YASKAWA MH24 Operating And Maintenance Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Robotics
  5. MH24
  6. Operating and maintenance manual

YASKAWA MH24 Operating And Maintenance Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

ROBOTICS
MH24
YR-MH00024-A00
Operating and Maintenance Manual

Advertisement

Table of Contents
loading

Related Manuals for YASKAWA MH24

Summary of Contents for YASKAWA MH24

  • Page 1 ROBOTICS MH24 YR-MH00024-A00 Operating and Maintenance Manual...
  • Page 2 This documentation (or parts of it) must not be reproduced or made available to third parties without the express approval of YASKAWA Europe "Robotics Division GmbH”. We have checked the content of this publication for compliance with the hardware described.

  • Page 3: Table Of Contents

    Table of contents Table of contents General..............5 Notes for safe operation .
  • Page 4 Table of contents Maximum capacity load ..........45 Internal cables and compressed air lines.

  • Page 5: General

    Indicates important background information and application advice. Frequently used terms The YASKAWA robot is a product of YASKAWA Electric Corporation GmbH. The robot is normally supplied with the robot controller, programming pendant, and robot cable. The terms are designated as follows in this manual:...

  • Page 6: Target Group

    For optimal use of our products, we recommend our customers to take part in a training session at the YASKAWA Academy. For more detailed information on the training programs, please visit www.yaskawa.eu.com or directly get in touch with your YASKAWA branch office.

  • Page 7: Improper Use

    General Improper use Any use that deviates from the intended use shall be regarded as impermissible misuse. This includes: • Transport of people and animals • Use as ascending aid. • Use outside the permissible operating limits. • Use in environments with risk of explosion (except for ATEX-approved robots). •...

  • Page 8: About This Manual

    If your copy of the operating and maintenance instructions is damaged or lost, please contact the local YASKAWA branch office to order a new copy. The official branch offices are listed on the last page. Please mention the manual number in your order.

  • Page 9: Safety

    General Safety START HOLD REMOTE TEACH PLAY EDIT DISPLAY UTILITY JOB CONTENT TEST01 S:0000 CONTROL GROUP:R1 TOOL: 0000 0001 SET B000 1 0002 SET B001 0 0003 MOVJ VJ=80.00 0004 MOVJ VJ=80.00 0005 DOUT OT#(10) ON 0006 TIMER T=3.00 0007 MOVJ VJ=80.00 0008 MOVJ VJ=100.00...
  • Page 10 General WARNING! Death or injury because of danger of crushing Before you release the emergency stop button (see ) note the following:  Make sure that there is no one within the maximum working range of the robot.  Clear the cell of all items which could collide with the robot. ...

  • Page 11: Manufacturer

    General Manufacturer Address: YASKAWA ELECTRIC CORPORATION 2-1 KUROSAKISHIROISHI YAHATANISHI-KU KITAKYUSHU JAPAN Authorized representative Address: YASKAWA Europe GmbH Robotics Division Yaskawastr. 1 85391 Allershausen Germany...

  • Page 12: Supply

    Supply Supply Checking the scope of delivery The standard delivery includes the following items: Fig. 2-1: Scope of delivery Programming pendant Assembly instruction Robot controller Cable Robot...

  • Page 13: Position Type Plate

    2-1 SHIROISHI KUROSAKI, YAHATANISHILU KITAKYUSYU, JAPAN YASKAWA Europe „Robotics Division“ GmbH Yaskawastr. 1, D-85391 Allershausen Fig. 2-2: Position type plate NOTICE Please contact the local YASKAWA branch office if the serial numbers do not match the information on the delivery note.

  • Page 14: Transportation

    Transportation Transportation CAUTION! Personal injury or material damage The system consists of precision components. Failure to observe this caution may adversely affect performance.  Crane and forklift trucks must be performed only by authorised personnel. The same applies to the application of loops. ...

