YASKAWA MOTOMAN-MH600 Instructions Manual
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YASKAWA MOTOMAN-MH600 Instructions Manual

YASKAWA MOTOMAN-MH600 Instructions Manual

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MOTOMAN-MH600
INSTRUCTIONS
TYPE:
YR-MH00600-A00 (STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-XXX 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.
174340-1CD
4
MANUAL NO.
HW1483270
4
1/88

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  • Page 1 MOTOMAN-MH600 INSTRUCTIONS TYPE: YR-MH00600-A00 (STANDARD SPECIFICATION) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-XXX 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 If such modification is made, the manual number will also be revised. • If the 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 3 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 4 HW1483270 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 5 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 the manipulator cables.

  • Page 6: Vi Hw1483270

    Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents. Note: Taking the maintenance-relevant trainings offered by YASKAWA is indispensable for replacing the L-axis of the balancer-equipped manipulator.

  • Page 7: Table Of Contents

    HW1483270 Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation ....................1-2 2 Transporting............................ 2-1 2.1 Transporting Method......................2-1 2.1.1 Using a Crane ...................... 2-1 2.2 Shipping Bolts and Brackets....................2-2 3 Installation............................3-1 3.1 Installation of Safeguarding ....................
  • Page 8 HW1483270 Contents 6 Allowable Load for Wrist Axis and Wrist Flange ................6-1 6.1 Allowable Wrist Load ......................6-1 6.2 Wrist Flange........................6-2 7 System Application.......................... 7-1 7.1 Peripheral Equipment Mounts.................... 7-1 7.2 Internal User I/O Wiring Harness and Air Lines ..............7-3 8 Electrical Equipment Specification ....................
  • Page 9 HW1483270 Contents 9.3.7 Grease Replenishment/Exchange for T-axis Speed Reducer and Gear.... 9-18 9.3.7.1 Grease Replenishment................9-18 9.3.7.2 Grease Exchange ................. 9-19 9.3.8 Grease Replenishment for U-axis Cross Roller Bearing ........9-20 9.3.9 Grease Replenishment for Tapered Roller Bearing in the Link Part ....9-21 9.3.10 Grease Replenishment for Balancer Link Part ..........

  • Page 10: Product Confirmation

    HW1483270 Product Confirmation Contents Confirmation Product Confirmation CAUTION • Confirm that the manipulator and the DX200 have the same order number. Special care must be taken when more than one manipulator is to be installed. If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

  • Page 11: Order Number Confirmation

    HW1483270 Product Confirmation Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the DX200. The order number is located on a label as shown below. Fig. 1-1: Location of Order Number Labels Label (Enlarged View) THE MANIPULATOR AND THE CONTROLLER Check that the manipulator SHOULD HAVE SAME ORDER NUMBER.

  • Page 12: Transporting

    HW1483270 Transporting 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 transporting. The system consists of precision components, so failure to observe this caution may adversely affect performance.

  • Page 13: Shipping Bolts And Brackets

    HW1483270 Transporting Shipping Bolts and Brackets Table 2-1: Factory Setting for Angle and Pulse of Each Axis Axis ° ° ° ° ° ° Angle Pulse -95679 -57408 -153860 • Check that the eyebolts are securely fastened. • The mass of the manipulator is approximately 2900 kg including the shipping bolts and brackets.

  • Page 14: Installation

    HW1483270 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 15: Installation Of Safeguarding

    HW1483270 Installation Installation of Safeguarding Installation of Safeguarding To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for the information and guidance. Responsibility for Safeguarding (ISO 10218) 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 Chapter 6, 7, and 8...

  • Page 16: Mounting The Manipulator And Fixture On The Baseplate

    HW1483270 Installation Mounting Procedures for Manipulator Base Fig. 3-1: Manipulator Repulsion Force and Torque 3.2.1 Mounting the Manipulator and Fixture on the Baseplate For the first process, anchor the baseplate firmly on the floor. The baseplate should have enough rigidity, which is 50 mm or more in thickness.

