YASKAWA MOTOMAN-MH5S Maintenance Manual
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YASKAWA MOTOMAN-MH5S Maintenance Manual

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MOTOMAN-MH5S(II)/MH5F
MAINTENANCE MANUAL
TYPE:
YR-MH0005F-A00 (STANDARD SPECIFICATION)
YR-MH0005S-A00 (STANDARD SPECIFICATION)
YR-MH0005S-J00 (STANDARD SPECIFICATION)
Procedures described in this maintenance manual should be carried out by the person who took
the maintenance-relevant trainings offered by YASKAWA.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH5S/MH5F INSTRUCTIONS
MOTOMAN-MH5S II INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR'S MANUAL
FS100 MAINTENANCE MANUAL
The controller operator's manual above correspond to a specific usage. Be sure to use the appropriate manual.
Part Number:
176183-1CD
Revision:
1
MANUAL NO.
HW1483638
2
1 of 99

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Summary of Contents for YASKAWA MOTOMAN-MH5S

  • Page 1 YR-MH0005S-J00 (STANDARD SPECIFICATION) Procedures described in this maintenance manual should be carried out by the person who took the maintenance-relevant trainings offered by YASKAWA. Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
  • Page 2 Copyright © 2018, 2016 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: Table Of Contents

    176183-1CD Table of Contents MH5S (II) /MH5F Table of Contents 1 Introduction ............................. 1-1 1.1 National Safety Standard for Industrial Robots and Robot Systems ......... 1-2 1.2 Notes for Safe Operation ....................1-3 1.3 Definition of Terms Used Often in This Manual (DX100/DX200)........1-6 1.4 Definition of Terms Used Often in This Manual (FS100) ...........
  • Page 4 176183-1CD Table of Contents MH5S (II) /MH5F 5 Disassembly and Reassembly of the Motor..................5-1 5.1 Disassembly and Reassembly of the S-Axis Motor ............5-1 5.2 Disassembly and Reassembly of the L-Axis Motor............5-3 5.3 Disassembly and Reassembly of the U-Axis Motor ............5-6 5.4 Disassembly and Reassembly of the R-Axis Motor ............
  • Page 5 176183-1CD Table of Contents MH5S (II) /MH5F 11 Parts List ............................. 11-1 11.1 S-Axis Unit ........................11-1 11.2 L-, U-Axes Unit ......................11-4 11.3 R-Axis Unit........................11-7 11.4 Wrist Unit ........................11-9 HW1483638 5 of 99...

  • Page 6: Introduction

    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 7: National Safety Standard For Industrial Robots And Robot Systems

    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 8: Notes For Safe Operation

    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 9 176183-1CD Introduction MH5S (II) /MH5F 1.2 Notes for Safe Operation <DX100/DX200> 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.
  • Page 10 176183-1CD Introduction MH5S (II) /MH5F 1.2 Notes for Safe Operation <FS100> WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop button. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

  • Page 11: Definition Of Terms Used Often In This Manual (Dx100/Dx200)

    DX100/DX200/FS100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual (DX100/DX200) The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables. In this manual, the equipment is designated as follows:...

  • Page 12: Definition Of Terms Used Often In This Manual (Fs100)

    1.4 Definition of Terms Used Often in This Manual (FS100) Definition of Terms Used Often in This Manual (FS100) The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, manipulator cables, the programming pendant (optional), and the programming pendant dummy connector (optional).

  • Page 13: Explanation Of Warning Labels

    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. HW1483638 13 of 99...

  • Page 14: Safeguarding Tips

    176183-1CD Introduction MH5S (II) /MH5F 1.7 Safeguarding Tips 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: Programming, Operation, And Maintenance Safety

    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: Maintenance Safety

    Turn the 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. 1.11...

  • Page 17: Customer Support Information

    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: Notes For Maintenance

    176183-1CD Notes for Maintenance MH5S (II) /MH5F 2.1 Battery Pack Connection 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 19: Home Position Return

    176183-1CD Home Position Return MH5S (II) /MH5F Home Position Return In the following cases, perform calibration and set the manipulator geometrical position. • Change in the combination of the MOTOMAN and the control unit • Replacement of the motor or encoder •...

