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MHTH POSTIONER
SIGMA 5 Instructions
FOR DX100 or DX200
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN INSTRUCTIONS
DX100 or DX200 INSTRUCTIONS
DX100 or DX200 OPERATOR'S MANUAL
DX100 or DX200 MAINTENANCE MANUAL
The DX100 or DX200 operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
163475-1CD
Revision:
1
MANUAL NO.
163475-1CD
1/28
1
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Related Manuals for YASKAWA SIGMA 5
Summary of Contents for YASKAWA SIGMA 5
- Page 1 MHTH POSTIONER SIGMA 5 Instructions FOR DX100 or DX200 Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS DX100 or DX200 INSTRUCTIONS DX100 or DX200 OPERATOR’S MANUAL DX100 or DX200 MAINTENANCE MANUAL The DX100 or DX200 operator’s manual above corresponds to specific usage.
- Page 2 If such a 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.
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Page 3: Notes For Safe Operation
163475-1CD MHTH Postioner SIGMA V Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MHTH Positioner SIGMA V. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Indicates a potentially hazardous WARNING situation which, if not avoided, could... - Page 4 163475-1CD MHTH Postioner SIGMA V WARNING • Before operating the MHTH Positioner SIGMA V, check that servo power is turned OFF by pressing the EMERGENCY STOP buttons on the operator station or Programming Pendant (refer to Fig. 1). When servo power is turned OFF, the SERVO ON LED on the Programming Pendant is turned OFF.
- Page 5 163475-1CD MHTH Postioner SIGMA V CAUTION • Perform the following inspection procedures prior to conducting positioner teaching. If problems are found, repair them immediately and be sure that all other necessary processing has been performed. – Check for problems in positioner movement. –...
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Page 6: Table Of Contents
163475-1CD MHTH Postioner Table of Contents SIGMA V Table of Contents 1 Introduction ............................. 1-1 1.1 About This Document ......................1-1 1.2 Overview..........................1-1 1.2.1 MHTH-305 ......................1-1 1.2.2 MHTH-605 ......................1-2 1.2.3 MHTH-905 ......................1-2 1.2.4 Dimensions......................1-3 1.2.5 Specifications ....................... 1-4 1.3 Reference to Other Documentation ................... - Page 7 163475-1CD MHTH Postioner Table of Contents SIGMA V Appendix A Illustrated Parts List ......................A-1 A.1 Introduction........................A-1 A.1.1 Explanation of Parts List..................A-1 A.2 Parts List..........................A-2 A.2.1 Explanation of Parts List Arrangement..............A-2 A.2.2 Symbols and Abbreviations..................A-2 Appendix B Revision History......................B-1 163475-1CD 7/28...
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Page 8: Introduction
The MHTH drive units feature Sigma 5 motors. The 110 mm thru-hole allows pneumatic, hydraulic, or electrical connections for end-user tooling to pass through the center of the positioner. The MHTH-series drive assembly modules are available in three different configurations: 1.2.1 MHTH-305... -
Page 9: Mhth-605
163475-1CD MHTH Postioner Introduction 1.2 Overview SIGMA V 1.2.2 MHTH-605 The MHTH-605 has load capacity of 605 kg at 152 mm from the center of rotation. Weld ground capacity is rated at 800 amps, with options to increase ground capacity to either 1,200 or 1,600 amps. The MHTH-605 indexes 180 degrees in 2.1 seconds. -
Page 10: Dimensions
163475-1CD MHTH Postioner Introduction SIGMA V 1.2 Overview 1.2.4 Dimensions Fig. 1-2: Dimensions 595 mm 434 mm 440 mm 434 mm 169679 MHTH Drive Module CENTER OF GRAVITY MASS = 293.7 kg 598.4 mm 391 mm 256 mm 288 mm 280 mm 53 mm 560 mm... -
Page 11: Specifications
Amps 800/1600 (STD Optional) Allowable Thrust Motor Power * Motor PN, YEC SGMRV-13ANA-YR11 * Motor Speed 3800 * Rated Acceleration Time Motor PN, Yaskawa Motoman 156009-3 * Total Reduction Ratio Repeatability mm/mm 0.000028 E-Stop Response 0.449 E-Stop Response 12.8 **In Position Maximum Motion 15.47... - Page 12 Amps 1200/1600 (STD Optional) Allowable Thrust Motor Power * Motor PN, YEC SGMRV-13ANA-YR11 * Motor Speed 3800 * Rated Acceleration Time Motor PN, Yaskawa Motoman 156009-3 * Total Reduction Ratio Repeatability mm/mm 0.000028 E-Stop Response 0.449 E-Stop Response 12.8 **In Position Maximum Motion 15.47...
- Page 13 Amps 1200/1600 (STD Optional) Allowable Thrust Motor Power * Motor PN, YEC SGMRV-13ANA-YR11 * Motor Speed 3800 * Rated Acceleration Time Motor PN, Yaskawa Motoman 156009-3 * Total Reduction Ratio Repeatability mm/mm 0.000028 E-Stop Response 0.449 E-Stop Response 12.8 **In Position Maximum Motion 15.47...
