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YASKAWA MPL160-J00 Operating And Maintenance Manual

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ROBOTICS
MPL160-J00
YR-MPL0160-J00
Operating and Maintenance Manual

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Summary of Contents for YASKAWA MPL160-J00

  • Page 1 ROBOTICS MPL160-J00 YR-MPL0160-J00 Operating and Maintenance Manual...
  • Page 2 This documentation – also in part – may be reproduced or made available to third parties only with the express approval of YASKAWA Europe "Robotics Division GmbH". We have checked the content of this publication for compliance with the hardware described.

  • Page 3: Table Of Contents

    Table of contents Table of contents General..............5 Notes for safe operation .
  • Page 4 Table of contents Maximum load of the S-axis ..........39 Optimal robot performance .

  • Page 5: General

    Indicates important background information and application advice. Frequently used terms The YASKAWA robot is a product of YASKAWA Electric Corporation, and is provided by default with the robot control, the programming pendant and robot cable. The terms are designated as follows in this manual:...

  • Page 6: Target Group

    For optimal use of our products, we recommend our customers to take part in a training session at the YASKAWA Academy. For more detailed information on the training programs, please visit www.yaskawa.eu.com or directly get in touch with your YASKAWA branch office.

  • Page 7: About This Manual

    If your copy of the operating and maintenance instructions is damaged or lost, please contact the local YASKAWA branch office to order a new copy. The official branch offices are listed on the last page. Please mention the manual number in your order.

  • Page 8: Safety

    General Safety START HOLD REMOTE TEACH PLAY EDIT DISPLAY UTILITY JOB CONTENT TEST01 S:0000 CONTROL GROUP:R1 TOOL: 0000 0001 SET B000 1 0002 SET B001 0 0003 MOVJ VJ=80.00 0004 MOVJ VJ=80.00 0005 DOUT OT#(10) ON 0006 TIMER T=3.00 0007 MOVJ VJ=80.00 0008 MOVJ VJ=100.00...

  • Page 9: Signal Output For Motor Protection

    General WARNING! Death or injury because of danger of crushing Before you release the emergency stop button (see Fig. 1-4: "Release of emergency stop button by turning") note the following:  Make sure that there is no one within the maximum working range of the robot. ...
  • Page 10 General During high speed continuous operation, the temperature may rise abruptly depending upon the ambient temperature and the operation pattern, so it is necessary to promptly detect a warning. A warning message is output as a dedicated output signal, so it is recommended that you monitor it on the system side as a warning signal for the sake of safety.Refer to Concurrent I/O (E1102000155XX01* or higher) for details on the signal output.

  • Page 11: Manufacturer

    General Manufacturer Address: YASKAWA ELECTRIC CORPORATION 2-1 KUROSAKISHIROISHI YAHATANISHI-KU KITAKYUSHU JAPAN 1.10 Authorized representative Address: YASKAWA Europe GmbH Robotics Division Yaskawastr. 1 85391 Allershausen Germany...

  • Page 12: Supply

    Supply Supply Checking the scope of delivery The standard delivery includes the following items: Fig. 2-1: Scope of delivery Programming pendant Assembly instruction Robot controller Cable Robot...

  • Page 13: Position Type Plate

    2-1 SHIROISHI KUROSAKI, YAHATANISHILU KITAKYUSYU, JAPAN YASKAWA Europe „Robotics Division“ GmbH Yaskawastr. 1, D-85391 Allershausen Fig. 2-2: Position type plate NOTICE Please contact the local YASKAWA branch office if the serial numbers do not match the information on the delivery note.

  • Page 14: Transportation

    Transportation Transportation CAUTION! Personal injury or damage to property The system consists of precision components. If this precaution is not taken, performance may be impaired.  A crane or forklift may only be operated by authorized personnel. The same applies to the use of slings.

