YASKAWA MOTOMAN-MPL80 II Instructions Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Robotics
  5. MOTOMAN-MPL80 II
  6. Instructions manual

YASKAWA MOTOMAN-MPL80 II Instructions Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

MOTOMAN-MPL80 II
INSTRUCTIONS
TYPE:
YR-MPL0080-J00 (DX200 STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MPL80 II INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
Part Number:
170904-1CD
Revision:
5
MANUAL NO.
HW1482870
6
1 of 81

Advertisement

Table of Contents
loading

Related Manuals for YASKAWA MOTOMAN-MPL80 II

Summary of Contents for YASKAWA MOTOMAN-MPL80 II

  • Page 1 YR-MPL0080-J00 (DX200 STANDARD SPECIFICATION) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MPL80 II INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL Part Number:...
  • Page 2 Copyright © 2018, 2015, 2014 Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 If such 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.
  • Page 4 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
  • Page 5 Failure to observe this caution may result in electric shock or injury. • For disassembly or repair, contact your Yaskawa representative. • Do not remove the motor, and do not release the brake. Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
  • Page 6 170904-1CD MPL80 WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons . When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX200 Instructions before operating the manipulator: Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
  • Page 8 MODEL MOTOMAN- Moving parts TYPE may cause PAYLOAD MASS injury DATE ORDER NO. SERIAL NO. YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, WARNING Label B: Kitakyushu 806-0004 Japan NJ3878 MADE IN JAPAN WARNING Do not enter robot work area. HW1482870 viii...
  • Page 9 170904-1CD MPL80 Safeguarding Tips All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows: •...
  • Page 10 Manipulator! Do not make any modifications to the Controller unit. Making any changes without written permission from Yaskawa will void the warranty. • Some operations require a standard passwords and some require special passwords.
  • Page 11 Turn power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections. Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by Yaskawa- trained, qualified personnel. Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment.
  • Page 12 170904-1CD MPL80 Customer Support Information If you need assistance with any aspect of your MPL80 system, please contact Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact Customer Support, please provide a detailed description of the issue, along with complete contact information.

  • Page 13: Table Of Contents

    170904-1CD Table of Contents MPL80 Table of Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation ....................1-2 2 Transport............................2-1 2.1 Transport Method ......................2-1 2.1.1 Using a Crane ...................... 2-2 2.1.2 Using a Forklift...................... 2-3 2.2 Shipping Bolts and Brackets....................
  • Page 14 170904-1CD Table of Contents MPL80 5.6.2 Stop Category 1: Emergency Stop ............... 5-8 5.7 Alterable Operating Range ....................5-9 5.7.1 Necessary Parts ....................5-9 5.7.2 Notes on the S-Axis Mechanical Stopper Installation ......... 5-10 5.7.3 Alteration of the S-Axis Pulse Soft Limit ............. 5-11 6 Allowable Load for Wrist Axis and Wrist Flange ................
  • Page 15 170904-1CD Table of Contents MPL80 9.3.5 Grease Replenishment for B- and T-Axis Gears ..........9-14 9.3.5.1 Grease Replenishment................9-14 9.3.5.2 Grease Exchange ................. 9-15 9.3.6 Grease Replenishment for B- and T-Axis Speed Reducers and Gears ..... 9-16 9.3.6.1 Grease Replenishment................9-16 9.3.6.2 Grease Exchange .................

  • Page 16: Product Confirmation

    170904-1CD Product Confirmation MPL80 1.1 Contents Confirmation Product Confirmation CAUTION • Confirm that the manipulator and the DX200 have the same order number. Special care must be taken when more than one manipulator is to be installed. If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

  • Page 17: Order Number Confirmation

    170904-1CD Product Confirmation MPL80 1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the DX200. The order number is located on a label as shown below. Fig. 1-1: Location of Order Number Labels Label (Enlarged View) THE MANIPULATOR AND THE CONTROLLER Check that the manipulator...

