YASKAWA MOTOMAN-MPX2600 Instructions Manual
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YASKAWA MOTOMAN-MPX2600 Instructions Manual

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MOTOMAN-MPX2600
INSTRUCTIONS
TYPE:
YR-MPX2600-*00 (STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MPX2600 INSTRUCTIONS
MOTOMAN-MPX2600 MAINTENANCE MANUAL
MOTOMAN-MPX2600 INSTRUCTIONS FOR MANIPULATOR OPTIONAL SPECIFICATIONS
INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS
DX200 INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL FOR PAINTING
DX200 MAINTENACE MANUAL
The DX200 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
180788-1CD
Revision:
0
MANUAL NO.
HW1484370
1 of 116

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Summary of Contents for YASKAWA MOTOMAN-MPX2600

  • Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MPX2600 INSTRUCTIONS MOTOMAN-MPX2600 MAINTENANCE MANUAL MOTOMAN-MPX2600 INSTRUCTIONS FOR MANIPULATOR OPTIONAL SPECIFICATIONS INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS DX200 INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL FOR PAINTING DX200 MAINTENACE MANUAL The DX200 operator’s manual above corresponds to specific usage.
  • Page 2 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. You are welcome to copy this document to your computer or mobile device for...
  • 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 180788-1CD Notes for Safe Operation MPX2600 WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX200 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • 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 180788-1CD Explosion-Proof Indication Label and Warning MPX2600 Explosion-Proof Indication Label and Warning Warning labels are attached on the manipulator body. Always follow the warnings on the labels. Also, identification labels with important information are placed on the body of the manipulator. Prior to operating the manipulator, thoroughly understand the contents of the label.
  • Page 9 180788-1CD Explosion-Proof Indication Label and Warning MPX2600 Fig. : Explosion-Proof Indication Label (ATEX) Note 1 YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku 2503 Notified Body Number Kitakyushu 806-0004 Japan CML 17ATEX1034X Certificate Number YR-MPX2600-C00 Ex ib pxb B T4 Gb/Ex ib B T4 Gb...
  • Page 10 Battery only to be replaced by Licensee when the area is known to be safe. Battery unit type Manufucturere Battery type SERIAL NO. HW1372692-A,-B,-C ENERGIZER L91 YASKAWA Electric Corporation NJ4032 NJ4036 YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan...
  • Page 11 This manipulator meets the following requirements: For the details of the standards, refer to "Standards" section in the instruction manual of each manipulator.  MOTOMAN-MPX2600 meets the following requirements: • IEC60079-0: for electrical apparatus for explosive gas atmospheres - Part 0: General requirements •...
  • Page 12 BT4Gb CAT.2 DANGER In case installing the MOTOMAN-MPX2600 in the hazardous area, classify the manipulator environment by following the local explosion- proof standard and then, on the basis of the explosion-proof structure notation on the MOTOMAN-MPX2600, confirm that the manipulator is possible to install in that area.
  • Page 13 180788-1CD Explosion-Proof Structure MPX2600 CAUTION • Take the following measures when teaching, correcting, inspecting, or adjusting the manipulator when the motor power supply is ON: Appoint a personnel to stay beside the emergency stop button of the DX200. And perform the operations holding the programming pendant with the emergency stop but- ton.
  • Page 14 180788-1CD Safeguarding Tips MPX2600 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 15 Do not make any modifications to the controller unit. Making any changes without the written permission from YASKAWA will void the warranty. • Some operations require a standard passwords and some require special passwords.
  • Page 16 It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by YASKAWA. Address any questions regarding the safe and proper operation of the equipment to YASKAWA Customer Support.
  • Page 17 If you need assistance with any aspect of your MPX2600 system, please contact YASKAWA Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact YASKAWA Customer Support, please provide a detailed description of your issue, along with complete contact information.

  • Page 18: Table Of Contents

    180788-1CD Table of Contents MPX2600 Table of Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation....................1-3 2 Transport............................2-1 2.1 Transporting Method......................2-1 2.1.1 Using a Crane....................... 2-2 2.1.2 Using a Forklift...................... 2-5 2.2 Shipping Bolts and Brackets ....................
  • Page 19 180788-1CD Table of Contents MPX2600 5.2 Part Names and Working Axes..................5-2 5.3 Manipulator Base Dimensions ................... 5-3 5.4 Dimensions and P-point Maximum Envelop ..............5-4 5.5 Appearance and Dimensions of the Pressure Switch Unit ..........5-5 5.6 Stopping Distance and Time for S-, L-, and U-Axes............5-6 5.6.1 General Information....................
  • Page 20 180788-1CD Table of Contents MPX2600 9.2.1.4 Paint Removal and Cleaning ..............9-3 9.2.1.5 Emergency Stop Button Operation and Dried Paint ........ 9-4 9.2.2 Pressure Switch Unit .................... 9-4 9.2.2.1 Pressure ....................9-4 10 Maintenance and Inspection ....................... 10-1 10.1 Inspection Schedule....................... 10-1 10.2 Maintenance for Manipulator ..................