  • Page 15: Using A Crane

    Transportation 3.1.1 Using a crane Adequate load handling devices must be used to transport the robot. Make sure that the robot is lifted as shown in the diagram "Transport by crane". Fig. 3-1: Transport with crane 3.1.2 Using a forklift If the robot is transported using a forklift, it should be fixed on a pallet with transport securing devices and shipping bolts as shown in the figure below "Transport using a forklift".
  • Page 16 Transportation • The shipping brackets and bolts are painted yellow. Fig. 3-2: Position of shipping bolts Item Screw type Part Screw M20 (12.9) B and C Screw M10 (12.9)

  • Page 17: Installation

    Installation Installation CAUTION! Personal injury and damage to property The following precautions must be taken.  Check that the robot controller is complete and not damaged.  Do not put into operation a robot controller that is damaged or incomplete. ...

  • Page 18: Ambient Conditions And Installation Location

    Installation Ambient conditions and installation location When installing a robot, it is necessary to satisfy the undermentioned environmental conditions: • Ambient temperature: From 0°C to +45°C. • Air humidity: 20% to 80% relative humidity (non-condensing). • Free of corrosive gases, liquids, or explosive gases. No water, oil or dust and free from excessive electrical noise (plasma).
  • Page 19 Installation Fig. 4-2: Base plate When the Manipulator is Mounted Directly on the Floor The floor should be strong enough to support the robot. Prepare a solid basis of sufficient thickness that is able to withstand the maximum stress of the robot. As a rough standard, if there is a concrete thickness (floor) of 200 mm or more, the robot base can be fixed directly to the floor with anchor bolts.
  • Page 20 Installation Direction of move- Horizontal Vertical ment Force F Moment M Force F Torque M Emergency stop 20580 N 39200 Nm 49980 N 62720 Nm (Stop category 0) Acceleration/Decelera- 6370 N 11760 Nm 21560 N 15680 Nm tion (Stop category 1) Tab.

  • Page 21: Wiring

    Wiring Wiring DANGER! Danger to life due to electric shock, risk of fire due to short circuit. Wiring must be performed by authorized or certified personnel. Follow the instructions given below before wiring.  Make sure that the earthing resistance does not exceed 0.1 Ω. ...

  • Page 22: Cable Connections

    Robot Serial No. YASKAWA ELECTRIC CORPORATION 2-1 SHIROISHI KUROSAKI, YAHATANISHILU KITAKYUSYU, JAPAN YASKAWA Europe „Robotics Division“ GmbH Yaskawastr. 1, D-85391 Allershausen Fig. 5-2: Connecting the robot system Two cables are delivered with the robot (refer to Fig. 5-3: "Robot cable").

  • Page 23: Connecting The Robot

    Wiring 5.2.1 Connecting the robot 1. Check the encoder cable (1BC) and the power cable (2BC). 2. Connect the encoder cable (1BC) to the connector plate of the robot. 3. Connect the power cable(2BC) to the connector plate of the robot. Make sure that you hear each locking clip snap into place (clicking sound).

  • Page 24: Connection Of The Robot Controller

    Wiring 5.2.2 Connection of the robot controller Attach the robot cables in the following order. 1. Connect the encoder cable (1BC) X11 at X-1 connection to the robot controller. 2. Connect the power cable (2BC) X21 at X-2 connection to the robot controller. Make sure that you hear the locking clips snap into place (clicking sound).

  • Page 25: Connecting The Programming Pendant

    Do not open the door Date/Signature with power ON. Type ERDR- Robot Type Robot Order No. Robot Serial No. YASKAWA Electric corporation 2-1 Kurosaki Shiroishi Yahatanishi-Ku Kitakyushu-City Fukuoka 806-0004 Japan Kammerfeldstr. 1, D-85391 Allershausen NJ3053-1 CHECK ALL THE DOOR LOCKS PROPERLY. NJ3005-1 PROGRAMMING PENDANT Fig.

  • Page 26: Technical Data

    Technical data Technical data Type: Floor mounting Types of Mounting: Degree of freedom: 160 kg Payload: ± 0.5 mm Repeatability: Power consumption: 9.5 kVA 1700 kg Weight: Working area of main axes: S-axis (turning) -180° - +180° L-axis (lower arm) -45°...

  • Page 27: Parts And Work Axis Label

    Technical data Parts and work axis label Fig. 6-1: Part names and working axes Upper arm (U-arm) Rotating head of S-axis Wrist flange Robot base Lower arm (L-arm) Robot base dimension 220±0.1 220±0.1 320±0.1 360±0.1 Fig. 6-2: Robot base dimensions 2 holes Ø...

