operating and mantenance hp20d
TRANSCRIPT
H50 06.560GB
HP20D-C09
Operating and Maintenance Instructions
HP20D-C09TYP: YR-HP20D-C09 (STANDARD-SPECIFICATION)
(IP65 AND SPECIAL WIRE HARNESS IN MANIPULATOR SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future referenceThe operating instructions are only for internal use.
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Reference list:
Documentnumber
List of modifications
Creation of original
document
Modification in the original document
In section On page Date Author
E1101000130GB01 x 29.10.2010 DD
E1101000130GB02 rework 09.11.2010 REB
E1101000130GB03 rework chapter 3 10.11.2010 REB
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WARNINGThis instruction manual is intended to explain mainly on the mechanical part of the YASKAWA-HP20D-C09 for the application to the actual operation and for proper maintenance and inspection. It describes on safety and handling, details on specifications, necessary items on maintenance and inspection, to explain operating instructions and maintenance procedures. Be sure to read and understand this instruction manual thoroughly before installing and operating the robot.
General items related to safety are listed in Section 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual.
CAUTIONSome drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
YASKAWA europe GmbH may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications.
If such modification is made, the manual number will also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA europe GmbH representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
YASKAWA europe GmbH is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product's warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the YASKAWA-HP20D.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.
Always be sure to follow explicitly the items listed under this heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as "CAU-TION" and "WARNING".
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
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WARNINGBefore operating the robot, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant.When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the robot during an emergency. The robot should not be used if the emergency stop buttons do not function.
Fig 1: Emergency Stop Button
Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the robot. Then turn the servo power ON.
Injury may result from unintentional or unexpected robot motion.
Fig 2: Release of Emergency Stop
Observe the following precautions when performing teaching operations within the P-point maximum envelope of the robot:
– View the robot from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of emergency.
– Improper or unintended robot operation may result in injury.
Confirm that no person is present in the P-point maximum envelope of the robot and that you are in a safe location before:
– Turning on the power for the DX100.
– Moving the robot with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the robot during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the DX100 and the programming pendant.
TURN
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Definition of Terms Used Often in This Manual
The YASKAWA robot is the YASKAWA industrial robot product.
The YASKAWA usually consists of the controller, the programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
CAUTIONPerform the following inspection procedures prior to conducting robot teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
- Check for problems in robot movement.
- Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the cabinet of the DX100 after use.
The programming pendant can be damaged if it is left in the robot's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the robot:
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the robot and the controller Robot cable
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Table of Contents
1 Product Confirmation............................................................................................................ 81.1 Contents Confirmation ............................................................................................................. 81.2 Order Number Confirmation .................................................................................................... 9
2 Transport .............................................................................................................................. 102.1 Transport Method .................................................................................................................. 102.2 Shipping Bolts and Brackets.................................................................................................. 12
3 Installation............................................................................................................................ 143.1 Safeguarding Installation ....................................................................................................... 153.2 Mounting Procedures for Robot Base.................................................................................... 153.3 Types of Mounting ................................................................................................................. 173.4 Location ................................................................................................................................. 18
4 Wiring.................................................................................................................................... 194.1 Grounding .............................................................................................................................. 194.2 Cable Connection .................................................................................................................. 20
5 Basic Specifications............................................................................................................ 235.1 Basic Specifications............................................................................................................... 235.2 Part Names and Working Axes.............................................................................................. 255.3 Robot Base Dimensions ........................................................................................................ 265.4 Dimensions and P-Point Maximum Envelope........................................................................ 275.5 Alterable Operating Range .................................................................................................... 28
6 Allowable Load for Wrist Axis and Wrist Flange .............................................................. 296.1 Allowable Wrist Load ............................................................................................................. 296.2 Wrist Flange........................................................................................................................... 31
7 System Application ............................................................................................................. 327.1 Peripheral Equipment Mounts ............................................................................................... 327.2 Internal User I/O Wiring Harness and Air Line....................................................................... 33
8 Electrical Equipment Specification.................................................................................... 368.1 Position of Limit Switch.......................................................................................................... 368.2 Internal Connections.............................................................................................................. 36
9 Maintenance and Inspection............................................................................................... 409.1 Inspection Schedule .............................................................................................................. 419.2 Notes on Maintenance Procedures ....................................................................................... 469.3 Notes on Grease Replenishment/Exchange Procedures ...................................................... 489.4 Setting the Second Home Position (Check Point) ................................................................. 69
10 Recommended Spare Parts ................................................................................................ 82
11 Parts List .............................................................................................................................. 8411.1 S-Axis Unit ............................................................................................................................. 8411.2 L-Axis Unit ............................................................................................................................. 8611.3 U-Axis Unit ............................................................................................................................. 8811.4 R-Axis Unit ............................................................................................................................. 9011.5 Wrist Unit ............................................................................................................................... 93
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1 Product Confirmation
1.1 Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the content of optional goods are given separately):
● Robot
● DX100
● Programming pendant
● Robot cables (Between Robot and DX100)
CAUTIONConfirm that the robot and the DX100 have the same order number. Special care must be taken when more than one robot is to be installed.
