YASKAWA MOTOMAN-HP20 Instructions Manual page 8

6
Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6.2 Wrist Flange
7
System Application
7.1 Peripheral Equipment Mounts
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Line
8
Electrical Equipment Specification
8.1 Position of Limit Switch
8.2 Internal Connections
9
Maintenance and Inspection
9.1 Inspection Schedule
9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.2.2 Grease Replenishment/Exchange for S-axis Speed Reducer . 9-7
9.2.3 Grease Replenishment/Exchange for L-axis Speed Reducer . 9-9
9.2.4 Grease Replenishment/Exchange for U-axis Speed Reducer 9-11
9.2.5 Grease Replenishment for R-axis Speed Reducer. . . . . . . . . 9-13
9.2.6 Grease Replenishment for B-, T-axes Speed
9.2.7 Grease Replenishment for T-axis Gear . . . . . . . . . . . . . . . . . 9-15
9.2.8 Grease Replenishment for R-axis Cross Roller Bearing. . . . . 9-16
9.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
(Manipulator in the Home Position: Refer to "Fig.21.") . . . . . . . . . . 9-1

Grease Replenishment (Refer to "Fig. 24 S-axis
Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . . 9-7

Grease Exchange
(Refer to "Fig. 24 S-axis Speed Reducer Diagram".) . . . . . 9-8

Grease Replenishment
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . . 9-9

Grease Exchange
(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . 9-10

Grease Replenishment
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-11

Grease Exchange
(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-12
Reducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
. . . . . . . . . . . . . . . . . . . . . . 7-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
viii
. . . . . . 7-2
. . . . . . . . . . . . . . . . . 9-5