  • Page 28: Dimensions And Defined Working Area

    Technical data Dimensions and defined working area 2776 2162 1400 R1 124 2204 1241 1037 3159 1300 1600 Fig. 6-3: Dimensions and defined work area P point Working area, defined with point P T point All dimensions in mm...

  • Page 29: Adjustable Working Area

    Technical data Adjustable working area The work area of the s-axis may be changed depending on the type of application. If any modification is necessary, please contact the local YASKAWA branch office. Item Specifications S-axis working range ± 180° (standard) *(±...

  • Page 30: Components For Changing The Working Area

    Technical data 6.4.1 Components for Changing the Working Area To change the working area of S-axis, the following components are required (see the following figure). Fig. 6-4: Components of the S-axis limit 3 screws M20 x 70 (strength category 12.9) and 3 x M20 washers Limit stop (HW0307574-1)

  • Page 31: Instructions For Installing The Mechanical Limit

    Technical data 6.4.2 Instructions for Installing the Mechanical Limit • Mount the mechanical limit of S axis so that as shown in the figure "Components of the S axis limit". • When inserting the pin in the limit, apply Loctite 242 on the screw-on surface of the pin. •...

  • Page 32: Adjusting The S-Axis Pulse Limit

    Technical data 6.4.3 Adjusting the S-Axis Pulse Limit If you want to change the movement range of S-axis, follow the instructions in the System Setup Manual, section: "Changing the Parameter Setting". – Pulse limit [positive direction (+) of S-axis]: SICxG400. –...
  • Page 33 Technical data 180° 165° 150° 135° 120° 105° 90° 75° 60° 45° 30° 15° -135° -120° -165° -150° -105° -90° -75° -60° -15° 0° -45° -30° The limit can be used on both sides. Screw Tab. 6-1: Assembly of the S-axis boundary/limitation...

  • Page 34: Stopping Angle And Time At The Emergency Stop

    Technical data Stopping Angle and Time at the Emergency Stop The definition of the coastdown times is important for determining the safety distance for protective devices. The overrun time is the time that elapses from the point of time when the stop signal is triggered until the robot comes to a complete stop.

  • Page 35: Stop Category 0

    Technical data 6.5.1 Stop category 0 6.5.1.1 Stop position S-axis • 100% deflection [deg/s] [deg/s] • 66% deflection [deg/s] [deg/s] • 33% deflection [deg/s] [deg/s]...
  • Page 36 Technical data 6.5.1.2 Stop position L-axis • 100% deflection [deg/s] [deg/s]...
  • Page 37 Technical data 6.5.1.3 Stop position U-axis • 100% deflection [deg/s] [deg/s]...

  • Page 38: Stop Category 1

    Technical data 6.5.2 Stop category 1 6.5.2.1 Stop position S-axis • 100% deflection [deg/s] [deg/s] 6.5.2.2 Stop position L-axis • 100% deflection [deg/s] [deg/s] 6.5.2.3 Stop position U-axis • 100% deflection [deg/s] [deg/s]...

  • Page 39: Allowable Load For Wrist Axis And Wrist Flange

    Allowable load for wrist axis and wrist flange Allowable load for wrist axis and wrist flange Wrist flange The dimensions of the wrist flange are shown in the following figure "Wrist flange". To ensure that the home position marks can be seen at all times, the tool may only be flange- mounted with the inner diameter.

  • Page 40: Allowable Wrist Load

    Allowable load for wrist axis and wrist flange Allowable Wrist Load The allowable wrist load including the weight of the mount/gripper is 160 kg maximum. 1. The total inertia (GD ) of T-axis should be within the given value. Allowed moment and maximum moment of inertia Axis Permissible moment of inertia (kgm²) T-axis...
  • Page 41 Allowable load for wrist axis and wrist flange Ø 53 Fig. 7-3: Installing peripheral equipment mounts View A 6 threaded holes M6 x 15 Section B-B 2 threaded holes M6 x 15 All dimensions in mm Application Notice Wiring and valve load Up to 160 kg for attaching load mass including wrist load. Tab.
  • Page 42 Example: In the case of the YASKAWA HP20D robot, for example, the permissible moment of inertial for the T-axis amounts to 0.25 kgm² at a permissible torque of 19.6 Nm and to 0.75 kgm² at...

