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YASKAWA MOTOMAN-PH130F Industrial Robot Manuals
Manuals and User Guides for YASKAWA MOTOMAN-PH130F Industrial Robot. We have
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YASKAWA MOTOMAN-PH130F Industrial Robot manual available for free PDF download: Maintenance Manual
YASKAWA MOTOMAN-PH130F Maintenance Manual (134 pages)
TYPE YR-1-06VXF130-A00 (MOTOMAN-PH130F STANDARD SPECIFICATION)
Brand:
YASKAWA
| Category:
Robotics
| Size: 63 MB
Table of Contents
Table of Contents
2
1 Introduction
5
2 Notes for Maintenance
13
Details of Internal Connections
13
Multi-Port Connector
15
3 Home Position Return
17
Home Position Posture of Manipulator
17
Types of Methods for Home Position Return
18
Using a Teaching Point for Setting the Home Position
18
Using Keys
18
Using Encoder Backup Error Recovery Function
18
Robot Calibration (MOTOCALV EG)
18
Table of Suitable Methods for Home Position Return
18
Methods for Home Position Return
19
Using a Teaching Point for Setting the Home Position
19
Preparation
19
Replacement of Motor or Speed Reducer
19
Home Position Adjustment
20
Using Keys
21
Using Encoder Backup Error Recovery Function
24
Robot Calibration (MOTOCALV EG)
24
4 Axis Fixing Jig
25
Fixing Jig
25
Recommended Installation Posture of the Specified Fixing Jig
26
Range of L-Arm Postures to Avoid
27
Installation and Removal of the L-Axis Fixing Jig
28
Mechanism
32
5 Notes on Grease Replenishment/Exchange Procedures
33
Grease Exchange Procedures for each Axis Speed Reducer
33
Notes on Grease Exchange Procedures
33
Grease Exchange Procedure
35
Grease Replenishment for Balancer Link Part
40
Removing, Applying, Assembling of Sealing Bond
41
Removing Sealing Bond from Sealing Surface and Cleaning
41
Applying Sealing Bond to Sealing Surface
42
Assembling after Applying Sealing Bond
43
6 Disassembly and Reassembly of the Motors
44
Disassembly and Reassembly of the S-Axis Motor
45
Disassembly and Reassembly of the L-Axis Motor
49
Disassembly and Reassembly of U-Axis Motor
54
Disassembly and Reassembly of the R-, B-, T-Axis Motors
59
7 Disassembly and Reassembly of the Speed Reducers
64
Disassembly and Reassembly of S-Axis Speed Reducer
64
Disassembly and Reassembly of L-Axis Speed Reducer
68
Disassembly and Reassembly of U-Axis Speed Reducer
72
Disassembly and Reassembly of R-Axis Speed Reducer
76
Disassembly and Reassembly of B-Axis Speed Reducer
79
Disassembly and Reassembly of T-Axis Speed Reducer
83
8 Disassembly and Reassembly of Wrist Unit
87
9 Cable Wiring
90
Disassembly and Reassembly of Internal Wiring Harness
90
10 Disassembly and Reassembly of Balancer Unit
103
Notes When Disassembling and Reassembling the Balancer Unit
103
Disassembly and Reassembly of Balancer Unit
108
Unit Assembly
110
Balancer Unit Assembly
110
Shaft Assembly (Knuckle Part)
111
Shaft Assembly (Support Part 1)
112
Shaft Assembly (Support Part 2)
112
Unit Assembly Parts Checklist
113
11 Battery Pack Replacement
114
12 Parts List
118
S-Axis Unit
118
L-Axis Unit
121
U-, R-, B-, T-Axis Unit
124
U-Arm Unit
127
Wrist Unit
129
Balancer Unit
132
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