YASKAWA MOTOMAN-MFL15D-875 Instructions Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Robotics
  5. MOTOMAN-MFL15D-875
  6. Instructions manual
YASKAWA MOTOMAN-MFL15D-875 Instructions Manual

YASKAWA MOTOMAN-MFL15D-875 Instructions Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
MOTOMAN-MFL15D-875/-1600
INSTRUCTIONS
TYPE:
YR-MFL015D-A00 (875ST, MOTOMAN-MFL15D-875)
YR-MFL015D-A20 (1600ST, MOTOMAN-MFL15D-1600)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MFL15D-875/-1600 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
179394-1CD
Revision:
0
MANUAL NO.
HW1483905
1 of 74

Advertisement

Table of Contents
loading

Related Manuals for YASKAWA MOTOMAN-MFL15D-875

Summary of Contents for YASKAWA MOTOMAN-MFL15D-875

  • Page 1 MOTOMAN-MFL15D-875/-1600 INSTRUCTIONS TYPE: YR-MFL015D-A00 (875ST, MOTOMAN-MFL15D-875) YR-MFL015D-A20 (1600ST, MOTOMAN-MFL15D-1600) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MFL15D-875/-1600 INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE 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 179394-1CD MFL15D-875/-1600 Notes for Safe Operation 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 MODEL MOTOMAN- TYPE Moving parts PAYLOAD MASS may cause ORDER NO. DATE SERIAL NO. injury YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan MADE IN JAPAN NJ3878 Warning Label B WARNING Do not enter robot work area. HW1483905 viii...
  • Page 9 179394-1CD Safeguarding Tips MFL15D-875/-1600 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 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 11 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 12 Customer Support Information Customer Support Information If you need assistance with any aspect of your MFL15D-875/-1600 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...

  • Page 13: Table Of Contents

    179394-1CD Table of Contents MFL15D-875/-1600 Table of Contents 1 Receiving ............................1-1 1.1 Checking Package Contents ..................... 1-1 1.2 Checking the Order Number....................1-2 1.3 Precautions on Unpacking....................1-2 2 Transporting............................ 2-1 2.1 Transporting Method......................2-1 2.1.1 Using a Crane ...................... 2-1 2.1.2 Using a Forklift......................
  • Page 14 179394-1CD MFL15D-875/-1600 Table of Contents 5.7 Limitations on the L- and R-Axis Movement ..............5-8 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 Internal User I/O Wiring Harness and Air Lines ..............

  • Page 15: Receiving

    179394-1CD Receiving MFL15D-875/-1600 1.1 Checking Package Contents Receiving 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 16: Checking The Order Number

    179394-1CD MFL15D-875/-1600 Receiving 1.2 Checking the Order Number Checking the Order Number 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 17: Transporting

    179394-1CD Transporting MFL15D-875/-1600 2.1 Transporting Method Transporting 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 transportation. The system consists of precision components: failure to observe this caution may adversely affect performance.
  • Page 18 179394-1CD MFL15D-875/-1600 Transporting 2.1 Transporting Method Fig. 2-1(a): Transporting Position MFL15D-875 Eyebolt M16 Delivered with the manipulator Fig. 2-1(b): Transporting Position MFL15D-1600 Eyebolt M16 Delivered with the manipulator HW1483905 18 of 74...

  • Page 19: Using A Forklift

    179394-1CD Transporting MFL15D-875/-1600 2.1 Transporting Method • Check that the eyebolts are securely fastened. • The mass of the manipulator is approximately 420 kg (MFL15D-875) and 610 kg (MFL15D-1600) with shipping bolts and brackets included. Use a wire rope strong enough to withstand the mass. NOTE •...