  • Page 20: Home Position Return After Motor Replacement

    176183-1CD Home Position Return MH5S (II) /MH5F 3.1 Home Position Return after Motor Replacement Home Position Return after Motor Replacement 3.1.1 Home Position Return by Robot Calibration (MOTOCALV EG) The MOTOCALV EG allows the home position reset by teaching the five- point-in-five-posture.
  • Page 21 176183-1CD Home Position Return MH5S (II) /MH5F 3.1 Home Position Return after Motor Replacement Example of Check-Point Creation when Replacing U-Axis’s Motor of MH0005F-A00. • The check-point cannot be created unless each axis moves to operate. Stated differently, the check-point cannot be created if the axis does not move due to a failure.
  • Page 22 176183-1CD Home Position Return MH5S (II) /MH5F 3.1 Home Position Return after Motor Replacement  Replacement • Refer to the Fig. 3-2 “Replacement (Example)”. CAUTION • Since the motor is removed, the manipulator cannot keep its posture during motor replacement. When replacing the motor, hold the manipulator arm with the chain block, etc.
  • Page 23 176183-1CD Home Position Return MH5S (II) /MH5F 3.1 Home Position Return after Motor Replacement  Home Position Adjustment After replacement, move the replaced axis to the position of the home position mark. Perform the home position alignment only to the replaced axis.
  • Page 24 176183-1CD Home Position Return MH5S (II) /MH5F 3.1 Home Position Return after Motor Replacement Perform the home position alignment only for the replaced axis on this position. (For more detailed information, refer to the home position calibration of the “DX100 INSTRUCTIONS”, “DX200 INSTRUCTIONS”, or “FS100 INSTRUCTIONS”.) Move the axis again to the check-point by the check-JOB.

  • Page 25: Homing Method When The Robot-Axis Motor Battery Runs Out

    176183-1CD Home Position Return MH5S (II) /MH5F 3.2 Homing Method When the Robot-Axis Motor Battery Runs Out Homing Method When the Robot-Axis Motor Battery Runs Out 3.2.1 With the Home Position Calibration Function for Restoration from the Battery Back Up This is the method to return the manipulator to its home position by executing the “Backup alarm restoration”...
  • Page 26 176183-1CD Home Position Return MH5S (II) /MH5F 3.2 Homing Method When the Robot-Axis Motor Battery Runs Out 2. L-axis Positioning As shown in Fig. 3-4 “L-Axis Positioning”, insert the positioning pin (equivalent to -0.004 ) into the pin hole ( +0.012 ) on the L-arm 6 dia.

  • Page 27: Grease Replenishment

    176183-1CD Grease Replenishment MH5S (II) /MH5F 4.1 Grease Replenishment for S-Axis Speed Reducer Grease Replenishment Grease Replenishment for S-Axis Speed Reducer Fig. 4-1: S-Axis Speed Reducer Diagram Exhaust port (Hexagon socket head plug PT1/8) Grease inlet (Hexagon socket head cap screw M6) S-axis speed reducer S-axis motor...

  • Page 28: Grease Replenishment For S-Axis Gear

    176183-1CD Grease Replenishment MH5S (II) /MH5F 4.2 Grease Replenishment for S-Axis Gear Grease Replenishment for S-Axis Gear Fig. 4-2: S-Axis Gear Diagram Grease inlet Exhaust port (Hexagon socket (Hexagon socket head plug PT1/8) head plug PT1/8) S-axis gear S-axis motor ...

  • Page 29: Grease Replenishment For L-Axis Speed Reducer

    176183-1CD Grease Replenishment MH5S (II) /MH5F 4.3 Grease Replenishment for L-Axis Speed Reducer Grease Replenishment for L-Axis Speed Reducer Fig. 4-3: L-Axis Speed Reducer Diagram L-axis motor Exhaust port (Plug M5) L-axis speed reducer Grease inlet (Hexagon socket head cap screw M6) ...