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Page 14: Reference To Other Documentation
1.3 Reference to Other Documentation Reference to Other Documentation For additional information refer to the following: • Motoman Manipulator Manual • Motoman Controller Manual • Motoman Concurrent I/O Parameter Manual • Vendor manuals for system components not manufactured by Yaskawa Motoman 163475-1CD 14/28... -
Page 15: Customer Support Information
SIGMA V Customer Support Information If assistance is needed with any aspect of the MHTH Postioner SIGMA V, contact Yaskawa Motoman Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, feel free to contact Yaskawa Motoman Customer Support at the following e-mail address: techsupport@motoman.com... -
Page 16: Installation
Due to the variety of installation applications, it is not possible to provide detailed installation instructions for the MHTH Drive Module. However, general installation guidelines are provided. Contact the Yaskawa Motoman Service Staff for help integrating the MHTH Drive Module into your system. -
Page 17: Lifting Instructions
163475-1CD MHTH Postioner Installation 2.2 Lifting Instructions SIGMA V Lifting Instructions The MHTH Headstock is shipped on a wooden shipping skid. The customer is responsible for removing the positioner from the shipping skid and inspecting for shipping damage. The MHTH Headstock can be moved by forklift, or by overhead crane and straps using M16 eyebolts. -
Page 18: Installation Safety
163475-1CD MHTH Postioner Installation SIGMA V 2.3 Installation Safety Installation Safety Warning signs and restrictive devices such as fencing, chains, safety mats, or light beams must be placed around the working area of the robot/ positioner. Warning signs should indicate hazardous conditions and results that may occur if the warning is disregarded. -
Page 19: Connection To Motoman Controller
Connection to Motoman Controller Installation and connection to the controller comprises hardware as well as software installation, and must be carried out by Yaskawa Motoman Service personnel. When the HD Module is delivered together with a robot, this installation is complete. -
Page 20: Maintenance
Ensure power is off before performing the following procedures. Observe standard lockout/tagout practices. Ordering Parts Contact the Yaskawa Motoman service staff see Section 1.4 “Customer Support Information” on page 1-8 to order spare parts. Drive Motor Maintenance The servo drive motor is virtually maintenance free. If the servo motor is... -
Page 21: Lubrication And Maintenance Schedule
Grease at 6,000 H with Motoman Reducer 6,000 H P/N 132412-1 Molywhite RE00. Reducer 12,000 H Replace grease at 12,000 H with Yaskawa Motoman P/N 132412-1 Molywhite RE00. Reducer 20,000 H Flush and relubricate with Yaskawa or 5 years Motoman P/N 132412-1 Molywhite RE00. -
Page 22: Troubleshooting
Motor surface is dirty Clean motor surface. Motor overloaded Check motor connections and correct as needed. Unusual noise Motor is going bad Call Yaskawa Motoman service. a Shaded cells should only have corrective actions done after turning power off. 163475-1CD 22/28... -
Page 23: Appendix A Illustrated Parts List
• “Part Number” Column All part numbers appearing in this column are Yaskawa Motoman part numbers. • “Description” Column The item nomenclature appears in this column. -
Page 24: Parts List
163475-1CD MHTH Postioner Appendix A Illustrated Parts List SIGMA V A.2 Parts List Parts List A.2.1 Explanation of Parts List Arrangement The parts list is arranged so that the illustration will appear on left-hand page and the applicable parts list will appear on the opposite right-hand page. - Page 25 SIGMA V Fig. A-1: MHTH Exploded View Table A-1: MHTH Parts List Item Number Description 151346 HOUSING, WELDMENT, MHTH 156009-3 MOTOR, AC SERVO, SIGMA 5, 1.3KW 150655-1 SCREW, LEVELING ADJUSTER 141575-4 PINION, INPUT, 53:1, MHTH305 141575-3 PINION, INPUT, 101:1, MHTH605 141575-2...
- Page 26 163475-1CD MHTH Postioner Appendix A Illustrated Parts List SIGMA V A.2 Parts List Table A-1: MHTH Parts List Item Number Description 163410-1 SWITCH KIT, LIMIT, MHTH DRIVE ASSY, ONLY USED ON THE DX100 151334-1 GEAR, INPUT, MAIN DRIVE 151336-1 PLATE, MTG, MAIN DRIVE 151335-1 GUARD, UPPER, LH, MAIN DRIVE 151344-1...
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Page 27: Appendix B Revision History
163475-1CD MHTH Postioner Appendix B Revision History SIGMA V Appendix B Revision History Date CEN / Revision Reason For Revision Initials 11/29/2012 Original Release 6/24/2014 14-0769M 1 1. Make compatible with DX200 2. Update ANSI/RIA R15.06-1999 to ANSI/RIA R15.06-2012 163475-1CD 27/28... - Page 28 MHTH POSTIONER SIGMA 5 MANUAL FOR DX100 or DX200 Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. 163475-1CD 28/28...
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