTE values in software. Contact your Yaskawa representative if re-adjustment is required. 8.1.2 Location of Limit Switch The limit switch is optional. For the S-, L-, and U-axes with limit switch specifications, the limit switch is located on S-, L-, and U-axis respectively.

  • Page 36: Setting Of Operation Range

    159328-1CD MS80W Manipulator Electrical Equipment Specification 8.1 Position of Limit Switch 8.1.3 Setting of Operation Range 8.1.3.1 S-Axis Operation Range By the S-axis limit switch, S-axis operation range can be set to those ranges mentioned in Table 5-2 S-Axis Operating Range on page 5-4.
  • Page 37 NOTE For the limit switch specification, the connection of the section differ as follows. S-axis Overrun L.S. Connected to S-axis Overrun L.S. Connected to 0BAT11 0BAT1 S-axis with Limit Switches Specification BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 S-axis Overrun L.S. Connected to BAT3 0BAT21...
  • Page 38 S1(24-28) No.8CN(24-28) SP10 SP11 SP12 SP13 SP14 SP15 SP16 SP17 SP18 SP19 SP20 SP21 SP22 SP23 2BC(8X4+12X2) Ground wire CN1-1 CN1-1 CN1-2 CN1-2 CN1-3 No.9CN CN1-3 9CN-A CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 CN5-1 S-AXIS CN5-1 CN5-2 CN5-2 CN6-1 CN6-1 CN6-2 CN6-2 CN1-7...

  • Page 39: Maintenance And Inspection

    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, and do not release the brake. Failure to observe this caution may result in injury from unexpected turning of the manipulator’s arm.
  • Page 40 Table 9-1: Inspection Items (Sheet 1 of 2) Items Schedule Method Operation Inspection Charge Alignment marks Visual Check alignment mark accordance and damage at the home position. • • • • External cables Visual Check for damage and deterioration. • •...
  • Page 41 1 Inspection No. correspond to the numbers in Fig. 9-1 Inspection Parts and Inspection Numbers on page 9-4. 2 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.
  • Page 42 Fig. 9-1: Inspection Parts and Inspection Numbers S-axis B-axis Note: R-axis This figure shows the standard specification T-axis manipulator in the home position. U-axis L-axis 42/72...
  • Page 43 159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.1 Inspection Schedule Table 9-2: Inspection Parts and Grease Used Grease Used Inspected Parts 13, 14, 15, 16 Molywhite RE.No.00 Speed reducers for all axes B-, T-axis gears Numbers in the above table correspond to the numbers in the Table 9-1 Inspection Items.

  • Page 44: Notes On Maintenance Procedures

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery packs (type: HW0470360-A) are installed in the position shown in Fig.9-2 Battery Location. If a battery alarm occurs in the DX100, replace the battery in accordance with the following procedures: Fig.
  • Page 45 159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.2 Notes on Maintenance Procedures Fig. 9-3: Battery Connection Battery pack before replacement See step 5 below. Connector Board See step 4 below. New battery pack (HW0470360-A) 1. Turn OFF the DX100 main power supply.

  • Page 46: Notes On Grease Replenishment/Exchange Procedures

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following notes may result in damage to motor and speed reducer.

  • Page 47: Grease Exchange

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 3. Inject grease through the grease inlet using a grease gun. – Grease type: Molywhite RE.No.00 – Amount of grease: 520 cc (1040 cc for 1st supply) –...

  • Page 48: Grease Replenishment/Exchange For L-Axis Speed Reducer

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 7. Remove the grease zerk from the grease inlet and reinstall the plug PT1/4. Apply Three Bond 1206C to the thread part of the plug, and •...
  • Page 49 159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.2.2 Grease Exchange (Refer to Fig. 9-5 L-Axis Speed Reducer on page 9-10.) 1. Tilt the L-arm vertical to the ground. 2. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.

  • Page 50: Grease Replenishment

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-6: U-Axis Speed Reducer U arm Grease exhaust port (Hexagon socket head plug PT3/8) Grease inlet (Hexagon socket head plug PT1/8) U-axis speed reducer 9.3.3.1 Grease Replenishment (Refer to Fig.9-6 U-Axis Speed...
  • Page 51 159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8 on the grease exhaust port. Apply Three Bond 1206C to the thread • part of the plug, and tighten the plug with a tightening torque of 23 N •...

  • Page 52: Grease Replenishment

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer Fig. 9-7: R-Axis Speed Reducer Grease exhaust port R-axis speed reducer (Hexagon socket head plug PT3/8) U-arm Grease inlet (Hexagon socket head plug PT1/8) 9.3.4.1 Grease Replenishment (Refer to Fig.9-7 R-Axis Speed...

  • Page 53: Grease Exchange

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.4.2 Grease Exchange (Refer to Fig. 9-7 R-Axis Speed Reducer on page 9-14.) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port. • If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 54: Grease Replenishment/Exchange For B- And T-Axis Speed Reducers And Gears

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.5 Grease Replenishment/Exchange for B- and T-Axis Speed Reducers and Gears Fig. 9-8: B- and T-Axis Speed Reducers and Gears Grease exhaust port (Hexagon socket head plug PT1/8)

  • Page 55: Grease Exchange

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.5.2 Grease Exchange (Refer to Fig. 9-8 B- and T-Axis Speed Reducers and Gears on page 9-16.) 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.

  • Page 56: Notes For Maintenance

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.6 Notes for Maintenance When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.