  • Page 21: Product Confirmation

    USB connector) Fig. 1-1: Six Items for Standard Delivery Programming pendant DX200 Manipulator SER NO. DATE TYPE ALARM MADE IN JAPAN YASKAWA ELECTRIC CORPORATION NJ2096-□ CHECK ALL THE DOOR LOCKS PROPERLY. YR-MPX2600-A Exibpx BT4Gb/Exib BT4G 10.1 10.3 0 +40 DC17.22V 220mA...
  • Page 22 180788-1CD Product Confirmation MPX2600 1.1 Contents Confirmation Accessories of Manipulator Remarks Hexagon socket head cap screw M20 (Length: 90 mm) For mounting the manipulator Washer M20 Conical spring washer M20 Grease zerk A-PT3/8 For grease replenishment Grease zerk A-PT1/8 Hexagon socket head cap screw M4 For mounting the bracket to the (Length: 12 mm) manipulator cable.

  • Page 23: Order Number Confirmation

    Fig. 1-2: Location of Order Number Labels THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. ORDER. No. SER NO. DATE ALARM TYPE YASKAWA ELECTRIC CORPORATION MADE IN JAPAN NJ2096-□ CHECK ALL THE DOOR LOCKS PROPERLY. YR-MPX2600-A Exibpx BT4Gb/Exib BT4G 10.1...

  • Page 24: Transport

    180788-1CD Transport MPX2600 2.1 Transporting Method Transport CAUTION • Sling 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 25: Using A Crane

    180788-1CD Transport MPX2600 2.1 Transporting 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 as shown in before transport, and lift it in the posture Fig.
  • Page 26 180788-1CD Transport MPX2600 2.1 Transporting Method Fig. 2-1(b): Transport Using a Crane (Wall-mounted) (Optional :Gravity center “G” : Manipulator and Shpping bolts and brackets Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Hexagon socket head cap screw M10 Conical spring washer 2L-10 (4 washers) (2 screws, length: 35 mm) Tightening torque: 24.5 N•m (2.5 kgf•m)
  • Page 27 180788-1CD Transport MPX2600 2.1 Transporting Method Fig. 2-1(c): Transport Using a Crane (Ceiling-mounted) (Optional) The manipulator is in the nailed wooden box when it is delivered. :Gravity center “G” : Manipulator and Shpping bolts and brackets Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers)

  • Page 28: Using A Forklift

    180788-1CD Transport MPX2600 2.1 Transporting Method 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and bracket as shown in Fig. 2-2(a) “Transport Using a Forklift (Floor-mounted)”. Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator.
  • Page 29 180788-1CD Transport MPX2600 2.1 Transporting Method Fig. 2-2(b): Transport Using a Forklift (Floor-mounted) :Gravity center “G” : Manipulator and Shpping bolts and brackets Unit: [mm] (917.7) 108.1 37.1 U-axis Shipping bolt and bracket (Fixed to the manipulator Forklift claw entries Forklift claw entries before shipment.) Factory setting for angle and pulse of each axis...
  • Page 30 180788-1CD Transport MPX2600 2.1 Transporting Method Fig. 2-2(c): Transport Using a Forklift (Wall-mounted) (Optional :Gravity center “G” : Manipulator and Shpping bolts and brackets Unit: [mm] Fix the manipulator to the base for transportation by using 17.5 dia. tapped hole (4 holes) (3 places). Manipulator base Hexagon socket head cap screw...
  • Page 31 180788-1CD Transport MPX2600 2.1 Transporting Method Fig. 2-2(d): Transport Using a Forklift (Ceiling-mounted) (Optional) :Gravity center “G” : Manipulator and Shpping bolts and brackets Unit: [mm] (1310) (1190) (965) (560) (750) Fix the jig with the wooden frame by using 17.5 dia.

  • Page 32: Shipping Bolts And Brackets

    180788-1CD Transport MPX2600 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at positions as shown in Fig. 2-3(a) “Shipping Bolts and Brackets (Floor-mounted)”, to protect its driving units from various external forces during transport. •...
  • Page 33 180788-1CD Transport MPX2600 2.2 Shipping Bolts and Brackets Fig. 2-3(b): Shipping Bolts and Brackets (Wall-mounted) (Optional Hexagon socket head Hexagon socket head cap screw M10 cap screw M10 (4 screws, (2 screws, length: 35 mm) length: 35 mm) Conical spring washer 2L-10 (2 washers) Conical spring washer Tightening torque: 48 N•m (4.9 kgf•m) 2L-10 (4 washers)

  • Page 34: Installation

    180788-1CD Installation MPX2600 3.1 Installation of Safeguarding Installation WARNING • Install the safeguarding. Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the manipulator’s tool or the workpiece held by the manipulator will not reach the wall, safeguarding, or DX200 when the arm is fully extended.

