YASKAWA MA1440 Operating And Maintenance Manual
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YASKAWA MA1440 Operating And Maintenance Manual

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ROBOTICS
MA1440
YR-MA01440-A00
Operating and Maintenance Manual

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Summary of Contents for YASKAWA MA1440

  • Page 1 ROBOTICS MA1440 YR-MA01440-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 Optimal robot performance ..........43 Allowable Wrist Load .

  • 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 3 eyebolts 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 The robot is equipped with transport securing devices and shipping bolts to reduce external forces to a minimum during transport. • The shipping brackets and bolts are painted yellow. • The shipping bracket will be fastened by 2 screws M10. Fig.
  • Page 18 Transportation Fig. 3-5: Damping material for transport...

  • 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. No water, oil or dust and free from excessive electrical noise (plasma).

  • 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 10.000 N 4120 Nm 5100 N 4120 Nm (Stop category 0) Acceleration/Decelera- 3435 N 1275 Nm 2255 N 1670 Nm tion (Stop category 1) Tab.
  • Page 24 10° - 90° = mounted on an angle Suspended mounting Suspended mounting differs from assembly in a standing position in the following points. • S-axis working range • Fixing the robot base NOTICE For suspended mounting in any position, please contact the local YASKAWA branch office.

  • Page 25: 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 26: 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 27: 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 28: Connection Of The Robot Controller

    Do not open the door Date/Signature Type ERDR- with power ON. 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 29: Technical Data

    Technical data Technical data Type: Types of Mounting: Floor and wall mounting Degree of freedom: 6 kg Payload: ± 0,08 mm Repeatability: Power consumption: 1,5 kVA 130 kg Weight: Working area of main axes: S-axis (turning) -170° - +170° L-axis (lower arm) -90°...

  • Page 30: 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 132±0. 1 102±0. 1 100±0. 1 153±0. 1 Fig. 6-2: Robot base dimensions 2 holes Ø...

  • Page 31: Dimensions And Defined Working Area

    Technical data Dimensions and defined working area 1734 94.5 198.5 Fig. 6-3: Part names and working axes P point Working area, defined with point P All dimensions in mm...

  • Page 32: Adjustable Working Area

    Technical data Adjustable working area...

  • Page 33: 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). -170 +170 -150 +150 -135 +135 -120 +120 -105 +105 Fig. 6-4: Components of the S-axis limitation 2 dogs HW0414041-2 Position of the limit stop 2 screws M12 x 30 (strength category...

  • Page 34: Instructions For Installing The Mechanical Limit

    Technical data 6.4.2 Instructions for Installing the Mechanical Limit • Mount the mechanical limit of S axis so that as shown in the figure "Components of the S axis limit". • When inserting the pin in the limit, apply Loctite 242 on the screw-on surface of the pin. •...

  • Page 35: Adjusting The S-Axis Pulse Limit

    Technical data 6.4.3 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 36: 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 37: Stop Category 0

    Technical data 6.5.1 Stop category 0 6.5.1.1 Stop position S-axis 100% [deg/s] [deg/s] Fig. 6-7: Stop position 100% [deg/s] [deg/s] Fig. 6-8: Stop position 66% [deg/s] [deg/s] Fig. 6-9: Stop position 33%...
  • Page 38 Technical data 6.5.1.2 Stop position L-axis 100% 200 250 [deg/s] [deg/s] Fig. 6-10: Stop position 100% [deg/s] [deg/s] Fig. 6-11: Stop position 66% [deg/s] [deg/s] Fig. 6-12: Stop position 33%...
  • Page 39 Technical data 6.5.1.3 Stop position U-axis 100% [deg/s] [deg/s] Fig. 6-13: Stop position 100% [deg/s] [deg/s] Fig. 6-14: Stop position 66% [deg/s] [deg/s] Fig. 6-15: Stop position 33%...

  • Page 40: 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 100%...
  • Page 41 Technical data 6.5.2.2 Stop position L-axis 100% [deg/s] [deg/s] Fig. 6-19: Stop position 100% [deg/s] [deg/s] Fig. 6-20: Stop position 66% [deg/s] [deg/s] Fig. 6-21: Stop position 33%...
  • Page 42 Technical data 6.5.2.3 Stop position U-axis 100% [deg/s] [deg/s] Fig. 6-22: Stop position 100% [deg/s] [deg/s] Fig. 6-23: Stop position 66% [deg/s] [deg/s] Fig. 6-24: Stop position 33%...