If the numbers do not match, robots may not perform as expected and cause injury or damage.
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1.2 Order Number Confirmation
Check that the order number of the robot corresponds to the DX100. The order number is located on a label as shown below.
Fig. 3: Location of Order Number Labels
S/N. � � � � � � � �
PROPERLY.
CHECK ALL THE DOOR LOCKS
NJ3005-1
kVAkVA
ERDR-
Average
Peak
NJ3053-1
Kammerfeldstr. 1, D-85391 Allershausen
Motoman2-1 Kurosaki Shiroishi Yahatanishi-Ku Kitakyushu-City Fukuoka 806-0004 Japan
YASKAWA Electric corporation
Robot Serial No.
Robot Order No.
Robot Type
TypeDate/Signature
Serial No.
AC 400/415/440 V
Power Supply
Part No.
Motoman DX100
with power ON.
WARNINGDo not open the door
High Voltage
THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.
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2 Transport
2.1 Transport Method
CAUTIONSling 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 transport.
The system consists of precision components; failure to observe this caution may adversely affect performance.
Check that the eyebolts are securely fastened.
The weight of the robot is approximately 280 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.
Attached eyebolts are designed to support the robot mass. Do not use them for anything other than transporting the robot.
Make sure to mount the shipping bolts and brackets when transporting the robot. (Refer to Fig. 4: "Transporting Position" at Page 11)
With any transportation equipment, make sure to avoid external force on the arm or motor unit when transporting the robot.
NOTE
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2.1.1 Using a Crane
As a rule, the robot should be lifted by a crane with two wire ropes when removing it from the package and moving it. Be sure that the robot is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig. 4: "Transporting Position".
Fig. 4: Transporting Position
Table 1: Transporting Position
1 Eyebolt M12 (2 eyebolts), delivered with the robot
2 View E
3 View F
4 Eyebolt M12 (2 eyebolts), delivered with the robots
F
E
C
B
A
D
1
2
3
4
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2.1.2 Using a Forklift
When using a forklift, the robot should be fixed on a pallet with shipping bolts as shown in Fig. 5: "Using a Forklift". Insert claws under the pallet and lift it. The pallet must be strong enough to support the robot. Transport the robot slowly with due caution in order to avoid overturning or slippage.
Fig. 5: Using a Forklift
2.2 Shipping Bolts and Brackets
The robot is provided with shipping bolts and brackets at sections A and B. (See Fig. 6: "Shipping Bolts and Brackets" at Page 13).
Table 2: Using a Forklift
1 Bolt M16 (4 places)
2 Palleet
3 Forklift claw entry
1
2
3
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Fig. 6: Shipping Bolts and Brackets
● The brackets in the sections A and B are painted yellow.
● The section A is fixed with a hexagon socket head cap screw M8, and the section B is fixed with two hexagon socket head cap screws M6.
● A rubber cushion is respectively wedged at the sections C and D.
Table 3: Shipping Bolts and Brackets
1 Eyebolt M12 (2 eyebolts), delivered with the robot
2 Enlarged View: Sections B and D
3 Parts Drawing for Section B
4 Enlarged View: Section C
5 Parts Drawing for Section A
6 Enlarged View: Section A
Before turning ON the power, check to be sure that the shipping bolts and brackets are removed. The shipping bolts and brackets then must be stored for future use, in the event that the robot must be moved again.
B
A C
D
1
2
3
46
5
NOTE
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3 Installation
WARNINGInstall the safeguarding.
Failure to observe this warning may result in injury or damage.
Install the robot in a location where the fully extended arm and tool will not reach the wall, safeguarding, or controller.
Failure to observe this warning may result in injury or damage.
Do not start the robot or even turn ON the power before it is firmly anchored.
The robot may overturn and cause injury or damage.
When mounting the robot on the wall, the base section must have sufficient strength and rigidity to support the weight of the robot. Also, it is necessary to consider countermeasures to prevent the robot from falling.
Failure to observe these warnings may result in injury or damage.
CAUTIONDo not install or operate the robot that is damaged or lacks parts.
Failure to observe this caution may cause injury or damage.
Before turning ON the power, check to be sure that the shipping bolts and brackets explained in Fig. 6: "Shipping Bolts and Brackets" at Page 13 are removed.
Failure to observe this caution may result in damage to the driving parts.
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3.1 Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance:
Responsibility for Safeguarding (ISO10218)
The user of a robot or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.