  • Page 35: Mounting Procedures For Manipulator Base

    180788-1CD Installation MPX2600 3.2 Mounting Procedures for Manipulator Base Mounting Procedures for Manipulator Base The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion force of the manipulator.

  • Page 36: Mounting The Manipulator On The Baseplate

    180788-1CD Installation MPX2600 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting the Manipulator on the Baseplate 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 45 mm or more thick, and anchor bolts of M20 or larger size.

  • Page 37: How To Install The Pressure Switch

    180788-1CD Installation MPX2600 3.2 Mounting Procedures for Manipulator Base 3.2.2 How to Install the Pressure Switch For mounting the pressure switch unit, two ways are available: the vertical installation (factory setting position) and the horizontal installation. Fix the unit securely by using the hexagon socket head cap screw M5 (4 screws).

  • Page 38: Mounting Methods

    Installation MPX2600 3.3 Mounting methods Mounting methods The MOTOMAN-MPX2600 can be mounted in three different ways: floor mounting way, wall-mounted way, and ceiling-mounted way. For the wall-mounted and ceiling-mounted ways, the following points are different from the floor-mounted way. • S-axis operation range •...
  • Page 39 (Tightening strength: 1200 N/mm or more) In case of using the wall/ceiling-mounted way, inform YASKAWA of the matter when placing an order. Be sure to NOTE contact your YASKAWA representative (listed on the backcover of this instruction manual) to perform a wall/ceiling installation on site.

  • Page 40: Protection Class

    180788-1CD Installation MPX2600 3.4 Protection Class Protection Class For the standard type, environmental resistance for main for the part of the manipulator conforms to IP4X; the wrist part conforms to IP67 Location When installing the manipulator, satisfy the following environmental conditions.

  • Page 41: Wiring

    YASKAWA which is the exclusively one. Also, please do not detach reassemble or remodel the cable gland since it is already an assembled parts. Contact your YASKAWA representatives when any abnormalities are found. WARNING Ground resistance must be 100 Ω or less.
  • Page 42 180788-1CD Wiring MPX2600 Fig. 4-1: System Configuration Non-hazardous Area Hazardous Area Conveyor switch (optional) Manipulator Program selection device (optional) Intrinsically safe cable (1 or 2 cables) Air tube Certified (outside 16 dia., inside 12 dia.) terminal box (prepared by the customer) Painting Ground resistance must be (optional)

  • Page 43: Grounding

    180788-1CD Wiring MPX2600 4.1 Grounding Grounding Follow the local regulations for ground line size. Use a line of 5.5 mm more with round crimping terminal. Refer to Fig. 4-2(a) “Grounding Method (Manipulator)”, Fig. 4-2(b) “Grounding Method (Pressure Switch Unit)”. MANDATORY •...
  • Page 44 180788-1CD Wiring MPX2600 4.1 Grounding Fig. 4-2(b): Grounding Method (Pressure Switch Unit) Vertical Installation Cross recessed APS screw M5, 5.5 mm or more Washer (for grounding) (Delivered with the Manipulator) 5.5 mm or more Horizontal Installation HW1484370 44 of 116...

  • Page 45: Cable Connection

    The connection of the manipulator cable or the air tube to the manipulator, or the connection of the intrinsically safe cable to the pressure switch unit are performed by the authorized personnel who is trained by YASKAWA or your YASKAWA representative.
  • Page 46 180788-1CD Wiring MPX2600 4.2 Cable Connection Fig. 4-3: Connection of the Manipulator Cable and the Air Tube Gasket Manipulator side DX200 side Cover Connect to the grounding tap 1BC-1,2,3,4,5,6 Encoder cable (wire blade) Cable gland 2BC-1,2,3,4,5,6 P1N1P2N2P3N3 1 2 Power cable (Wire blade) Cable for intrinsic safety (optional or prepared...
  • Page 47 180788-1CD Wiring MPX2600 4.2 Cable Connection Fig. 4-4: Manipulator Cable Connection (DX200 side) Select one of four cables for intrinsic safety and connect it. INTRINSI-CALLY SAFE INTRINSI-CALLY SAFE Back Side of the DX200 *1: Notation on the manipulator cable connection part varies depending on the DX200 specifications.