  • Page 18: Transport

    170904-1CD Transport MPL80 2.1 Transport Method Transport CAUTION • Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. • Avoid excessive vibration or shock during transport. The system consists of precision components.

  • Page 19: Using A Crane

    170904-1CD Transport MPL80 2.1 Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with four wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig.

  • Page 20: Using A Forklift

    170904-1CD Transport MPL80 2.2 Shipping Bolts and Brackets 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with bolts as shown in Fig. 2-2 “Using a Forklift”. Insert claws under the pallet and lift it.

  • Page 21: Installation

    170904-1CD Installation MPL80 Installation WARNING • Install the safeguarding. Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

  • Page 22: Installation Of The Safeguarding

    170904-1CD Installation MPL80 3.1 Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance. Responsibility for Safeguarding (ISO10218) The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this...

  • Page 23: Mounting Example

    170904-1CD Installation MPL80 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting Example For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 50 mm or more thick, and anchor bolts of M20 or larger size.

  • Page 24: When The Manipulator Is Mounted Directly On The Floor

    170904-1CD Installation MPL80 3.2 Mounting Procedures for Manipulator Base 3.2.2 When the Manipulator is Mounted Directly on the Floor The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator.

  • Page 25: Protection Class

    170904-1CD Installation MPL80 3.3 Protection Class Protection Class For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67. For the main part of environmental resistance, IP65 is also available as optional.

  • Page 26: Wiring

    170904-1CD Wiring MPL80 4.1 Grounding Wiring WARNING Ground resistance must be 100  or less. • Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn the primary power supply off, and put up a warning sign.

  • Page 27: Cable Connection

    170904-1CD Wiring MPL80 4.2 Cable Connection Cable Connection Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2 “Manipulator Cables”.) Connect these cables to the manipulator base connectors and to the DX200.
  • Page 28 170904-1CD Wiring MPL80 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) Fig. 4-3(b): Manipulator Cable Connectors (DX200 Side) HW1482870 28 of 81...

  • Page 29: Basic Specifications

    170904-1CD Basic Specifications MPL80 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-MPL80 II Structure Vertically Articulated Degree of Freedom Payload 80 kg Repeatability ±0.07 mm Range of Motion S-Axis (turning) -180+180 L-Axis (lower arm) -90+135...

  • Page 30: Part Names And Working Axes

    170904-1CD Basic Specifications MPL80 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Upper arm Wrist U-arm Lower arm Wrist flange L-arm Rotary head S-head Manipulator base Baseplate Dimensions Fig. 5-2: Baseplate Dimensions +0.018 12 dia.

  • Page 31: Dimensions And P-Point Maximum Envelope

    170904-1CD Basic Specifications MPL80 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope P-point maximum envelope 1025 P-point 131 6 2061 2192 HW1482870 31 of 81...

  • Page 32: B-Axis Operating Range

    170904-1CD Basic Specifications MPL80 5.5 B-Axis Operating Range B-Axis Operating Range The operating range of the B-axis maintaining a constant angle to the center of U-axis is shown in Fig. 5-4 “B-Axis Operating Range”. By “B-axis adjustable motion function”, the B-axis maintains the same posture to the ground regardless of the L- or U-axis angle.

  • Page 33: Stopping Angle And Time At The Emergency Stop

    170904-1CD Basic Specifications MPL80 5.6 Stopping Angle and Time at the Emergency Stop Stopping Angle and Time at the Emergency Stop Following data on stopping angle and time at the emergency stop are measured under the standard of ISO10218. 5.6.1 Stop Category 0: Emergency Stop 5.6.1.1 Position 100% Fig.

  • Page 34: Position 66%

    170904-1CD Basic Specifications MPL80 5.6 Stopping Angle and Time at the Emergency Stop 5.6.1.2 Position 66% Fig. 5-6: Category 0, Position 66%: Stopping Angle and Time for each Axis at the Emergency Stop (a)S-Axis S top posi ti on of S -axi s category0 66% S top posi ti on of S -axi s category0 66% 0.

