YASKAWA MOTOMAN-MH215 II Instructions Manual page 14

MH215
II
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 ......................................................................................................... 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 Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.1.1 Specification of Limit Switch ................................................................................. 8-1
8.1.2 Position of Limit Switch......................................................................................... 8-1
8.1.3 Setting of Operation Range .................................................................................. 8-2
8.1.3.1 S-Axis Operation Range.......................................................................... 8-2
8.1.3.2 L-Axis Operation Range .......................................................................... 8-2
8.1.3.3 Setting Range of LU-Axes Interference Angle......................................... 8-3
8.2 Internal Connection Diagram ............................................................................................. 8-4
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-5
9.2.1 Battery Pack Replacement ................................................................................... 9-5
9.3 Grease Replenishment/Exchange ..................................................................................... 9-7
9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-7
9.3.1.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ................ 9-8
9.3.1.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............... 9-10
9.3.1.3 Grease Replenishment/Exchange for U-Axis Speed Reducer .............. 9-12
9.3.1.4 Grease Replenishment/Exchange for U-Arm ........................................ 9-14
9.3.1.5 Grease Replenishment for Balancer Connection Part........................... 9-23
9.4 Notes for Maintenance..................................................................................................... 9-24
9.4.1 Battery Pack Connection .................................................................................... 9-24
10 Recommended Spare Parts........................................................................................................ 10-1
11 Parts List ..................................................................................................................................... 11-1
Table of Contents
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HW1483759
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