  • Page 15: Using A Crane

    Transportation 3.1.1 Using a crane Adequate load handling devices must be used to transport the robot. Make sure that the robot is lifted as shown in the diagram "Transport by crane". Fig. 3-1: Transport with crane Shipping bracket 2 screws M12...

  • Page 16: Using A Forklift

    Transportation 3.1.2 Using a forklift If the robot is transported using a forklift, it should be fixed on a pallet with transport securing devices and shipping bolts. Make sure that the forklift and the transportation route have sufficient bearing capacity. Always take due care when transporting the robot.

  • Page 17: Shipping Brackets And Bolts

    Transportation Shipping brackets and bolts NOTICE Before turning ON the power, check to be sure that the shipping bolts and brackets are removed. After removing the transport securing devices and the shipping bolts, keep them at a safe place. The transport securing devices and shipping bolts will be required again if the system is transported again.

  • Page 18: Damping Material During Transportation

    Transportation Damping material during transportation NOTICE Before turning ON the power, check to be sure that the rubber buffer are removed. After removing the rubber pads, keep them at a safe place. The rubber pads will be required again if the system is transported again. The robot is furnished with damping material for transportation (see section A and B in the ).

  • Page 19: Installation

    Installation Installation CAUTION! Personal injury and damage to property The following precautions must be taken.  Check that the robot controller is complete and not damaged.  Do not put into operation a robot controller that is damaged or incomplete. ...

  • Page 20: Ambient Conditions And Installation Location

    Installation Ambient conditions and installation location When installing a robot, it is necessary to satisfy the undermentioned environmental conditions: • Ambient temperature: from 0° C to + 45° C. • Air humidity: 20% to 80% relative humidity (non-condensing). • Free of corrosive gases, liquids, or explosive gases. •...

  • Page 21: Installation Example

    Installation Installation example 1. At the first set out, anchor the base plate firmly onto the floor. 2. The robot base is tapped for 4 mounting holes. Fix the robot base with the screws M16 (strength class 12.9) Minimum length: 50 mm. 3.
  • Page 22 Installation Fig. 4-2: Base plate NOTICE  YASKAWA Europe recommends to use the robot only with a base plate.  Please contact the manufacturer of the mounting material you use...
  • Page 23 Installation Direction of move- Horizontal Vertical ment Force F Moment M Force F Torque M Emergency stop 8820 N 6370 Nm 10290 N 13720 Nm (Stop category 0) Acceleration/Decelera- 2940 N 1915 Nm 3430 N 5145 Nm tion (Stop category 1) Tab.
  • Page 24 Installation Fig. 4-4: Celling mounted Motor base plate After the mounting to the ceiling Grease outlet opening View Grease inlet opening Before the mounting to the ceiling Fig. 4-5: Wall mounting Motor base plate View A Grease outlet opening Before the mounting to the wall Grease inlet opening Power input module After the mounting to the wall...
  • Page 25 • Fixing the robot base NOTICE For suspended mounting in any position, please contact the local YASKAWA branch office. S-axis working range For the wall-mounted type, the S-axis movable range is ±30° (the range is adjusted prior to the shipment).

  • Page 26: Wiring

    Wiring Wiring DANGER! Danger to life due to electric shock, risk of fire due to short circuit. Wiring must be performed by authorized or certified personnel. Follow the instructions given below before wiring.  Make sure that the earthing resistance does not exceed 0.1 Ω. ...

  • Page 27: Cable Connections

    Robot Order No. Robot Serial No. YASKAWA ELECTRIC CORPORATION 2-1 SHIROISHI KUROSAKI, YAHATANISHILU KITAKYUSYU, JAPAN YASKAWA Europe „Robotics Division“ GmbH Yaskawastr. 1, D-85391 Allershausen Fig. 5-1: Connecting the robot system Two cables are delivered with the robot (refer to ).

  • Page 28: Connecting The Robot

    Wiring 5.2.1 Connecting the robot 1. Check the encoder cable (1BC) and the power cable (2BC). 2. Connect the encoder cable (1BC) to the connector plate of the robot. 3. Connect the power cable(2BC) to the connector plate of the robot. Make sure that you hear each locking clip snap into place (clicking sound).

