Table Of Contents - YASKAWA MOTOMAN-MH215 II Instructions Manual

177010-1CD
MH215
II

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.............................................................................................. 2-4
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-1
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Protection Class................................................................................................................. 3-4
3.4 Location ............................................................................................................................. 3-4
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-2
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-2
4.2.2 Connection to the DX200 ..................................................................................... 4-2
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 Stopping Angle and Time for S-, L- and U-Axes................................................................ 5-4
5.5.1 Stop Category 0: Stopping Angles and Times...................................................... 5-4
5.5.1.1 Position 100% ......................................................................................... 5-4
5.5.1.2 Position 66% ........................................................................................... 5-5
5.5.1.3 Position 33% ........................................................................................... 5-6
5.5.2 Stop Category 1: Stopping Angles and Times...................................................... 5-7
5.5.2.1 Position100% .......................................................................................... 5-7
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