  • Page 43: 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 44: Allowable Wrist Load

    The allowable wrist loads amounts to a maximum of 6 kg. Should however force instead of load be exercised on the wrist axis, the power has to be at the axes within the moments (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 45 Allowable load for wrist axis and wrist flange Fig. 7-2: Installing peripheral equipment mounts 4 threaded holes M8 x 18 2 threaded holes M6 x 12 Mount the peripherals in this range Center of gravity of accessories mount on U arm in this range 4 threaded holes M6 x 12 4 threaded holes M10 x 18...

  • Page 46: Internal Cables And Compressed Air Lines

    Internal cables and compressed air lines Internal cables and compressed air lines Internal cables (3BC: 14 wires, 8 x 0.20 mm², 2 x 0.75mm², and 4 x 1.25 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 Fig. 8-1: Connectors for internal user I/O wiring harness and air line Air outlet A Air outlet B There is a connecting plug for internal cable ducting in the case. Power cable for arc welding (TS200CHM) Air inlet B Air inlet A Optional a power cable for arc welding (recommended connection: R100-10, cover...
  • Page 48 Internal cables and compressed air lines (0.75mm (0.75mm (0.75mm (0.75mm (1.25mm (1.25mm (1.25mm (1.25mm (1.25mm (1.25mm (1.25mm (1.25mm Fig. 8-2: Details of the plug = assigned   = unassigned Connector plug for the internal cable Pins used feedthrough on the base Connector plug for the internal cable Internal user I/O wiring harness: 8 feedthrough on U-arm...
  • Page 49 Internal cables and compressed air lines Fig. 8-3: Internal connection diagram (a)
  • Page 50 Internal cables and compressed air lines Fig. 8-4: Internal connection diagram (b)

  • Page 51: 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 52: 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 53 1 Trained staff 2 YASKAWA trained staff 3 YASKAWA personnel...
  • Page 54 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 55 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 56 Maintenance and inspection Fig. 9-2: Inspection intervals The numbers in the above figure are equal to the numbers in the table of "Inspection intervals".

  • Page 57: Note On Battery Unit

    Maintenance and inspection Note on battery unit 9.2.1 Battery pack replacement 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 58 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 59: 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 60: Note On Maintenance

    Maintenance and inspection Note on maintenance The motor and encoder units are provided with the wrist unit. To prevent fumes penetrating into wrist unit, matched parts are sealed. If you have removed the wrist cover, the seal must be replaced with sealing compound Teroson Plast sealing compound (material no. 143813) (see section 10 "Recommended spare parts list"...

  • Page 61: 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 62 Maintenance and inspection 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. Press the grease into the grease inlet opening using a grease gun. 4.

  • Page 63: 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: 70 cm³ / approx. 63 g Exchange: 450 cm³ / approx. 396 g L-axis gear Replenishment: 65 cm³ / approx. 58 g Exchange: 420 cm³...

  • Page 64: 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: 3 cm³ / approx. 2.6 g Exchange: R-axis pinion Replenishment: Variable "R-Achsen-Ritzel Fett- menge nachfüllen" not defined. Exchange: B and T-axis gear Replenishment:...

  • Page 65: 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 66 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 67: Registering Individual Axes

    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. 9.5.2 Registering individual axes 1.

  • 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 If the alarm occurs again, there may be an error in the encoder communication related components. Check the components. After adjusting the erroneous axis, calibrate the home position of the axis and then check the position again. NOTICE Home position calibration of all the axes at the same time enables playback operations without having to check the 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 If the „OUT OF RANGE (ABSO DATA)“ alarm occurs, • Reset the alarm. • the SERVO power ON. Then confirm the second home position. After the confirmation, if the PG system is found to be the cause of the alarm, perform the necessary operation, such as replacing the PG system, etc.

  • Page 74: 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 75: 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 76 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 77: 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 78 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 79 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 80: 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 81: 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 82 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 83 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 84: 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 85 Recommended spare parts list Part List robot Designation Part-No. Material no. Gear (Input side) HW1303249-1 164753 Motor SGMAV-01ANA-YR1* 144070 Toothed belt 80S3M819 164744 Wire harness HW1171418-A 164755 Wire harness (Optional) HW1171418-B 164761 Wire harness (Optional) HW1171418-C 164763 Wire harness B- and T-axis HW1270926-A 164765 Battery board...

