YASKAWA MOTOMAN-MH215 II Instructions Manual
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YASKAWA MOTOMAN-MH215 II Instructions Manual

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MOTOMAN-MH215 II
INSTRUCTIONS
TYPE:
YR-MH00215-J00 (
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH215 II 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.
DX200 STANDARD SPECIFICATIONS
Part Number:
Revision:
MANUAL NO.
HW1483759
)
177010-1CD
2
2
1 of 102

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Summary of Contents for YASKAWA MOTOMAN-MH215 II

  • Page 1 DX200 STANDARD SPECIFICATIONS Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-MH215 II 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.
  • 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 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 177010-1CD Notes for Safe Operation MH215 WARNING • Before maintenance, inspection, or wiring, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in electric shock or injury. •...
  • 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 Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents. Taking the maintenance-relevant training offered by YASKAWA is indispensable to replace the L-axis of the balancer-equipped manipulator. Fig. : Warning Label Locations...
  • Page 9 177010-1CD Safeguarding Tips MH215 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 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. Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment.
  • Page 12 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 13: Table Of Contents

    177010-1CD Table of Contents MH215 Table of Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation ....................1-2 2 Transport............................2-1 2.1 Transport Method ......................2-1 2.1.1 Using a Crane ...................... 2-2 2.1.2 Using a Forklift...................... 2-3 2.2 Shipping Bolts and Brackets....................
  • Page 14 177010-1CD Table of Contents MH215 5.6 Alterable Operating Range ....................5-8 5.6.1 Components for Altering Operating Range............5-9 5.6.2 Notes on the Mechanical Stopper Installation ............ 5-10 5.6.3 Adjustment to the Pulse Limitation of S-Axis ............5-11 6 Allowable Load for Wrist Axis and Wrist Flange ................6-1 6.1 Allowable Wrist Load ......................
  • Page 15 177010-1CD Table of Contents MH215 11.1 S-Axis Unit ........................11-1 11.2 L-Axis Unit ........................11-4 11.3 U-, R-, B-, T-Axis Unit ....................11-7 11.4 U-Arm Unit ........................11-10 11.5 Wrist Unit ........................11-13 11.6 Balancer Unit ....................... 11-16 HW1483759 15 of 102...

  • Page 16: Product Confirmation

    177010-1CD Product Confirmation MH215 1.1 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 17: Order Number Confirmation

    177010-1CD Product Confirmation MH215 1.2 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...

  • Page 18: Transport

    177010-1CD Transport MH215 2.1 Transport Method Transport CAUTION • Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. • Avoid excessive vibration or shock during transport. The system consists of precision components.

  • Page 19: Using A Crane

    177010-1CD Transport MH215 2.1 Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with four wire ropes when removing it from the package and moving it. Before transport, be sure to mount the shipping bolts and brackets to the manipulator. Then, lift it in the posture as shown in Fig.

  • Page 20: Using A Forklift

    177010-1CD Transport MH215 2.1 Transport Method 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in Fig. 2-2 “Transport Using a Forklift”. Insert forklift claws in the forklift claw entries of the shipping brackets or the pallet, and lift it.

  • Page 21: Shipping Bolts And Brackets

    177010-1CD Transport MH215 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at position A to minimize the external force during transport, and with the hexagon socket head cap screw at position B to prevent the U-arm from falling. (Fig.

  • Page 22: Installation

    177010-1CD Installation MH215 3.1 Safeguarding 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 tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

  • Page 23: Mounting Procedures For Manipulator Base

    177010-1CD Installation MH215 3.2 Mounting Procedures for Manipulator Base Mounting Procedures for Manipulator Base The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand reaction forces during acceleration and deceleration. Construct a solid foundation with the appropriate thickness to withstand maximum reaction forces of the manipulator referring to Table 3-1 “Manipulator Reaction Force and Torque”...

  • Page 24: Mounting Example

    177010-1CD Installation MH215 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting Example For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 50 mm or more thick, and anchor bolts of M20 or larger size.

  • Page 25: Protection Class

    177010-1CD Installation MH215 3.3 Protection Class Protection Class For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67. For the main part of environmental resistance, IP65 is also available as optional.

