YASKAWA MOTOMAN-VA1400 Instructions Manual page 14

VA1400
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-3
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.2 Internal Connections .......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-5
9.2.1 Battery Pack Replacement ................................................................................... 9-5
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-7
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7
9.3.1.1 Grease Replenishment............................................................................ 9-8
9.3.1.2 Grease Exchange.................................................................................... 9-9
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10
9.3.2.1 Grease Exchange.................................................................................. 9-10
9.3.2.2 Grease Exchange.................................................................................. 9-11
9.3.3 Grease Replenishment/Exchange for E-Axis Speed Reducer ........................... 9-12
9.3.3.1 Grease Replenishment.......................................................................... 9-12
9.3.3.2 Grease Exchange.................................................................................. 9-13
9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-14
9.3.4.1 Grease Replenishment.......................................................................... 9-14
9.3.4.2 Grease Exchange.................................................................................. 9-15
9.3.5 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-16
9.3.6 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-17
9.3.7 Grease Replenishment for T-Axis Gear.............................................................. 9-18
9.3.8 Grease Replenishment for R-Axis Gear ............................................................. 9-19
9.3.9 Notes for Maintenance........................................................................................ 9-20
9.3.9.1 Wrist Unit ............................................................................................... 9-20
9.3.9.2 Battery Pack Connection ....................................................................... 9-21
Table of Contents
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155556-1CD
HW0484963
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