3.2 Mounting Procedures for Robot Base
The robot should be firmly mounted on a baseplate or foundation strong enough to support the robot and withstand repulsion forces during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the robot referring to Table 4: "Maximum Repulsion Forces of the Robot at Emergency Stop" and Table 5: "Endurance Torque in Operation".
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the robot shape and affect its functional abilities. Mount the robot base as instructed in 3.2.1 "Mounting Example".
Table 4: Maximum Repulsion Forces of the Robot at Emergency Stop
Maximum torque in horizontal rotation
(S-axis moving direction)
8000 Nm
Maximum torque in vertical rotation
(LU-axes moving direction)
5000 Nm
Table 5: Endurance Torque in Operation
Endurance torque in horizontal operation
(S-axis moving direction)
1700 Nm
Endurance torque in vertical operation
(LU-axes moving direction)
3775 Nm
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3.2.1 Mounting Example
For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the robot or the mounting fixture. It is recommend to prepare a baseplate of 32 mm or more thick, and anchor bolts of M16 or larger size.
The robot base is tapped for four mounting holes; securely fix the robot base to the baseplate with four hexagon head bolts M16 (60 mm long is recommended). Next, fix the robot base to the baseplate. Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation (Refer to Fig. 7: "Mounting the Robot on Baseplate").
Fig. 7: Mounting the Robot on Baseplate
Table 6: Mounting the robot an baseplate
1 Screw M16 (4 screws) 5 Baseplate
2 Spring washer 6 Anchor bolt M16 or more
3 Washer 7 Baseplate
4 Robot base 8 Robot base
25
21
3
4
5
6
7
8
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Fig. 8: Baseplate
3.3 Types of Mounting
The YASKAWA-HP20D-C09 is available in two types: floor-mounted type (standard), wall-mounted type. For wall-mounted type, the three points listed below are different from the floor-mounted type.
● S-Axis Operating Range
● Fixing the Robot Base
● Precautions to Prevent the Robot from Falling
● IP (International Protection) for Main Part of the Robot
3.3.1 S-Axis Operating Range
For wall-mounted type, the S-axis operating range is ±30° (Set before the shipment).
3.3.2 Fixing the Robot Base
For wall- and ceiling-mounted types, be sure to use four hexagon socket head cap screws M16 (tensile strength: 1200 N/mm2 or more) when fixing the robot base. Use a torque of 206 Nm when tightening the screws.
Table 7: Baseplate
1 t = 25 mm up to 50 kg of robots
5
5
80
580
580
520
520
335
260
335
260
36 (4
x)
24 (8
x)
3
1
2
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3.3.3 IP (International Protection) for Main Part of the Robot
For wall-mounted or ceiling mounted types, environmental resistance for main part of the robot does not conform to IP54; environmental resistance for IP65 is optionally available. However, the wrist part conforms to IP67.
3.4 Location
When the robot is installed, it is necessary to satisfy the following environmental conditions:
● Ambient temperature: 0° to +45°C
● Humidity: 20 to 80%RH (at constant temperature)
● Free from dust, soot, or water
● Free from corrosive gases or liquids, or explosive gases
● Free from excessive vibration (Vibration acceleration: 4.9 m/s2 or less [0.5 G] or less)
● Free from large electrical noise (plasma)
● Flatness for installation: 0.5 mm or less
In case of using the wall-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact YASKAWA europe GmbH representative (listed on the back cover of this instruction manual) to execute a wall installation on site.
NOTE
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4 Wiring
4.1 Grounding
Follow local regulations for grounding line size. A line of 6.0 mm2 or more is recommended. Refer to Fig. 9: "Grounding Methode" at Page 20 to connect the ground line directly to the robot.
WARNINGGround resistance must be 0.1 Ω or less.
Failure to observe this warning may result in fire or electric shock.
Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON).
Failure to observe this warning may result in fire or electric shock.
CAUTIONWiring must be performed by authorized or certified personnel. Failure to observe this caution may result in fire or electric shock.
Never use this line sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.
Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.
NOTE
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Fig. 9: Grounding Methode
4.2 Cable Connection
Two robot cables are delivered with the robot; an encoder cable and a power cable (2BC). (Refer to Fig. 10: "Robot Cables" at Page 21).
Connect the robot cables to the connectors on the robot connector base and connectors on the DX100. Refer to Fig. 11: "Robot Cable Connectors (Robot Side)" at Page 22, Fig. 12: "Robot Cable Connection to the DX100" at Page 22.
4.2.1 Connection to the Robot
Before connecting the cables to the robot, verify the numbers on robot cables and the connectors on the connector base of the robot. When connecting, adjust the cable connector positions to the main key positions of the robot, and insert cables in the order of 2BC, then 1BC, and set each lever low until it clicks.