  • Page 17: Mounting The Manipulator Directly On The Floor

    HW1483270 Installation Mounting Procedures for Manipulator Base 3.2.2 Mounting the Manipulator Directly on the Floor The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator. As a rough standard, when there is a concrete thickness (floor) of 150 mm or more, the manipulator base can be fixed directly to the floor with anchor bolts M16.

  • Page 18: Protection Class

    HW1483270 Installation Protection Class Protection Class For the standard type, environmental resistance for main part of the manipulator conforms to IP30; the wrist part conforms to IP67. For the main part of environmental resistance, IP54 is also available as optional. Location When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions:...

  • Page 19: Wiring

    HW1483270 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 20: Grounding

    HW1483270 Wiring Grounding Grounding Follow electrical installation standards and wiring regulations for grounding. A ground wire of 8.0 mm or more is recommended. Refer to fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator. • Never use this wire sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.

  • Page 21: Manipulator Cable Connection

    HW1483270 Wiring Manipulator Cable Connection Manipulator Cable Connection Three manipulator cables are delivered with the manipulator; an encoder cable (1BC) and power cables (2BC and 3BC). Refer to fig. 4-2 “Manipulator Cables” . Connect these cables to the manipulator base connectors and to the DX200.
  • Page 22 HW1483270 Wiring Manipulator Cable Connection Fig. 4-2: Manipulator Cables Manipulator side DX200 side Encoder cable Manipulator side DX200 side Power cable Manipulator side DX200 side Power cable HW1483270 22/88...
  • Page 23 HW1483270 Wiring Manipulator Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) Main key position Fig. 4-3(b): Manipulator Cable Connection (DX200 Side) HW1483270 23/88...

  • Page 24: Basic Specifications

    HW1483270 Basic Specifications Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-MH600 YR-MH00600-A00 Configuration Vertically Articulated Degree of Freedom Payload 600 kg Repeatability ±0.3 mm − Motion Range S-axis (turning) -180° +180° − L-axis (lower arm) -55°...

  • Page 25: Part Names And Working Axes

    HW1483270 Basic Specifications Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Wrist Upper arm (U-arm) Wrist flange Lower arm (L-arm) Rotary head (S-head) Manipulator base Manipulator Base Dimensions Fig. 5-2: Manipulator Base Dimensions 22 dia.

  • Page 26: Dimensions And P-Point Maximum Envelope

    HW1483270 Basic Specifications Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope P-point maximum envelope 1605 2683 (1674) 2401 2236 P-point 1498 1409 HW1483270 26/88...

  • Page 27: Stopping Angles And Times For S-, L- And U-Axes

    HW1483270 Basic Specifications Stopping Angles and Times for S-, L- and U-axes 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. 5.5.1 Stop Category 0: Stopping Angles and Times 5.5.1.1 Position 100% Fig.

  • Page 28: Position 66

    HW1483270 Basic Specifications Stopping Angles and Times for S-, L- and U-axes 5.5.1.2 Position 66% Fig. 5-5: Stop Category 0, Position 66% : Stopping Angle and Time for Each axes (a)S-Axis Note: L axis takes one pose only for this structure. (b)U-Axis HW1483270 28/88...

  • Page 29: Position 33

    HW1483270 Basic Specifications Stopping Angles and Times for S-, L- and U-axes 5.5.1.3 Position 33% Fig. 5-6: Stop Category 0, Position 33% : Stopping Angle and Time for Each Axis (a)S-Axis Note: L axis takes one pose only for this structure. (b)U-Axis HW1483270 29/88...

  • Page 30: Stop Category 1: Emergency Stop

    HW1483270 Basic Specifications Stopping Angles and Times for S-, L- and U-axes 5.5.2 Stop Category 1: Emergency Stop Stopping angles and times at stop category 1 are not NOTE subjected to the position and the load of the manipulator. Fig. 5-7: Stop Category 1, Emergency Stop: Stopping Angle and Time for Each Axis (a)S-Axis Notes) Not depends on the position and the load.