  • Page 30: Grease Replenishment For U-Axis Speed Reducer

    176183-1CD Grease Replenishment MH5S (II) /MH5F 4.4 Grease Replenishment for U-Axis Speed Reducer Grease Replenishment for U-Axis Speed Reducer Fig. 4-4: U-Axis Speed Reducer Diagram Exhaust port Grease inlet (Plug M5) (Hexagon socket head cap screw M6) U-axis speed reducer U-axis motor Cover ...

  • Page 31: Grease Replenishment For R-Axis Speed Reducer

    176183-1CD Grease Replenishment MH5S (II) /MH5F 4.5 Grease Replenishment for R-Axis Speed Reducer Grease Replenishment for R-Axis Speed Reducer Fig. 4-5: R-Axis Speed Reducer Diagram Exhaust port (Hexagon socket head cap screw M6) Exhaust port R-axis speed reducer (Hexagon socket head cap screw M6) Grease inlet R-axis motor...

  • Page 32: Grease Replenishment For B- And T-Axes Speed Reducers

    176183-1CD Grease Replenishment MH5S (II) /MH5F 4.6 Grease Replenishment for B- and T-Axes Speed Reducers Grease Replenishment for B- and T-Axes Speed Reducers Fig. 4-6: B- and T-Axes Speed Reducers Diagram B-axis speed reducer Exhaust port (B-axis speed reducer) Plug M5 Grease inlet (T-axis speed reducer) Exhaust port (T-axis gear) Low head socket head cap screw M6...
  • Page 33 176183-1CD Grease Replenishment MH5S (II) /MH5F 4.6 Grease Replenishment for B- and T-Axes Speed Reducers  Grease Replenishment for T-axis (Refer to Fig. 4-6 “B- and T-Axes Speed Reducers Diagram”.) Replenish the grease in accordance with the following procedure: 1. Remove the low head socket head cap screw M6 from the grease inlet and the plug M5 from the exhaust port.

  • Page 34: Disassembly And Reassembly Of The Motor

    176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.1 Disassembly and Reassembly of the S-Axis Motor Disassembly and Reassembly of the Motor Disassembly and Reassembly of the S-Axis Motor • Refer to Fig. 5-1 “Disassembly & Assembly of S-Axis Motor”. Refer to Chapter 3 “Home Position Return”...
  • Page 35 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.1 Disassembly and Reassembly of the S-Axis Motor 8. Remove the backup battery. 9. Mount the cover and tighten the hexagon socket button head screws with the tightening torque shown in Table 5-1 “S-Axis Motor Parts Checklist”.

  • Page 36: Disassembly And Reassembly Of The L-Axis Motor

    176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.2 Disassembly and Reassembly of the L-Axis Motor Disassembly and Reassembly of the L-Axis Motor • Refer to Fig. 5-2 “Disassembly & Assembly of L-Axis Motor”.  Disassembly 1. Turn OFF the DX100/DX200/FS100 power supply. 2.
  • Page 37 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.2 Disassembly and Reassembly of the L-Axis Motor Table 5-2: L-Axis Motor Parts Checklist Item Qty. Remark L-axis motor HW0388651-A GT-SA bolt M4 (length:16 mm) Tightening Torque: Washer M4 2.80 N•m Pulley HW0414070-B Hexagon socket head cap screw M5 Tightening Torque:...
  • Page 38 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.2 Disassembly and Reassembly of the L-Axis Motor Fig. 5-2: Disassembly & Assembly of L-Axis Motor HW1483638 38 of 99...

  • Page 39: Disassembly And Reassembly Of The U-Axis Motor

    176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.3 Disassembly and Reassembly of the U-Axis Motor Disassembly and Reassembly of the U-Axis Motor • Refer to Fig. 5-3 “Disassembly & Assembly of U-Axis Motor”.  Disassembly 1. Turn OFF the DX100/DX200/FS100 power supply. 2.
  • Page 40 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.3 Disassembly and Reassembly of the U-Axis Motor Table 5-3: U-Axis Motor Parts Checklist Item Qty. Remark U-axis Motor HW0388650-A GT-SA bolt M4 (length: 16 mm) Tightening Torque: Washer M4 2.80 N•m Pulley HW0414072-A Hexagon socket head cap screw M4...
  • Page 41 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.3 Disassembly and Reassembly of the U-Axis Motor Fig. 5-3: Disassembly & Assembly of U-Axis Motor HW1483638 41 of 99...