Table 8: Grounding Methode
1 5.5 mm² or more
2 Section A-A
3 Bolt M8 (for grounding), delivered with the robot
AA
1
23
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4.2.2 Connection to the DX100
Before connecting two cables to the DX100, verify the numbers on both robot cables and the connectors on the DX100. When connecting, insert the cables in the order of X21, then X11, and set each lever low until it clicks.
Fig. 10: Robot Cables
Table 9: Robot Cables
1 The robot side
2 Encoder cables
3 Power cables
4 The DX100 Side
X1
X2
X1
X2
2BC
1BC
4 1
2
3
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Fig. 11: Robot Cable Connectors (Robot Side)
Fig. 12: Robot Cable Connection to the DX100
Table 10: Robot cable connectors (Robot side)
1 1 BC 4 Union
2 2 BC 5 Grease hose
3 Connector base fixing screw (M4)
Table 11: Robot cableconnection to the DX100
1 Back view
1BC 2BC
1BC
2BC
1
2
3
4
5
X 11
X 21X 1
X 2
1
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5 Basic Specifications
5.1 Basic Specifications
Table 12: Basic Specifications
Item Model YASKAWA-HP20D-C09
Structure Vertically Articulated
Degree of Freedom 6
Payload 20 kg
Repeatability1) ±0.06 mm
Range of Motion S-Axis (turning) -180° - 180°
L-Axis (lower arm) -110° - 155°
U-Axis (upper arm) -165° - 255°
R-Axis (wrist roll) -200° - 200°
B-Axis (wrist pitch/yaw)
-50° - 230°
T-Axis (wrist twist) -360° - 360°
Maximum Speed S-Axis 3.44 rad/s, 197°/s
L-Axis 3.05 rad/s, 175°/s
U-Axis 3.26 rad/s, 187°/s
R-Axis 6.98 rad/s, 400°/s
B-Axis 6.98 rad/s, 400°/s
T-Axis 10.47 rad/s, 600°/s
Allowable Moment2) R-Axis 39.2 Nm
B-Axis 39.2 Nm
T-Axis 19.6 Nm
Allowable Inertia
(GD2/4)
R-Axis 1.05 kgm2
B-Axis 1.05 kgm2
T-Axis 0.75 kgm2 3)
Approx. Mass 273 kg
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Ambient Conditions Temperature 0°C to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gasses or liquids, or explosive gasses. Free from dust, soot, and substances that spoil sealing performance of the lips of nitrile rubber oil seals used in the manipulator. Free from excessive electrical noise (plasma)
Power Requirements 2.0 kVA
1. Conformed to ISO92832. Refer to chapter „6 "Allowable Load for Wrist Axis and Wrist Flange"“ for details on the permissible moment of
inertia.3. The allowable inertia of T-axis varies depending on the added value of the moment. Refer to 6 "Allowable Load
for Wrist Axis and Wrist Flange" for the details.
Table 12: Basic Specifications
Item Model YASKAWA-HP20D-C09
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5.2 Part Names and Working Axes
Fig. 13: Part Names and Working Axes
Table 13: Part names and working axes
1 U-arm 4 S-head
2 Wrist flange 5 Robot base
3 L-arm
T+
T-B-
B+R+
R-U-
U+
L- L+
S-
S+
1
2
3
4
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5.3 Robot Base Dimensions
Fig. 14: Robot Base Dimensions
Table 14: Robot base dimensions
1 Fitting surface
2 Units: mm
3 12 dia. holes (2 holes)
4 View A
5 18 dia. holes (4 holes) (for robot fixing)
395,
519
5,5
60
60
200 0,1
200
0,1
260
170
0,1
0,1
335
375
250
313335375
A
25
1
1
23
5
4
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5.4 Dimensions and P-Point Maximum Envelope
Fig. 15: Dimensions and P-Point Maximum Envelope
Table 15: Dimension and P-point maximum envelope
1 P-point maximum envelope
2 P-point
3 View A
1717
807
105
413
349
288
459
635
514
0
79515087,5
1417
1323
8014
0
1003
768
505
334
0
524
255
110
165
155
917
991
807
471
260 0
1485
760
505
505
0
238
559
81
2072
R421
157
138,5
421
180
180
A
150
264264264
R31
4
R1717
1
2
3
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5.5 Alterable Operating Range
The operating range of the S-axis can be altered according to the operating conditions as shown in Table 16: "S-Axis Operating Range". If alteration is necessary, contact your YASKAWA europe GmbH representative in advance.
Table 16: S-Axis Operating Range
Item Specifications
S-Axis Operating Range
±180°(standard)
±150°
±120°
± 90°
± 60°
± 30°
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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 20 kg maximum. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in Table 17: "Moment and Total Moment of Inertia". Contact your YASKAWA Europe GmbH representative for further information or assistance.