  • Page 86: 11 Parts Lists

    Parts lists 11 Parts lists 11.1 S-axis unit 1010 1015 1003 1027 1004 1025 1010 1005 1014 1010 1006 1028 1012 1029 1025 1009 1011 1016 1018 1017 1020 1021 1032 1019 1031 1025 1030 1023 1032 1031 1030 1020 1025 1008 1021...
  • Page 87 Parts lists DWG no. Designation Piece 1001 HW1100498-1. Stand 1002 HW0386621-B. Gear 1003 HW0312734-2. Gear 1004 2L-5. Washer 1005 M5 x 85 Screw 1006 ATSH8-03. Connection 1007 NB-0860-0.3 Hose 1008 M6 x 35 Screw 1009 HW1303263-1. Housing 1010 M8 x 25 Screw 1011 HW1100499-1.

  • Page 88: L-Axis Unit

    Parts lists 11.2 L-axis unit 2008 2007 2011 2005 2009 2004 1011 2003 2006 2008 2012 2013 2010 2014 2002 2001 Fig. 11-2: L-axis drive DWG no. Designation Piece 2001 M6 x 60 Screw 2002 NPTF3/8 (STAINLESS) Screw 2003 M6 x 75 Screw 2004 2L-6.

  • Page 89: U-Axis Drive

    Parts lists 11.3 U-axis drive 3029 3001 3012 3003 3011 3022 3023 3028 3023 3020 3021 3006 3024 3019 3005 3004 3013 3018 3017 3025 3030 3016 3003 3026 3009 3010 3014 3002 3003 3027 3002 3015 3008 3007 2011 Fig.
  • Page 90 Parts lists DWG no. Designation Piece 3005 2L-5. Washer 3006 HW1303245-1 Gear 3007 PT3/8 Grub screw 3008 HW1380153-A Gear 3009 M5 x 25 Screw 3010 M10 x 30 Screw 3011 SGMRV-05ANA-YR2* Motor 3012 M8 x 30 Screw 3013 M6 x 25 Screw 3014 HW1404044-1...

  • Page 91: R-Axis Unit

    Parts lists 11.4 R-axis unit 5063 4006 4004 3001 4021 4044 4004 4045 4043 4001 4042 4005 4028 4030 4033 4026 4027 4001 4010 4011 4029 4028 4027 4032 4003 4008 4026 4001 4001 4024 4002 4023 4009 4046 4014 4023 4014 4025...
  • Page 92 Parts lists DWG no. Designation Piece 4001 M4 x 12 Screw 4002 PT1/8 Grub screw 4003 HW1304069-1. Axis 4004 M6 x 20 Screw 4005 HW1304196-1. Flange 4006 TC1151306. Oil seal 4007 AE0478G. Oil seal 4008 TC52647. Oil seal 4009 HW1303247-1. Gear 4010 HW1382521-A.
  • Page 93 Parts lists DWG no. Designation Piece 4043 Washer 4044 M4 x 6 Screw 4045 T30R. Cable tie 4046 TG107. Gasket 3001 HW1100501. Housing 5063 HW1100502-1. U-arm 1. Delivered after August 2014 2. Delivered before July 2014 Tab. 11-4: Parts list R-axis drive...

  • Page 94: Wrist Unit

    Parts lists 11.5 Wrist unit 5043 5045 5008 5007 5041 5001 5006 5040 5047 5035 5005 5046 5042 5044 5039 5009 5055 5038 5036 5028 5037 5001 5064 5002 5026 5003 5021 5005 5005 5025 5022 5019 5018 5020 5005 5027 5029 5031 5067...
  • Page 95 Parts lists DWG no. Designation Piece 5005 M3 x 10 Screw 5006 HW1404060-1. Gasket 5007 HW1404069-1. Cover 5008 M4 x 10 Screw 5009 M4 x 12 Screw 5010 M4 x 10 Screw 5011 HW1404053-1. Flywheel 5012 HW1404038-A. Pulley HW1404038-B (after 2015- 06-21) 5013 M4 x 16...
  • Page 96 Parts lists DWG no. Designation Piece 5042 TC1001105. Oil seal 5043 TC64746. Oil seal 5044 HW1303261-1. Flange 5045 HW1404055-1. Flange 5046 HW1303262-1. Flange 5047 HW1100503-1. Wrist 5048 HW1303259-1. Shaft 5049 M3 x 20 Screw 5050 IRTW26. Circlip 5051 6803LLU. Bearing 5052 HW1404037-1.
  • Page 97 Parts lists...
  • Page 98 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...

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