  • Page 48: Connecting Positions Of Cables

    180788-1CD Wiring MPX2600 4.2 Cable Connection 4.2.1 Connecting Positions of Cables As shown in Table 4-1 “Manipulator Cable Connecting Position” and Table 4-2 “Battery Mounting Position”, the position for connecting the power cable can be altered depending on how it is installed. Table 4-1: Manipulator Cable Connecting Position Type Connecting...
  • Page 49 180788-1CD Wiring MPX2600 4.2 Cable Connection Table 4-2: Battery Mounting Position Type Connecting Remarks position Standard type Viewing from the backside, connect to the left (L) Type side of the manipulator. [Left Type] Refer to (L) type in Fig. 4-6 “Battery Mounting Position”.

  • Page 50: Manipulator Cable Connection

    180788-1CD Wiring MPX2600 4.2 Cable Connection 4.2.2 Manipulator Cable Connection 1. If connecting the manipulator cable to the manipulator of (L) Type or (R) Type specification, remove the cover which is mounted on the connector. For (L) type specification, the battery is installed, as the standard specification, to the place which the cover of the connector will be mounted.
  • Page 51 180788-1CD Wiring MPX2600 4.2 Cable Connection Fig. 4-7(b): Manipulator Cable Connection (L) Type (L) Type Manipulator cable Base Back side of the base 2BC cable View A 1BC cable (AIR) IN Manipulator cable Fig. 4-7(c): Manipulator Cable Connection (R) Type (R) Type Manipulator cable...

  • Page 52: Changing The Battery Position

    180788-1CD Wiring MPX2600 4.2 Cable Connection 4.2.3 Changing the Battery Position 1. Turn OFF the DX200 power supply. 2. Refer to Table 4-2 “Battery Mounting Position” and Fig. 4-6 “Battery Mounting Position”, and confirm the battery position to change to. 3.

  • Page 53: Intrinsically Safe Cable Connection

    180788-1CD Wiring MPX2600 4.2 Cable Connection 4.2.4 Intrinsically Safe Cable Connection Fig. 4-9: Connection of Intrinsically Safe Terminal Block of the Pressure Switch Unit and Barrier 1) Intrinsically safe cable 3) Controller side: Crimped terminals For connecting the intrinsically safe cable 1 Cable type (applied): to the relay barrier in the DX200 CVV-S, 1.25 mm²...

  • Page 54: Requirements

    180788-1CD Wiring MPX2600 4.3 Requirements Requirements Prepare the power supply, the air supply, and the grounding according to the following specifications. Table 4-3: Specifications Item Specifications Remarks Power supply 3-phase 200/220 VAC (Voltage: +10 to -15%) 50/60 Hz (±2 Hz) 3.0 kVA (at peak) Air supply Required pressure: 0.35 MPa to 0.65 MPa...

  • Page 55: Pressure Switch Unit

    180788-1CD Wiring MPX2600 4.3 Requirements 4.3.1 Pressure Switch Unit The pressure switch unit supplies protective air or gas to the manipulator to prevent explosive gas from entering the manipulator. Usually, the unit is installed on the side of the DX200. The circuit diagram and dimensions are shown in Fig.

  • Page 56: Installation Site

    85%RH proof) (Optional) DANGER • In case installing the MOTOMAN-MPX2600 in the hazardous area, classify the manipulator environment by following the local explosion-proof standard and then, on the basis of the explosion- proof structure notation on the MOTOMAN-MPX2600, confirm that the manipulator is possible to install in that area.

  • Page 57: Basic Specifications

    180788-1CD Basic Specifications MPX2600 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Type YR-MPX2600-*0* Configuration Vertically articulated Degree of Freedom Payload Wrist part (T-axis): 15 kg Arm part (U-axis): 20 kg ± 0.2 mm Repeatability - 150° − +150° Range of Motion S-axis (turning) <Wall-mounted>...

  • Page 58: Part Names And Working Axes

    180788-1CD Basic Specifications MPX2600 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes HW1484370 58 of 116...

  • Page 59: Manipulator Base Dimensions

    180788-1CD Basic Specifications MPX2600 5.3 Manipulator Base Dimensions Manipulator Base Dimensions Fig. 5-2: Base Dimensions 275±0.1 S-axis rotation center +0.018 12 dia. (2 holes) 205±0.1 205±0.1 22 dia. hole (4 holes) (for installation) Unit: [mm] HW1484370 59 of 116...

  • Page 60: Dimensions And P-Point Maximum Envelop

    180788-1CD Basic Specifications MPX2600 5.4 Dimensions and P-point Maximum Envelop Dimensions and P-point Maximum Envelop Fig. 5-3: Dimensions and P-point Maximum Envelope (When mounted on the wall) (When mounted on the wall) Unit: [mm] 2000 993.5 1000 P-Point (755.6) 1423 P-point maximum envelope...