The allowable moments of inertia for R-axis and B-axis are calculated when the moment is at the maximum. The allowable moment of inertia for T-axis varies depending on the moment, as shown in Fig. 16: "T-axis Allowable Moment of Inertia Diagram (Measured Value from the Rotation Center of the T-axis Flange Surface)". Use the robot to meet those conditions. For example, with YASKAWA-HP20D C09, the allowable moment of inertia for the T-axis is 0.25 kgm2 when the moment is 19.6 Nm, and 0.75 kgm2 when 0 Nm. When the volume load is small, refer to the moment arm rating shown in Fig. 17: "Moment Arm Rating" at Page 30.
Fig. 16: T-axis Allowable Moment of Inertia Diagram (Measured Value from the Rotation Center of the T-axis Flange Surface)
Table 17: Moment and Total Moment of Inertia
Axis Moment Nm GD2/4 Total Moment of Inertia kgm2
R-Axis 39.2 1.05
B-Axis 39.2 1.05
Table 18: T-axis allowable moment of inertia diagram
1 Total Inertia GD²/4 Kgm²
2 Moment (Nm)
0.9
20
0.60.30.750.25
19.6
15
10
5
0
0
Mom
ent
Mom
ent
NNmm
1
2
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Fig. 17: Moment Arm Rating
Table 19: Moment arm rating
1 Load gravity position
2 R-, T-axis rotation center
3 B-axis rotation center
L
L
105
T
B
400
300
W=6Kg
W=10Kg
200100
200
100
0
W=20Kg
W=16Kg
300
L m
m
L mmB
T
1
2
3
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6.2 Wrist Flange
The wrist flange dimensions are shown in Fig. 18: "Wrist Flange". In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.
Fig. 18: Wrist Flange
Table 20: Wirst flange
1 Alignment mark
2 Tapped hole M8 (depth:10) (pitch:1.0) (4 holes)
3 6 dia. +0,012 / 0 hole (depth: 6)
4 Units: mm
5 View A
6 50 dia 0 / -0,039
7 25 dia 0.023 / 0
Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light oil before mounting the tools.
Mount the attachment with the mounting bolts (length: 10 mm or less). Failure to observe this instruction may affect the robot performance.
6
45
P.C.D406
0,5
A
1
2
34
5
67
NOTE
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7 System Application
7.1 Peripheral Equipment Mounts
The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 19: "Installing Peripheral Equipment" at Page 32 for easier installation of the users’s system applications. The following conditions shall be observed to attach or install peripheral equipment.
7.1.1 Allowable Load
The maximum allowable load on the U-axis is 31 kg, including the wrist load. For instance, when the mass installed on the wrist point is 20 kg, the mass which can be installed on the upper arm is 11 kg.
7.1.2 Installation Position
There is a limitation on the installation position. Fig. 20: "Allowable Load on U-axis" at Page 33 shows the distance between the center of U-axis rotation and the load gravity.
Fig. 19: Installing Peripheral Equipment
Table 21: Installing peripheral equipment
1 Z-coordinate direction 5 View A
2 X-coordinate direction 6 Units: mm
3 Center of U-axis rotation 7 Limited dimension of Z-coordinate: 400 at a maximum
4 Rotating Base
7070
220
W2W1
A
1
2
3
4
56
7
2 E1101000130GB03
HP20D-C09
Fig. 20: Allowable Load on U-axis
7.2 Internal User I/O Wiring Harness and Air Line
Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires and 1.25 mm2 x 6 wires), and an air lines are incorporated in the robot for the drive of peripheral devices mounted on the upper arm as shown in Fig. 21: "Connectors for Internal User I/O Wiring Harness and Air Line". The connector pins 1 to 16 are assigned as shown in Fig. 22: "Details of the Connector Pin Numbers" at Page 35 on the following page. Wiring must be performed by users.