  • Page 29: Connection Of The Robot Controller

    Wiring 5.2.2 Connection of the robot controller Attach the robot cables in the following order. 1. Connect the encoder cable (1BC) X11 at connection X11 to the robot controller. 2. Connect the power cable (2BC) X21 at connection X21 to the robot controller. Make sure that you hear the locking clips snap into place (clicking sound).

  • Page 30: Connecting The Programming Pendant

    Do not open the door Date/Signature with power ON. Type ERDR- Robot Type Robot Order No. Robot Serial No. YASKAWA Electric corporation 2-1 Kurosaki Shiroishi Yahatanishi-Ku Kitakyushu-City Fukuoka 806-0004 Japan Kammerfeldstr. 1, D-85391 Allershausen NJ3053-1 CHECK ALL THE DOOR LOCKS PROPERLY. NJ3005-1 PROGRAMMING PENDANT Fig.

  • Page 31: Technical Data

    Technical data Technical data Type: Types of Mounting: Floor, ceiling and wall mounting Degree of freedom: 24 kg Payload: ± 0.06 mm Repeatability: Power consumption: 2.0 kVA 268 kg Weight: Working area of main axes: S-axis (turning) -180° - +180° L-axis (lower arm) -105°...

  • Page 32: Parts And Work Axis Label

    Technical data Parts and work axis label Fig. 6-1: Part names and working axes Upper arm (U-arm) Rotating head of S-axis Wrist flange Robot base Lower arm (L-arm) Robot base dimension 200±0. 1 260±0. 1 Fig. 6-2: Robot base dimensions 4 mounting holes Ø...

  • Page 33: Dimensions And Defined Working Area

    Technical data Dimensions and defined working area 2085 94,5 138,5 266 157 1003 180° 180° Fig. 6-3: Dimensions and defined work area P point Working area, defined with point P All dimensions in mm...

  • Page 34: Adjustable Working Area

    Technical data Adjustable working area The work area of the s-axis may be changed depending on the type of application. If any modification is necessary, please contact the local YASKAWA branch office. Item Specifications S-axis working range ± 180° (standard) ±...

  • Page 35: Components For Changing The Working Area

    Technical data 6.4.1 Components for Changing the Working Area If you change the working area of S-axis, the following components are required (see the following figure). Components of the S-axis limitation ± 180° ± 150° ± 120° ± 90° ± 60° ±...

  • Page 36: Adjusting The S-Axis Pulse Limit

    Technical data 6.4.2 Adjusting the S-Axis Pulse Limit If you want to change the movement range of S-axis, follow the instructions in the System Setup Manual, section: "Changing the Parameter Setting". – Pulse limit [positive direction (+) of S-axis]: SICxG400. –...

  • Page 37: Stopping Angle And Time At The Emergency Stop

    Technical data Stopping Angle and Time at the Emergency Stop The definition of the coastdown times is important for determining the safety distance for protective devices. The overrun time is the time that elapses from the point of time when the stop signal is triggered until the robot comes to a complete stop.

  • Page 38: Stop Category 0

    Technical data 6.5.1 Stop category 0 6.5.1.1 Stop position S-axis • 100% deflection [deg/s] [deg/s] • 66% deflection [deg/s] [deg/s] • 33% deflection [deg/s] [deg/s]...
  • Page 39 Technical data 6.5.1.2 Stop position L-axis • 100% deflection 100% [deg/s] [deg/s] • 66% deflection [deg/s] [deg/s] • 33% deflection [deg/s] [deg/s]...
  • Page 40 Technical data 6.5.1.3 Stop position U-axis • 100% deflection [deg/s] [deg/s] • 66% deflection [deg/s] [deg/s] • 33% deflection [deg/s] [deg/s]...