  • Page 26: Wiring

    177010-1CD Wiring MH215 Wiring WARNING • Ground resistance must be 100  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 27: Grounding

    177010-1CD Wiring MH215 4.1 Grounding Grounding Follow electrical installation standards and wiring regulations for grounding. A ground wire of 5.5 mm or more is recommended. Refer to Fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator. •...
  • Page 28 177010-1CD Wiring MH215 4.2 Cable Connection Fig. 4-2: Manipulator Cables DX200 side Manipulator side Encoder cable DX200 side Manipulator side Power cable HW1483759 28 of 102...
  • Page 29 177010-1CD Wiring MH215 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) Key positions View A: Connector details (Manipulator side) Fig. 4-3(b): Manipulator Cable Connection (DX200 Side) HW1483759 29 of 102...

  • Page 30: Basic Specifications

    177010-1CD Basic Specifications MH215 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-MH215 Structure Vertically Articulated Degree of Freedom Payload 215kg Repeatability ±0.2 mm Range of Motion S-Axis (turning) -180° - +180° L-Axis (lower arm) -60°...

  • Page 31: Part Names And Working Axes

    177010-1CD Basic Specifications MH215 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Manipulator Base Dimensions Fig. 5-2: Manipulator Base Dimensions +0.021 dia. reamed hole (2 holes) (Pin hole for manipulator Fitting surface 290 0.1 290 0.1...

  • Page 32: Dimensions And P-Point Maximum Envelope

    177010-1CD Basic Specifications MH215 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope 5133 2222 2912 3311 P-point maximum envelope 1490 P-point 1225 1008 Note: This figure shows the standard specification manipulator in the home position. HW1483759 32 of 102...

  • Page 33: Stopping Angle And Time For S-, L- And U-Axes

    177010-1CD Basic Specifications MH215 5.5 Stopping Angle and Time for S-, L- and U-Axes Stopping Angle and Time for S-, L- and U-Axes Following data on stopping angle and time for each axis are measured under the standard of ISO10218. 5.5.1 Stop Category 0: Stopping Angles and Times 5.5.1.1 Position 100% Fig.
  • Page 34 177010-1CD Basic Specifications MH215 5.5 Stopping Angle and Time for S-, L- and U-Axes 5.5.1.2 Position 66% Fig. 5-5: Category 0, Position 66% : Stopping Angle and Time for Each Axis (a)S-Axis Stop category 0, Position 66% Stop category 0, Position 66% (b)L-Axis Stop category 0, Position 66% Stop category 0, Position 66%...
  • Page 35 177010-1CD Basic Specifications MH215 5.5 Stopping Angle and Time for S-, L- and U-Axes 5.5.1.3 Position 33% Fig. 5-6: Category 0, Position 33% : Stopping Angle and Time for Each Axis (a)S-Axis Stop category 0, Position 33% Stop category 0, Position 33% (b)L-Axis Stop category 0, Position 33% Stop category 0, Position 33%...

  • Page 36: Position100

    177010-1CD Basic Specifications MH215 5.5 Stopping Angle and Time for S-, L- and U-Axes 5.5.2 Stop Category 1: Stopping Angles and Times NOTE Stopping angles and times at Stop category 1 are not subjected to the load of the manipulator. 5.5.2.1 Position100% Fig.

  • Page 37: Alterable Operating Range

    Alterable Operating Range The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Table 5-2 “S-Axis Operating Range”. If alteration is necessary, contact your YASKAWA representative in advance. Table 5-2: S-Axis Operating Range...

  • Page 38: Components For Altering Operating Range

    177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range 5.6.1 Components for Altering Operating Range Arrange the components listed in Fig. 5-8 “Components of the S-Axis Stopper”, when modifying the angle of S-axis. (1) Pin (drawing No. HW0402104-1, 1 pin) (2) Stopper (drawing No. HW0302424-2, 1 stopper) (3) Hexagon socket head cap screw M20 (length: 45 mm) (3 screws) (tightening torque: 402 N•m) (4) Flat washer M20 (3 flat washers)

  • Page 39: Notes On The Mechanical Stopper Installation

    177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range 5.6.2 Notes on the Mechanical Stopper Installation • Apply the Locktite 243 to the thread part of the pin HW0402104-1, and install the pin bottom up into the S-axis mechanical stopper HW0302424-2 as shown in Fig. 5-8 “Components of the S-Axis Stopper”.