  • Page 31: Alterable Operating Range

    Alterable Operating Range The operating range of the S-axis can be altered according to 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 32: Allowable Load For Wrist Axis And Wrist Flange

    If force is applied to the wrist instead of the load, force on R, B, and T axes should be within the value as shown in table 6-1 “Moment and Total Moment of Inertia” . Contact your YASKAWA representative for further information or assistance.

  • Page 33: Wrist Flange

    HW1483270 Allowable Load for Wrist Axis and Wrist Flange Wrist Flange Wrist Flange The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” . In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside fitting must be 4 mm or less, and outside fitting 8 mm or less.

  • Page 34: System Application

    HW1483270 System Application Peripheral Equipment Mounts System Application Peripheral Equipment Mounts When peripheral equipment is attached to the U-arm, the following conditions described in table 7-1 “Constraint for Attaching” and fig. 7-1 “Installing Peripheral Equipment” should be observed. Table 7-1: Constraint for Attaching Application Note A Cable Processing...
  • Page 35 HW1483270 System Application Peripheral Equipment Mounts Fig. 7-1: Installing Peripheral Equipment Tapped hole M8 (4 holes) (depth: 15) (pitch: 1.5) 588.5 Tapped hole M8 (2 holes) (depth: 15) (pitch: 1.5) 965.5 965.5 Tapped hole M8 (4 holes) (depth: 15) (pitch: 1.5) View A Tapped hole M10 (4 holes) (depth: 25) (pitch: 1.5)

  • Page 36: Internal User I/O Wiring Harness And Air Lines

    HW1483270 System Application Internal User I/O Wiring Harness and Air Lines Internal User I/O Wiring Harness and Air Lines Valve cables (0.5 mm × 6 wires, and 0.3 mm × 12 wires) and one air line are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in fig.
  • Page 37 HW1483270 System Application Internal User I/O Wiring Harness and Air Lines Fig. 7-3: Details of the Connector Pin Numbers Pins used 0.5 mm x 6 pins 0.5 mm x 6 pins 17 18 0.3 mm x 12 pins 0.3 mm x 12 pins Pins used 30 31...

  • Page 38: Electrical Equipment Specification

    In case of re-adjusting the operating range of each subject axis, it is also required to change the dog location and limit NOTE values in software. Contact your YASKAWA representative if re-adjustment is required. 8.1.2 Position of Limit Switch Limit switches are optional, and they are mounted on the S-, L- and U- axes on the manipulator with limit switch specification.

  • Page 39: Position Of Limit Switch

    HW1483270 Electrical Equipment Specification Position of Limit Switch 8.1.3 Setting of Operation Range 8.1.3.1 S-Axis Operation Range By the S-axis limit switch, S-axis operation range can be set to those ranges mentioned in table 5-2 “S-axis Operating Range” . 8.1.3.2 L-Axis Operation Range By the L-axis limit switch, the L-axis operation range can be set to any angles within -56°...

  • Page 40: Setting Range Of Lu-Axes Interference Angle

    HW1483270 Electrical Equipment Specification Position of Limit Switch 8.1.3.3 Setting Range of LU-Axes Interference Angle L- and U-axes interference limit switches are designed to check the interference angle of L- and U-axes. As shown in fig. 8-3 “LU-Axes Interference Angle” , the operation range of U-axis can be set to any angles within -65°...

  • Page 41: Internal Connections

    HW1482721 8 Electrical Equipment Specification 8.2 Internal Connections Internal Connections Fig. 8-4(a): Internal Connection Diagram 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 S-AXIS OVERRUN L.S. section connection BAT12 BAT2 0BAT3 BAT3 section L-AXIS OVERRUN L.S.(OPTION) B1 connection S-axis Limit Switch Specification 0BAT21 0BAT4 BAT21...
  • Page 42 HW1482721 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-4(b): Internal Connection Diagram E E E E BASE MANIPULATOR S1(28-21) No.7CN (22-14) SP10 SP10 SP11 SP11 SP12 SP12 SP13 SP13 SP14 SP14 SP15 SP15 SP16 SP16 SP17 SP17 SP18 SP18 X21(8X6) 2BC(8X6) CN2-1...