  • Page 43: Internal Cables And Compressed Air Lines

    Internal cables and compressed air lines Internal cables and compressed air lines Internal cables 23 wires 23 x 0.50 mm² and 5 pneumatic lines) and air hoses are used in order to use peripheral devices (e.g. gripper). They are mounted on the upper arm as shown in the following diagram "Connector for internal cables and compressed air lines".
  • Page 44 Internal cables and compressed air lines 2. As shown in Fig. 8-2: "Field bus cable connection", the tube for field bus cable (inner diameters: 12 mm), will beconnected by connecting the section with the S-head. Lead the field bus cable C as described below. Fig.
  • Page 45 Internal cables and compressed air lines 11 12 19 20 21 22 23 Fig. 8-3: Detailed drawing of connector  = used  = not used Pins used Internal cables: 23 wires, 0.5 mm² The wrist part of the robot has a hollow structure for the internal user I/O wiring harness, air line, etc.
  • Page 46 Internal cables and compressed air lines • To the 3BC connection for the collision sensor on the U arm. • To the 3BC connection for the collision sensor on the robot controller. Pins 7 and 8 of the respective 3BC connections on the connector plate and U arm are connected to each other.
  • Page 47 Internal cables and compressed air lines Fig. 8-6: Internal connection diagram (b)

  • Page 48: Maintenance And Inspection

     Put up the required warning sign, e.g "Do not turn the power on!".  Install a switch-on guard as prescribed. If you have any questions regarding disassembly or repair, please contact the local YASKAWA branch office. NOTICE Home position data is lost Before removing the connector of the encoder cable to perform maintenance or inspection, ...

  • Page 49: Inspection Schedule

    In the table of "Inspection intervals", the inspections are divided according to three levels of requirement: • Works, carried out by trained staff. • Work carried out by staff trained by YASKAWA. • Works, carried out by YASKAWA staff. Inspections are only carried out by trained staff. NOTICE ...
  • Page 50 Trained staff YASKAWA trained staff YASKAWA staff Inspection intervals Item numbers Schedule (h) Checking method Operation Inspection Charge: Alignment marks  Visual inspection Check alignment mark accordance and damage    at the home position. External cable  Visual inspection Check cable for damage.
  • Page 51 Inspection intervals Item numbers Schedule (h) Checking method Operation Inspection Charge: Wire harness in the robot  Visual, multimeter Check for conduction between the main connec-   tor of base and intermediate connector with manually shaking the wire. Check the protection spring ...
  • Page 52 1. The item numbers correspond to the following diagram "Inspection intervals" 2. If there is any grease leakage, this may mean that grease has entered the motor. This can damage the motor. If you have any questions, please contact the local YASKAWA branch office.
  • Page 53 Maintenance and inspection Fig. 9-2: Inspection intervals The numbers in the above figure are equal to the numbers in the table of "Inspection intervals".

  • Page 54: Note On Battery Unit

    Maintenance and inspection Note on battery unit 9.2.1 Changing battery unit Fig. 9-3: Battery unit location (front view) 4 screws M4 Stand Power input module Fig. 9-4: Battery unit location (top view) Battery unit Circuit board The battery units are installed as shown in picture "The location of the battery unit". If battery alarm occuring in the robot controller, battery pack has to be changed in the following form.
  • Page 55 Maintenance and inspection 1. Turn the robot controller to the main power supply (see Fig. 9-5: "Main power switch in "switch-off" position"). WARNING High Voltage Do not open the door with power ON. Fig. 9-5: Main power switch in "switch-off" position Main power switch in "switch-off"...
  • Page 56 Maintenance and inspection 7. Please remove old battery pack plug from circuit board. NOTICE Make sure that no wires are pinched when you install the battery pack and the cover plate again. 8. Please apply Teroson Plast sealing compound (material no. 143813) to thread part of screws.

  • Page 57: Battery Pack Connector (Including Warning Note)

    Maintenance and inspection 9.2.2 Battery pack connector (including warning note) OBT* Fig. 9-7: Battery unit connector diagram for S-, L- and U-axes Motor Battery unit Motor power connector Plug for backup Encoder connector Before removing the encoder connector (with CAUTION label), connect the battery to the motor as shown in the following figure.