  • Page 42: Disassembly And Reassembly Of The R-Axis Motor

    176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.4 Disassembly and Reassembly of the R-Axis Motor Disassembly and Reassembly of the R-Axis Motor • Refer to Fig. 5-4 “Disassembly & Assembly of R-Axis Motor”.  Disassembly 1. Turn OFF the DX100/DX200/FS100 power supply. 2.
  • Page 43 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.4 Disassembly and Reassembly of the R-Axis Motor Table 5-4: R-Axis Motor Parts Checklist No. Item Qty. Remark R-axis motor HW0388647-A GT-SA bolt M3 (length: 12 mm) Tightening Torque: Washer M3 1.40 N•m Pulley HW0414074-A Hexagon socket head cap screw M3...

  • Page 44: Disassembly And Reassembly Of B-Axis Motor

    176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.5 Disassembly and Reassembly of B-Axis Motor Disassembly and Reassembly of B-Axis Motor • Refer to Fig. 5-5 “Disassembly & Reassembly of B-Axis Motor”.  Disassembly 1. Turn OFF the DX100/DX200/FS100 power supply. 2.
  • Page 45 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.5 Disassembly and Reassembly of B-Axis Motor Table 5-5: B-Axis Motor Parts Checklist No. Item Qty. Remark B-axis motor HW0388794-A GT-SA bolt M3 (length: 10 mm) Tightening torque: Washer M3 1.40 N•m Pulley HW1401268-1 Hexagon socket head cap screw M3...

  • Page 46: Disassembly And Reassembly Of T-Axis Motor

    176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.6 Disassembly and Reassembly of T-Axis Motor Disassembly and Reassembly of T-Axis Motor • Refer to Fig. 5-6 “Disassembly & Reassembly of T-Axis Motor”.  Disassembly 1. Turn OFF the DX100/DX200/FS100 power supply. 2.
  • Page 47 176183-1CD Disassembly and Reassembly of the Motor MH5S (II) /MH5F 5.6 Disassembly and Reassembly of T-Axis Motor Table 5-6: T-Axis Motor Parts Checklist Item Qty. Remark T-axis motor HW0388794-A GT-SA bolt M3 (length: 10 mm) Tightening torque: Washer M3 1.40 N•m Pulley HW1401269-1 Hexagon socket head cap screw M3 Tightening torque:...

  • Page 48: Disassembly And Reassembly Of Speed Reducer

    176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.1 Disassembly and Reassembly of S-Axis Speed Reducer Disassembly and Reassembly of Speed Reducer Disassembly and Reassembly of S-Axis Speed Reducer • Refer to Fig. 6-1 “Disassembly & Reassembly of the S-Axis Speed Reducer”.
  • Page 49 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.1 Disassembly and Reassembly of S-Axis Speed Reducer 9. Attach the conical spring washers and the washer to the hexagon socket head cap screws and tighten them with the tightening torque shown in Table 6-1 “S-Axis Speed Reducer Parts Checklist”.
  • Page 50 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.1 Disassembly and Reassembly of S-Axis Speed Reducer Table 6-1: S-Axis Speed Reducer Parts Checklist (Sheet 2 of 2) No. Item Qty. Remark Oil seal AE 2343 E0 TC405208 Collar HW0414024-1 O-ring S39 Fig.