  • Page 35: Position 33%

    170904-1CD Basic Specifications MPL80 5.6 Stopping Angle and Time at the Emergency Stop 5.6.1.3 Position 33% Fig. 5-7: Category 0, Position 33%: Stopping Angle and Time for each Axis at the Emergency Stop (a)S-Axis S top posi ti on of S -axi s category0 33% S top posi ti on of S -axi s category0 33% 0.

  • Page 36: Stop Category 1: Emergency Stop

    170904-1CD Basic Specifications MPL80 5.6 Stopping Angle and Time at the Emergency Stop 5.6.2 Stop Category 1: Emergency Stop The stopping angle and time at the emergency stop in category 1 are not subjected to the manipulator position and the load. Stop of category1 doesn't depend on the robot position and the load.

  • Page 37: Alterable Operating Range

    Alterable Operating Range The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Table 5-2 “S-Axis Operating Range”. If alteration is necessary, contact your Yaskawa representative in advance. Table 5-2: S-Axis Operating Range...

  • Page 38: Notes On The S-Axis Mechanical Stopper Installation

    170904-1CD Basic Specifications MPL80 5.7 Alterable Operating Range 5.7.2 Notes on the S-Axis Mechanical Stopper Installation Mount the collar (drawing No. HW9405785-2) to the hexagon socket head screws M20 (length: 40 mm) (Tensile strength: 1200N/mm ). Then, as shown in Fig. 5-9 “S-Axis Mechanical Stopper”, mount the S-axis mechanical stopper to the S-head using the collar with the screws with the tightening torque of 167 N•m (17 kgf•m).

  • Page 39: Alteration Of The S-Axis Pulse Soft Limit

    170904-1CD Basic Specifications MPL80 5.7 Alterable Operating Range 5.7.3 Alteration of the S-Axis Pulse Soft Limit Apply the Instruction for “DX200 Instructions section 8.17 Changing the Parameter Setting (manual No. RE-CTO-A220)” as part of reference materials for adjusting the programming pendant when modifying the range of motion of S-Axis.

  • Page 40: Allowable Load For Wrist Axis And Wrist Flange

    The allowable wrist load is 80 kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in Table 6-1 “Allowable Wrist Load”. Contact your Yaskawa representative for further information or assistance.

  • Page 41: Wrist Flange

    170904-1CD Allowable Load for Wrist Axis and Wrist Flange MPL80 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting.

  • Page 42: System Application

    170904-1CD System Application MPL80 7.1 Peripheral Equipment Mounts System Application Peripheral Equipment Mounts The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ system applications. The following conditions should be observed to attach or install peripheral equipment.

  • Page 43: Internal User I/O Wiring Harness And Air Line

    170904-1CD System Application MPL80 7.2 Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line Internal user I/O wiring harness (0.5 mm x 23 wires), and an air line are incorporated in the manipulator for the drive of peripheral device mounted on the upper arm as shown in Fig.

  • Page 44: Electrical Equipment Specification

    In case of re-adjusting the operating range of each subject axis, it is also required to change the dog location and limit NOTE values in software. Contact your Yaskawa representative if re-adjustment is required. 8.1.2 Location of Limit Switch The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”.

  • Page 45: Setting Of Operation Range

    170904-1CD Electrical Equipment Specification MPL80 8.1 Position of Limit Switch 8.1.3 Setting of Operation Range 8.1.3.1 S-Axis Operation Range By the S-axis limit switch, S-axis operation range can be set to those ranges mentioned in Table 5-2 “S-Axis Operating Range”. 8.1.3.2 L-Axis Operation Range By the L-axis limit switch, the L-axis operation range can be set to any angles within -91°...