  • Page 41: Stop Category 1

    Technical data 6.5.2 Stop category 1 The stopping angle and time at the emergency stop in category 1 are not subjected to the robot position and the load. Stop of category1 doesn't depend on the robot position and the load. 6.5.2.1 Stop position S-axis •...

  • Page 42: Allowable Load For Wrist Axis And Wrist Flange

    Allowable load for wrist axis and wrist flange Allowable load for wrist axis and wrist flange Wrist flange The dimensions of the wrist flange are shown in the following figure "Wrist flange". To ensure that the home position marks can be seen at all times, the tool may only be flange- mounted with the inner diameter.

  • Page 43: Allowable Wrist Load

    (see the following figure and table). For further information or help, please contact your YASKAWA branch office. Axis Allowable torque (Nm) Allowable moment of inertia (kgm²)
  • Page 44 Allowable load for wrist axis and wrist flange View B 28.5 Fig. 7-2: Installing peripheral devices 4 M8 x 16 threaded holes 4 M6 x 12 threaded holes 2 M6 x 12 threaded holes 4 M6 x 14 threaded holes Mount the peripherals in this range.

  • Page 45: Maximum Capacity Load

    Example: In the case of the YASKAWA HP20D robot, for example, the permissible moment of inertial for the T-axis amounts to 0.25 kgm² at a permissible torque of 19.6 Nm and to 0.75 kgm² at a permissible torque of 0.1 Nm.

  • Page 46: Internal Cables And Compressed Air Lines

    Internal cables and compressed air lines Internal cables and compressed air lines Internal cables (3BC: 4 wires 1.25 mm², 2 wires x 0.75 mm² and 8 wires x 0.2 mm²) and air hoses are used in order to use peripheral devices (e.g. gripper). They are mounted on the upper arm as shown in the following diagram "Connector for internal cables and compressed air lines".
  • Page 47 Internal cables and compressed air lines 11(0.75mm 11(0.75mm 12(0.75mm 12(0.75mm 13(1.25mm 13(1.25mm 14(1.25mm 14(1.25mm 15(1.25mm 15(1.25mm 16(1.25mm 16(1.25mm Fig. 8-2: Details of the plug  = assigned  = unassigned Detailed drawing (base) Detailed drawing (casing) Pins used +24 V (1A) for shock sensor 7 and 8 are open Shock sensor signal input The pins used on the connectors (3BC: 4 wires 1.25 mm², 2 wires x 0.75 mm²...
  • Page 48 Internal cables and compressed air lines Fig. 8-3: Internal connection diagram (a)
  • Page 49 Internal cables and compressed air lines Fig. 8-4: Internal connection diagram (b)

  • Page 50: Maintenance And Inspection

     Put up the required warning sign, e.g "Do not turn the power on!".  Install a switch-on guard as prescribed. If you have any questions regarding disassembly or repair, please contact the local YASKAWA branch office. NOTICE Home position data is lost Before removing the connector of the encoder cable to perform maintenance or inspection, ...

  • Page 51: Inspection Schedule

    In the table of "Inspection intervals", the inspections are divided according to three levels of requirement: • Works, carried out by trained staff. • Work carried out by staff trained by YASKAWA. • Works, carried out by YASKAWA staff. Inspections are only carried out by trained staff. NOTICE ...
  • Page 52 1 Trained staff 2 YASKAWA trained staff 3 YASKAWA personnel...
  • Page 53 Inspection intervals Item number Schedule (h) Method Operation To be per- formed by: Alignment marks  Visual inspection Check alignment mark correspondence and    damage at the zero position. External cables  Visual inspection Check cables for damage. ...
  • Page 54 Inspection intervals Item number Schedule (h) Method Operation To be per- formed by: Protective tube  Visual inspection Inspect the protective tube for holes, cracks and    adhesion of welding spatters (replace if neces- sary).  Refer to manual "OPTIONS FOR PROTECTIVE ...
  • Page 55 Maintenance and inspection Fig. 9-2: Inspection intervals...

