1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Robotics
  5. MOTOMAN-MH900
  6. Maintenance manual

YASKAWA MOTOMAN-MH900 Maintenance Manual

Type yr-mh00900-a00
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
MOTOMAN-MH900
MAINTENANCE
TYPE:
YR-MH00900-A00
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-MH900 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to a specific usage. Be sure to use the appropriate manual.
Part Number:
180930-1CD
Revision:
0
1 of 79

Advertisement

Table of Contents
loading

Related Manuals for YASKAWA MOTOMAN-MH900

Summary of Contents for YASKAWA MOTOMAN-MH900

  • Page 1 YR-MH00900-A00 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, 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 It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by Yaskawa. Address any questions regarding the safe and proper operation of the equipment to Yaskawa Customer Support.
  • Page 4 180930-1CD Safety MH900 Notes for Safe Operation Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. “NOTE” is the preferred signal word to address practices not related to personal injury.
  • Page 5 180930-1CD Safety MH900 Notes for Safe Operation WARNING • Before operating the Manipulator, make sure the servo power is turned OFF by performing the following operations. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 6 The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. Yaskawa is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty.
  • Page 7 • Yaskawa may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
  • Page 8 180930-1CD Safety MH900 Explanation of Warning Labels Explanation of Warning Labels The following warning labels are attached to the Manipulator. Refer to Fig. : "Warning Labels" on page 0-ix. Always follow the warnings on the labels. Also, an identification label with important information is placed on the body of the Manipulator.
  • Page 9 Warning Label C DANGER Do not remove the motor, and do not release the brake. Failure to observe this caution may result in injury from unexpected turning of the manipulator arm. Please contact your Yaskawa representative. 182446-1 180930-1CD 9 of 79...
  • 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 standard passwords and some require special passwords.
  • Page 11 180930-1CD Safety MH900 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: Improper operation can result in personal injury and/or damage to the equipment.
  • Page 12 OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. Contact Yaskawa Motoman at the following address for more information: Yaskawa America, Inc., Motoman Robotics Div. 100 Automation Way...
  • Page 13 Definition of Terms Used Often in This Manual Definition of Terms Used Often in This Manual The MH900 is a Yaskawa industrial robot product. The Robot Assembly usually consists of the Manipulator, the Controller, the programming pendant, and Manipulator cables.
  • Page 14 MH900 Customer Support Information Customer Support Information If assistance is needed with any aspect of the MH900 system, please contact your local Yaskawa Customer Support (see back cover for details.) When contacting Yaskawa Customer Support please have the following information: •...

  • Page 15: Table Of Contents

    180930-1CD MH900 Table of Contents 1 Notes for Maintenance........................1-1 1.1 Battery Pack Connection for Motor..................1-1 2 Home Position Return........................2-1 2.1 Home Position Return after Motor Replacement ............... 2-1 2.1.1 Home Position Return by Robot Calibration (MOTOCALV EG) ......2-1 2.1.2 Home Position Return by Setting Teaching Point for Home Position Setting before Motor Replacement .........
  • Page 16 180930-1CD MH900 4 L-Axis Fixing Jig ..........................4-1 4.1 L-Axis Operating Angle ...................... 4-2 4.1.1 Installation Posture/Position of the Fixing Jig ............4-2 4.2 Installation.......................... 4-3 4.3 Removal..........................4-4 4.4 Mechanism......................... 4-5 5 Disassembly and Reassembly of Motors ..................5-1 5.1 Disassembly and Reassembly of S-Axis Motor ..............