  • Page 20: Shipping Bolts And Brackets

    179394-1CD MFL15D-875/-1600 Transporting 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets to protect the mechanical part of the manipulator from external force during the transportation. (Refer to Fig. 2-1(a) “Transporting Position MFL15D- 875”and Fig.
  • Page 21 179394-1CD Transporting MFL15D-875/-1600 2.2 Shipping Bolts and Brackets Fig. 2-3(b): MFL15D-1600 Thick Washer (delivered with the manipulator) and Cap Mounting Positions Flat washer M12 Flat washer M12 (3 washers) (2 washers) (Tickness: 5mm) (Tickness: 5mm) (Nickel-plated) (Nickel-plated) Flat washer M12 Flat washer M12 (2 washers) (2 washers)

  • Page 22: Installation

    179394-1CD MFL15D-875/-1600 Installation 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 23: Installation Of Safeguarding

    179394-1CD Installation MFL15D-875/-1600 3.1 Installation of Safeguarding Installation of Safeguarding To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding [ISO 10218] The user of a manipulator or robot system shall ensure that the safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.

  • Page 24: When The Manipulator And Mounting Fixture Are Installed On A Common Base

    179394-1CD MFL15D-875/-1600 Installation 3.2 Mounting Procedures for Manipulator Base 3.2.1 When the Manipulator and Mounting Fixture Are Installed on a Common Base The common base should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. The recommended thickness of the common base is 40 mm or more, and M16 or larger size is recommended for an anchor bolt.

  • Page 25: When The Manipulator Is Mounted Directly On The Floor

    179394-1CD Installation MFL15D-875/-1600 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 reaction forces of the manipulator.

  • Page 26: Installation Method

    MFL15D-875/-1600 Installation 3.3 Installation Method Installation Method The MOTOMAN-MFL15D-875/-1600 are floor-mounted types. Location The MOTOMAN-MFL15D series manipulators are used in the clean room. It is required to satisfy the undermentioned environmental conditions: • 15 to +35°C (ambient temperature; during the operation) •...
  • Page 27 179394-1CD Installation MFL15D-875/-1600 3.5 Required Maintenance Space Fig. 3-3(a): Maintenance Space (MFL15D-875) 1620 Fig. 3-3(b): Maintenance Space (MFL15D-1600) 1940 1130 HW1483905 27 of 74...

  • Page 28: Wiring

    179394-1CD MFL15D-875/-1600 Wiring Wiring WARNING Ground resistance must be 100 Ω 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. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock.

  • Page 29: Grounding

    179394-1CD Wiring MFL15D-875/-1600 4.1 Grounding Grounding Follow local regulations for grounding line size. The recommended grounding wire size is 5.5 mm or more. Refer to Fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator. • Do not use this line sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.

  • Page 30: Connection To The Dx200

    179394-1CD MFL15D-875/-1600 Wiring 4.2 Manipulator Cable Connection 4.2.2 Connection to the DX200 Remove the cover at the bottom of a side of the DX200. Pass the cables 1BC and 2BC through each cable inlet, and tighten screws. Connect the cables to the board in the order of 2BC and 1BC. Be sure to verify the numbers on both the cables and board connectors before connection.
  • Page 31 179394-1CD Wiring MFL15D-875/-1600 4.2 Manipulator Cable Connection Fig. 4-3(a): Manipulator Cable Connection (Manipulator Side) Fig. 4-3(b): Manipulator Cable Connection (DX200 Side) TYPE ERMR- POWER SUPPLY 3PHASE AC200V 50/60Hz AC220V 50/60Hz AVERAGE FULL LOAD CURRENT INTERRUPT CURRENT APPROX MASS DOCUMENT No. SERIAL No.

  • Page 32: Cable Laying

    179394-1CD MFL15D-875/-1600 Wiring 4.2 Manipulator Cable Connection 4.2.3 Cable Laying PROHIBITED • For cable laying, avoid coiling or looping the manipulator cables (encoder and power cables) even if the cable length is too long. Failure to observe this caution may result in cable burnt due to heat generation in the power cable.

  • Page 33: Basic Specifications

    179394-1CD Basic Specifications MFL15D-875/-1600 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Name MOTOMAN-MFL15D-875 MOTOMAN-MFL15D-1600 Type YR-MFL015D-A00 YR-MFL015D-A20 Configuration Horizontally Articulated Degree of Freedom Payload 15 kg/arm Repeatability ±0.2 mm Range of Motion U-axis (upper/lower) 875 mm...