  • Page 51: Disassembly And Reassembly Of L-Axis Speed Reducer

    176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.2 Disassembly and Reassembly of L-Axis Speed Reducer Disassembly and Reassembly of L-Axis Speed Reducer • Refer to Fig. 6-2 “Disassembly & Reassembly of the L-Axis Speed Reducer”. Disassembly  1.
  • Page 52 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.2 Disassembly and Reassembly of L-Axis Speed Reducer 6. Temporarily tighten the GT-SA bolts 7. Apply Harmonic Grease SK-1A on the surface between the teeth of flex spline and the circular spline and insert the circular spline in the L-arm.
  • Page 53 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.2 Disassembly and Reassembly of L-Axis Speed Reducer Table 6-2: L-Axis Speed Reducer Parts Checklist Item Qty. Remark Speed reducer HW0388706-A Circular spline Flex spline Wave generator Hexagon socket head cap screw M4 Tightening Torque: (length: 12 mm) 2.80 N•m...
  • Page 54 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.2 Disassembly and Reassembly of L-Axis Speed Reducer Fig. 6-2: Disassembly & Reassembly of the L-Axis Speed Reducer HW1483638 54 of 99...

  • Page 55: Disassembly And Reassembly Of U-Axis Speed Reducer

    176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.3 Disassembly and Reassembly of U-Axis Speed Reducer Disassembly and Reassembly of U-Axis Speed Reducer • Refer to Fig. 6-3 “Disassembly & Reassembly of the U-Axis Speed Reducer”. Disassembly  1.
  • Page 56 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.3 Disassembly and Reassembly of U-Axis Speed Reducer 6. Temporarily tighten the GT-SA bolts 7. Apply Harmonic Grease SK-1A on the surface between the teeth of flex spline and the circular spline and insert the circular spline in the L-arm.
  • Page 57 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.3 Disassembly and Reassembly of U-Axis Speed Reducer Table 6-3: U-Axis Speed Reducer Parts Checklist Item Qty. Remark Speed Reducer HW0388707-A Circular spline Flex spline Wave generator Hexagon socket head cap screw M4 Tightening Torque: (length: 12 mm) 2.80 N•m...
  • Page 58 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.3 Disassembly and Reassembly of U-Axis Speed Reducer Fig. 6-3: Disassembly & Reassembly of the U-Axis Speed Reducer 13 -2 13 -1 HW1483638 6-11 58 of 99...

  • Page 59: Disassembly And Reassembly Of R-Axis Speed Reducer

    176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.4 Disassembly and Reassembly of R-Axis Speed Reducer Disassembly and Reassembly of R-Axis Speed Reducer • Refer to Fig. 6-4 “Disassembly & Reassembly of the R-Axis Speed Reducer”. Disassembly  1.
  • Page 60 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.4 Disassembly and Reassembly of R-Axis Speed Reducer 6. Attach the conical spring washers to the hexagon socket head cap screws and tighten them with the tightening torque shown in Table 6-4 “R-Axis Speed Reducer Parts Checklist”.
  • Page 61 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.4 Disassembly and Reassembly of R-Axis Speed Reducer Table 6-4: R-Axis Speed Reducer Parts Checklist Item Qty. Remark Speed reducer HW0388708-A Circular spline Flex spline Wave generator Hexagon socket head cap screw M3 Tightening Torque: (length: 30 mm) 1.40 N•m...

  • Page 62: Disassembly And Reassembly Of B-Axis Speed Reducer

    176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.5 Disassembly and Reassembly of B-Axis Speed Reducer Disassembly and Reassembly of B-Axis Speed Reducer • Refer to Fig. 6-5 “Disassembly & Reassembly of the B-Axis Speed Reducer”. Disassembly  1.
  • Page 63 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.5 Disassembly and Reassembly of B-Axis Speed Reducer 4. Insert the wave generator in the housing and press fit the bearing 5. Attach the conical spring washers to the hexagon socket head cap screws and mount the housing on the wrist base.
  • Page 64 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.5 Disassembly and Reassembly of B-Axis Speed Reducer Table 6-5: B-Axis Speed Reducer Parts Checklist Item Qty. Remark Speed reducer HW1380238-A Circular Spline Flex Spline Wave Generator Hexagon socket head cap screw M3 Tightening Torque: (length: 12 mm) 1.40 N•m...
  • Page 65 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.5 Disassembly and Reassembly of B-Axis Speed Reducer Fig. 6-5: Disassembly & Reassembly of the B-Axis Speed Reducer Part A Enlarged View of Part A HW1483638 6-18 65 of 99...