  • Page 17: Notes For Maintenance

    180930-1CD Notes for Maintenance MH900 1.1 Battery Pack Connection for Motor 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 18: Home Position Return

    180930-1CD Home Position Return MH900 2.1 Home Position Return after Motor Replacement Home Position Return Perform calibration and set the Manipulator position to home in one of the following cases: • The combination of the robot and the control unit is changed.
  • Page 19 180930-1CD Home Position Return MH900 2.1 Home Position Return after Motor Replacement 2.1.2.1 Preparation before Motor Replacement Before motor replacement, create the standard position (hereinafter called the check-point) for home position adjustment after the replacement. The check-point must satisfy the conditions below. Furthermore, create the JOB so that the Manipulator safely moves to the check-point from the standby position.
  • Page 20 Perform the home position calibration only to the axis whose motor was replaced. (For the calibration procedure, refer to “Home Position Calibration” in MOTOMAN-MH900, DX200 CONTROLLER INSTRUCTIONS (182582-1CD).) Move the axis to the check-point by the check-JOB. (Be careful when moving the axis so that the Manipulator does not interfere with jigs.) Move...

  • Page 21: Grease Replenishment/Exchange

    180930-1CD Grease Replenishment/Exchange MH900 3.1 Notes on Grease Replenishment/Exchange Procedures Grease Replenishment/Exchange 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 22: Grease Replenishment/Exchange For S-Axis Speed Reducer And Gear

    180930-1CD Grease Replenishment/Exchange MH900 3.3 Grease Replenishment/Exchange for S-axis Speed Reducer and Gear Grease Replenishment/Exchange for S-axis Speed Reducer and Gear Fig. 3-1: S-axis Speed Reducer and Gear Diagram S-Axis Gear Unit Grease exhaust port Hexagon socket head plug BSPT 3/8 Grease Inlet Hexagon Socket Head Plug 3/8 BSPT S-Axis Speed Reducer...

  • Page 23: S-Axis Speed Reducer And Gear Grease Exchange

    180930-1CD Grease Replenishment/Exchange MH900 3.3 Grease Replenishment/Exchange for S-axis Speed Reducer and Gear 6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 23N•m (2.4kgf•m).

  • Page 24: Grease Replenishment/Exchange For L-And U-Axes Speed Reducer

    180930-1CD Grease Replenishment/Exchange MH900 3.3 Grease Replenishment/Exchange for S-axis Speed Reducer and Gear 3.3.3 Grease Replenishment/Exchange for L-and U-axes Speed Reducer Fig. 3-2: L-and U-axes Speed Reducer Diagram Grease exhaust port Grease Exhaust Port (U-Axis speed reducer) (L-Axis Speed Reducer) Hexagon Socket Hexagon Socket Head U-Axis...

  • Page 25: L-And U-Axes Speed Reducer Grease Exchange

    180930-1CD Grease Replenishment/Exchange MH900 3.3 Grease Replenishment/Exchange for S-axis Speed Reducer and Gear 6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9N•m (0.5kgf•m).

  • Page 26: Grease Replenishment/Exchange For Rbt-Axes Gear

    180930-1CD Grease Replenishment/Exchange MH900 3.4 Grease Replenishment/Exchange for RBT-axes Gear Grease Replenishment/Exchange for RBT-axes Gear Fig. 3-3: RBT-axes Gear Diagram Grease Exhaust Port Grease Inlet Port Hexagon Socket Head Hexagon Socket Head Plug 3/8 BSPT Plug 1/8 BSPT 3.4.1 RBT-axes Gear Grease Replenishment (Refer to Fig.

  • Page 27: Grease Exchange

    180930-1CD Grease Replenishment/Exchange MH900 3.4 Grease Replenishment/Exchange for RBT-axes Gear 5. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 23N•m (2.4kgf•m).

  • Page 28: Grease Replenishment/Exchange For R-Axis Speed Reducer

    180930-1CD Grease Replenishment/Exchange MH900 3.5 Grease Replenishment/Exchange for R-axis Speed Reducer 6. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 23N•m (2.4kgf•m).

  • Page 29: Grease Exchange

    180930-1CD Grease Replenishment/Exchange MH900 3.5 Grease Replenishment/Exchange for R-axis Speed Reducer 2. Remove the hexagon socket head plug 1/8 BSPT from the grease inlet and install a grease zerk A-1/8 BSPT. 3. Inject grease into the grease inlet using a grease gun. (The grease zerk is delivered with the Manipulator.) –...

