YASKAWA MOTOMAN-MH80 Instructions Manual page 9

158813-1CD
MH80 Manipulator
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 Alterable Operating Range ................................................................................................ 5-4
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 Lines................................................................. 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 Location of Limit Switches .................................................................................... 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 Connections.......................................................................................................... 8-4
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule .......................................................................................................... 9-1
9.2 Notes on Maintenance Procedures ................................................................................... 9-6
9.2.1 Battery Pack Replacement ................................................................................... 9-6
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8
9.3.1.1 Grease Replenishment............................................................................ 9-8
9.3.1.2 Grease Exchange ................................................................................... 9-9
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-11
9.3.2.1 Grease Replenishment.......................................................................... 9-11
9.3.2.2 Grease Exchange ................................................................................. 9-12
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