  • Page 58: Refill/Replace Grease

    Maintenance and inspection Refill/Replace grease. Make sure to follow the instructions. If the following instructions are not followed, it might cause damage to motor or gear. CAUTION! Burns from heated grease The grease may be under pressure and may spray out of the threaded hole when opening the threaded hole.
  • Page 59 Maintenance and inspection Tightening torque of sealing plug Designation Tightening torque (Nm) PT 3/8 PT 1/4 PT 1/8 PT 1/16 1. Remove plug from grease exhaust port (OUT) and grease inlet (IN) port. Example: 2. Mount the lubricating nipple to the grease inlet opening. 3.

  • Page 60: Grease Filling The Main Axes

    Maintenance and inspection 9.3.1 Grease filling the main axes Figure the axes Amount of grease: S-axis gear Replenishment: 2100 cm³ / approx. 1827 g Exchange: 10400 cm³ / approx. 9048 g L-axis gear Replenishment: 360 cm³ / approx. 313 g Exchange: 1800 cm³...
  • Page 61 Maintenance and inspection Air outlet cap Joint...

  • Page 62: Grease Filling The Wrist Axes

    Maintenance and inspection 9.3.2 Grease filling the wrist axes Grease filling the wrist axes Figure the axes Amount of grease: BT-axis gear Replenishment: 180 cm³ / approx. 156 g Exchange: 900 cm³ / approx. 783 g U-axis cross roller bearing Replenishment: 60 cm³...

  • Page 63: Refilling The Amount Of Grease In Joints

    Maintenance and inspection 9.3.3 Refilling the amount of grease in joints – Amount of grease for joints 1, 2, 3, 6: 6 cm³ / approx. 5 g – Amount of grease for joints 4, 5, 9: 12 cm³ / approx. 10 g –...

  • Page 64: Home Position Calibration

     In a system with two or more Robots, the home position of all the Robots must be calibrated before starting teaching or playback.  For more information, see also system setup in the manual or contact your YASKAWA branch.

  • Page 65: Registering All Axes At The Time

    Maintenance and inspection 9.4.1 Registering all axes at the time 1. Select {ROBOT} from the main menu. The sub-menu choices appear. 2. Select {HOME POSITION}. The <HOME POSITIONING> window appears.
  • Page 66 Maintenance and inspection 3. Select {DISPLAY} The pull-down menu appears. The same operation as in step 3 can also be performed by selecting the {PAGE} button. In this case a selection box appears. 4. Select the sub-assembly to calibrate (e.g. R1:ROBOT). Select the control group for {HOME POSITIONING}.
  • Page 67 Maintenance and inspection 6. Select {SELECT ALL AXES}. A confirmation dialog box is displayed. 7. Select {YES}. Displayed position data of all axes are registered as home position. When {NO} is selected, the registration will be canceled.

  • Page 68: Registering Individual Axes

    Maintenance and inspection 9.4.2 Registering individual axes 1. Select {ROBOT} on the main menu. The sub-menu choices appear. 2. Select {HOME POSITION}. 3. Select the module to be calibrated (e.g. R1:ROBOT). Perform steps 3 and 4, as described in section 9.4.1 "Registering all axes at the time" to select the desired control group.

  • Page 69: Changing The Absolute Data

    Maintenance and inspection 9.4.3 Changing the absolute data After you have set the home position, change the absolute data of the axis as follows: 1. Select {ROBOT} from the main menu. The sub-menu choices appear. 2. Select {HOME POSITION}. 3. select the sub-assembly/components to be calibrated. Carry out steps 3 and 4 as described in section 9.4.1 "Registering all axes at the time"...

  • Page 70: Clearing Absolute Data

    Maintenance and inspection 9.4.4 Clearing absolute data Once you have set the home position, delete the absolute data of the axis as follows: 1. Select {ROBOT} from the main menu. The sub-menu choices appear. 2. Select {HOME POSITION}. Carry out steps 3 and 4 as described in section 9.4.1 "Registering all axes at the time" on page 65 to select the desired control group.