  • Page 30: Grease Replenishment/Exchange For B-Axis And T-Axis Speed Reducers And Gear

    180930-1CD Grease Replenishment/Exchange MH900 3.6 Grease Replenishment/Exchange for B-axis and T-Axis Speed Reducers and Gear 3. Inject grease into the grease inlet using a grease gun. (The grease zerk is delivered with the Manipulator.) – Grease type: Molywhite RE No. 00 –...

  • Page 31: Grease Replenishment

    180930-1CD Grease Replenishment/Exchange MH900 3.6 Grease Replenishment/Exchange for B-axis and T-Axis Speed Reducers and Gear 3.6.1 Grease Replenishment (Refer to Fig. 3-5 “B-axis and T-axis Speed Reducers and Gear Diagram”.) 1. Remove the hexagon socket head plugs 1/8 BSPT from the grease exhaust port •...

  • Page 32: Grease Exchange

    180930-1CD Grease Replenishment/Exchange MH900 3.6 Grease Replenishment/Exchange for B-axis and T-Axis Speed Reducers and Gear 3.6.2 Grease Exchange (Refer to Fig. 3-5 “B-axis and T-axis Speed Reducers and Gear Diagram”.) 1. Remove the hexagon socket head plugs 1/8 BSPT from the grease exhaust port.

  • Page 33: Grease Replenishment For U-Axis Cross Roller Bearing

    180930-1CD Grease Replenishment/Exchange MH900 3.7 Grease Replenishment for U-axis Cross Roller Bearing Grease Replenishment for U-axis Cross Roller Bearing Fig. 3-6: U-axis Cross Roller Bearing Diagram U-Axis Cross Roller Bearing Grease Exhaust L-Arm Port Hexagon Socket Head Plug 1/8 BSPT Grease Inlet Port Hexagon Socket Head Plug...

  • Page 34: Grease Replenishment For Tapered Roller Bearing In The Link Part

    180930-1CD Grease Replenishment/Exchange MH900 3.8 Grease Replenishment for Tapered Roller Bearing in the Link Part Grease Replenishment for Tapered Roller Bearing in the Link Part Fig. 3-7: Link Part Diagram Grease Exhaust (1) Grease Exhaust (1) Grease Exhaust (1) Grease Exhaust (1) Grease Inlet (1) Grease Inlet (1) Grease Inlet (1)

  • Page 35: Grease Replenishment For Balancer Link Part

    180930-1CD Grease Replenishment/Exchange MH900 3.9 Grease Replenishment for Balancer Link Part Grease Replenishment for Balancer Link Part Fig. 3-8: 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...

  • Page 36: Axis Fixing Jig

    180930-1CD L-Axis Fixing Jig MH900 L-Axis Fixing Jig WARNING The MH900 is a parallel link structure robot with a spring balancer. Releasing the L-Axis holding power by removing the L-Axis motor or releasing the brake is extremely dangerous. It can cause the L-Arm to rotate in different directions than expected, depending on the L-Axis, U- Axis, Wrist Unit, and tooling load.

  • Page 37: L-Axis Operating Angle

    180930-1CD L-Axis Fixing Jig MH900 4.1 L-Axis Operating Angle L-Axis Operating Angle This section explains the procedures for fixing the L-arm in the posture shown in Fig. 4-1 “MH900 External View”. The L-arm can be fixed at any L-axis angle. It is not necessary to rotate the L-arm to a specific angle.

  • Page 38: Installation

    180930-1CD L-Axis Fixing Jig MH900 4.2 Installation Installation Refer to Table 4-1 "L-Axis Fixing Jig Parts Checklist" and Fig. 4-2 “Detail of Fixing Jig”. 1. Adjust posture of the Manipulator to avoid counterweight interference with the fixing jig. Prepare necessary rigging equipment. 2.