  • Page 56: Note On Battery Unit

    Maintenance and inspection Note on battery unit 9.2.1 Battery pack replacement 2B C 1B C 3B C Fig. 9-3: Battery unit location Battery holder Connector plate Battery pack Mounting screws of cover plate The battery units are installed as shown in picture "The location of the battery unit". If battery alarm occuring in the robot controller, battery pack has to be changed in the following form.
  • Page 57 Maintenance and inspection 4. Connect the new battery pack to the unoccupied connector on the board. Fig. 9-5: Battery pack connections Old battery pack before replacement Plug New battery pack Circuit board See exchange, step 6 See exchange, step 7 5.

  • Page 58: Battery Pack Connector (Including Warning Note)

    Maintenance and inspection 9.2.2 Battery pack connector (including warning note) OBT* Fig. 9-6: Battery unit connector diagram for S-, L- and U-axes Motor Battery unit Motor power connector Plug for backup Encoder connector Before removing the encoder connector (with CAUTION label), connect the battery to the motor as shown in the following figure.

  • Page 59: Note On Maintenance

    Maintenance and inspection Note on maintenance NOTICE The absolute encoder data will be lost. Removing the encoder connector without connecting the battery pack results in the disappearance of the encoder absolute data.  When performing maintenance such as replacement of a wire harness in the robot, the encoder connector may be necessary to be removed.

  • Page 60: Refill/Replace Grease

    Maintenance and inspection Refill/Replace grease. Make sure to follow the instructions. If the following instructions are not followed, it might cause damage to motor or gear. CAUTION! Burns from heated grease The grease may be under pressure and may spray out of the threaded hole when opening the threaded hole.
  • Page 61 Maintenance and inspection Tightening torque of sealing plug Designation Tightening torque (Nm) PT 3/8 PT 1/4 PT 1/8 PT 1/16 1. Remove plug from grease exhaust port (OUT) and grease inlet (IN) port. Example: 2. Mount the lubricating nipple to the grease inlet opening. 3.

  • Page 62: Grease Filling The Main Axes

    Maintenance and inspection 9.4.1 Grease filling the main axes Figure the axes Amount of grease: S-axis gear Replenishment: 400 cm³ / approx. 350 g Exchange: 1950 cm³ / ca. 1700 g L-axis gear Replenishment: 172 cm³ / ca. 150 g Exchange: 860 cm³...

  • Page 63: Grease Filling The Wrist Axes

    Maintenance and inspection 9.4.2 Grease filling the wrist axes Grease filling the wrist axes Figure the axes Amount of grease: R-axis gear Replenishment: 46 cm³ / ca. 40 g Exchange: B and T-axis gear Replenishment: B-axis: 6 cm³ / approx. 5 g and T-axis inlet 1: 12 cm³...

  • Page 64: Home Position Calibration

     In a system with two or more Robots, the home position of all the Robots must be calibrated before starting teaching or playback.  For more information, see also system setup in the manual or contact your YASKAWA branch.
  • Page 65 Maintenance and inspection 2. Select {HOME POSITION}. The <HOME POSITIONING> window appears. 3. Select {DISPLAY} under the menu, or select “PAGE” to display the selection window for the control group, or press [PAGE]. The pull-down menu appears. 4. Select the desired control group. 5.
  • Page 66 Maintenance and inspection 6. Select {SELECT ALL AXES}. A confirmation dialog box is displayed. 7. Select {YES}. Displayed position data of all axes are registered as home position. When {NO} is selected, the registration will be canceled.

  • Page 67: Registering Individual Axes

    Maintenance and inspection 9.5.2 Registering individual axes 1. Select {ROBOT} on the main menu. The sub-menu choices appear. 2. Select {HOME POSITION}. 3. Select the module to be calibrated (e.g. R1:ROBOT). Perform steps 3 and 4 which have been described in “Registering All Axes at One Time” to select the desired control group.

