Notes For Maintenance; Wrist Axes; Encoder Connector (With Caution Label); Battery Pack Connection (For S-, L-, U-Axes Motors) - YASKAWA MOTOMAN-HP20 Instructions Manual

9.2.9

Notes for Maintenance



Wrist Axes

The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrat-
ing into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if the wrist
cover is disassembled, reseal with sealing bond (Three Bond 1206C). Refer to "Table 9
Spare Parts for the MOTOMAN-HP20".
9.2.10

Encoder Connector (with CAUTION Label)

• When performing maintenance such as replacement of a wire harness in the manipulator,
NOTE
the encoder connector (with CAUTION label) may be necessary to be removed. In this
case, be sure to connect the battery pack to the battery backup connector before remov-
ing the encoder connector. Removing the encoder connector without connecting the bat-
tery backup leads to disappearance of the encoder absolute data.
For the battery pack connection, refer to "Fig. 32 (a) Encoder Connector for S-, L-, U-
axes" and "Fig. 32 (b) Encoder Connector for R-, B-, T-axes."


Battery Pack Connection (for S-, L-, U-axes Motors)

The connectors (crimped contact-pin) for the battery backup are installed at the end point of
the motors (marked as BAT and OBT). Connect the battery pack according to the following
procedure.
1. Remove the cap attached to the battery backup connector of the motors.
2. Connect the battery packs (HW9470932-A) with the battery backup connectors located
at the end point of the cables for the encoder. (Under this condition, remove the
encoder connector and carry out the maintenance checks).
3. After the maintenance check, verify that all the connectors are connected and remove
the battery pack. Install the caps attached to the battery backup connector of the
motor.
Cover
Cover
Fig. 31 Sealing Part of Wrist Unit
9-17
9.2 Notes on Maintenance Procedures
Cover jointing face
Cover jointing face