  • Page 40: Adjustment To The Pulse Limitation Of S-Axis

    177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range 5.6.3 Adjustment to the Pulse Limitation of S-Axis Apply the Instruction for “DX200 Instructions chapter 8.17 Changing the Parameter Setting (manual No. RE-CTO-A220)” as part of reference materials for adjusting the programming pendant when modifying the range of motion of S-Axis.
  • Page 41 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Table 5-3: Settable angle for S-Axis Stopper HW1483759 5-12 41 of 102...
  • Page 42 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(a): Properly-Mounted Models for S-Axis Stopper Hexagon head screws The stopper is reversible. Either side of the stopper can be used. Installation at + 180˚ Hexagon head screws The stopper is reversible. Either side of the stopper can be used.
  • Page 43 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(b): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 150˚ The stopper is reversible. Either side of the stopper can be used.
  • Page 44 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(c): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 120˚ The stopper is reversible. Hexagon head screws Either side of the stopper can be used.
  • Page 45 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(d): Properly-Mounted Models for S-Axis Stopper The stopper is reversible. Either side of the stopper can be used. Hexagon head screws Installation at + 90˚ The stopper is reversible. Either side of the stopper can be used. Hexagon head screws Installation at + 75˚...
  • Page 46 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(e): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 60˚ The stopper is reversible. Either side of the stopper can be used.
  • Page 47 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(f): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be Hexagon head screws used at this angle. Installation at + 30˚ The stopper is reversible. Either side of the stopper can be used.
  • Page 48 177010-1CD Basic Specifications MH215 5.6 Alterable Operating Range Fig. 5-10(g): Properly-Mounted Models for S-Axis Stopper The stopper is reversible. Either side of the stopper can be used. Hexagon head screws Installation at 0˚ HW1483759 5-19 48 of 102...

  • Page 49: 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 shown in Table 6-1 “Allowable Wrist Load”. Contact your YASKAWA representative for further information or assistance. Table 6-1: Allowable Wrist Load Axis Moment N•m (kgf•m)

  • Page 50: Wrist Flange

    177010-1CD Allowable Load for Wrist Axis and Wrist Flange MH215 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. In order to see the alignment mark, it is recommended that the attachment be mounted inside the fitting.

  • Page 51: System Application

    177010-1CD System Application MH215 7.1 Peripheral Equipment Mounts System Application Peripheral Equipment Mounts The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the user’s system applications. The following conditions shall be observed to attach or install peripheral equipment.

  • Page 52: Internal User I/O Wiring Harness And Air Line

    177010-1CD System Application MH215 7.2 Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line Internal user I/O wiring harness (0.75 mm × 23) and two air lines are incorporated in the manipulator for the drive of peripheral device mounted on the upper arm as shown in Fig.
  • Page 53 177010-1CD System Application MH215 7.2 Internal User I/O Wiring Harness and Air Line Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line Tube for field bus cable (inside dia.:12) (inside tube for cable arrangement) Connector for internal user I/O wiring harness (Casing) JL05-2A24-28SC(socket connector with a cap) Prepare pin connector: JL05-6A24-28P.

  • Page 54: 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 The limit switches are optional. For the S, L, and U-Axes with limit switches specifications, L.S.

  • Page 55: Setting Of Operation Range

    177010-1CD Electrical Equipment Specification MH215 8.1 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 -61°...

  • Page 56: Setting Range Of Lu-Axes Interference Angle

    177010-1CD Electrical Equipment Specification MH215 8.1 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 +8°...

