YASKAWA MOTOMAN-MPL80 II Instructions Manual page 14

II
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 ............................................................................. 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
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.1.1 Specification of Limit Switch ................................................................................. 8-1
8.1.2 Location of Limit Switch ........................................................................................ 8-1
8.1.3 Setting of Operation Range .................................................................................. 8-2
8.1.3.1 S-Axis Operation Range.......................................................................... 8-2
8.1.3.2 L-Axis Operation Range .......................................................................... 8-2
8.1.3.3 Setting Range of LU-Axes Interference Angle......................................... 8-3
8.2 Internal Connections .......................................................................................................... 8-4
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 Grease Replenishment/Exchange ..................................................................................... 9-7
9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-7
9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer.............................. 9-8
9.3.2.1 Grease Replenishment............................................................................ 9-8
9.3.2.2 Grease Exchange.................................................................................... 9-9
9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10
9.3.3.1 Grease Replenishment.......................................................................... 9-10
9.3.3.2 Grease Exchange.................................................................................. 9-11
9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12
9.3.4.1 Grease Replenishment.......................................................................... 9-12
9.3.4.2 Grease Exchange.................................................................................. 9-13
Table of Contents
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170904-1CD
HW1482870
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