  • Page 34: Manipulator Clean Specifications

    179394-1CD MFL15D-875/-1600 Basic Specifications 5.2 Manipulator Clean Specifications Manipulator Clean Specifications The manipulator conforms to ISO cleanliness class 4 1 Under the condition that the manipulator is in the downflow of 0.4 m/s or more in a vertically rectified state. The parts higher than the wrist flange are applicable.

  • Page 35: Manipulator Base Dimensions

    179394-1CD Basic Specifications MFL15D-875/-1600 5.4 Manipulator Base Dimensions Manipulator Base Dimensions Fig. 5-2(a): Manipulator Base Dimensions (MFL15D-875) 18 dia. holes (4 holes) (Mounting holes) for manipulator mounting Turning axis (S-axis) center of rotation View A Units: mm Fig. 5-2(b): Manipulator Base Dimensions (MFL15D-1600) (Mounting holes) 18 dia.

  • Page 36: Dimensions And Working Envelope

    179394-1CD MFL15D-875/-1600 Basic Specifications 5.5 Dimensions and Working Envelope Dimensions and Working Envelope Fig. 5-3(a): Dimensions and Working Envelope (MFL15D-875) 165 165 Turning axis (S-axis) center of rotation 1324 HW1483905 36 of 74...
  • Page 37 179394-1CD Basic Specifications MFL15D-875/-1600 5.5 Dimensions and Working Envelope Fig. 5-3(b): Dimensions and Working Envelope (MFL15D-1600) 165 165 Turning axis (S-axis) center of rotation 1324 HW1483905 37 of 74...

  • Page 38: Limitations Of The Movement Of The S-, U-Axes

    179394-1CD MFL15D-875/-1600 Basic Specifications 5.6 Limitations of the Movement of the S-, U-Axes Limitations of the Movement of the S-, U-Axes The manipulator limits the movement of the S- and U-axes according to the position of the R- or L-axis. Basically, for high-speed movement of the S- and U-axes, move these axes after moving the R- and L-axes to the home position (0 pulse position) or behind the home position where the pulse is negative.
  • Page 39 179394-1CD Basic Specifications MFL15D-875/-1600 5.6 Limitations of the Movement of the S-, U-Axes R- and L-axes posture S- and U-axes movement • No limitation • Enabled at a speed lower than the speed limit. • Alarm occurs at a speed exceeding the speed limit. <In playback operation, forward/backward operation, or test run>...

  • Page 40: Limitations On The L- And R-Axis Movement

    179394-1CD MFL15D-875/-1600 Basic Specifications 5.7 Limitations on the L- and R-Axis Movement Limitations on the L- and R-Axis Movement The MOTOMAN-MFL15D limits the movement of either the L- or R-axis according to the position of the other. (e.g. The movement of the L-axis is limited according to the position of the R-axis, and vice versa.) To move either the L- or R-axis, move first the other axis backward from the limited position.
  • Page 41 179394-1CD Basic Specifications MFL15D-875/-1600 5.7 Limitations on the L- and R-Axis Movement L/R-axis posture L/R-axis movement • Either the L- or R-axis can be moved without limitations when the other axis is in the backward position from the limited position. •...

  • Page 42: Allowable Load For Wrist Axis And Wrist Flange

    The allowable wrist load is 15 kg/arm. If force is applied to the wrist instead of the load, force on the R- and L-axes should be within the value shown in Table 6-1 “Allowable Moment and Inertia”. Contact your YASKAWA representative for further information or assistance. Table 6-1: Allowable Moment and Inertia Axis Moment N•m (kgf•m)

  • Page 43: Wrist Flange

    179394-1CD Allowable Load for Wrist Axis and Wrist Flange MFL15D-875/-1600 6.2 Wrist Flange Wrist Flange The wrist flange dimension is shown in Fig. 6-1 “Wrist Flange”. In order to see the alignment mark, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside of the attachment must be 8 mm or less.