  • Page 71: Setting The Second Home Position (Check Point)

    Maintenance and inspection Setting the second home position (check point) 9.5.1 Purpose of position check operation If the absolute number of rotations detected when the power is switched on does not match the data stored by the absolute encoder the last time the power was switched off, an error message is output.
  • Page 72 Maintenance and inspection Position check If the "OUT OF RANGE (ABSOLUTE DATA)" alarm occurs, move to the second home position using the axis buttons, and check the position. Automatic mode, test runs and FWD movement are not possible unless the position is checked with "CONFIRM POSITION". Pulse difference check The number of pulses at the second home position is compared with that at the current position.

  • Page 73: Procedure For The Second Home Position Setting

    Maintenance and inspection 9.5.2 Procedure for the second home position setting Apart from the “home position” of the robot, the second home position can be set up as a check point for absolute data. Use the following steps to set the specified point. NOTICE If 2 or more Robots or stations are controlled by one controller, the second home position must be set for each robot or station.

  • Page 74: Procedure After Alarm

    Maintenance and inspection 3. Press the „page key“ or select {PAGE} to display the selection window for the control group. Occuring 2 or more group axes, select those one to you intend to specify second home position. 4. Press the axis keys. - Move the Robot to the new second home position.
  • Page 75 Maintenance and inspection 2. Select {SECOND HOME POS} from the main menu. The SECOND HOME POS window appears. 3. Press the „page key“ or select {PAGE} to display the selection window for the control group. Occuring two or more group axes, select those one to you intend to specify second home position.

  • Page 76: 10 Recommended Spare Parts List

    Product performance cannot be guaranteed when using spare parts from any company other than YASKAWA. NOTICE Please contact your YASKAWA branch office if you need spare or replacement parts. List of recommended spare parts for stocking Grease Molywhite RE No. 0...

  • Page 77: 11 Parts Lists

    Parts lists 11 Parts lists 11.1 S-axis drive 1072 1005 1071 1069 1006 1070 1082 1080 1081 1075 1068 1076 1037 1039 1038 1026 1011 1034 1014 1001 1077 1013 1022 1029 1015 1078 1028 1023 1031 1035 1032 1025 1033 1024 1041...
  • Page 78 Parts lists DWG no. Description 1003 M8 x 100 Screw 1004 2H-8 Washer 1005 M16 x 70 Screw 1006 2H-16 Washer 1011 HW0101143-1 Housing 1012 HW0101142-1 Stand 1013 G415 O-ring 1014 M20 x 160 Screw 1015 2H-20 Washer 1017 M6 x 20 Screw 1019 M6 x 16...
  • Page 79 Parts lists DWG no. Description 1050 HW9405047-1 Shaft 1051 HW9405304-* Adjusting washer 1052 O-ring 1053 HW9405048-1 Housing 1054 2H-8 Washer 1055 M8 x 25 Screw 1056 2H-5 Washer 1057 M5 x 16 Screw 1058 IRTW-72 Ring 1059 ISTW-35 Ring 1060 CIMR35-1 Adjusting washer 1061...

  • Page 80: L-Axis Unit

    Parts lists 11.2 L-axis unit 2077 2076 2003 2055 2041 2085 2035 2058 2056 2043 2031 2076 2078 2059 2057 2077 2008 2045 2002 2041 2054 2040 2039 2067 2072 2070 2075 2074 2073 2048 2046 2053 2030 2029 2035 2033 2052 2081...
  • Page 81 Parts lists 2034 2031 2035 2035 2095 2006 2094 2039 2008 2040 2045 2045 2045 2028 2021 2016 2001 2092 2080 2086 2093 2015 2087 2017 2022 2014 2045 2018 2045 2002 2019 2045 2095 2013 2045 2035 2031 2030 2027 2040 2094...
  • Page 82 Parts lists DWG no. Description 2005 HW9301736-1 Cover 2006 HW9200827-1 Housing 2007 HW0200685-1 Housing 2008 HW0101145-1 Joint 2009 HW9481363-B Screw 2010 HW0307569-1 Flange 2011 HW0308096-1 Spacer 2012 HW0414515-1 Sleeve 2013 HW0388209-B Gear box 2014 HW9481362-A Pinion 2015 HW9481343-A Sleeve 2016 HW9482306-F Pinion 2017...
  • Page 83 Parts lists DWG no. Description 2048 HW0406923-1 Washer 2051 HW9405055-1 Shaft 2052 HW9405699-1 Cover 2053 HW9302054-1 Shaft 2054 HW0308094-1 Joint 2055 HW0400016-1 Shaft 2056 HW0400008-1 Cover 2057 HW0406931-1 Cover 2058 HW0400015-1 Shaft 2059 HW0400012-* 2067 HW0200689-1 Housing 2068 S105 O-ring 2069 HR32916J Bearing...