  • Page 61: Appearance And Dimensions Of The Pressure Switch Unit

    180788-1CD Basic Specifications MPX2600 5.5 Appearance and Dimensions of the Pressure Switch Unit Appearance and Dimensions of the Pressure Switch Unit Fig. 5-4: Outline View of the Pressure Switch Unit From the manipulator (tube: 16 dia.) K Q 2 L 1 6 - 0 2 S Air inlet Purging pressure: 0.18 to 0.20 [MPa]...

  • Page 62: Stopping Distance And Time For S-, L-, And U-Axes

    180788-1CD Basic Specifications MPX2600 5.6 Stopping Distance and Time for S-, L-, and U-Axes Stopping Distance and Time for S-, L-, and U-Axes 5.6.1 General Information • The stopping distance is an angle traveled by the manipulator from the moment when the stop signal is activated until the manipulator comes to a complete standstill.

  • Page 63: Stop Category 1: Stopping Distance And Time For Stop Category 1: S-, L- And U-Axes

    180788-1CD Basic Specifications MPX2600 5.6 Stopping Distance and Time for S-, L-, and U-Axes 5.6.4 Stop Category 1: Stopping Distance and Time for Stop Category 1: S-, L- and U-Axes 5.6.4.1 Extension Refer to Fig. 5-5(a) “S-Axis Extension”,Fig. 5-5(b) “L-Axis Extension” and Fig.
  • Page 64 180788-1CD Basic Specifications MPX2600 5.6 Stopping Distance and Time for S-, L-, and U-Axes Fig. 5-5(c): U-Axis Extension R-axis U-axis T-axis B-axis 100%=1000 L-axis S-axis HW1484370 64 of 116...

  • Page 65: Stopping Angles And Times For S-, L- And U-Axes

    180788-1CD Basic Specifications MPX2600 5.6 Stopping Distance and Time for S-, L-, and U-Axes 5.6.5 Stopping Angles and Times for S-, L- and U-Axes Following data on stopping angle and time for each axis measured under the standard of ISO10218. 5.6.5.1 Position 100% Stopping angles and times at Stop category 1 are not NOTE...

  • Page 66: Stopping Distance And Time For Stop Category 1: L-Axis

    180788-1CD Basic Specifications MPX2600 5.6 Stopping Distance and Time for S-, L-, and U-Axes 5.6.5.3 Stopping Distance and Time for Stop Category 1: L-Axis Extension 100% Extension 100% Speed[deg/s] Speed[deg/s] Load100% Load66% Load33% Load100% Load66% Load33% Extension 66% Extension 66% Speed[deg/s] Speed[deg/s] Load100%...

  • Page 67: Stopping Distance And Time For Stop Category 1: U-Axis

    180788-1CD Basic Specifications MPX2600 5.6 Stopping Distance and Time for S-, L-, and U-Axes 5.6.5.4 Stopping Distance and Time for Stop Category 1: U-Axis Extension 100% Extension 100% Speed[deg/s] Speed[deg/s] Load100% Load66% Load33% Load100% Load66% Load33% HW1484370 5-11 67 of 116...

  • Page 68: Modification Of S-Axis Movable Envelope

    Modification of S-Axis Movable Envelope 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 69: Changing The S-Axis Mechanical Stopper

    180788-1CD Basic Specifications MPX2600 5.7 Modification of S-Axis Movable Envelope 5.7.1 Changing the S-axis Mechanical Stopper The mechanical stopper is not necessary when the operating range is set to ±150°(standard specification). The S-axis mechanical stopper can be set at 30° pitch intervals. 1.
  • Page 70 180788-1CD Basic Specifications MPX2600 5.7 Modification of S-Axis Movable Envelope The settable angles for S-axis stopper are shown in Table 5-3 “The Settable Angle for S-Axis Stopper”. Table 5-3: The Settable Angle for S-Axis Stopper HW1484370 5-14 70 of 116...

  • Page 71: Allowable Load For Wrist Axis Flange

    The allowable wrist load is 15 kg maximum. 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 72: Wrist Flange

    180788-1CD Allowable Load for Wrist Axis Flange MPX2600 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. Fitting depth of inside and outside fittings must be 21 mm or less. Fig. 6-2: Wrist Flange +0.012 dia.

  • Page 73: System Application

    180788-1CD System Application MPX2600 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 shall be observed to attach or install peripheral equipment.