  • Page 39: Removal

    180930-1CD L-Axis Fixing Jig MH900 4.3 Removal Removal WARNING During removal procedures, do not remove the jigs until after the L-Axis motor has been replaced and properly installed with a working brake. Failure to follow this instruction may result in serious injury or death. 1.

  • Page 40: Mechanism

    180930-1CD L-Axis Fixing Jig MH900 4.4 Mechanism Mechanism • Refer to Fig. 4-3 “The L-Axis Rotating Direction”. The L-Axis rotation direction depends on the extent of the spring balancer torque (Tb) provided by the spring force and the load torque (TL) generated around the L-Axis.

  • Page 41: Disassembly And Reassembly Of Motors

    180930-1CD Disassembly and Reassembly of Motors MH900 5.1 Disassembly and Reassembly of S-Axis Motor Disassembly and Reassembly of Motors WARNING • Make sure to mount the L-axis fixing jig on the balancer before performing disassembly and reassembly of the L-axis motor. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L- axis motor brake.
  • Page 42 180930-1CD Disassembly and Reassembly of Motors MH900 5.1 Disassembly and Reassembly of S-Axis Motor 6. Tighten the hexagon socket head cap screws with the tightening torque shown in Table 5-1 "S-Axis Motor Parts Checklist". 7. Connect the internal wiring harness connectors (encoder, brake, power) to the S-axis motor 8.

  • Page 43: Disassembly And Reassembly Of L-Axis Motor

    180930-1CD Disassembly and Reassembly of Motors MH900 5.2 Disassembly and Reassembly of L-Axis Motor Disassembly and Reassembly of L-Axis Motor • Refer to Fig. 5-2 “Disassembly and Reassembly of L-Axis Motor”. DANGER • Make sure to mount the L-axis fixing jig on the balancer before performing disassembly and reassembly of the L-axis motor.
  • Page 44 180930-1CD Disassembly and Reassembly of Motors MH900 5.2 Disassembly and Reassembly of L-Axis Motor 6. Tighten the hexagon socket head cap screws with the tightening torque shown in Table 5-2. 7. Connect the internal wiring harness connectors (encoder, brake, power) to the L-axis motor 8.

  • Page 45: Disassembly And Reassembly Of U-Axis Motor

    180930-1CD Disassembly and Reassembly of Motors MH900 5.3 Disassembly and Reassembly of U-Axis Motor Disassembly and Reassembly of U-Axis Motor • Refer to Fig. 5-3 “Disassembly and Reassembly of U-Axis Motor”. 5.3.1 Disassembly 1. Turn OFF the DX200 for the MH900 power supply. 2.
  • Page 46 180930-1CD Disassembly and Reassembly of Motors MH900 5.3 Disassembly and Reassembly of U-Axis Motor Table 5-3: U-Axis Motor Parts Checklist Name Qty. Notes U-axis motor HW0389687-A SGMRV-55ANA-YR1 Hexagon socket head cap screw M12 Tightening torque: (length: 45 mm) each 142 N•m Conical spring washer 2H-12 Gear 178348-1 O-ring 178119-1...

  • Page 47: Disassembly And Reassembly Of R-, B-, T-Axis Motor

    180930-1CD Disassembly and Reassembly of Motors MH900 5.4 Disassembly and Reassembly of R-, B-, T-Axis Motor Disassembly and Reassembly of R-, B-, T-Axis Motor • Refer to Fig. 5-4 “Disassembly and Reassembly of R-, B-, T-Axis Motor” • Make the U-arm point downwards as much as possible at disassembly or reassembly of the R-, B-, T-axis.