  • Page 66: Disassembly And Reassembly Of T-Axis Speed Reducer

    176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.6 Disassembly and Reassembly of T-Axis Speed Reducer Disassembly and Reassembly of T-Axis Speed Reducer • Refer to Fig. 6-6 “Disassembly & Reassembly of the T-Axis Speed Reducer”. Disassembly  1.
  • Page 67 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.6 Disassembly and Reassembly of T-Axis Speed Reducer 13. Check if the backlash is proper, and adjust the shim as follows when necessary: Remove the GT-SA bolts and the hexagon socket head cap screw , then remove the gear .
  • Page 68 176183-1CD Disassembly and Reassembly of Speed Reducer MH5S (II) /MH5F 6.6 Disassembly and Reassembly of T-Axis Speed Reducer Fig. 6-6: Disassembly & Reassembly of the T-Axis Speed Reducer HW1483638 6-21 68 of 99...

  • Page 69: Disassembly And Reassembly Of Wrist Unit

    176183-1CD Disassembly and Reassembly of Wrist Unit MH5S (II) /MH5F Disassembly and Reassembly of Wrist Unit • Refer to Fig. 7-1 “Disassembly & Reassembly of Wrist Unit”. Refer to the following chapters in this manual as needed: NOTE Chapter 2 “Notes for Maintenance”, Chapter 3 “Home Position Return”, Chapter 5 “Disassembly and Reassembly of the Motor”...
  • Page 70 176183-1CD Disassembly and Reassembly of Wrist Unit MH5S (II) /MH5F 10. Apply Three Bond 1206C to the matching face between the wrist unit and the cover. 11. Mount the covers with the hexagon socket button head screws (tighten them with the tightening torque shown in Table 7-1 “Wrist Unit Parts Checklist”) and the connector base with the pan-head sems screws...
  • Page 71 176183-1CD Disassembly and Reassembly of Wrist Unit MH5S (II) /MH5F Fig. 7-1: Disassembly & Reassembly of Wrist Unit HW1483638 71 of 99...

  • Page 72: Disassembly And Reassembly And Adjustment Of Timing Belts

    176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.1 Disassembly and Reassembly of L- and U-Axis Timing Belts Disassembly and Reassembly and Adjustment of Timing Belts Disassembly and Reassembly of L- and U-Axis Timing Belts • Refer to Fig. 8-1 “Disassembly & Reassembly of L- and U-Axis Timing Belts”.
  • Page 73 176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.1 Disassembly and Reassembly of L- and U-Axis Timing Belts Table 8-1: L- and U-Axis Timing Belts Parts Checklist No. Item Qty. Remark L-axis timing belt 100S5M305 U-axis timing belt 100S5M390 GT-SA bolt M4 (length: 16 mm) Tightening Torque: Washer M4...

  • Page 74: Disassembly And Reassembly Of R-Axis Timing Belt

    176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.2 Disassembly and Reassembly of R-Axis Timing Belt Disassembly and Reassembly of R-Axis Timing Belt • Refer to Fig. 8-2 “Disassembly & Reassembly of R-Axis Timing Belt”.  Disassembly 1.
  • Page 75 176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.2 Disassembly and Reassembly of R-Axis Timing Belt Table 8-2: R-Axis Timing Belt Parts Checklist No. Item Qty. Remark R-axis timing belt 060S3M219 R-axis motor HW0388647-A GT-SA bolt M3 (length: 12 mm) Tightening torque: Washer M3 1.40 N•m...

  • Page 76: Disassembly And Reassembly Of B- And T-Axis Timing Belts

    176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.3 Disassembly and Reassembly of B- and T-Axis Timing Belts Disassembly and Reassembly of B- and T-Axis Timing Belts • Refer to Fig. 8-3 “Disassembly & Reassembly of B- and T-Axis Timing Belts”.
  • Page 77 176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.3 Disassembly and Reassembly of B- and T-Axis Timing Belts Fig. 8-3: Disassembly & Reassembly of B- and T-Axis Timing Belts HW1483638 77 of 99...