  • Page 43: 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 44 HW1483270 Maintenance and Inspection Inspection Schedule HW1483270 44/88...
  • Page 45 HW1483270 Maintenance and Inspection Inspection Schedule HW1483270 45/88...
  • Page 46 HW1483270 Maintenance and Inspection Inspection Schedule HW1483270 46/88...

  • Page 47: Notes On Maintenance Procedures

    HW1483270 Maintenance and Inspection Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement Battery packs are located as illustrated in fig. 9-2 “Battery Pack Location” . If the battery alarm occurs in the DX200, replace the battery packs according to the following procedure: Fig.
  • Page 48 HW1483270 Maintenance and Inspection Notes on Maintenance Procedures 6. Mount the new battery pack to the holder. 7. Reinstall the plate. Do not allow plate to pinch the cables when reinstalling the NOTE plate. HW1483270 48/88...

  • Page 49: Grease Replenishment/Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange Grease Replenishment/Exchange 9.3.1 Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following notes may result in damage to motor and speed reducer. •...

  • Page 50: Grease Replenishment/Exchange For S-Axis Speed Reducer And Gear

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer and Gear Fig. 9-4: S-axis Speed Reducer and Gear Diagram S-axis gear unit Grease exhaust port Hexagon socket head plug PT3/8 S-axis speed reducer Grease inlet Hexagon socket View A head plug PT1/4 9.3.2.1 Grease Replenishment...

  • Page 51: Grease Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.2.2 Grease Exchange (Refer to fig. 9-4 “S-axis Speed Reducer and Gear Diagram” .) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port. • If grease is injected with the plug on, grease will leak inside the motor and may cause a damage.

  • Page 52: Grease Replenishment/Exchange For L-And U-Axes Speed Reducer

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.3 Grease Replenishment/Exchange for L-and U-axes Speed Reducer Fig. 9-5: L-and U-axes Speed Reducer Diagram Grease exhaust port (U-axis speed reducer) Grease exhaust port (L-axis speed reducer) Hexagon socket head plug PT1/8 Hexagon socket head plug PT1/8 U-axis L-axis speed reducer...

  • Page 53: Grease Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.3.2 Grease Exchange (Refer to fig. 9-5 “L-and U-axes Speed Reducer Diagram” .) 1. Remove the hexagon socket head plugs PT1/8 from the grease exhaust port. • If grease is injected with the plug on, grease will leak inside the motor and may cause a damage.

  • Page 54: Grease Replenishment/Exchange For Rbt-Axes Gear

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.4 Grease Replenishment/Exchange for RBT-axes Gear Fig. 9-6: RBT-axes Gear Diagram Grease exhaust port Hexagon socket head plug PT3/8 Grease inlet Hexagon socket head plug PT1/8 9.3.4.1 Grease Replenishment (Refer to fig. 9-6 “RBT-axes Gear Diagram” .) 1.

  • Page 55: Grease Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.4.2 Grease Exchange (Refer to fig. 9-6 “RBT-axes Gear Diagram” .) 1. Remove the hexagon socket head plugs PT3/8 from the grease exhaust port. • If grease is injected with the plug on, grease will leak inside the motor and may cause a damage.

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

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.5 Grease Replenishment/Exchange for R-axis Speed Reducer Fig. 9-7: R-axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT1/8 Grease inlet R-axis speed reducer Hexagon socket head plug PT1/8 9.3.5.1 Grease Replenishment (Refer to fig.