  • Page 57: Internal Connection Diagram

    177010-1CD 8 Electrical Equipment Specification MH215 II 8.2 Internal Connection Diagram Internal Connection Diagram Fig. 8-4(a): Internal Connection Diagram S-AXIS OVERRUN L.S. Connected to A1 Connected to A2 L-AXIS OVERRUN L.S. 0BAT11 0BAT1 BAT11 BAT1 S-axis with Limit Switch Specification 0BAT12 0BAT2 BAT12...
  • Page 58 177010-1CD 8 Electrical Equipment Specification MH215 II 8.2 Internal Connection Diagram Fig. 8-4(b): Internal Connection Diagram CASING BASE MANIPULATOR 4BC(24-28) N0.7CN(24-28) 4BC-1 4BC-1 4BC-2 4BC-2 4BC-3 4BC-3 4BC-4 4BC-4 4BC-5 4BC-5 4BC-6 4BC-6 4BC-7 4BC-7 4BC-8 4BC-8 4BC-9 4BC-9 4BC-10 4BC-10 4BC-11 4BC-11...

  • Page 59: 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 60 Table 9-1: Inspection Items (Sheet 1 of 2) Items Schedule Method Operation Inspection Charge Alignment mark Visual Check alignment mark accordance at the home position. • • • • Check for damage. External lead Visual Check for damage and deterioration of leads. •...
  • Page 61 1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Items”. 2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your YASKAWA representative. 3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors on detector side for each axis from the motor.
  • Page 62 Fig. 9-1: Inspection Items B-AXIS R-AXIS T-AXIS S-AXIS U-AXIS Check that no grease is leaked into the tube (2 tubes). L-AXIS 62 of 102...

  • Page 63: Notes On Maintenance Procedures

    177010-1CD Maintenance and Inspection MH215 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery packs are installed in the position shown in Fig. 9-2(a) “Battery Location (Back View)” and Fig. 9-2(b) “Battery Location (Top View)”.
  • Page 64 177010-1CD Maintenance and Inspection MH215 9.2 Notes on Maintenance Procedures Fig. 9-3: Battery Connection Battery pack See replacing step 5. before replacement Connector Board See replacing step 4. (Type: SGDR-EFBA02A) New battery pack (HW0470360-A) 1. Turn OFF the DX200 main power supply. 2.

  • Page 65: Grease Replenishment/Exchange

    177010-1CD Maintenance and Inspection MH215 9.3 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 66: Grease Replenishment/Exchange For S-Axis Speed Reducer

    177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange 9.3.1.1 Grease Replenishment/Exchange for S-Axis Speed Reducer Fig. 9-4: S-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT3/8 Grease inlet S-axis speed reducer Hexagon socket head plug PT1/4  Grease Replenishment (Refer to Fig.
  • Page 67 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange (Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 68: Grease Replenishment/Exchange For L-Axis Speed Reducer

    177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange 9.3.1.2 Grease Replenishment/Exchange for L-Axis Speed Reducer Fig. 9-5: L-Axis Speed Reducer Diagram Grease Inlet Grease exhaust port Hexagon socket head plug PT1/8 Hexagon socket head plug PT3/8  Grease Exchange (Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.) 1.
  • Page 69 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange (Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.) 1. Make the L-arm vertical to the ground. 2. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 70: Grease Replenishment/Exchange For U-Axis Speed Reducer

    177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange 9.3.1.3 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-6: U-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT1/8 Grease inlet Hexagon socket head plug PT1/8  Grease Replenishment (Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.) 1.
  • Page 71 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange (Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.) 1. Make the U-arm horizontal to the ground. 2. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 72: Grease Replenishment/Exchange For U-Arm

    177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange 9.3.1.4 Grease Replenishment/Exchange for U-Arm Fig. 9-7: U-Arm Diagram Grease inlet (in R-,B- and T-gear casings) Hexagon socket head plug PT1/8 T-axis speed reducer Grease exhaust port (T-axis speed reducer) Hexagon socket head plug PT1/16 R-axis speed reducer Grease Inlet (B- and T-axes speed reducer)
  • Page 73 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Replenishment for R-, B-, T-Axes Gears in the Casing (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 74 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Replenishment for R-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 75 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Replenishment for B-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 76 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Replenishment for T-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 77 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange for R-, B-, T-Axes Gears in the Casing (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 78 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange for R-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 79 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange for B-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.
  • Page 80 177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange  Grease Exchange for T-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plug from the grease inlet and exhaust port. If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 81: Grease Replenishment For Balancer Connection Part