  • Page 78: Adjustment Of Timing Belts

    176183-1CD Disassembly and Reassembly and Adjustment of Timing Belts MH5S (II) /MH5F 8.4 Adjustment of Timing Belts Adjustment of Timing Belts  L-axis Refer to Fig. 8-1 “Disassembly & Reassembly of L- and U-Axis Timing Belts”. Loosen the GT-SA bolts and adjust the initial tension to be the specific initial tension as shown in Table 8-4 “Initial Tension of Timing Belt”...

  • Page 79: Battery Pack Replacement

    176183-1CD Battery Pack Replacement MH5S (II) /MH5F 9.1 Battery Pack Replacement Battery Pack Replacement • Refer to Fig. 9-1 “Battery Location”, Fig. 9-2 “Battery Replacement” and Fig. 9-3 “Battery Connection”. Battery Pack Replacement The battery packs are installed in the position shown in Fig. 9-1. If the battery alarm occurs in the DX100/DX200/FS100, replace the battery in accordance with the following procedure: Fig.
  • Page 80 176183-1CD Battery Pack Replacement MH5S (II) /MH5F 9.1 Battery Pack Replacement Fig. 9-2: Battery Replacement Connector on the board Battery connector Connector on the board (unoccupied connctor) Fixing screw View A-A for battery pack Fig. 9-3: Battery Connection Battery pack before replacement See step 5 below Connector...

  • Page 81: Cable Wiring

    176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.1 Disconnecting Cables 10 Cable Wiring To prevent loss of the encoder absolute data, make sure to connect the new backup battery before disconnecting the NOTE encoder connector. (Refer to Chapter 2 “Notes for Maintenance”.) 10.1 Disconnecting Cables...

  • Page 82: Casing And L-Arm

    176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.1 Disconnecting Cables 10.1.2 Casing and L-Arm • Refer to Table 10-2 “Checklist for Cable Wiring Parts in Casing and L-Arm” and Fig. 10-2 “Cable Wiring in Casing and L-Arm”. 1. Unscrew the hexagon socket button head screws and remove the cover 2.
  • Page 83 176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.1 Disconnecting Cables Fig. 10-2: Cable Wiring in Casing and L-Arm Casing Internal wiring harness L-arm HW1483638 10-3 83 of 99...

  • Page 84: S-Head And Base

    176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.1 Disconnecting Cables 10.1.3 S-Head and Base • Refer to Table 10-3 “Checklist for Cable Wiring Parts in S-Head and Base” and Fig. 10-3 “Cable Wiring in S-Head and Base”. 1. Unscrew the hexagon socket button head screws and remove the cover 2.
  • Page 85 176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.1 Disconnecting Cables Fig. 10-3: Cable Wiring in S-Head and Base HW1483638 10-5 85 of 99...

  • Page 86: Connecting Cables

    176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.2 Connecting Cables 10.2 Connecting Cables 10.2.1 S-Head and Base • Refer to Table 10-3 “Checklist for Cable Wiring Parts in S-Head and Base” and Fig. 10-3 “Cable Wiring in S-Head and Base”. 1.

  • Page 87: Wrist Unit

    176183-1CD 10 Cable Wiring MH5S (II) /MH5F 10.2 Connecting Cables 9. Tighten the hexagon socket head cap screws with a tightening torque shown in Table 10-2 “Checklist for Cable Wiring Parts in Casing and L-Arm”. 10. Mount the cover on the casing with the hexagon socket button head screws 10.2.3 Wrist Unit •...

  • Page 88: Parts List

    176183-1CD 11 Parts List MH5S (II) /MH5F 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1027 1026 1020 1023 1023 1003 1001 1020 1049 1048 1023 1013 1040 1002 1005 1039 1025 1015 1024 1028 1029 1011 1034...
  • Page 89 176183-1CD 11 Parts List MH5S (II) /MH5F 11.1 S-Axis Unit Table 11-1: S-Axis Unit (Sheet 1 of 2) DWG No. Name Pcs. 1001 HW1100159-1 Base 1002 HW1100160-1 S head 1003 HW1302004-1 Cover 1004 HW0314328-1 Cover 1005 HW0414024-1 Collar 1006 HW0414025-1 B holder 1007 HW0414034-1...
  • Page 90 176183-1CD 11 Parts List MH5S (II) /MH5F 11.1 S-Axis Unit Table 11-1: S-Axis Unit (Sheet 2 of 2) DWG No. Name Pcs. 1041 M4X10 GT-SA bolt 1043 M4X16 GT-SA bolt 1045 M4X12 GT-SA bolt 1047 SGMAV-04ANA-YR11 Motor 1048 HW0414483-1 Cover 1049 HW0414484-1 Gasket...