  • Page 68: Changing The Absolute Data

    Maintenance and inspection 9.5.3 Changing the absolute data To change the absolute data of the axis when home position calibration is completed, perform the following: 1. Select {ROBOT} from the main menu. 2. Select {HOME POSITION}. 3. Select the desired control group. Perform steps 3 and 4 which have been described in chapter “Registering All Axes at One Time”...

  • Page 69: Clearing Absolute Data

    Maintenance and inspection 9.5.4 Clearing absolute data 1. Select {ROBOT} from the main menu. 2. Select {HOME POSITION}. Perform steps 2, 3, and 4 which have been described in “Registering All Axes at One Time” to display the HOME POSITIONING window and select the desired control group.

  • Page 70: Setting The Second Home Position (Check Point)

    Maintenance and inspection Setting the second home position (check point) 9.6.1 Purpose of position check operation If the absolute number of rotation detected at power supply ON does not match the data stored in the absolute encoder the last time the power supply was turned off, alarm 4107 “OUT OF RANGE (ABSO DATA)”...
  • Page 71 Maintenance and inspection 1. Position check After the “OUT OF RANGE (ABSO DATA)” alarm occurs, move to the second home position using the axis keys and perform the position confirmation. For performing the position confirmation, refer to chapter “Procedure after the Alarm”. Playback and test runs will not function unless “CONFIRM POSITION”...

  • Page 72: Procedure For The Second Home Position Setting

    Maintenance and inspection 9.6.2 Procedure for the second home position setting Apart from the “home position” of the robot, the second home position can be set up as a check point for absolute data. Use the following steps to set the specified point. NOTICE If 2 or more Robots or stations are controlled by one controller, the second home position must be set for each robot or station.
  • Page 73 Maintenance and inspection WARNING! Death or injury because of danger of crushing When performing the position check operation, pay careful attention to ensure the safety of the surrounding operation environment. If the „OUT OF RANGE (ABSO DATA)“ alarm occurs, • Reset the alarm.
  • Page 74 Maintenance and inspection 4. Press {FWD}. TCP moves to the second home position. The robot moving speed is set as selected manual speed. 5. Select {DATA} on the menu. 6. Select {CONFIRM POSITION}. A message „Home position checked“ appears. Pulse data of the second home position and current pulse data should be compared. Automatic mode can be done if compared error is in allowed range.

  • Page 75: Zeroing Function (Optional)

    Maintenance and inspection Zeroing Function (Optional) The zero setting function (optional function) enables the automatic recovery of the robot’s initial data in case they get lost. This function is possible only on robots which are delivered with this option. The robot control memorizes the initial position of the robot on the basis of the pulse value of each encoder axis.

  • Page 76: Overview And Operation Reset To Zero Device Yasxzero

    Flashes at one-second intervals when the reset process is taking place properly. Lights up continuously in case of a hardware failure. Try to restart the device. In case of further error signals please contact your local YASKAWA branch office. LED INF (Information): Without function LED RNG (Range): Lights up continuously when the sensor is in a ±...
  • Page 77 Maintenance and inspection Operating elements Rear side RoHS RS232 6V DC CONFIG Material No. 157471 Socket 6VDC: Plug in the power supply. CONFIG Key: Without function (only for manufacturer’s device configura- tion). Socket RS232: Plug in the cable specific to the programming pendant. Description sensor The sensor comprises the following parts •...

  • Page 78: Resetting

    Maintenance and inspection 9.7.3 Resetting The zero setting function can be effected only if the safety mode is set as extended mode. To this effect, refer to the operating manual of the robot control system. 9.7.3.1 Preparatory measures 1. Remove the tools fastened to the robot. If the zero setting is effected on a robot with tools, the weight of the tool can affect the positioning accuracy.
  • Page 79 Maintenance and inspection 9.7.3.2 Resetting an axis WARNING! Danger caused by unintentional start of the robot. An unexpected start of the robot while people are standing in its movement area can cause life threatening injuries.  Ensure before entering the danger zone that the programming pendant is active and that the robot cannot be controlled from other positions (e.g.
  • Page 80 Maintenance and inspection 9. Select the axis on the screen (e.g. S-axis). 10. Leave the movement area of the robot and ensure that nobody is standing in this area. 11. Switch on the SERVO power. Press <SERVO ON READY> and the on-off switch on the programming pendant.