  • Page 48: Reassembly

    180930-1CD Disassembly and Reassembly of Motors MH900 5.4 Disassembly and Reassembly of R-, B-, T-Axis Motor 5.4.2 Reassembly 1. Mount the key on the R-, B-, T-axis motor 2. Apply sealing bond ThreeBond 1206C on the matching surfaces of both sides of the collar of R-, B-, and T-axis, then mount it on the R- , B, and T-axis motor .
  • Page 49 180930-1CD Disassembly and Reassembly of Motors MH900 5.4 Disassembly and Reassembly of R-, B-, T-Axis Motor Table 5-4: R-, B-, T-Axis Motor Parts Checklist (Sheet 2 of 2) Name Qty. Notes Retaining ring 131657-5 Retaining ring 130078-1 Needle Bearing 178141-1 R-, B-, and T-axis: 1 each Apply ThreeBond 1206C to...

  • Page 50: Battery Pack Replacement

    180930-1CD Battery Pack Replacement MH900 Battery Pack Replacement Battery packs are located as illustrated in Fig. 6-1 “Battery Pack Location”. If the battery alarm occurs in the DX200 for the MH900, replace the battery packs according to the following procedure: 1.
  • Page 51 180930-1CD Battery Pack Replacement MH900 Fig. 6-1: Battery Pack Location Base Battery Holder Battery Holder Screw (M4) Connector base Fig. 6-2: Battery Connection Battery pack before replacement See procedure 5 Connector Board See procedure 4 (Type: SGDR-EFBA02A) New battery pack (164675-1) 180930-1CD 51 of 79...

  • Page 52: Internal Harness Removal/Replacement

    180930-1CD Internal Harness Removal/Replacement MH900 7.1 Remove the Internal Harness Internal Harness Removal/Replacement Remove the Internal Harness Follow the procedure below to remove the internal harness: Attach a Backup Battery (479348-2) to the S,L,U,R,B, and T Motor Encoders. 2. Move the robot to home position, then move the L-Axis forward +90 deg.

  • Page 53: Install The Internal Harness

    180930-1CD Internal Harness Removal/Replacement MH900 7.2 Install the Internal Harness Fig. 7-1: Interior Harness Removal Motor Encoder U-Arm Connector Plate Harness Fixing Bracket B Harness Fixing Bracket A L-Arm Harness Fixing Bracket C U Motor Encoder S Motor Encoder L Motor Encoder Clamp B Clamp A...
  • Page 54 180930-1CD Internal Harness Removal/Replacement MH900 7.2 Install the Internal Harness 15. Forward to Home Position. Remove the backup battery (479348-2) from the S,L,U,R,B, and T Motor Encoders Fig. 7-2: Interior Harness Replacement Motor Encoder U-Arm Connector Plate Harness Fixing Bracket B Harness Fixing Bracket A...

  • Page 55: Parts List

    Parts List Manipulator Arm Assembly Fig. 8-1(a): Robot Arm,MH900 55 of 79...
  • Page 56 Fig. 8-1(b): Hardware Pkg, Robot, Arm, MH900 56 of 79...
  • Page 57 Table 8-1: Manipulator Arm Assembly (Sheet 2 of 5) Table 8-1: Manipulator Arm Assembly (Sheet 1 of 5) Item Part Number Description Item Part Number Description COLLAR,BEARING SHAFT,OIL SEAL,A/B 178385-1 177060-1 ROBOT ARM,MH900,HDLG,BLUE LINK PIVOT,MH900 178526-1 BASE ASSY,MH900 PLATE,RETAINER,BEARING SHAFT,A/B 178383-1 LINK PIVOT,MH900 178527-1...
  • Page 58 Table 8-1: Manipulator Arm Assembly (Sheet 3 of 5) Table 8-1: Manipulator Arm Assembly (Sheet 4 of 5) Item Part Number Description Item Part Number Description 178121-1 SEAL,OIL,115X135X8 180895-1 HARDWARE PKG, ROBOT, ARM, MH900 479296-6 SCREW,SHC,M5X16,CLASS 12.9 179016-1 SEAL,OIL,VR SERIES,550 X 580 X 20 151844-2 SCREW,HHC,M6X12,BSET 6,JIS0209,W/ 130078-1...
  • Page 59 Table 8-1: Manipulator Arm Assembly (Sheet 5 of 5) Item Part Number Description 182523-1 WASHER,CONICAL SPRING,HEAVY LOAD,M12,JIS B,TYPE 2 182524-1 WASHER,CONICAL SPRING,HEAVY LOAD,M16,JIS B,TYPE 2 182525-1 WASHER,CONICAL SPRING,HEAVY LOAD,M20,JIS B,TYPE 2 182526-1 WASHER,CONICAL SPRING,HEAVY LOAD,M24,JIS B,TYPE 2 180542-1 WASHER,FLAT,M30,56 OD X 31 ID X 5 THK,RV-1500E,MH900 479281-105 FITTING,PLUG,1/8 BSPT,BLACK...