  • Page 44: System Application

    179394-1CD MFL15D-875/-1600 System Application 7.1 Internal User I/O Wiring Harness and Air Lines System Application Internal User I/O Wiring Harness and Air Lines Internal user I/O wiring harness (0.2 mm x 12 wires each for R- and L- axes) and air lines (2 lines each for R- and L-axes) are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in Fig.
  • Page 45 179394-1CD System Application MFL15D-875/-1600 7.1 Internal User I/O Wiring Harness and Air Lines Fig. 7-1: Internal User I/O Wiring Harness and Air Lines View A: L-axis Connector Details Section B-B BCL (for internal user I/O wiring harness): HR10A-10R-12S (socket connector) Prepare pin connctor HR10A-10P-12P (Optional) (Cables and air tubes for the handling application are also optional)
  • Page 46 179394-1CD MFL15D-875/-1600 System Application 7.1 Internal User I/O Wiring Harness and Air Lines Fig. 7-2: Detailed Drawing of Connector Pin Numbers Details of the Connector Pin No. for User I/O Wiring Harness Key position Pins Used Internal user I/O wiring harness: (12 lead wires, size: 0.2 mm Manipulator Base Side Key position Pins Used...

  • Page 47: Electrical Equipment Specification

    179394-1CD Electrical Equipment Specification MFL15D-875/-1600 8.1 Location of Broken-Belt Detection Sensors Electrical Equipment Specification Location of Broken-Belt Detection Sensors The broken-belt detection sensors are installed only on the U-axis. Refer to Fig. 8-1 “Location of the Broken-Belt Detection Sensor”. Fig. 8-1: Location of the Broken-Belt Detection Sensor Two broken-belt detection sensors are mounted inside the Z(U)-axis (up/down) arm.

  • Page 48: Internal Connections

    179394-1CD MFL15D-875/-1600 Electrical Equipment Specification 8.2 Internal Connections Internal Connections High reliability connectors which can be easily removed and put back are used with each connector part. For the number and location of connectors, refer to Fig. 8-2 “Locations and Numbers of Connectors”. Refer to the figures from Fig.
  • Page 49 179394-1CD 8 Electrical Equipment Specification MFL15D-875/-1600 8.2 Internal Connections Fig. 8-5(a): Internal Connection Diagram (MFL15D-875) Encoder Power Board 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 Connector BAT3 Panel 0BAT8 BAT8 EX Port(20-29) 0BAT21 0BAT4 No.34CN BAT21 BAT4 34CN-1 BAT7 BAT7 0BAT22...
  • Page 50 179394-1CD 8 Electrical Equipment Specification MFL15D-875/-1600 8.2 Internal Connections Fig. 8-5(b): Internal Connection Diagram (MFL15D-875) X21(6PX6) 2BC(6PX6) CN3-1 CN3-1 CN5-1 No.17CN CN5-1 CN3-2 17CN-A CN3-2 CN5-2 CN5-2 CN3-3 CN3-3 CN5-3 CN5-3 CN3-4 CN3-4 CN5-4 CN5-4 CN3-5 CN3-5 CN3-6 U-AXIS CN3-6 CN5-5 CN5-5 CN5-6...
  • Page 51 179394-1CD 8 Electrical Equipment Specification MFL15D-875/-1600 8.2 Internal Connections Fig. 8-5(c): Internal Connection Diagram (MFL15D-1600) Encoder Power Board 0BAT11 0BAT11 0BAT1 0BAT1 BAT11 BAT11 BAT1 BAT1 0BAT12 0BAT12 0BAT2 0BAT2 BAT12 BAT12 BAT2 BAT2 0BAT3 0BAT3 Connector Connector BAT3 BAT3 Panel Panel 0BAT8...
  • Page 52 179394-1CD 8 Electrical Equipment Specification MFL15D-875/-1600 8.2 Internal Connections Fig. 8-5(d): Internal Connection Diagram (MFL15D-1600) 2BC(6PX6) 2BC(6PX6) X21(6PX6) X21(6PX6) No.17CN No.17CN CN3-1 CN3-1 17CN-A 17CN-A CN3-1 CN3-1 CN5-1 CN5-1 CN5-1 CN5-1 CN3-2 CN3-2 CN3-2 CN3-2 CN5-2 CN5-2 CN5-2 CN5-2 CN3-3 CN3-3 CN3-3 CN3-3...