  • Page 84: U-Axis Drive

    Parts lists 11.3 U-axis drive 3022 3005 3034 3030 3030 3032 3023 3023 2054 3032 3009 3027 3023 3009 3033 3032 3022 3034 3034 3030 3022 3009 3024 3032 3030 3005 3027 3023 3015 3005 3027 3021 3005 3020 3017 3018 3016 3005...
  • Page 85 Parts lists DWG no. Description 3008 2H-6 Washer 3009 M6 x 20 Screw 3010 M6 x 15 Screw 3011 HW0400016-1 Shaft 3012 HW0400008-1 Cover 3013 HW0406931-1 Cover 3014 O-ring 3015 HW0400015-1 Shaft 3016 HW0400012-* Spring 3017 AG3512E1 Oil seal 3018 HR32011XJ Bearing 3019...

  • Page 86: Wrist Unit

    Parts lists 11.4 Wrist unit 4045 4045 4022 4001 4029 4024 4017 4018 4037 4044 4012 4032 4011 4046 4010 4038 4019 4015 4020 4014 4004 4024 4033 3039 4013 3037 4008 4038 4009 4007 4004 4028 4020 4024 4019 4024 4005 4034...
  • Page 87 Parts lists DWG no. Description 4004 HW0406923-1 Washer 4005 O-ring 4006 HW0406922-1 Cover 4007 HW0484003-A Bearing 4008 HW0307641-1 Shaft 4009 AG3217A4 Oil seal 4010 O-ring 4011 HW9404246-* 4012 HW0405915-1 Cover 4013 AG3584A0 Oil seal 4014 HW9404245-1 Shaft 4015 HR32012XJ Bearing 4016 HW9404383-1 Cover...
  • Page 88 Parts lists DWG no. Description 4045 M8 x 25 Screw 4046 M6 x 20 Screw 4047 M10 x 20 Screw 4048 2H-10 Washer 4049 M4 X 10 Screw 4050 M8 x 80 Screw 4051 2H-8 Washer 4052 M6X20 Screw 4053 2H-6 Washer 4054...

  • Page 89: Balancer Unit

    Parts lists 11.5 Balancer unit 5018 5019 5011 5004 5020 5007 5005 5001 5002 5006 5016 5017 5015 5012 5003 5008 5003 5012 5014 5010 5013 5009 Fig. 11-6: Balancer unit DWG no. Description 5001 HW0481740-A Spring 5002 HW0481741-A Spring 5003 SOB607440 Sleeve...
  • Page 90 Parts lists DWG no. Description 5006 HW0200420-1 Flange 5007 HW0401112-1 Flange 5008 HW0303581-1 Pipe 5009 HW9405057-1 Fork head 5010 FD3187A0 Dust seal 5011 EZ2228B0 5012 IRTW-75 Stop 5013 M6 x 8 Screw 5014 PT1/8 Set screw 5015 M10 x 40 Screw 5016 2H-10...
  • Page 91 Parts lists...
  • Page 92 Nea Kifissia +30-2106251455 Turku +358-(0)-403000600 Flexman Robotics Kft GB YASKAWA UK Ltd. Budapest +36-30-9510065 Banbury +44-1295-272755 Profibus UAB YASKAWA Italia s.r . l. Panevezys +370-45-518575 Torino +39-011-9005833 Skala Robotech AS YASKAWA Europe Technology Ltd. Lierstranda +47-32240600 Rosh Ha’ayin +972-3-9004114 ROBOPLAN Lda YASKAWA Benelux B.V .

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