    177010-1CD Maintenance and Inspection MH215 9.3 Grease Replenishment/Exchange 9.3.1.5 Grease Replenishment for Balancer Connection Part Fig. 9-8: Balancer Connection Part Connection 2 Grease inlet Hexagon socket head plug PT1/8 Exhaust port 2 Hexagon socket head plug PT1/8 Exhaust port 1 Hexagon socket head plug PT1/8 Connection 2 Needle bearing Connection 1 Tapered roller bearing...

  • Page 82: Notes For Maintenance

    177010-1CD Maintenance and Inspection MH215 9.4 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 connect the battery pack to the battery backup connector before removing the encoder connector.

  • Page 83: Recommended Spare Parts

    10 Recommended Spare Parts It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-MH215 II. Product performance cannot be guaranteed when using spare parts from any company other than YASKAWA. The spare parts are ranked as follows: •...
  • Page 84 10 Recommended Spare Parts MH215 Table 10-1: Spare Parts for the YR-MH00215-J00 (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit Connector Base HW1371907-A YASKAWA Electric Corporation Board SGDR-EFBA02A YASKAWA Electric Corporation Limit switch set HW0371747-A YASKAWA Optional for S-axis...

  • Page 85: Parts List

    177010-1CD 11 Parts List MH215 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1029 1030 1002 1029 1030 1039 1040 1004 1005 1015 1003 1025 1006 1026 1032 1001 1031 1037 1038 1016 1020 1021 1008 1027 1028...
  • Page 86 177010-1CD 11 Parts List MH215 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1001 HW0390045-A Speed reducer 1002 SGMRV-44ANA-YR1* Motor 1003 TC12015014 Oil seal 1004 STW-50 Retaining rings 1005 6310 Bearing 1006 HW0314016-1 Gear 1007 HW0100193-2 Base 1008 HW0100471-1 S head 1009...
  • Page 87 177010-1CD 11 Parts List MH215 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1035 M20X45(12.9) Hexagon head screw 1036 Washer 1037 M16X60 Hexagon socket head cap screw 1038 GT-SH-16 GT-Conical spring washer 1039 HW0404753-1 Spacer 1040 HW0404752-1 Fly wheel 1041 HW1371907-A Connector base...

  • Page 88: L-Axis Unit

    177010-1CD 11 Parts List MH215 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2033 2034 2020-26 2012 2019 2005 2037 2019 2018 2038 2017 6004 2010 2031 2032 2009 2027 2019A 2013 2019 2002 1008 2017 2005 2009 2012 2020-26 2032...
  • Page 89 177010-1CD 11 Parts List MH215 11.2 L-Axis Unit Table 11-2: L-Axis Unit DWG No. Name 2001 HW0390225-B Speed reducer 2002 SGMRV-44ANA-YR1* Motor 2003 Y507212.5 Oil seal 2004 ISTW-10 Retaining rings 2005 HR32916J Bearing 2006 HW0100647-2 L arm 2007 HW9482306-E Shaft 2008 HW0481082-A Bolt...
  • Page 90 177010-1CD 11 Parts List MH215 11.2 L-Axis Unit Table 11-2: L-Axis Unit DWG No. Name 2040 SW-2H-12 Conical spring washer 2049 HW0408806-1 Conical spring washer 1008 HW0100471-1 S head 6004 HW0100477-1 Case HW1483759 11-6 90 of 102...