  • Page 53: 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 54 Table 9-1: Inspection Items (Sheet 1 of 2) Items Schedule Method Operation Inspection Charge • • • • Alignment mark Visual Check alignment mark accordance and damage at the home position. Also check for nameplate damage. Be sure nameplate is securely attached. •...
  • Page 55 1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Parts and Inspection Numbers”. 2 If a grease leakage occurs, contact your YASKAWA representative as soon as possible. (Perform cleaning if the amount of grease found on the surface is small.) 3 When checking for conduction with multimeter, connect the battery pack to “BAT”...
  • Page 56 179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.1 Inspection Schedule Fig. 9-1: Inspection Parts and Inspection Numbers S-axis L-axis R-axis U-axis Table 9-2: Inspection Parts and Grease Used Grease Used Inspected Parts Molywhite RE No. 00 U-axis speed reducer Molywhite RE No. 00 S-axis speed reducer Molywhite RE No.

  • Page 57: Notes On Maintenance Procedures

    179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement Two battery packs are mounted on the position indicated in Fig. 9-2 “Battery Pack Location”. If a battery alarm occurs in the DX200, replace the battery pack according to the following procedure: Fig.
  • Page 58 179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.2 Notes on Maintenance Procedures 1. Turn OFF the DX200 main power supply. 2. Remove the plate fixing screws and the plate on the connector base, then pull the battery pack out to replace it with the new one. 3.

  • Page 59: Grease Exchange Procedures

    179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.3 Grease Exchange Procedures Grease Exchange Procedures Make sure to follow the instructions listed below when exchanging grease. Failure to observe the following notes may result in damage to a motor and a speed reducer. •...

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

    179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.3 Grease Exchange Procedures 9.3.1 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-4: U-Axis Speed Reducer U-axis speed reducer Ui: Grease inlet Hexagon socket head plug PT1/8 Cover Uo: Grease exhaust port Hexagon socket head plug PT1/8 Uo: Grease exhaust port Hexagon socket head plug...
  • Page 61 179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.3 Grease Exchange Procedures  Grease Replenishment (Refer to Fig. 9-4 “U-Axis Speed Reducer”.) Replenish grease following the procedures below. 1. Remove the hexagon socket head plugs PT1/8 on the Uo grease exhaust ports and the Ui grease inlets. If grease is added without removing the hexagon socket head plugs PT1/8, the internal pressure will increase and NOTE...

  • Page 62: Grease Replenishment/Exchange For S-Axis Speed Reducer

    179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.3 Grease Exchange Procedures 9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer Fig. 9-5: S-Axis Speed Reducer (After the Cover Removal) So: Grease exhaust port Hexagon socket head plug PT1/8 S-axis speed reducer Si: Grease inlet Hexagon socket head plug PT1/8 Grease Replenishment ...
  • Page 63 179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.3 Grease Exchange Procedures 3. Install grease zerk A-PT1/8 on the Si grease inlet, then inject grease. Grease Type: Molywhite RE No.00 Amount of Grease: 60 g (120 g for 1st supply) Air Supply Pressure of Grease Pump: 0.3 MPa or less Grease Injection Rate: 8 g or less 4.

