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Summary of Contents for Motoman MotoPos-T1000
- Page 1 ® Motoman Controller MotoPos-T1000 Positioner Manual Part Number: 152163-1CD Revision Motoman, Incorporated 805 Liberty Lane West Carrollton, Ohio 45449 USA 937.847.6200 (Voice) 937.847.6277 (Fax) 937.847.3200 (24-Hour Support) www.motoman.com info@motoman.com...
- Page 2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.
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Page 3: Customer Service Information
• Vendor manuals for system components not manufactured by Motoman Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (MotoPos-T1000) •... - Page 4 Positioner Manual Chapter 1 Introduction Notes page 2 Final...
- Page 5 We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system.
- Page 6 Positioner Manual Chapter 2 Safety This safety section addresses the following: • Standard Conventions (Section 2.2) • General Safeguarding Tips (Section 2.3) • Mechanical Safety Devices (Section 2.4) • Installation Safety (Section 2.5) • Programming, Operation, and Maintenance Safety (Section 2.6) Standard Conventions This manual includes the following alerts in descending order of severity...
- Page 7 MotoPos-T1000 152163-1 General Safeguarding Tips All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation.
- Page 8 Positioner Manual Chapter 2 Safety Installation Safety Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location.
- Page 9 Motoman will VOID YOUR WARRANTY! • Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords. • The robot controller allows modifications of PART 2, User Section, of the concurrent I/O program and modifications to controller parameters for maximum robot performance.
- Page 10 Positioner Manual Chapter 2 Safety Notes page 8 Final...
- Page 11 YASKAWA MOTOPOS-T1000 POSITIONER INSTRUCTIONS TYPE: YR-MPT1000-A15 (WITH 2000 kg PAYLOAD) TYPE: YR-MPT1000-A16 (FOR NORTH AMERICAN STANDARD WITH 2000 kg PAYLOAD) TYP: EYR-MPT1000-F00 (FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD) YPE: : YR-MPT1000-F01 (FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD) YPE: :...
- Page 12 HS0481357 MANDATORY • This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOPOS. • General items related to safety are listed in the Setup Manual Section 1: Safety. To ensure correct and safe operation, carefully read the Setup Manual before reading this manual.
- Page 13 HS0481357 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOPOS and YASNAC XRC. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel.
- Page 14 HS0481357 WARNING • Before operating the MOTOPOS, check that servo power is turned OFF when the emergency stop buttons on the playback panel or program- ming pendant are pressed. When the servo power is turned OFF, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned OFF.
- Page 15 HS0481357 CAUTION • Perform the following inspection procedures prior to conducting MOTO- POS teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. -Check for problems in MOTOPOS movement. -Check for damage on insulation and sheathing of external cables. •...
- Page 16 Also, an identification label with important information is placed on the body of the MOTO- POS. Prior to operating the MOTOPOS, confirm the contents. WARNING WARNING Moving parts may Do not enter cause injury robot work area Motoman Nameplate Warning label B Warning label A WARNING Label A: Nameplate WARNING Label B: WARNING...
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Page 17: Table Of Contents
HS0481357 Receiving 1.1 Contents Confirmation ......1 1.2 Checking the Order Number . - Page 18 HS0481357 System Application 7.1 Internal User I/O Wiring Harness and Air Lines ..7 7.2 Stopper Pin ........7 Electrical Equipment Specification 8.1 Position of Limit Switch .
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Page 19: Receiving
HS0481357 1.1 Contents Confirmation 1 Receiving CAUTION • Confirm that the MOTOPOS and the XRC have the same order number. Special care must be taken when more than one units of MOTOPOS are to be installed. If the numbers do not match, MOTOPOS may not perform as expected and cause injury or damage. -
Page 20: Checking The Order Number
HS0481357 1.2 Checking the Order Number Checking the Order Number Check that the order number of the MOTOPOS corresponds to the XRC. The order number is located on a label as shown below. Label (Enlarged View) THE MANIPULATOR AND THE CONTROLLER Check that the manipulator SHOULD HAVE SAME ORDER NUMBER. -
Page 21: Transportation
HS0481357 2.1 Transporting Method 2 Transportation CAUTION • Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. • Avoid excessive vibration or shock during transportation. The system consists of precision components. - Page 22 HS0481357 2.1 Transporting Method • Check that the eyebolts are securely fastened. NOTE • The weight of the MOTOPOS is approximately 300 kg. Use a wire rope strong enough to withstand the weight. • Attached eyebolts are designed to support the MOTOPOS weight. Never use them for anything other than transporting the MOTOPOS.
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Page 23: Installation
HS0481357 3 Installation WARNING • Install the safeguarding. Failure to observe this warning may result in injury or damage. • Install the MOTOPOS in a location where the MOTOPOS with a jig does not hit against anything such as the wall or the safeguarding. Failure to observe this warning may result in injury or damage. -
Page 24: Installation Of The Safeguarding
HS0481357 3.1 Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO 10218) The user of a manipulator or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard. - Page 25 HS0481357 3.2 Mounting Procedures for MOTOPOS Baseplate 3.2.1 In Case of Installing the MOTOPOS and Manipulator on a Common Baseplate The baseplate should be rugged and durable to ensure that the MOTOPOS and the manipula- tor are in the correct relative position. Thickness of the baseplate and the size of the mounting anchor bolts should meet the recommendations in the manual for the manipulator to be com- bined.