  • Page 81: Positions For The Reset Sensor

    Maintenance and inspection 14. The message confirming the resetting of the axis (S-axis in the example) appears on the screen of the programming pendant. The calculated absolute data are then displayed. XXXXXXXX 15. Switch off the SERVO power. 16. Switch off the YasXzero amplifier. 17.

  • Page 82: Error And Solutions During Resetting

    Loop error Error in the zeroing processing. Possible cause: False parameter settings for zeroing speed, dis- [The maximum measurement tance, radius, false starting point point were exceeded.] of the zeroing operation. Contact Error code:55550005 the local YASKAWA branch of- fice.
  • Page 83 Possible error Possible solution Loop error Communication errors Possible cause: Incorrect soft- ware version. Please contact [Error by pulse capturing.] your local YASKAWA branch of- Error code:55550006 fice. Loop error [Error in the process that starts robot movements.] Error code:55550008...
  • Page 84 Maintenance and inspection Error message Possible error Possible solution error Error during the amplifier com- Contact the local YASKAWA munication branch office. [RS-232C communication] Error code:55550017 error [RS-232C communication] Error code:55550018 error [RS-232C communication] Error code:55550019 error [RS-232C communication] Error code:55550020...

  • Page 85: 10 Recommended Spare Parts List

    It is recommended to keep in stock parts and components in the following table as spare parts. Product performance cannot be guaranteed when using spare parts from any company other than YASKAWA. NOTICE Please contact your YASKAWA branch office if you need spare or replacement parts. Part List robot Designation Part-No.
  • Page 86 Recommended spare parts list Part List robot Designation Part-No. Material no. T-axis: Gear (Output side) HW1371294-A 164752 Gear (Input side) HW1304340-1 173370 Motor SGMAV-02ANA-YR1* 146019 Toothed belt 060S3M999 158435 Part List robot controller Designation Part-No. Material no. Additional power supply JZNC-YPS02-E 147571 CPU Rack...

  • Page 87: 11 Parts Lists

    Parts lists 11 Parts lists 11.1 S-axis unit 1026 1027 1002 1014 1003 1004 1027 1044 1008 1030 1012 1005 1011 1006 1038 1039 1035 1007 1037 1032 1033 1036 1034 1001 1015 1021 1016 1046 1045 1024 1022 1046 1045 1029 1046...
  • Page 88 Parts lists DWG no. Designation Piece 1003 M4 x 8 Screw 1004 2L-4 Washer 1005 M8 x 50 Screw 1006 2L-8 Washer 1007 HW1304342-1 Housing 1008 HW0313491-2 Pinion 1009 HW0387753-B Gear 1010 M10 x 40 Screw 1011 M6 x 60 Screw 1012 2L-6...

  • Page 89: L-Axis Unit

    Parts lists 11.2 L-axis unit 2016 2024 2022 2025 2018 2023 2017 2013 2020 2002 2019 2015 2004 2003 2014 2012 2001 2011 2008 2007 2006 2021 2005 2010 2009 1001 Fig. 11-2: L-axis drive DWG no. Designation Piece 2001 HW1100696-1 L-arm 2002...
  • Page 90 Parts lists DWG no. Designation Piece 2014 HW1304555-1 Flange 2015 M8 x 30 Screw 2016 SGMRV-13ANA-YR1* Motor 2017 Y426012.5 Oil seal 2018 M8 x 25 Screw 2019 PT1/8 Grub screw 2020 PT3/8 Grub screw 2021 NPTF3/8 Grub screw 2022 HW1405456-1 Cover 2023 M6 x 15...