  • Page 60: S-Axis Unit

    S-Axis Unit Fig. 8-2: S-Axis Unit 405 410 408 402 403 409 410 407 60 of 79...
  • Page 61 Table 8-2: S-Axis Unit (1) (Sheet 2 of 2) Table 8-2: S-Axis Unit (1) (Sheet 1 of 2) Item Part No. Description Item Part No. Description 130532-16 SCREW,SHC,M16X70,CLASS 12.9 178526-1 BASE ASSY, MH900 [S-AXIS UNIT] 178379-1 COVER,BASE,BOTTOM,MH900 130532-9 SCREW,SHC,M16X110,CLASS 12.9 178379-1 178099-1 HOUSING,CAST,S-AXIS BASE,MH900...

  • Page 62: L-Axis Unit

    L-Axis Unit Fig. 8-3: L-Axis Unit (24) (17) (17) (24) (10) (10) 62 of 79...
  • Page 63 Table 8-3: L-Axis Unit Item Part No. Description 178531-1 ARM ASSY,L-ARM,MH900 178101-1 HOUSING,CAST,L-ARM,MH900 178311-1 FLANGE,CAST,YOKE,L-ARM TO SPRING BALANCER CLEVIS,MH900 178580-1 BEARING,CROSS ROLLER,U-AXIS DRIVE,MH900 178386-1 COVER,RETAINER,BEARING,U-AXIS DRIVE,MH900 179017-1 RING,V-SEAL SURFACE,B-LINK TO L- ARM,MH900 178541-1 SEAL,OIL,195X220X15 178138-1 SEAL,O-RING, G650 179015-1 SEAL,O-RING,G580,579.3MM ID X 5.7,STATIC TYPE 180892-1 HARDWARE PKG,ARM ASSY,L-...

  • Page 64: Drive Assembly U-Axis Unit

    Drive Assembly U-Axis Unit Fig. 8-4: Drive Assembly U-Axis Unit (30) (30) (46) Spacer Included With RV Reducer 404 (1) U-Nut Included With RV Reducer 64 of 79...
  • Page 65 Table 8-4: Drive Assembly U-Axis Unit Item Part No. Description 178530-1 DRIVE ASSY, U-AXIS, MH900 178304-1 HOUSING,CAST,BEARING SHAFT, U-AXIS DRIVE TO B LINK, MH900 178310-1 HOUSING,CAST,RV1500E,U-AXIS DRIVE,MH900 177062-1 REDUCER,RV,RV-1500E-236.29 178137-1 SEAL,O-RING, 489.3MM ID X 5.7 179016-1 SEAL,OIL,VR SERIES,550 X 580 X 20 178965-1 GEAR,HELICAL,90 TOOTH,L/U-AXIS DRIVE,MH900...

  • Page 66: Balancer Unit

    Balancer Unit Fig. 8-5: Balancer Unit HARDWARE SHOWN AS 4XX (QTY) 407 401 66 of 79...
  • Page 67 Table 8-5: Balancer Unit (Sheet 2 of 2) Table 8-5: Balancer Unit (Sheet 1 of 2) Item Part No. Description Item Part No. Description 178126-1 BEARING,NEEDLE ROLLER,SOLID,W/ INNER RING,85 ID X 105 OD X 54 178528-1 BALANCER ASSY,SPRING,MH900 179294-1 WELDMENT,CLEVIS, SPRING BALANCER 178105-1 HOUSING,CAST,SPRING BALANCER ROD END,MH900...