  • Page 74: Installation Position

    180788-1CD System Application MPX2600 7.1 Peripheral Equipment Mounts 7.1.2 Installation Position There is a limitation on where to install the peripheral equipment as shown in fig. 7-1. Fig. 7-1: Installing Peripheral Equipment Installing limitation (up to 10 kg) 580 mm or less Tapped holes M6 (4 holes) (depth: 16 mm)

  • Page 75: Electrical Equipment Specification

    180788-1CD Electrical Equipment Specification MPX2600 8.1 Internal Connections Electrical Equipment Specification Internal Connections The Fig. 8-1(a) “Internal Connection Diagram”, Fig. 8-1(b) “Internal Connection Diagram” show the internal connections. HW1484370 75 of 116...
  • Page 76 180788-1CD 8 Electrical Equipment Specification MPX2600 8.1 Internal Connections Fig. 8-1(a): Internal Connection Diagram BATTERY No.27CN OBT-BT BAT-BT No.28CN OBT-BT BAT-BT BATTERY No.29CN OBT-UR BAT-UR No.30CN OBT-UR BAT-UR BATTERY No.31CN OBT-SL BAT-SL No.32CN RMFEV-SEC(2517),0.2×3P( 6.0) OBT-SL BAT-SL Controller HRZEV-ESLALAB(2464) (AWG23×8P)+AWG23×11P X11(6X6) 1BC(12X6) RMFEV-SEC(2517),0.2×3P( 6.0)
  • Page 77 180788-1CD 8 Electrical Equipment Specification MPX2600 8.1 Internal Connections Fig. 8-1(b): Internal Connection Diagram From "Fig. 8-1(a)" Internal cable ASSY (HW9470921-G) KIVTW-6,2.0XG-Y BASE E E E E E E MANIPULATOR HRZVV-SEC-N(2517) (AWG14×4)×10+(AWG19×6)×2+AWG19×1 X21(8PX3+12PX3) AWG19 KIVTW-6,1.25XG-Y 2BC(8PX6) RMFEV-SEC(2517)2.0/8C+0.75/2C( 13.0) AWG14 CN2-8 AWG14 CN2-7 AWG14...

  • Page 78: Frequent Inspections

    If any deformations or proof enclosure. cracks are found, Covers are immediately stop the appropriately mounted. operation and contact No other exterior your YASKAWA abnormality. representatives. • Motion Smooth tuning, horizontal, and vertical DANGER motions of each arm.
  • Page 79 180788-1CD Frequent Inspections MPX2600 9.1 Frequent Inspections Table 9-1: Frequent Inspections (Sheet 2 of 2) Item Items to be Inspection Daily Weekly Remarks Inspected • Manipulator Base mounting bolts Check for damage and looseness, and then • WARNING Cover mounting retighten loose bolts Stop the manipulator screws...

  • Page 80: Daily Inspections

    180788-1CD Frequent Inspections MPX2600 9.2 Daily Inspections Daily Inspections Inspect the robot daily to ensure its high performance and early detection of any abnormalities. 9.2.1 Manipulator 9.2.1.1 Visual Inspection Before turning ON the power to the manipulator, check if any abnormality are found on the manipulator.

  • Page 81: Emergency Stop Button Operation And Dried Paint

    180788-1CD Frequent Inspections MPX2600 9.2 Daily Inspections CAUTION Paint stuck on the manipulator rotating parts prevents them from turning normally and smoothly. Periodically remove the paint on the manipulator. • A cloth that is soaked in paint thinner can be used for cleaning the inside of the wrist, because an anti-thinner enclosure is provided.

  • Page 82: 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 83 Table 10-1: Inspection Schedule Item Schedule Method Operation Inspection Charge • • • • Manipulator exterior Visual Check for crack or damages. • • • • Manipulator motion, noise, Visual Check for abnormality/ and vibration Noise • • • • Air tube, air leakage Visual Check for come off, wear, or damages.
  • Page 84 • • 20 Pressure switch unit Confirm that the pressure switch, flow switch, solenoid valve and the pressure reducing valve operate correctly. Contact your YASKAWA representatives. • • 21 Overhaul 1 Inspection No. correspond to the numbers in Fig. 10-1 “Inspection Parts and Inspection Numbers”.
  • Page 85 180788-1CD 10 Maintenance and Inspection MPX2600 10.1 Inspection Schedule Table 10-2: Inspection Parts and Grease Used Grease Used Inspected Parts VIGO Grease RE No. 0 S-, L-, U-, R-, B-, and T-axis speed reducers Alvania EP Grease 2 Wrist gear Fig.

  • Page 86: Maintenance For Manipulator

    180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 10.2 Maintenance for Manipulator 10.2.1 Grease Replenishment/Replacement Fig. 10-1 “Inspection Parts and Inspection Numbers” shows the location of the components of the manipulator. Replenish or replace the grease for the following sections: Wrist gears S-, L-, and U-axis speed reducers III) R-, B-, and T-axis speed reducers...