- Page 26 HS0481357 3.2 Mounting Procedures for MOTOPOS Baseplate 3.2.2 In Case of Mounting the MOTOPOS on the Floor The floor should be strong enough to support the MOTOPOS. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the MOTOPOS as shown in "...
- Page 27 HS0481357 3.3 Location Location When the MOTOPOS is installed, it is necessary to satisfy the undermentioned environmental conditions: • Ambient Temperature: 0° to +45°C • Humidity: 20 to 80 %RH (at constant temperature) • Free from dust, soot, or water •...
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Page 28: Wiring
HS0481357 4.1 Grounding 4 Wiring WARNING • Ground resistance must be 100 Ω or less. Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn OFF the primary power supply, and put up a warning sign. -
Page 29: Cable Connection
HS0481357 4.2 Cable Connection Bolt M8 (for grounding) (Delivered with MOTOPOS) Enlarged View A 5.5 mm or more Fig. 5 Grounding Method Cable Connection There are two cables for the power supply; a power cable (1BC) and an encoder cable for detection (2BC). - Page 30 HS0481357 4.2 Cable Connection Connection to the XRC Connection to the MOTOPOS Power cable Encoder cable ROT7 Fig. 6 (a) Connection of the MOTOPOS and the XRC (YR-MPT1000-A15,-F00) HS0481357...
- Page 31 HS0481357 4.2 Cable Connection Connection to the XRC Connection to the MOTOPOS Power cable Encoder cable OT7-1 ROT7-1 OT7-2 ROT7-2 Fig. 6 (b) Connection of the MOTOPOS and the XRC (YR-MPT1000-A16,-F01,-F02,-F03) Key positions Connector Details (MOTOPOS Side) Fig. 6 (c) Connection of the MOTOPOS and the XRC HS0481357...
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Page 32: Basic Specifications
HS0481357 5.1 Basic Specifications List 5 Basic Specifications Basic Specifications List Table 2 Basic Specifications YR-MPT1000B YR-MPT1000B YR-MPT1000B YR-MPT1000B Item Model -A15 -A16 -F00,-F03 -F01,-F02 Degree of Freedom Payload 2000 kg ±0.3 mm (R1000 mm) Repetitive Positioning Accuracy Motion Range ±140°... -
Page 33: Part Names And Working Axes
HS0481357 5.2 Part Names and Working Axes Part Names and Working Axes Table Tilting axis motor Stopper pin unit Limit switch box Base connector Base section Fig. 7 Part Names and Working Axes Baseplate Dimensions 22 dia. hole (4 holes) 278±0.2 272.5 +0.018... -
Page 34: Dimensions And Working Envelope
HS0481357 5.4 Dimensions and Working Envelope Dimensions and Working Envelope 480 dia. -0.040 *1. For YR-MPT-F00,-F01,-F02, and -F03, the dimension is 404.4 mm Units: mm Fig. 9 Dimensions and Working Envelope HS0481357... -
Page 35: Load Specifications And Jig Mounting Section
HS0481357 6.1 Allowable Load 6 Load Specifications and Jig Mounting Section Allowable Load This section describes the allowable values and various limitations. The payload of the MOTOPOS is 2000 kg. The moment and moment of inertia are limited as shown in " Table 3 Moment and Total Inertia ". Table 3 Moment and Total Inertia Axis Name... - Page 36 HS0481357 6.2 Details of Jig Mounting Face Details of Jig Mounting Face The jig mounting dimensions are shown in " Fig. 11 Details of Jig Mounting Face ". It is recommended that the table and the jig be mounted using an inside dowel and dowel pin, or two dowel pins.
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Page 37: Internal User I/O Wiring Harness And Air Lines
HS0481357 7.1 Internal User I/O Wiring Harness and Air Lines 7 System Application Internal User I/O Wiring Harness and Air Lines For driving devices such as a jig, internal user I/O wires and air lines are built into the MOTO- POS as shown in "... - Page 38 HS0481357 7.1 Internal User I/O Wiring Harness and Air Lines Internal user I/O wiring harness: 0.5 mm x 12 wires: twisted pair wires Exhaust port Al: 12 dia. one-touch joint Internal user I/O wiring harness: Connector for internal user Exhaust port SP: 0.75 mm x 17 wires I/O wiring harness (output):...