  • Page 46: Setting Range Of Lu-Axes Interference Angle

    170904-1CD Electrical Equipment Specification MPL80 8.1 Position of Limit Switch 8.1.3.3 Setting Range of LU-Axes Interference Angle L- and U-axes interference limit switches are designed to check the interference angle of L- and U-axes. As shown in Fig. 8-3 “LU-Axes Interference Angle”, the operation range of U-axis can be set to any angles within +9°...

  • Page 47: Internal Connections

    170904-1CD 8 Electrical Equipment Specification MPL80 II 8.2 Internal Connections Internal Connections Fig. 8-4(a): Internal Connection Diagram <Notes> 1.For the limit switch specification, the connection of the section A B are changed as follows: S-axis overrun L.S. Connected to A1 L-axis overrun L.S.
  • Page 48 170904-1CD 8 Electrical Equipment Specification MPL80 II 8.2 Internal Connections Fig. 8-4(b): Internal Connection Diagram 2BC(8X4+12X2) CN1-1 CN1-1 CN1-2 CN1-2 CN1-3 No.9CN CN1-3 9CN-A CN1-4 CN1-4 CN1-5 S-AXIS CN1-5 CN1-6 CN1-6 CN5-1 CN5-1 CN5-2 CN5-2 CN6-1 CN6-1 CN6-2 CN6-2 CN1-7 CN1-7 CN1-8 CN1-8...

  • Page 49: Maintenance And Inspection

    Failure to observe this caution may result in electric shock or injury. • For disassembly or repair, contact your Yaskawa representative. • Do not remove the motor, and do not release the brake. Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
  • Page 50 Table 9-1: Inspection Items (Sheet 1 of 2) Items Schedule Method Operation Inspection Charge • • • • Alignment mark Visual Check alignment mark accordance at the home position. Check for damage. • • • • External lead Visual Check for damage and deterioration of leads. •...
  • Page 51 14 Overhaul 1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Items”. 2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa representative.
  • Page 52 170904-1CD MPL80 Maintenance and Inspection 9.1 Inspection Schedule 52 of 81 HW1482870...

  • Page 53: Notes On Maintenance Procedures

    170904-1CD Maintenance and Inspection MPL80 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery packs are installed in the position shown in Fig. 9-2 “Battery Location”. • Battery Type: HW0470360-A Fig. 9-2: Battery Location Cross head APS bolt M6 Connector base (Length:12)(8 bolts)
  • Page 54 170904-1CD Maintenance and Inspection MPL80 9.2 Notes on Maintenance Procedures 3. Remove the battery pack from the battery holder. 4. Connect the new battery pack to the unoccupied connectors on the board. 5. Remove the old battery pack from the board. Remove the old battery pack after connecting the new one NOTE so that the encoder absolute data does not disappear.

  • Page 55: Grease Replenishment/Exchange

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange Grease Replenishment/Exchange 9.3.1 Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following notes may result in damage to a motor and a speed reducer. •...

  • Page 56: Grease Replenishment/Exchange For S-Axis Speed Reducer

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer Fig. 9-4: S-axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT3/8 S-axis speed reducer Grease inlet Hexagon socket head plug PT1/4 9.3.2.1 Grease Replenishment (Refer to Fig.
  • Page 57 170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.2.2 Grease Exchange (Refer to Fig. 9-4 “S-axis Speed Reducer Diagram”.) 1. Remove the hexagon socket head plug PT1/4 from the grease inlet and the hexagon socket head plug PT3/8 from the grease exhaust port •...

  • Page 58: Grease Replenishment/Exchange For L-Axis Speed Reducer

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer Fig. 9-5: L-Axis Speed Reducer Diagram Grease exhaust port Grease inlet Hexagon socket head plug PT3/8 Hexagon socket head plug PT1/8 L-axis speed reducer 9.3.3.1 Grease Replenishment (Refer to Fig.
  • Page 59 170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.3.2 Grease Exchange (Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.) 1. Make the L-arm vertical to the ground. 2. Remove the hexagon socket head plug PT3/8 from the grease exhaust port. 3.