  • Page 87: Grease Replacement Procedures For S-, L-, And U-Axis Speed Reducers

    180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 10.2.1.2 Grease Replacement Procedures for S-, L-, and U-Axis Speed Reducers Make sure to follow the instructions listed below at grease replenishment/ replacement. Failure to observe the following notes may result in damage to motor and speed reducer.
  • Page 88 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator Fig. 10-3(a): S-, L-, U-Axis Speed Reducer Diagram (Floor-mounted) Grease exhaust port (U-axis) Grease inlet (U-axis) Plug PT3/8 (Stainless) Plug PT3/8 (Stainless) Tightening torque: Tightening torque: 23 N•m (2.34 kgf•m) 23 N•m (2.34 kgf•m) Grease inlet (L-axis) Plug PT3/8 (Stainless)
  • Page 89 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator Fig. 10-3(c): S-, L-, U-Axis Speed Reducer Diagram (Ceiling-mounted) (Optional) Grease exhaust port (S-axis) Plug PT3/8 (Stainless) Tightening torque: 23 N•m (2.34 kgf•m) Grease exhaust port (L-axis) Plug PT3/8 (Stainless) Tightening torque: 23 N•m (2.34 kgf•m) Grease inlet (S-axis)
  • Page 90 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 1. Before injecting grease, the posture of the manipulator must be set as indicated in Table 10-3 “Recommended Posture for Grease Injection”. If it is difficult to make the recommended posture because of external cabling or etc., adjust the posture as much as possible to make the position of grease inlet located in the lower part and the position of exhaust port located in the upper part.
  • Page 91 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 6. Discharge the specified amount of grease from the grease inlet or grease exhaust port. (Refer to Table 10-5 “Amount of Grease Discharged from Each Axis”.) In order to discharge the specified amount of grease, receive the discharged grease by using a container, and then measure the weight of the discharged grease by weighing the container till the amount reaches to the specified amount.
  • Page 92 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 7. For the axis where grease is exchanged, perform a playback operation indicated in Table 10-7 “Running- In Operation for Each Axis” for running-in the speed reducer with grease. At this time, grease may be discharged during the operation. Remove the grease zerk from the grease inlet, and clean and degrease the tap part and the thread part of the plug.

  • Page 93: Grease Replenishment Procedures For S-,L-, And U-Axis Speed Reducer

    180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 10.2.1.3 Grease Replenishment Procedures for S-,L-, and U-axis Speed Reducer  Grease Replenishment 1. Remove the plug on the Ro (Bo, To) exhaust port. If grease is injected with the plug (Ro, Bo, To) on, the grease will go inside the motor and may cause a damage.

  • Page 94: Inspection Of Air Sealing For Internal Air Pressure

    180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 10.2.2 Inspection of Air Sealing for Internal Air Pressure Perform “3-(1) Checking of Purging Operations” in section NOTE 10.3.2 “Enclosure Protection Sequence”after gasket is replaced.  Gasket in the Cover Part Remove the covers from the back side of the base part, both side of the base (of these covers, one functions as a cover for the manipulator cable), and then check wear and tear of the gasket.
  • Page 95 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator Unscrew the cover fixing screws (five places). And then check the wear and tear of each gasket. In case the oil contained in the air for keeping the internal pressure is too much, it can damage the gasket, which results in air leakage.

  • Page 96: Battery Replacement

    Battery only to be replaced by Licensee when the area is known to be safe. Battery unit type Battery type Manufucturere HW1372692-A,-B,-C ENERGIZER L91 YASKAWA Electric Corporation Cabletie (2 places) Hexagon socket head cap screw M6 (trivalent chromium, length: 25 mm, 14 screws)
  • Page 97 180788-1CD 10 Maintenance and Inspection MPX2600 10.2 Maintenance for Manipulator 7. Remove the old batteries. Be sure to connect the new batteries before disconnecting NOTE the old one so that the data does not disappear. 8. Protect the connection part of the battery in the manipulator with the vinyl tape (insulation tape).

  • Page 98: Inspection Of The Explosion-Proof Device

    180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 10.3 Inspection of the Explosion-Proof Device WARNING Before replacing the battery pack, turn OFF the power supply to the DX200, and check that no explosive atmosphere exists around the battery.

  • Page 99: Operation Check Of Pressure Reducing Valve

    180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 10.3.1.3 Operation Check of Pressure Reducing Valve Measure the air supply pressure of the air for the explosion-proof in the pressure switch unit by using a pressure gauge. For the pressure gauge connection, refer to Fig.
  • Page 100 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device Fig. 10-10: Pressure Switch Unit Cover Cover Pan-head sems screw M4 (trivalent chromium, length: 8 mm, 7 screws) ●SMC ○ ○ ●SMC 0.05 0.15 ○ ○ Fig. 10-11: Operation Methods of Pressure Reducing Valve Pressure reducing valve for purging pressure Pressure adjusting tit...