  • Page 57: Grease Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.5.2 Grease Exchange (Refer to fig. 9-7 “R-axis Speed Reducer Diagram” .) 1. Remove the hexagon socket head plugs PT1/8 from the grease exhaust port . • If grease is injected with the plug on, grease will leak inside the motor and may cause a damage.

  • Page 58: Grease Replenishment/Exchange For B-Axis Speed Reducer And Gear

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.6 Grease Replenishment/Exchange for B-axis Speed Reducer and Gear Fig. 9-8: B-axis Speed Reducer and Gear Diagram Grease inlet Hexagon socket head plug PT1/8 B-axis speed reducer Grease exhaust port Hexagon socket head plug PT1/8 9.3.6.1 Grease Replenishment (Refer to fig.

  • Page 59: Grease Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.6.2 Grease Exchange (Refer to fig. 9-8 “B-axis Speed Reducer and Gear Diagram” .) 1. Remove the hexagon socket head plugs PT1/8 from the grease exhaust port • If grease is injected with the plug on, grease will leak inside the motor and may cause a damage.

  • Page 60: Grease Replenishment/Exchange For T-Axis Speed Reducer And Gear

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.7 Grease Replenishment/Exchange for T-axis Speed Reducer and Gear Fig. 9-9: T-axis Speed Reducer and Gear Diagram Grease inlet Hexagon socket head plug PT1/8 Grease exhaust port T-axis speed reducer Hexagon socket head plug PT1/8 9.3.7.1 Grease Replenishment (Refer to fig.

  • Page 61: Grease Exchange

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.7.2 Grease Exchange (Refer to fig. 9-9 “T-axis Speed Reducer and Gear Diagram” .) 1. Remove the hexagon socket head plugs PT1/16 from the grease exhaust port. • If grease is injected with the plug on, grease will leak inside the motor and may cause a damage.

  • Page 62: Grease Replenishment For U-Axis Cross Roller Bearing

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.8 Grease Replenishment for U-axis Cross Roller Bearing Fig. 9-10: U-axis Cross Roller Bearing Diagram U-axis cross roller bearing L-arm Exhaust port Hexagon socket head plug PT1/8 Grease inlet Hexagon socket head plug PT1/8 View A 1.

  • Page 63: Grease Replenishment For Tapered Roller Bearing In The Link Part

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.9 Grease Replenishment for Tapered Roller Bearing in the Link Part Fig. 9-11: Link Part Diagram Tapered roller bearing (2 bearings) Exhaust port Hexagon socket head plug PT1/8 Grease inlet Exhaust port Hexagon socket head Hexagon socket head plug PT1/8 plug PT1/8...

  • Page 64: Grease Replenishment For Balancer Link Part

    HW1483270 Maintenance and Inspection Grease Replenishment/Exchange 9.3.10 Grease Replenishment for Balancer Link Part Fig. 9-12: Balancer Link Part Link2 Exhaust port Hexagon socket head plug PT1/8 (2 plugs) Link1 Grease inlet Hexagon socket head plug PT1/8 Link2 Grease inlet Link1 Exhaust port Hexagon socket head plug PT1/8 Needle bearing Link2 Tapered roller bearing...

  • Page 65: Notes For Maintenance

    HW1483270 Maintenance and Inspection Notes for Maintenance Notes for Maintenance When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector may be necessary to be removed. In this case, be sure to con- nect the battery pack to the battery backup connector NOTE before removing the encoder connector.

  • Page 66: Recommended Spare Parts

    Recommended Spare Parts It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-MH600. The spare parts list for the MOTOMAN-MH600 is shown below. For preparing lead wires for wire harness in the manipulator, etc., check the serial number and contact your YASKAWA representative.
  • Page 67 HW1483270 Recommended Spare Parts Table 10-1: Spare Parts for the MOTOMAN-MH600 (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit Replacement Kit for Y005C- YASKAWA B-axis Speed Reducer MH00600A00B Electric Corporation Replacement Kit for Y005C- YASKAWA T-axis Speed Reducer...

