Hyundai HX200L Manuals

Manuals and User Guides for Hyundai HX200L. We have 1 Hyundai HX200L manual available for free PDF download: Maintenance Manual

Hyundai HX200L Maintenance Manual (147 pages)

Manipulator

Brand: Hyundai | Category: Robotics | Size: 3.67 MB

Table of Contents
3
Introduction
10
Relevant Safety Regulations
12
Safety Training
12
Safety Related Nameplate
13
Safety Marking
13
Table 1-1 Safety Marking
13
Safety Nameplate
14
Definition of Safety Functions
15
Installation
16
Safety Fence
16
Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate)
16
Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate)
16
Placement of Robot & Peripheral Equipment
18
Fig 1.3 Placement of Peripheral Equipment and Operator
18
Installing the Robot
20
Space for Robot Installation
22
Fig 1.4 Space for Robot Installation
22
Safety Operation for Robot Handling
23
Safety Precautions for Robot Handling
23
Table 1-2 State of Robot Stop
25
Safety Precautions for Operating Test
26
Safety Precautions for Automatic Operation
27
Safety Precautions for Access to Safety Fence
28
Safety Precautions for Maintenance and Repair
29
Safety Precautions for Hi4A Controller Maintenance and Repair
29
Safety Precautions for Robot System & Manipulator Maintenanace
30
Necessary Actions after Maintenance and Repair
31
Safety Functions
32
Operating a Safety Circuit
32
Fig 1.5 Robot's Safety Circuit
32
Emergency Stop
34
Fig 1.6 Emergency Stop
36
Fig 1.7 Emergency Stop Connection of External System
36
Operating Speed
37
Connecting the Safety Devices
37
Restricting the Working Envelope
38
Monitoring Function
38
Safety Related to End Effectors
39
Gripper
39
Tool / Workpiece
40
Pneumatic and Hydraulic Systems
40
Liabilities
41
Specifications
43
Robot Machinery Part
44
Fig 2.1 Robot Machinery Part
44
Location of Robot Identification Plate
45
Fig 2.2 the Location of Identification Plate
45
Basic Specifications
46
Table 2-1 Basic Specifications for Models
46
Robot Dimension and Working Envelope
48
Fig 2.3 Robot Dimension and Working Envelope : [HX300]
48
Fig 2.4 Robot Dimension and Working Envelope : [HX400]
49
Fig 2.5 Robot Dimension and Working Envelope : [HX200L]
50
Fig 2.6 Robot Dimension and Working Envelope : [HX200L-2000]
51
Fig 2.7 Robot Dimension and Working Envelope : [HX300L]
52
Axis Identification
53
Fig 2.8 Robot Dimension and Axis [HX300/400/200L/200L-2000/300L]
53
Table 2-2 Axis Motion
53
Details of Wrist Axis Attachment Surface
54
Fig 2.9 Details of Wrist Axis Attachment Surface : [HX300/400/300L]
54
Fig 2.10 Details of Wrist Axis Attachment Surface : [HX200L]
54
Details of Upper 1 St ARM Attachment Surface
55
Fig 2.11 Details of Upper 1St ARM Attachment Surface
55
Application Wiring and Inspection Wiring Diagram
56
Fig 2.12 Application Wiring and Inspection Wiring Diagram
56
Details of Customer Application Connectors
57
Fig 2.13 Details of Application Connector (Encoder)
57
Fig 2.14 Details of Application Connector (Power)
57
Restricting the Working Envelope
58
Axis 1(Axis S)
58
Instructions
59
Robot Component Name
60
Fig 3.1 Identification of Robot Components
60
Table 3-1 Components Name
60
Location of Safety Nameplate
61
Fig 3.2 Location of Safety Nameplate
61
How to Operate
62
Using Crane
