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Motoman GP50
YASKAWA Motoman GP50 Manuals
Manuals and User Guides for YASKAWA Motoman GP50. We have
2
YASKAWA Motoman GP50 manuals available for free PDF download: Maintenance Manual, Operating And Maintenance Manual
YASKAWA Motoman GP50 Maintenance Manual (109 pages)
Brand:
YASKAWA
| Category:
Robotics
| Size: 43.51 MB
Table of Contents
Table of Contents
2
1 Introduction
4
2 Notes for Maintenance
12
Details of Internal Connections
12
Multi-Port Connector
14
3 Home Position Return
16
Home Position Posture of Manipulator
16
Types of Methods for Home Position Return
17
Using a Teaching Point for Setting the Home Position
17
Using Keys
17
Using Encoder Backup Error Recovery Function
17
Robot Calibration (MOTOCALV EG)
17
Table of Suitable Methods for Home Position Return
17
Methods for Home Position Return
18
Using a Teaching Point for Setting the Home Position
18
Preparation
18
Replacement of Motor or Speed Reducer
18
Home Position Adjustment
19
Using Keys
20
Using Encoder Backup Error Recovery Function
23
Robot Calibration (MOTOCALV EG)
23
4 Notes on Grease Replenishment/Exchange Procedures
24
Grease Exchange Procedures for Speed Reducers and Gears
24
Notes on Grease Exchange Procedures
24
Grease Exchange Procedure
25
Removing, Applying, Assembling of Sealing Bond
30
Removing Sealing Bond from Sealing Surface and Cleaning
30
Applying Sealing Bond to Sealing Surface
31
Assembling after Applying Sealing Bond
32
5 Disassembly and Reassembly of the Motor
33
Disassembly and Reassembly of the S-Axis Motor
34
Disassembly and Reassembly of the L-Axis Motor
38
Yr-1-06Vx50-A00
38
Yr-1-06Vxl35-A00
41
Disassembly and Reassembly of the U-Axis Motor
44
Disassembly and Reassembly of the R-Axis Motor
47
Disassembly and Reassembly of the B-Axis Motor
50
Disassembly and Reassembly of the T-Axis Motor
53
6 Disassembly and Reassembly of the Speed Reducer
56
Disassembly and Reassembly of the S-Axis Speed Reducer
56
Disassembly and Reassembly of the L-Axis Speed Reducer
59
Disassembly and Reassembly of the U-Axis Speed Reducer
63
Disassembly and Reassembly of the R-Axis Speed Reducer
67
Disassembly and Reassembly of the B-Axis Speed Reducer
70
Disassembly and Reassembly of the T-Axis Speed Reducer
73
7 Disassembly and Reassembly of the Wrist Unit
77
8 Cable Wiring
78
Disassembly and Reassembly of the Internal Wiring Harness
78
9 Battery Pack Replacement
87
10 Parts List
91
S-Axis Unit
91
L-Axis Unit (YR-1-06VX50-A00)
93
L-Axis Unit (YR-1-06VXL35-A00)
95
U-Axis Unit
97
R-, B-, T-Axis Unit (YR-1-06VX50-A00)
99
R-, B-, T-Axis Unit (YR-1-06VXL35-A00)
102
Wrist Unit
105
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YASKAWA Motoman GP50 Operating And Maintenance Manual (86 pages)
Brand:
YASKAWA
| Category:
Robotics
| Size: 14.11 MB
Table of Contents
Table of Contents
3
1 General
5
Notes for Safe Operation
5
Frequently Used Terms
6
YASKAWA Manual List
6
Target Group
7
Intended Use
7
Improper Use
7
About this Manual
8
Safety
9
Manufacturer
11
Authorized Representative
11
2 Supply
12
Checking the Scope of Delivery
12
Position Type Plate
13
3 Transportation
14
Transporting Method
14
Using a Crane
15
Using a Forklift
16
Shipping Brackets and Bolts
17
Damping Material During Transportation
17
4 Installation
18
Protection Measures
18
Ambient Conditions and Installation Location
19
Installation Example
20
Notes on Dust-Proof/Water-Poof Specifications
25
5 Wiring
26
Grounding
26
Cable Connections
27
Connecting the Robot
28
Connection of the Robot Controller
29
Connecting the Programming Pendant
29
6 Technical Data
30
Parts and Work Axis Label
31
Robot Base Dimension
31
Dimensions and Defined Working Area
32
Adjustable Working Area
34
Instructions for Installing the Mechanical Limit
34
Components for Changing the Working Area
35
Adjusting the S-Axis Pulse Limit
36
Stopping Angle and Time at the Emergency Stop
37
Stop Category 0
38
Stop Category 1
39
7 Allowable Load for Wrist Axis and Wrist Flange
42
Wrist Flange
42
Maximum Load of the S-Axis
42
Optimal Robot Performance
42
Allowable Wrist Load
43
Maximum Capacity Load
45
8 Internal Cables and Compressed Air Lines
47
9 Maintenance and Inspection
53
Inspection Schedule
54
Note on Battery Unit
58
Battery Pack Replacement
58
Multiple Connection
61
Home Position Check
62
Seeped Oil Check
63
Axis Motors
64
Refill/Replace Grease
65
Grease Filling the Main Axes
67
Grease Filling the Wrist Axes
68
10 Recommended Spare Parts List
69
11 Parts Lists
73
S-Axis Unit
73
L-Axis Unit
75
U-Axis Drive
77
R- B-, and T-Axes Drive
79
Wrist Unit
82
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