Table 22: Allowable load on u-axis
1 In this case, unbalanced moment is not permitted
2 Distance between Center of U-axis Rotation and Load Gravity (‚w direction)
3 Weight W2
The allowable current for internal user I/O wiring harness
3 A or less for each wire (The total current value for pins 1 to 16 must be 40 A or less.)
The maximum pressure for the air line 490 kPa or less (The air line inside diameter: 8.0 mm)
(mm)500200 300 400
30(kg)
W1=16kg20
10W1=20kg
10000
-200 -100
W1=10kg
W1=6kg
*1 *1 1
2
3
E1101000130GB03 33
3
HP20D-C09
Fig. 21: Connectors for Internal User I/O Wiring Harness and Air Line
Table 23: Connectors for internal user I/O wiring harness and air line
1 Connector for internal user I/O wiring harness: JL05-2A204-29SC Order no. 104072 (socket connector with a cap). Prepare pin connector JL05-6A20-29P, Order no. 104073
2 View A
3 Connector for internal user I/O wiring harness: JL05-2A204-29PC Order no. 104064 (socket connector with a cap). Prepare pin connector JL05-6A20-29S, Order no. 104065
4 Air inlet Tapped hole PT3/8 with pipe plug
5 Exhaust port Tapped hole PT3/8 with pipe plug
2BC
1BC
3BC
A
1
2
1
3
5
4
4 E1101000130GB03
HP20D-C09
Fig. 22: Details of the Connector Pin Numbers
The same pin number (1 to 16) of two connectors is connected in the wire lead of single 0.2 mm2 or 1.25 mm2.
Table 24:
1 Connector for Internal User I/O Wiring Harness on the Connector Base
2 Open
3 Internal user I/O wiring harness : 0.20 mm², 8 wires, 1.25 mm², 6 wires
4 Connector for Internal User I/O Wiring Harness on the U-arm
5 +24V: for shock sensor (1A) (Shock sensor signal input)
6 Internal user I/O wiring harness : 0.20 mm², 8 wires, 1.25 mm², 6 wires
7 Pins used
For the standard specification, the pins No. 7 and No. 8 of 3BC connector on the U-arm are respectively connected with the shock sensor power supply and shock sensor signal input port of the DX100 controller.
The pins No.7 and No.8 of respective 3BC connectors on the connector base side and the U-arm side are not connected with each other.
1
6
10
14
8
12
7
11
5
1615
4
9
13
2 3
345
12
91011
1615
1314
12
6
(1,25 mm2)(1,25 mm2)(1,25 mm2)(1,25 mm2)(1,25 mm2)
78
1
6
10
14
8
12
7
11
5
1615
4
9
13
2 3
345
12
91011
1615
1314
12
6
(1,25 mm2)(1,25 mm2)(1,25 mm2)(1,25 mm2)(1,25 mm2)
78
1
22
3
4
5
6
7
7
NOTE
E1101000130GB03 35
3
HP20D-C09
8 Electrical Equipment Specification
8.1 Position of Limit Switch
The limit switches are optional. See Fig. 23: "Location of Limit Switches". The robot with S- and L-axis overrun limit switches, and LU-axis interference limit switch is the type YR-HP0020D-A01 (standard specification).
Fig. 23: Location of Limit Switches
8.2 Internal Connections
Highly reliable connectors are equipped on each connection part of the robot to enable easy removal and installation for maintenance and inspection. For the number and location of connectors, see Fig. 24: "Locations and Numbers of Connectors". Diagrams for Internal connections of the robot are shown in Fig. 25: "(a) Internal Connection Diagramm" at Page 38 and Fig. 26: "(b) Internal Connection Diagramm" at Page 39.
Table 25: Location of limit switches
1 L- and U-axes interference limit switch (optional)
2 L-axis interference limit switch (optional)
3 S-axis overrun limit switch (optional)
1
2
3
6 E1101000130GB03
HP20D-C09
Fig. 24: Locations and Numbers of Connectors
Table 26: Locations and numbers of connectors
1 3BC (for internal user I/O wiring harness) on the U-arm
2 3BC (for internal user I/O wiring harness) on the connector base
Table 27: List of Connector Types
Name Type of Connector Order No.
Connector for the internal user I/O wiring harness on the connector base
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
104072
104065
Connector for the internal user I/O wiring harness on the U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
104072
104065
Cable grommet 107261
Pin male 104120
Pin female 104117
1
1
E1101000130GB03 37
3
HP20D-C09
Fig
.25
: (a)
Inte
rna
l Co
nne
ctio
n D
iagr
amm
-3-21E 32
3BC
-1 -6 -7-5 -10
-11
-9-8 -13
-15
-14
-16
-12
76 1198 105 1613 151412
-44
31 21 32
SS
1S
S2
SS
1S
S24
4
E
SS
2S
S1
87
42 31
E
E
E
3 41
E
E
2
E
-2 -3 -442 31
3BC
-1
66
-6 -8 -9-76 987
-11
-12
-13
-14
11 1312 1410-1
0
-16
1615-1
5
55
5-5
Sec
tion
A f
or IP
65 S
peci
ficat
ion
1 2E
-2
654 118 9 107
-10
-7 -11
-9-8-6-5-4-33
3BC
-1
13 151412 16
-13
-15
-14
-16
-12
7 8
1 2 654 SS
2S
S1
3
1 2 654
SS
2S
S13
-2 -10
-7 -11
-9-8-6-5-4-3
1E 2 6 117 1098543
3BC
-1 -13
-15
-14
-16
-12
1613 151412
21 2
4 SS
2S
S1
433
SS
1S
S2
E
E E
E
E
E
Bas
e3B
C(2
0-29
)
P PP
P P
3BC
(20-
29)
P P P
P PS-
AXIS
OVE
RRUN
L.S
LD
1L
D1
LD
1
L A
ND
U-A
XIS
INTE
RFE
RE
NC
E L
.SL
D3
LD
3
L-A
XIS
OV
ER
RU
N L
.SL
C2
LD
2L
C2 L
C3
LD
1P
LC
2L
C2
LD
1L
D1
LC
1L
D1
LC
1S
-AX
IS O
VE
RR
UN
L.S
LD
3L
AN
D U
-AX
IS IN
TER
FER
EN
CE
L.S
LD
3
LD
2
PL
C3
L-A
XIS
OV
ER
RU
N L
.S
S-AX
IS O
VERR
UN L.