62
Fig 3.3 How to Transport: Using Crane [HX300/400]
62
Fig 3.4 How to Transport: Using Crane [HX200L/300L]
63
Using Forklift Truck
64
Fig 3.5 How to Transport : Using Forklift Truck
64
How to Install
65
Operating Conditions
65
Installating the Robot Manipulator
66
Dimension of Installation Surface
67
Fig 3.6 Dimension of Robot Installation
67
Accuracy of Installation Surface
68
Fig 3.7 Accuracy of Installation Surface
68
Allowable Load of Wrist Axis
69
Table 3-2 Allowable Load Weight
69
Table 3-3 Allowable Load Torque
69
Table 3-4 Allowable Moment of Inertia
70
Fig 3.8 Wrist Axis Torque Mapping:[Hx300/300L]
72
Fig 3.9 Wrist Axis Torque Mapping : [HX400]
72
Fig 3.10 Wrist Axis Torque Mapping : [HX200L]
73
Recommended Standy Posture
74
Fig 3.11 Recommended Standby Posture
74
Inspection
75
Inspection Item and Period
76
Table 4-1 Inspection Schedule
76
Table 4-2 Inspection Items and Periods
77
Inspection of Main External Bolts
79
Table 4-3 Inspection Part for Main Bolts
79
Inspection of Wrist Backlash
81
Fig 4.2 Abnormal Backlash Inspecting Directions
81
Inspection Internal Wiring
82
The Conditions of Safety Inspection
82
Inspection Part
83
Fig 4.3 Cable Inspection Parts : [HX300/400/200L/200L-2000/300L]
83
Maintenance
85
Grease Replenishment/Replacement
86
S-Axis Reduction Gear
87
H-Axis Reduction Gear
88
V-Axis Reduction Gear
90
R2-Axis Reduction Gear
92
B-Axis Reduction Gear
93
R1-Axis Reduction Gear
95
Bearing Joint Parts
97
A1 Frame - Gear Box
98
Wrist - Gear Box
99
Battery Replacement
100
Instructions for Battery Storage
102
Internal Wiring
103
Wiring Connection Diagram
104
Fig 5.1 Explains of Internal Wiring
104
Fig 5.2 Wiring Connection Diagram : [HX300/400/200L/200L-2000/300L]
105
Trobleshooting
107
Troubleshooting Procedure
108
Trouble Symptoms and Possible Causes
109
Table 6-1 Trouble Phenomenon and Cause
109
Diagnostics and Resolutions for Major Parts Failure
110
Fulcrum Bearings
110
Reduction Gear
111
Brakes
113
Motor
114
Encoder
115
Motor Replacement
116
Table 6-2 Motor Weight
116
Necessary Tools and Parts
118
Table 6-3 Necessary Tools
118
Table 6-4 Necessary Parts
118
How to Replace Motor
119
Encoder Zero Setting
121
Zero Setting
122
Encoder Reset
123
Table 6-5 Reset Connectors Corresponding to Axes
123
Fig 6.2 Encoder Reset Connector
124
Confirming the Reset
125
Encoder Calibration(Data Input) and Selection
126
Table 6-6 Data Range after Resetting
126
Recommended Spare Parts
127
Table 7-1 Spare Parts Listⅰ
128
Table 7-2 Spare Parts Listⅱ
130
Table 7-3 Spare Parts List Ⅲ
131
Table 7-4 Spare Parts List Ⅳ
132
Table 7-5 Spare Parts List Ⅴ
133
Internal Wiring Diagram
135
Manipulator Configuration
136
Wiring Diagram
136
Fig 8.1 Manipulator Configuration
136
Fig 8.2 Motor and Brake Wiring Connection No.1
137
Fig 8.3 Motor and Brake Wiring Connection No.2
138
Fig 8.4 Encoder Wiring Connection No.1
139
Fig 8.5 Encoder Wiring Connection No.2
140
Fig 8.6 Encoder Wiring Connection No.3
141
Fig 8.7 Application Wiring Connection No.1
142
Fig 8.8 Application Wiring Connection No.2
143
Table 9-1 Materials of each Part
146

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Hyundai HX200L Maintenance Manual (147 pages)

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