  • Page 91: U-, R-, B-, T-Axis Unit

    177010-1CD 11 Parts List MH215 11.3 U-, R-, B-, T-Axis Unit 11.3 U-, R-, B-, T-Axis Unit Fig. 11-3: U-, R-, B-, T-Axis Unit 3016 3056 3017 R-axis 3004 3020 3008 3049 3055 3047 3006 3045 3054 3053 3044 3037 3056 3007 3002...
  • Page 92 177010-1CD 11 Parts List MH215 11.3 U-, R-, B-, T-Axis Unit Table 11-3: U-, R-, B-, T-Axis Unit (Sheet 1 of 2) DWG No. Name 3001 GS210 O ring 3002 HW0402391-1 Collar 3003 HW0402406-1 Collar 3004 HW0306788-1 Gear 3005 M6X60 Hexagon socket head cap screw 3006...
  • Page 93 177010-1CD 11 Parts List MH215 11.3 U-, R-, B-, T-Axis Unit Table 11-3: U-, R-, B-, T-Axis Unit (Sheet 2 of 2) DWG No. Name 3036 PT1/8 Hexagon socket head plug 3037 SGMRV-44ANA-YR1* Motor 3038 HW0388210-B Speed reducer 3039 HW0301779-1 Spacer 3040 M12X60...

  • Page 94: U-Arm Unit

    177010-1CD 11 Parts List MH215 11.4 U-Arm Unit 11.4 U-Arm Unit Fig. 11-4: U-Arm Unit 5001 5005 5012 5006 5027 5034 5035 5011 5033 5003 5004 5007 5008 5030 5018 5029 5010 5013 5017 5021 5032 5031 5009 5036 RBT-Axes Casing 5014 5016...
  • Page 95 177010-1CD 11 Parts List MH215 11.4 U-Arm Unit Table 11-4: U-Arm Unit (Sheet 1 of 2) DWG No. Name 5001 HW0102835-2 U arm 5002 HW0401508-1 Plate 5003 6812LLU Bearing 5004 WR60 Circlip 5005 HW0390046-A Speed reducer 5006 SC60789 Oil seal 5007 HR32017XJ Bearing...
  • Page 96 177010-1CD 11 Parts List MH215 11.4 U-Arm Unit Table 11-4: U-Arm Unit (Sheet 2 of 2) DWG No. Name 5034 2H-10 Conical spring washer 5035 M5X12 GT-SA bolt 5036 M5X12 GT-SA bolt HW1483759 11-12 96 of 102...

  • Page 97: Wrist Unit

    177010-1CD 11 Parts List MH215 11.5 Wrist Unit 11.5 Wrist Unit Fig. 11-5: Wrist Unit 6014 6042 6057 6003 6002 6013 5005 6060 6015 6041 6010 6001 6009 6011 6062 6012 6026 6019 6036 6025 6027 6037 6024 6028 6055 6063 6034 6022...
  • Page 98 177010-1CD 11 Parts List MH215 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 1 of 2) DWG No. Name 6001 HW0102837-1 Wrist base 6002 M12X35 Hexagon socket head cap screw 6003 2H-12 Conical spring washer 6004 HW0102836-1 Wrist 6005 HW0390047-A Speed reducer 6006 M8X20...
  • Page 99 177010-1CD 11 Parts List MH215 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 2 of 2) DWG No. Name 6039 2H-10 Conical spring washer 6040 HW9403617-1 Housing 6041 HW0200615-1 Cover 6042 M4X12 GT-SA bolt 6043 HW0315877-1 Cover 6044 PT1/8 Hexagon socket head plug 6045 HW0306790-1...

  • Page 100: Balancer Unit

    177010-1CD 11 Parts List MH215 11.6 Balancer Unit 11.6 Balancer Unit Fig. 11-6: Balancer Unit 7018 7004 7011 7007 7005 7001 7002 7006 7016 7017 7015 7012 7003 7008 7003 7012 7014 7010 7013 2006 7009 2046 2041 2045 2044 2042 2043 2048...
  • Page 101 177010-1CD 11 Parts List MH215 11.6 Balancer Unit Table 11-6: Balancer Unit DWG No. Name 7001 HW0481740-A Coil spring 7002 HW0481741-A Coil spring 7003 SOB607440 Oiless 7004 HW0100477-1 Case 7005 HW0306033-1 Flange 7006 HW0200420-1 Flange 7007 HW0401112-1 Flange 7008 HW0303581-1 7009 HW9405057-1 Clevis...
  • Page 102 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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