  • Page 68: U-Arm Assembly

    U-Arm Assembly Fig. 8-6(a): U-Arm Assembly 62 75 HARDWARE SHOWN AS 415 402 417 410 415 402 417 408 68 of 79...
  • Page 69 Fig. 8-6(b): U-Axis Unit Sub Assemblies 69 of 79...
  • Page 70 Fig. 8-6(c): R-Axis Unit 70 of 79...
  • Page 71 Fig. 8-6(d): R-Axis Unit Sub Assemblies 71 of 79...
  • Page 72 Fig. 8-6(e): R-, B- and T-Axes Unit 72 of 79...
  • Page 73 Table 8-6: U-Arm Assembly (Sheet 2 of 4) Table 8-6: U-Arm Assembly (Sheet 1 of 4) Item Part No. Description Item Part No. Description 178353-1 SHAFT,SPLINED,32 TOOTH,B-AXIS 178525-1 ARM ASSY,U-ARM,MH900 DRIVE,MH900 178407-1 SHAFT,ADAPTER,B-AXIS,TORQUE TUBE,MH900 178107-1 HOUSING,CAST,R/B/T MOTOR MOUNT,U- ARM,MH900 178403-1 SHAFT,TORQUE TUBE,CASING,R-AXIS DRIVE,MH900 178106-1...
  • Page 74 Table 8-6: U-Arm Assembly (Sheet 3 of 4) Table 8-6: U-Arm Assembly (Sheet 4 of 4) Item Part No. Description Item Part No. Description 178398-1 SPACER,U-ARM,R-AXIS RV TO WRIST,MH900 178392-1 COLLAR,MOTOR SHAFT PINION,R/B/T-AXIS DRIVE,MH900 178141-1 BEARING,NEEDLE ROLLER,SOLID,W INNER RING,68 ID X 85 OD X 34 178393-1 SPACER,R-AXIS,TORQUE TUBE,MH900 178149-1...

  • Page 75: Wrist Unit

    Wrist Unit Fig. 8-7(a): Wrist Unit 178523 PAGE 8 B1 SUBASSEMBLY B2 SUBASSEMBLY 75 of 79...
  • Page 76 Fig. 8-7(b): Wrist Unit Subassemblies 178523 PAGE 9 T2 Subassembly Collar, Included with Reducer U-Nut, Included with Reducer T1 Subassembly T3 Subassembly T4 Subassembly 76 of 79...
  • Page 77 Table 8-7: Wrist Unit Assembly (Sheet 2 of 4) Table 8-7: Wrist Unit Assembly (Sheet 1 of 4) Item Part No. Description Item Part No. Description 178427-1 RETAINER,BEARING,WRIST,T-AXIS 178109-1 HOUSING,CAST,WRIST BASE,MH900 DRIVE,MH900 178110-1 HOUSING,CAST,WRIST,MH900 178410-1 SHAFT,TORQUE TUBE,WRIST,B-AXIS DRIVE,MH900 179305-1 COVER,MACHINED,WRIST,T-AXIS DRIVE,MH900 178411-1 SHAFT,WRIST,B-AXIS DRIVE, MH900...
  • Page 78 Table 8-7: Wrist Unit Assembly (Sheet 3 of 4) Table 8-7: Wrist Unit Assembly (Sheet 4 of 4) Item Part No. Description Item Part No. Description 179110-1 BEARING,BALL,DEEP GROOVE,SINGLE 472303-9 SCREW,SHC,M12X50,CLASS 12.9, ROW,120ID X 165OD X 22 472303-14 SCREW,SHC,M12X75,CLASS 12.9, 178170-1 BEARING,ROLLER,TAPERED,SINGLE 133544-2...
  • Page 79 MAINTENANCE 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...

Table of Contents