  • Page 60: Grease Replenishment/Exchange For U-Axis Speed Reducer

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-6: U-Arm Posture U-arm Fig. 9-7: U-Axis Speed Reducer Diagram Grease inlet Grease exhaust port Hexagon socket head Hexagon socket head plug PT1/8 plug PT3/8 U-axis speed reducer 9.3.4.1 Grease Replenishment (Refer to Fig.
  • Page 61 170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 6. Move the U-axis for a few minutes to discharge the excess grease. 7. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3/8 to the exhaust port. Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m) 8.

  • Page 62: Grease Replenishment For B- And T-Axis Gears

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.5 Grease Replenishment for B- and T-Axis Gears Fig. 9-8: B- and T-Axis Gears Diagram Exhaust port Hexagon socket head U-arm plug PT3/8 Grease inlet Hexagon socket head plug PT1/8 9.3.5.1 Grease Replenishment (Refer to Fig.

  • Page 63: Grease Exchange

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.5.2 Grease Exchange (Refer to Fig. 9-8 “B- and T-Axis Gears Diagram”.) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port. 2. Remove the hexagon socket head plug PT1/8 from the grease inlet. •...

  • Page 64: Grease Replenishment For B- And T-Axis Speed Reducers And Gears

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.6 Grease Replenishment for B- and T-Axis Speed Reducers and Gears Fig. 9-9: B- and T-Axis Speed Reducers and Gears Diagram Grease inlet Hexagon socket head plug PT1/8 T-axis speed reducer, gear B-axis speed reducer, gear Exhaust port Hexagon socket head...

  • Page 65: Grease Exchange

    170904-1CD Maintenance and Inspection MPL80 9.3 Grease Replenishment/Exchange 9.3.6.2 Grease Exchange (Refer to Fig. 9-9 “B- and T-Axis Speed Reducers and Gears Diagram”.) 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. 2. Remove the hexagon socket head plug PT1/8 from the grease inlet. •...

  • Page 66: Notes For Maintenance

    170904-1CD Maintenance and Inspection MPL80 9.4 Notes for Maintenance Notes for Maintenance When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.

  • Page 67: Recommended Spare Parts

    Recommended Spare Parts It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-MPL80 II . Product performance cannot be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows: •...
  • Page 68 170904-1CD 10 Recommended Spare Parts MPL80 Table 10-1: Spare Parts for YR-MPL0080-J00 (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit U-Axis SGMRV-13ANA-YR11 Yaskawa AC Servomotor HW0388666-A Electric Corporation B-, T-Axes SGMRV-09ANA-YR11 Yaskawa AC Servomotor HW0388665-A Electric Corporation...

  • Page 69: Parts List

    170904-1CD 11 Parts List MPL80 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1013 1014 1010 1002 1011 1009 1021 1007 1022 1005 1008 1003 1001 1004 1012 HW1482870 11-1 69 of 81...
  • Page 70 170904-1CD 11 Parts List MPL80 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1001 HW1382298-A Speed reducer 1002 SGMRV-30ANA-YR1* Motor 1003 HW9404486-1 Shaft 1004 HW0400405-1 Stopper 1005 6310 Bearing 1007 M8X45 Socket screw 1008 2H-8 Spring washer 1009 HW0102237-4 S-head 1010...

  • Page 71: L-Axis Unit

    170904-1CD 11 Parts List MPL80 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2021 2001 2022 2027 2023 2024 2018 2027 2025 2025 2019 2027 2010 2011 2020 2012 2014 2013 2026 2015 2016 1009 2005 2004 2026 2003 2009 2008...
  • Page 72 170904-1CD 11 Parts List MPL80 11.2 L-Axis Unit Table 11-2: L-Axis Unit DWG No. Name 2001 SGMRV-37ANA-YR1* Motor 2002 HW0102425-1 L-arm 2003 M12X55 Socket screw 2004 SW-2H-12 Spring washer 2005 HW9381465-B Speed reducer 2006 M10X40 Socket screw 2007 2H-10 Spring washer 2008 M16X45 Socket screw...