SL
B1
LB
1L
B1
L A
ND
U-A
XIS
INTE
RFE
RE
NC
E L
.SL
B3
LB
3
L-A
XIS
OV
ER
RU
N L
.SL
A2
LB
2L
A2 LA
3L
B1
P
LA
2L
A2
LB
1L
B1
LA
1L
B1
LA
1S
-AX
IS O
VE
RR
UN
L.S
LB
3L
AN
D U
-AX
IS IN
TER
FER
EN
CE
L.S
LB
3
LB
2
PL
A3
L-A
XIS
OV
ER
RU
N L
.S
LD
1L
D1
LD
1
LD
3L
C2
LD
1L
C2
LD
3
LB
1L
B1
LB
1
LB
3L
A2
INTE
RN
AL
CA
BLE
IN B
T-A
XIS
INTE
RNAL
CAB
LE IN
L-AX
ISIN
TER
NA
L C
AB
LE IN
S-A
XIS
PO
WE
R C
AB
LE
LA
2L
B3
LB
1
Bas
e
Cas
ing
C
1BC
(10X
4)D
X10
0
SS
224
V(1A
)C
N4-
2C
N4-
1C
N4-
2C
N4-
1S
S1
SS
2
LD
1L
C1
LC
1
LC
1L
C1
LB
1L
A1
LA
1
LA
1L
A1
A
A
PP
LD
1L
C1
PL
C1
LC
1P
LD
1+2
4V
FG
7
SS
2A
L1
C
0VCN
4-10
CN4-
10
LB
1L
A1
PL
A1
3BC
(20-
29)
P PP PP
B
3BC
(20-
29)
Cas
ing
P P P
P
No
.6C
N
0V
DA
TA
-3B
AT
+5
V
FG
3
OB
T
DA
TA
+35
CN
-1 -2 -3 -4 -3-26
CN
-1
No
.5C
N
PG
DA
TA
+1D
AT
A-1
FG
10
V
OB
T+
5V
BA
T
S-A
XIS
PG
U-A
XIS
B-A
XIS
PG
R-A
XIS
PG
No
.14
CN
0V
BA
T
+5
VO
BT
-2-3 -4-2
OB
TB
AT
-3F
G5
16
CN
-1N
o.1
6C
N
15
CN
-1
14
CN
-1
DA
TA
+6
DA
TA
+5D
AT
A-5
22
CN
-1
-6 -5-2
No
.22
CN
-10
-9-4PP P
PG
DA
TA+2
BA
TD
AT
A-2
BA
T
OB
TF
G2
0V
OB
T+
5V
BA
T
L-A
XIS
23
CN
-1
24
CN
-1-4-2 -3 -3-2
PPP
P
No
.7C
N
-9-3-8-2-7 -4D
AT
A+
6
0V
DA
TA
-5
+5
V
BA
TO
BT
DA
TA
+5
7C
N-1
No
.23
CN
DA
TA
+4
0V
BA
TO
BT
FG
4
DA
TA
-4
+5
VO
BT
BA
T
DA
TA
+3
OB
TB
AT
FG
3
DA
TA
-3B
AT
0V
OB
T+
5V
T-A
XIS
PG
FG
60
V
BA
TO
BT
+5
V
-3-2-3 -4
BA
TO
BT
17
CN
-1
A
P-6-1
1-5
FG
60
V+
5V
U VFO
R L
AM
P(O
PTI
ON
AL)
DA
TA
-6D
AT
A-6
-10
P-2
OB
T
-22
0C
N-1
No
.20
CN
-10
-9-5 -4-6P PP
BA
T1
0B
AT
2
0B
AT
11
81
9
17
0B
AT
4
BA
T3
0B
AT
3
23
25
24
22
21
27
28
30
31
29
26
BA
T4
20
BA
T2
BAT1
10B
AT12
0BAT
112 31
0BAT
215
0BAT
22BA
T22
7 8 16BA
T21
4BA
T12
PG
0V
1
PG
0V
3
PG
0V
2P
G5
V2
PG
5V
11 53 42
PG
5V
6
PG
0V
5
PG
0V
6P
G5
V5
PG
0V
4P
G5
V4
12
9 11
10
7 86P
G5
V3
16
13
14
15
3 4 75 6
1
8
3 2 4
23
2
P PPP
0V+24V
CN
1-4
CN
1-5
1BC(
10X4
)
SPG
+1S
PG
-1
0V+24V
FG
1
CN
1-2
CN
1-1
CN
1-9
CN
1-10
CN
1-3
P PP
CN
1-4
CN
1-5
CN
1-1
CN
1-2
CN
1-10
CN
1-9
CN