  • Page 91: U-Axis Drive

    Parts lists 11.3 U-axis drive 3021 3023 3022 3025 3018 3024 3019 3026 3001 3028 3027 3020 3029 3004 3011 3017 3007 3015 3014 3006 3002 3012 3013 3003 3002 2001 3009 3016 3005 3008 Fig. 11-3: U-axis drive DWG no. Designation Piece 3001...
  • Page 92 Parts lists DWG no. Designation Piece 3008 HW0386621-C Gear 3009 M6 x 35 Screw 3011 M5 x 16 Screw 3012 M8 x 40 Screw 3013 2L-8 Washer 3014 SGMRV-05ANA-YR1* Motor 3015 M8 x 30 Screw 3016 PT3/8 Grub screw 3017 M4 x 12 Screw 3018...

  • Page 93: R-Axis Unit

    Parts lists 11.4 R-axis unit 5001 4010 4011 4012 4013 4008 4031 4029 4032 4030 3001 4009 4028 4034 4042 4037 4040 4038 4035 4036 4033 4035 4038 4039 4006 4002 4041 4052 4047 4016 4007 4023 4048 4024 4026 4049 4003 4004...
  • Page 94 Parts lists DWG no. Designation Piece 4009 HW1304069-1 Shaft 4010 TC1151306 Oil seal 4011 M6 x 25 Screw 4012 M6 x 20 Screw 4013 HW1304196-1 Shaft 4014 SGMAV-02ANA-YR1* Motor 4015 TC20305 (FKM) Oil seal 4016 M3 x 12 Screw 4017 HW1405390-1 Housing 4018...
  • Page 95 Parts lists DWG no. Designation Piece 4050 M4 x 12 Screw 4051 HW9481319-D Cable feedthrough 4052 M4 x 12 Screw 4053 M4 x 12 Screw 3001 HW1100686-1 Housing 5001 HW1100687-1 U-arm Tab. 11-4: Parts list R-axis drive...

  • Page 96: Wrist Unit

    Parts lists 11.5 Wrist unit 5036 5064 5041 5062 5035 5063 5056 5034 5043 5031 5042 5038 5037 5039 5033 5052 5065 5032 5053 5028 5023 5051 5017 5057 5022 5015 5040 5016 5018 5058 5067 5066 5071 5050 5014 5027 5024 5072...
  • Page 97 Parts lists DWG no. Designation Piece 5010 HW1405412-1 Flywheel 5011 M4 x 20 Screw 5012 2L-4 Washer 5013 HW1305279-1 Cover 5014 WR20 Terminal 5015 HW1301402-1 Shaft 5016 HW1404049-1 Cover 5017 M8 x 45 Screw 5018 2L-8 Washer 5019 HW9481218-A Bearing 5020 M3 x 28 Screw...
  • Page 98 Parts lists DWG no. Designation Piece 5051 6902 Bearing 5052 HW1382522-A Gear 5053 M3 x 28 Screw 5054 HW1404047-1 Housing 5055 M3 x 16 Screw 5056 M6 x 6 Screw 5057 HW0404371-1 Screw 5058 HW1404058-1 Cover 5059 M4 x 12 Screw 5060 M4 x 8...

  • Page 99: Gear Unit

    Parts lists 11.6 Gear unit 6001 6004 6007 6002 6005 6003 6006 Fig. 11-6: Gear unit DWG no. Description 6001 HW1303251-1 Pinion outer part 6002 HW1303252-1 Pinion outer part 6003 HW1404051-1 Sleeve 6004 HW1404050-1 6005 HW1405463-2 Clamping sleeve 6006 M3 x 12 Screw Tab.
  • Page 100 Rosh Ha’ayin +972-3-9004114 ROBOPLAN Lda YASKAWA Benelux B.V. Aveiro +351-234 943 900 Son +31-40-2895500 RO Sam Robotics srl YASKAWA Polska Sp. z o.o. Timisoara +40-720-279-866 Wrocław +48-71-7928670 RO MPL Automation S.R.L. RUS YASKAWA Nordic AB Satu Mare +40 (0) 261 750 741...

Table of Contents