  • Page 91: L-, U-Axes Unit

    176183-1CD 11 Parts List MH5S (II) /MH5F 11.2 L-, U-Axes Unit 11.2 L-, U-Axes Unit Fig. 11-2: L-, U-Axes Unit 2023 2018 2030 2028 2014 2036 2053 2035 2014 2013 2016 2023 2062 2017 2057 2026 2055 2001 2014 2034 2033 2037 2002...
  • Page 92 176183-1CD 11 Parts List MH5S (II) /MH5F 11.2 L-, U-Axes Unit Table 11-2: L-, U-Axes Unit (Sheet 1 of 2) DWG No. Name Pcs. 2001 HW1100161-1 L arm 2002 HW0414073-A Pulley 2003 HW0414072-A Pulley 2004 HW0414070-B Pulley 2007 HW0414071-B Pulley 2010 HW8411125-1 Collar...
  • Page 93 176183-1CD 11 Parts List MH5S (II) /MH5F 11.2 L-, U-Axes Unit Table 11-2: L-, U-Axes Unit (Sheet 2 of 2) DWG No. Name Pcs. 2047 2L-5 Spring washer 2048 M6X8 Hexagon socket head cap screw 2049 M4X12 Hexagon socket head cap screw 2050 CDW4L...

  • Page 94: R-Axis Unit

    176183-1CD 11 Parts List MH5S (II) /MH5F 11.3 R-Axis Unit 11.3 R-Axis Unit Fig. 11-3: R-Axis Unit 3013 3029 3016 3019 3012 3004 3010 3005 3001 3006 3028 3014 3002 3018 3011 3003 3027 3030 3008 3007 3025 3026 3024 3021 3023 3022...
  • Page 95 176183-1CD 11 Parts List MH5S (II) /MH5F 11.3 R-Axis Unit Table 11-3: R-Axis Unit DWG No. Name Pcs. 3001 HW1100163-1 Casing 3002 HW0314334-1 Housing 3003 HW0414074-A Pulley 3004 HW0483421-B Pulley 3005 HW9406285-E Pipe 3006 HW9406278-2 Washer 3007 HW0388708-A Speed reducer 3008 6808ZZ*NS7* Bearing...

  • Page 96: Wrist Unit

    176183-1CD 11 Parts List MH5S (II) /MH5F 11.4 Wrist Unit 11.4 Wrist Unit Fig. 11-4: Wrist Unit 4040 4006 3007 4049 4074 4073 4050 4075 4023 4052 4051 4068 4023 4048 4069 4073 4036 4003 4072 4074 4002 4001 4004 4071 4071 4061...
  • Page 97 176183-1CD 11 Parts List MH5S (II) /MH5F 11.4 Wrist Unit Table 11-4: Wrist Unit (Sheet 1 of 2) DWG No. Name Pcs. 4001 SGMAV-A5ANA-YR23 Motor 4002 HW1470525-A Break 4003 HW1100164-1 U-arm 1 4004 HW1300209-3 U-arm 2 4005 HW1300210-2 Wrist base 4006 HW1301269-2 Cover...
  • Page 98 176183-1CD 11 Parts List MH5S (II) /MH5F 11.4 Wrist Unit Table 11-4: Wrist Unit (Sheet 2 of 2) DWG No. Name Pcs. 4047 LP-M5 Plug 4048 M4X16 GT-SA bolt 4049 M4X16 GT-SA bolt 4050 Washer 4051 M3X30 Hexagon socket head cap screw 4052 CDW-L3...
  • Page 99 MAINTENANCE MANUAL 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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