  • Page 57: Hw1480497

    159328-1CD MS80W Manipulator 9 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures Fig. 9-9: Encoder Connector Diagram Motor Motor power connector Encoder connector 0BT* BAT* HW9470932-A (Battery pack) Connector for battery back-up a: Crimped contact-pin (pin) b: Crimped contact-pin (socket)

  • Page 58: Recommended Spare Parts

    • Rank B: Parts for which replacement may be necessary as a result of frequent operation • Rank C: Drive Unit For replacing parts in Rank B or Rank C, contact your NOTE Yaskawa representative. Table 10-1: Spare Parts for the MOTOMAN-MS80W (Sheet 1 of 2) Rank Parts Name Type Manufacturer Remarks...
  • Page 59 159328-1CD MS80W Manipulator Recommended Spare Parts Table 10-1: Spare Parts for the MOTOMAN-MS80W (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit AC Servomotor for SGMRV-20ANA-YR11 Yaskawa U-axis HW0388668-A AC Servomotors SGMRV-09ANA-YR11 Yaskawa for R-, B-, and T-...

  • Page 60: Parts List

    159328-1CD MS80W Manipulator Parts List 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1013 1014 1002 1010 1011 1005 1009 1021 1007 1022 1008 1003 1001 1004 1012 11-1 HW1480497 60/72...
  • Page 61 159328-1CD MS80W Manipulator Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1001 HW0387752-A Speed reducer 1002 SGMRV-30ANA-YR1* Motor 1003 HW9404486-1 Shaft 1004 HW0400405-1 Mechanical Stopper 1005 6310 Bearing 1007 M8X45 Socket screw 1008 2H-8 Spring washer...

  • Page 62: L-Axis Unit

    159328-1CD MS80W Manipulator Parts List 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2011 2012 2002 2005 2010 2007 2020 2006 2008 2021 2004 2015 1009 2003 2001 2022 2014 2019 2013 2018 2009 2017 2016 11-3 HW1480497...
  • Page 63 159328-1CD MS80W Manipulator Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit DWG No. Name 2001 HW9381465-A Speed reducer 2002 SGMRV-44ANA-YR2* Motor 2003 G270 O ring 2004 EZ0094-A0 Air breather 2005 Y507212.5 Oil seal 2006 HW0409103-1 Gear 2007 HW9481343-A Shaft...

  • Page 64: U-Axis Unit

    159328-1CD MS80W Manipulator Parts List 11.3 U-Axis Unit 11.3 U-Axis Unit Fig. 11-3: U-Axis Unit 3010 3001 3018 3019 2009 3017 3016 2010 2012 2011 3003 3015 3014 3009 3008 3002 3005 3004 3011 3006 3013 3012 11-5 HW1480497 64/72...
  • Page 65 159328-1CD MS80W Manipulator Parts List 11.3 U-Axis Unit Table 11-3: U-Axis Unit DWG No. Name 3001 HW0387753-A Speed reducer 3002 SGMRV-20ANA-YR1* Motor 3003 G195 O ring 3004 Y426012.5 Oil seal 3005 HW9405257-1 Collar 3006 M8X30 GT-SA bolt 3008 M10X40 Socket screw...

  • Page 66: R-, B-, T-Axis Unit

    159328-1CD MS80W Manipulator Parts List 11.4 R-, B-, T-Axis Unit 11.4 R-, B-, T-Axis Unit Fig. 11-4: R-, B-, T-Axis Unit 4018 4006 4020 4045 4024 4016 4019 4025 4001 4033 4044 4031 4029 4028 4037 4037 4007 4036 4013...
  • Page 67 159328-1CD MS80W Manipulator Parts List 11.4 R-, B-, T-Axis Unit Table 11-4: R-, B-, T-Axis Unit (Sheet 1 of 2) DWG No. Name 4001 HW0387754-A Speed reducer 4002 SGMRV-09ANA-YR1* Motor 4003 AC1306-G00X6 Oil seal 4004 TC20367*FKM* Oil seal 4005 ISTW-17...
  • Page 68 159328-1CD MS80W Manipulator Parts List 11.4 R-, B-, T-Axis Unit Table 11-4: R-, B-, T-Axis Unit (Sheet 2 of 2) DWG No. Name 4046 M8X25 Socket screw 2H-8 Spring washer 4047 M8X20 Socket screw 4048 M4X6 Socket screw 4049 2H-4...

  • Page 69: Wrist Unit

    159328-1CD MS80W Manipulator Parts List 11.5 Wrist Unit 11.5 Wrist Unit Fig. 11-5: Wrist Unit 5058 5015 5093 5115 5094 5016 5095 5096 5005 5115 5113 5114 5060 5040 5039 5039 5005 5055 5013 5014 5039 5008 5033 5057 5007...
  • Page 70 159328-1CD MS80W Manipulator Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 1 of 2) DWG No. Name 5001 HW0387737-B Speed reducer 5002 HW0387738-A Speed reducer 5003 HW9405880-1 B cover 5004 HW9405445-1 B nut 5005 HW9405881-1 B nut 5006...
  • Page 71 159328-1CD MS80W Manipulator Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 2 of 2) DWG No. Name 5056 HW0102233-1 U arm 5057 HW0102232-1 Wrist 5058 HW0201158-1 Cover 5059 HW0412682-1 Cover 5060 HW0412694-* Shim 5068 HW0412683-* Shim 5075 HW0412695-*...
  • Page 72 MOTOMAN-MS80W INSTRUCTIONS Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1480497 72/72...

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