  • Page 68: Parts List

    HW1483270 Parts List 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1029 1028 1027 1047 1026 1048 1049 1002 1025 1050 1051 1024 1052 1020 1036 1030 1054 1018 1031 1053 1019 1022 1021 1055 1023 1003 1063...
  • Page 69 HW1483270 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit (1) (Sheet 1 of 2) DWG No. Name 1001 HW0101362-2 Base 1002 HW1100345-1 S head 1003 G460 O-ring 1004 HW0281310-A Speed reducer 1005 G145 O-ring 1006 HW0314989-1 Shaft 1007 M6X20 GT-SA bolt 1008 HW0315256-1...
  • Page 70 HW1483270 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit (1) (Sheet 2 of 2) DWG No. Name 1046 2H-5 Conical spring washer 1047 SGMRV-44ANA-YR1* Motor 1048 M12X45 Hexagon socket head cap screws 1049 2H-12 Conical spring washer 1050 HW0402627-2 Washer 1051 HW0407533-1...

  • Page 71: L-Axis Unit

    HW1483270 Parts List 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2052 2051 2051 2052 2050 2051 2052 2053 2044 2050 2005 2013 2014 2045 2046 2047 2034 2049 2048 2015 2016 2052 2051 2041 2018 2020 2050 2017 2006 2022...
  • Page 72 HW1483270 Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit (Sheet 1 of 2) DWG No. Name 2001 HW0390225-A Speed reducer 2002 G300 O-ring 2003 HW0201220-2 M base 2004 PT1/8(STAINLESS) Hexagon socket head plug 2005 PT3/8(STAINLESS) Hexagon socket head plug 2006 M12X75 Hexagon socket head cap screws...
  • Page 73 HW1483270 Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit (Sheet 2 of 2) DWG No. Name 2046 2H-16 Conical spring washer 2047 HW1100348-2 Counterweight 2048 M16X60 Hexagon socket head cap screws 2049 2H-16 Conical spring washer 2050 HW0405126-1 Weight 2051 M16X60 Hexagon socket head cap screws...

  • Page 74: Balancer Unit

    HW1483270 Parts List 11.3 Balancer Unit 11.3 Balancer Unit Fig. 11-3: Balancer Unit 3017 3016 3015 3013 3018 3009 3013 3010 3011 3018 3012 3008 3012 3014 3007 3004 3005 3001 3006 3027 3028 3003 3025 3029 2041 3002 3024 3032 3021 3026...
  • Page 75 HW1483270 Parts List 11.3 Balancer Unit Table 11-3: Balancer Unit A DWG No. Name 3001 HW9302054-1 Shaft 3002 M12X50 Hexagon socket head cap screws 3003 2H-12 Conical spring washer 3004 HW9405057-1 Clevice 3005 NA6912 Bearing 3006 AR85 Circlip 3007 VB75956 Oil seal 3008 VB60787...

  • Page 76: Link Unit

    HW1483270 Parts List 11.4 Link Unit 11.4 Link Unit Fig. 11-4: Link Unit 4011 4034 4031 4035 4033 4030 4009 4032 4029 4010 4001 4007 4008 4004 4036 4005 4011 4006 4029 4002 4037 4011 4040 4031 4003 4011 4011 4033 4039 4038...
  • Page 77 HW1483270 Parts List 11.4 Link Unit Table 11-4: Link Unit DWG No. Name 4001 HW0100310-2 Casing 4002 VC951159 Oil seal 4003 HW0402976-1 Shaft 4004 M10X75 Hexagon socket head cap screws 4005 2H-10 Conical spring washer 4006 HR33017U Bearing 4007 G125 O-ring 4008 HW0402975-1...