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Page 39: Stopper Pin
HS0481357 7.2 Stopper Pin Stopper Pin In the operation of the MOTOPOS-1000, operators may directly set/remove workpieces in/ from the jig on the table. To prevent injury in such occasions, the table can be mechanically locked with a stopper pin to stop its rotation. -
Page 40: Internal Connections
HS0481357 8.1 Position of Limit Switch 8 Electrical Equipment Specification Position of Limit Switch One limit switch is provided inside the MOTOPOS. For the location, refer to " Fig. 15 Location of Limit Switch ". Limit switch Fig. 15 Location of Limit Switch Internal Connections High reliability connectors which can be easily put on and removed are used in each connector part. - Page 41 HS0481357 8.2 Internal Connections POWER CABLE INTERNAL CABLE (20-29) YASNAC-XRC S-IRV,0.5XK-R (22-14W) BATTERY No.1CN S-IRV.0.3XK-R RMCV-SB-0,0.3/6P 1CN-A EX-PG1 *PA7 Blue *PA7 S-IRV.0.3XK-R White *PB7 Yellow *PB7 S-IRV.0.3XK-R Brown *PC7 Light blue *PC7 BAT7 S-IRV,0.5XK-R Black BAT7 10120-3000VE OBT7 Gray OBT7 S-IRV.0.5XK-R +5-7 S-IRV,0.5XK-R...
- Page 42 HS0481357 8.2 Internal Connections POWER CABLE INTERNAL CABLE (20-29) XRC (EXTERNAL AXIS 1) S-IRV,0.5XK-R (22-14W) BATTERY RMCV-SB-0,0.3/6P No. 1CN YELLOW WHITE BLUE WHITE LIGHT BLUE BROWN YELLOW PURPLE BROWN PINK LIGHT BLUE BAT7 S-IRV,0.5XK-R BAT7 BLACK 54306-5011 OBT7 GRAY OBT7 +5-7 S-IRV,0.5XK-R GREEN...
- Page 43 HS0481357 8.2 Internal Connections XRC (EXTERNAL AXIS 1) S-IRV,0.5XK-R (22-14W) RMCV-SB-0,0.3/6P RMCV-SB-0,0.3/6P YELLOW BLUE WHITE WHITE LIGHT BLUE BROWN YELLOW PURPLE BROWN LIGHT BLUE PINK BAT7 S-IRV,0.5XK-R BLACK BAT7 54306-5011 GRAY OBT7 OBT7 S-IRV,0.5XK-R +5-7 GREEN +5-7 GREEN +5-7 S-IRV,0.5XK-R 0V-7 ORANGE BLUE...
- Page 44 HS0481357 8.2 Internal Connections POWER CABLE INTERNAL CABLE XRC (EXTERNAL AXIS 1) 2BC (22-14W) RMCV-SB-0,0.3/6P Yellow *PA7 *PA7 White Blue Light blue White Brown *PB7 *PB7 Yellow Purple Brown Light blue Pink *PC7 *PC7 BAT7 BAT7 Black 54306-5011 OBT7 Gray OBT7 +5-7 Green...
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Page 45: Maintenance And Inspection
HS0481357 9.1 Inspection Interval 9 Maintenance and Inspection WARNING • Before maintenance or inspection, be sure to turn OFF the main power supply, and put up a warning sign. (ex. DO NOT TURN ON THE POWER.) Failure to observe this warning may result in electric shock or injury. CAUTION •... - Page 46 HS0481357 9.1 Inspection Interval Table 1 Inspection Items Inspection Interval Inspection Charge Items Method Operation 1000 6000 12000 24000 36000 Specified Service Daily Licensee Person Company Cycle Cycle Cycle Check tram mark Alignment accordance and Visual mark damage at the home position.
- Page 47 HS0481357 9.1 Inspection Interval Table 1 Inspection Items Inspection Interval Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Person Company Cycle Cycle Cycle Check for malfunc- tion. (Replace if nec- essary.) Supply grease Speed Grease (6000H cycle).
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Page 48: Notes On Maintenance Procedures
HS0481357 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery pack is mounted in the location indicated in " Fig. 18 Battery Pack Location ". If a battery alarm occurs in the XRC, replace the battery pack according to the following procedure: Battery pack Connector base... - Page 49 HS0481357 9.2 Notes on Maintenance Procedures 9.2.2 Grease Replenishment/Exchange for Tilting Axis Speed Reducer Wo: Grease exhaust port (Hexagon socket head plug PT1/8) Wi: Grease inlet (Grease zerk A-PT1/8) Fig. 20 Speed Reducer Diagram Grease Replenishment (Refer to " Fig. 20 Speed Reducer Diagram ".) 1.
- Page 50 HS0481357 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 20 Speed Reducer Diagram ".) 1. Remove the hexagon socket head plug PT1/8 from the Wo grease exhaust port. If grease is added with the plug on, the grease will go inside the motor and may damage it. NOTE Never fail to remove the plug before the grease injection.
- Page 51 HS0481357 10 Recommended Spare Parts It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOPOS. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows: •...
- Page 52 60-3-6092-6377 YASKAWA ELECTRIC TAIWAN CORPORATION 9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 886-2-2505-1280 SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China Phone 86-10-6788-0541 86-10-6788-2878 YASKAWA ELECTRIC CORPORATION YASKAWA...
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