  • Page 101: Operation Check Of Pressure Detection Function

    180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 10.3.1.4 Operation Check of Pressure Detection Function Check the operation of the pressure detector PS1 (for low pressure) and pressure adjusting valve by following the procedures.  Operation check of pressure detector PS1 (check of electric continuity) Multimeter for this checking are prepared by customer.
  • Page 102 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device  Operation check of pressure reducing valve A flow-meter (measurable range of 0 to 5 L/min is included) and the joint or hose etc. which are connected with the flow-meter for checking the conduction are prepared by the customer.
  • Page 103 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 10. Re-install the cover with the hexagon socket head cap screws. (Refer to Fig. 10-10 “Pressure Switch Unit Cover”.) Fig. 10-13: Operation Check for Pressure Detector Connect a multimeter metering rod (+ side) A part Connect a multimeter...

  • Page 104: Operation Check For Master Valve

    180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 10.3.1.5 Operation Check for Master Valve 1. Turn OFF the power supply to the DX200. 2. Unscrew the hexagon socket head cap screws to remove the pressure unit cover. (Refer to Fig. 10-10 “Pressure Switch Unit Cover”.) 3.

  • Page 105: Enclosure Protection Sequence

    When an enclosure protection sequence error occurs, stop using the manipulator, and take the following measures in accordance with the sequence below. If the error is not resolved, contact your YASKAWA representative. Fig. 10-16(a): Enclosure Protection Flow Chart Our enclosure protection sequence is composed of the following four modes.
  • Page 106 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device Fig. 10-16(b): Enclosure Protection Flow Chart Abnormal Pressure Mode Start Purging Mode. Turn the breaker OFF by manual. 1.Switch the operation pressure Purge Stop supplying the protective gas to the purging pressure.
  • Page 107 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device Fig. 10-16(c): Enclosure Protection Flow Chart Start Operation Mode. - Execute abnormal pressure mode. (Abnormal Pressure(LOW)) - The power sources for the servo unit, and Is the operating air kept encoder are automatically shut down.

  • Page 108: Operation Check For Enclosure Protection Sequence

    180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 10.3.2.1 Operation Check for Enclosure Protection Sequence Check the enclosure protection sequence by following the procedures below. 1. Turn OFF the power supply to the DX200. 2. Unscrew the hexagon socket head cap screws to remove the cover of the pressure switch unit.
  • Page 109 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 3-(2)Checking of Inner Pressure Error Detection Operations Perform the following checking after above mentioned checking are completed. 3-(2) Checking the Inner Pressure Error (low pressure error) Detection Operations Checking item ...
  • Page 110 180788-1CD 10 Maintenance and Inspection MPX2600 10.3 Inspection of the Explosion-Proof Device 3-(4)Checking of Purging Error Detection Operations 3-(4) Checking of Purging Error Detection Operations Checking item    Confirm each setting value Turn ON the DX200 Start purging Abnormal purging pressure ...

  • Page 111: Notes For Maintenance

    180788-1CD 10 Maintenance and Inspection MPX2600 10.4 Notes for Maintenance 10.4 Notes for Maintenance 10.4.1 Encoder Connector (with CAUTION label) Remove the old battery after connecting the new one so that the encoder absolute data does not disappear. 10.4.1.1 S-, L-, and U-Axis Motors The backup connector (crimped contact-pin terminal) is mounted on the encoder connector of each motor.
  • Page 112 180788-1CD 10 Maintenance and Inspection MPX2600 10.4 Notes for Maintenance Fig. 10-17(a): Backup Battery Connection for S-, L-, and U-Axis Motors Encoder Filter Motor Motor cable, etc. a: Crimped contact-pin (pin) Internal Power connector cables b: Crimped contact-pin (socket) Connect to Encoder connector Battery for backup Caution label...
  • Page 113 180788-1CD 10 Maintenance and Inspection MPX2600 10.4 Notes for Maintenance Fig. 10-17(b): Backup Battery Connection for R-, B-, and T-Axis Motors R-Axis Motor Encoder Filter Motor Motor cable, etc. Internal Power connector cables Encoder connector B-, T-Axis Motor Encoder Filter Motor Motor cable, etc.

  • Page 114: Recommended Spare Parts

    11 Recommended Spare Parts It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-MPX2600. The spare parts list for the MOTOMAN-MPX2600 is shown below. Product performance cannot be guaranteed when using spare parts from any company other than YASKAWA.
  • Page 115 180788-1CD 11 Recommended Spare Parts MPX2600 Table 11-1: Spare Parts for the MOTOMAN-MPX2600-*0* (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit R(B)(T) -axis Y005C-MPX2600A00R YASKAWA This kit can be speed reducer kit (Y005C-MPX2600A00B) Electric commonly (Y005C-MPX2600A00T) Corporation...
  • Page 116 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...

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