  • Page 73: U-Axis Unit

    170904-1CD 11 Parts List MPL80 11.3 U-Axis Unit 11.3 U-Axis Unit Fig. 11-3: U-Axis Unit 3017 3007 3027 3028 2002 3015 3014 3002 3004 3003 3022 3015 3012 3026 3024 3025 3023 3001 3019 3020 3005 3011 3016 3006 3021 3018 3008 3009...
  • Page 74 170904-1CD 11 Parts List MPL80 11.3 U-Axis Unit Table 11-3: U-Axis Unit DWG No. Name 3001 SGMRV-13ANA-YR1* Motor 3002 HW0413914-1 Stopper 3003 M6X55 Socket screw 3004 2H-6 Spring washer 3005 M8X55 Socket screw 3006 2H-8 Spring washer 3007 HW0387753-A Speed reducer 3008 HW0313740-1 Gear...

  • Page 75: B-,T-Axes Unit

    170904-1CD 11 Parts List MPL80 11.4 B-,T-Axes Unit 11.4 B-,T-Axes Unit Fig. 11-4: B-,T-Axes Unit 4005 4054 4024 4045 4020 4016 4001 4025 4053 4033 4044 4029 4052 4037 4037 4028 4007 4036 4013 4012 4007 4051 4040 4048 4041 4014 4003 4022...
  • Page 76 170904-1CD 11 Parts List MPL80 11.4 B-,T-Axes Unit Table 11-4: B-,T-Axes Unit DWG No. Name Pcs. 4001 HW0315191-1 Spacer 4002 SGMRV-09ANA-YR1* Motor 4003 SC25387*FKM* Oil seal 4004 TC20367*FKM* Oil seal 4005 HW0415265-1 Spacer 4006 HW0415352-1 Cover 4007 HR32005XJ Bearing 4008 HR32909J Bearing 4010...
  • Page 77 170904-1CD 11 Parts List MPL80 11.4 B-,T-Axes Unit Table 11-4: B-,T-Axes Unit DWG No. Name Pcs. 4055 M4X6 Socket screw 4056 2H-4 Spring washer 3017 HW0102239-2 Casing HW1482870 11-9 77 of 81...

  • Page 78: Wrist Unit

    170904-1CD 11 Parts List MPL80 11.5 Wrist Unit 11.5 Wrist Unit Fig. 11-5: Wrist Unit 5058 5015 5093 5115 5094 5016 5095 5096 5005 5115 5113 5114 5060 5040 5039 5039 5005 5055 5013 5014 5039 5008 5033 5057 5007 5022 5039 5053...
  • Page 79 170904-1CD 11 Parts List MPL80 11.5 Wrist Unit Table 11-5: Wrist Unit DWG No. Name 5001 HW0387737-B Speed reducer 5002 HW0389043-A Speed reducer 5003 HW9405880-1 B-cover 5004 HW9405445-1 B nut 5005 HW9405881-1 B nut 5006 HW9405882-1 B nut 5007 O ring 5008 AE3092E2 Oil seal...
  • Page 80 170904-1CD 11 Parts List MPL80 11.5 Wrist Unit Table 11-5: Wrist Unit DWG No. Name 5055 HW9302630-3 Housing 5056 HW0102233-1 U-arm 5057 HW0102491-1 Wrist 5058 HW0201226-1 Cover 5059 HW0414884-1 Cover 5060 HW0412694-* Shim 5068 HW0412683-* Shim 5075 HW0412695-* Shim 5082 HW0412696-* Shim 5089...
  • Page 81 INSTRUCTIONS HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

Table of Contents