  • Page 78: R, B And T-Axes Unit

    HW1483270 Parts List 11.5 R, B and T-Axes Unit 11.5 R, B and T-Axes Unit Fig. 11-5: R-, B- and T-Axes Unit T-AXIS 5003 5005 5001 5030 B-AXIS R-AXIS 5029 5004 5002 5015 5005 5008 5005 5001 5025 5016 5001 5015 5011 5016...
  • Page 79 HW1483270 Parts List 11.5 R, B and T-Axes Unit Table 11-5: R-, B- and T-Axes Unit DWG No. Name 5001 SGMRV-30ANA-YR1* Motor 5002 M12X60 Hexagon socket head cap screws 5003 M12X70 Hexagon socket head cap screws 5004 M12X55 Hexagon socket head cap screws 5005 2H-12 Conical spring washer...

  • Page 80: U-Axis Unit

    HW1483270 Parts List 11.6 U-Axis Unit 11.6 U-Axis Unit Fig. 11-6: U-Axis Unit 6048 6032 6033 6033 6042 6043 6012 5006 6009 6038 6040 6039 6035 6004 6001 6002 6036 6037 6010 6044 6013 4001 6044 6034 6041 6045 6031 6046 6011 6024...
  • Page 81 HW1483270 Parts List 11.6 U-Axis Unit Table 11-6: U-Axis Unit DWG No. Name 6001 HW0100173-3 Housing 6002 HW0302537-1 Spacer 6003 HW0302538-A Shaft 6004 HW0302543-A Shaft 6005 HW0302583-A Shaft 6009 HW0401505-1 B nut 6010 HW0401508-1 Plate 6011 HW1302255-1 Gear 6012 HW0303026-1 Gear 6013 HW0303027-1...

  • Page 82: R-Axis Unit

    HW1483270 Parts List 11.7 R-Axis Unit 11.7 R-Axis Unit Fig. 11-7: R-Axis Unit 7002 7032 7037 7024 7033 7023 7043 7030 7045 7044 7031 7042 7040 7041 7032 7038 7006 7017 7051 7011 7027 7026 7036 7034 7001 7010 7029 7028 7015 7022...
  • Page 83 HW1483270 Parts List 11.7 R-Axis Unit Table 11-7: R-Axis Unit DWG No. Name 7001 AS568-272 O ring 7002 G150 O ring 7003 ISTW-70 Retaining ring 7005 IRTW-55 Retaining ring 7006 HW0302540-C Shaft 7010 HW0312724-A Shaft 7011 HW0302541-1 Housing 7012 HW0300925-5 Spacer 7014 HW1302256-1...

  • Page 84: Wrist Unit

    HW1483270 Parts List 11.8 Wrist Unit 11.8 Wrist Unit Fig. 11-8: Wrist Unit 8117 8103 8118 8051 8116 8054 8028 8052 8026 8053 8025 8123 8043 8051 8122 8052 8042 8119 8040 8011 8066 8085 8068 8021 8045 8078 8037 8027 8044 8077...
  • Page 85 HW1483270 Parts List 11.8 Wrist Unit Table 11-8: Wrist Unit (Sheet 1 of 3) DWG No. Name 8001 AS568-271 O ring 8002 HW0385316-B Speed reducer 8003 HW0311893-2 Flange 8004 M8X30 Hexagon socket head cap screws 8005 M8X20 Hexagon socket head cap screws 8006 2H-8 Conical spring washer...
  • Page 86 HW1483270 Parts List 11.8 Wrist Unit Table 11-8: Wrist Unit (Sheet 2 of 3) DWG No. Name 8064 M6X30 Hexagon socket head cap screws 8065 2H-6 Conical spring washer 8066 M12X25 Hexagon socket head cap screws 8067 M12X45 Hexagon socket head cap screws 8068 2H-12 Conical spring washer...
  • Page 87 HW1483270 Parts List 11.8 Wrist Unit Table 11-8: Wrist Unit (Sheet 3 of 3) DWG No. Name 8120 HW0402957-1 Plate 8121 PT1/16(STAINLESS) Plug 8122 M12X35 Hexagon socket head cap screws 8123 2H-12 Conical spring washer 8124 2H-12 Conical spring washer HW1483270 87/88 11-20...
  • Page 88 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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