  • Page 64: Grease Replenishment/Exchange For R-, L-Axes Speed Reducers

    179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.3 Grease Exchange Procedures 9.3.3 Grease Replenishment/Exchange for R-, L-Axes Speed Reducers Fig. 9-6(a): R-, L-Axes Speed Reducers R-axis speed reducer L-axis speed reducer Fig. 9-6(b): R-, L-Axes Speed Reducers (A, B, and C Part) Ro: Exhaust port A Part Hexagon socket head plug PT1/8...
  • Page 65 179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.3 Grease Exchange Procedures  Grease Replenishment (Refer to Fig. 9-6(a) “R-, L-Axes Speed Reducers” and Fig. 9-6(b) “R-, L- Axes Speed Reducers (A, B, and C Part)”.) For A and B Part 1. Posture the R- and L-axes as shown in Fig. 9-6(a). 2.
  • Page 66 179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.3 Grease Exchange Procedures  Grease Exchange (Refer to Fig. 9-6(a) “R-, L-Axes Speed Reducers”.) (Note: Grease exchange of R-, L-axes speed reducers is necessary only for section B shown in Fig. 9-6(b) “R-, L-Axes Speed Reducers (A, B, and C Part)”.) 1.

  • Page 67: Grease Replenishment For U-Axis Cross Roller Bearing

    179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.3 Grease Exchange Procedures 9.3.4 Grease Replenishment for U-Axis Cross Roller Bearing Fig. 9-7: U-Axis Cross Roller Bearing Cross roller bearing Uco: Exhaust port Hexagon socket head plug PT1/8 Link Uci : Grease inlet Hexagon socket head plug PT1/8 1.

  • Page 68: Notes On Maintenance

    179394-1CD MFL15D-875/-1600 Maintenance and Inspection 9.3 Grease Exchange Procedures 9.3.5 Notes on Maintenance  Inspecting Broken-Belt Detection Sensor Remove the cover and check if any foreign matter adheres to the projector or the photo-detector of the broken-belt detection sensor. If any dirt or dust is found, wipe the part with cleaning wipes.
  • Page 69 179394-1CD Maintenance and Inspection MFL15D-875/-1600 9.3 Grease Exchange Procedures  Battery Pack Connection Before removing the encoder connector (with CAUTION label), connect the battery pack referring to the following figures. Fig. 9-9(a): Encoder Connector Diagram (for U-Axis) Motor Motor power connector Encoder connector 0BT* BAT*...

  • Page 70: Recommended Spare Parts

    For preparing lead wires for internal wiring, etc., check the serial number and contact your YASKAWA representative. Product performance cannot be guaranteed when using spare parts from any company other than YASKAWA. The spare parts are ranked as follows: • Rank A: Expendable and frequently replaced parts •...
  • Page 71 179394-1CD 10 Recommended Spare Parts MFL15D-875/-1600 Table 10-1: Spare Parts for the MOTOMAN-MFL15D-875 (YR-MFL015D-A00) Rank Parts Name Type Manufacturer Qty. Qty. Remarks Unit Replacement kit for Y005C-MFL015DA00L1 YASKAWA L-, R-axes (shoulder part) speed reducer Replacement kit for Y005C-MFL015DA00L2 YASKAWA L-, R-axes (elbow...
  • Page 72 Limited R-, L-axes timing belt 150S4.5M0396 Mitsuboshi Belting 1 each 2 each 060S5M1225 Limited 060S3M1080 Replacement kit for Y005C-MFL015DA20U1 YASKAWA U-axis (lower part) speed reducer Replacement kit for Y005C-MFL015DA20U2 YASKAWA U-axis (upper part) speed reducer Replacement kit for Y005C-MFL015DA20S YASKAWA...
  • Page 73 MFL15D-875/-1600 Table 10-2: Spare Parts for the MOTOMAN-MFL15D-1600 (YR-MFL015D-A20) Rank Parts Name Type Manufacturer Qty. Qty. Remarks Unit Connector base box HW0472239-Z YASKAWA AC servomotor for HW0382198-A YASKAWA U-axis (SGMRS-30A2A-YR1*) AC servomotor for HW0383251-A YASKAWA S-axis (SGMPH-04A2A-YR2*) AC servomotor for...
  • Page 74 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...

This manual is also suitable for:

Motoman-mfl15d-1600

Table of Contents