1-3
DX
100
0B
TB
AT
BA
T0
BT
BA
T0
BT
BA
T
0B
T
-6-22
1C
N-1
No
.21
CN
-10
-9-4-5
P PP
PP P PP P
P
PP P
P
PL
A1
P
SP
G+2
SP
G-2
FG
2
CN
1-6
CN
1-7
CN
1-8
SP
G+3
SP
G-3
FG
3
CN
2-1
CN
2-2
CN
2-3
P P
SP
G+4
SP
G-4
FG
4
CN
2-6
CN
2-7
CN
2-8
SP
G-5
SP
G+6
FG
5C
N3-
3
CN
3-2
CN
3-6
SP
G+5
CN
3-1
P P
CN
1-6
CN
1-7
CN
1-8
CN
2-1
CN
2-2
CN
2-3
CN
2-6
CN
2-7
CN
2-8
CN
3-3
CN
3-2
CN
3-6
CN
3-1
1BC
(10X
4)
FG
6
+24V
CN
3-8
CN
4-1
AL2
BC
2
CN
4-7
CN
4-2
CN
2-4
CN
4-8
CN
4-3
CN
4-6
LB1
P PP
SP
G-7
+5V
0V
CN
2-10
CN
2-9
CN
3-5
CN
3-4
0V +5V
CN3-
10C
N3-
9
CN
4-9
CN
4-5
CN
4-4
P P P P
CN
2-5
P
SP
G+
7
CN
3-8
CN
4-1
CN
4-7
CN
4-2
CN
2-4
CN
4-8
CN
4-3
CN
4-6
CN2-
10C
N2-
9
CN
3-5
CN
3-4
CN3-
10C
N3-
9
CN
4-9
CN
4-5
CN
4-4
CN
2-5
CN
3-7
CN
3-7
PS
PG
-6
EE
FOR
SP
AR
E C
AB
LESH
OCK
SENS
OR(O
PTIO
NAL)
- For
the
limit
switc
h sp
ecifi
catio
n, th
e co
nnec
tion
of th
e se
ctio
n A
is
chan
ged
as fo
llow
s:- F
or th
e IP
65 s
peci
ficat
ion,
the
conn
ectio
n of
the
sect
ion
A a
nd B
are
cha
nged
as
follo
ws:
<NO
TES
> SLU
-axe
s w
ith O
verr
un L
imit
Sw
itch
Spe
cific
atio
n
SLU
-axe
s w
ith O
verr
un L
imit
Sw
itch
Spe
cific
atio
n (IP
65 s
peci
ficat
ion)
- For
the
stan
dard
spe
cific
atio
n, th
e pi
ns N
o.7
and
No.
8 of
3B
C c
onne
ctor
on
the
U-a
rm a
re
res
pect
ivel
y co
nnec
ted
with
the
shoc
k se
nsor
pow
er s
uppl
y an
d th
e sh
ock
sens
or s
igna
l inp
ut
por
t of t
he D
X10
0 co
ntro
ller.
Pin
No.
7 8
D
X10
0 C
onne
ctio
n P
ort
Sho
ck s
enso
r pow
er s
uppl
y; +
24V
(1A
)S
hock
sen
sor s
igna
l inp
ut
- Whe
n co
nnec
ting
the
pin
No.
7 an
d N
o.8
of th
e co
nnec
tor b
ase
resp
ectiv
ely
with
the
pin
No.
7 an
d N
o.8
of 3
BC
con
nect
ors
on th
e U
-arm
, the
con
nect
ion
of c
rimpe
d co
ntac
t-pin
s (S
S1,
SS
2) s
houl
d be
cha
nged
a
s sh
own
in th
e se
ctio
n C
bel
ow.
(C
onta
ct y
our M
OTO
MA
N ro
bote
c G
mbH
repr
esen
tativ
e w
hen
mod
ifyin
g th
e w
iring
bef
ore
use.
)
PO
WE
R C
AB
LEIN
TER
NA
L C
AB
LECO
NNEC
TOR
BASE
U-A
RM
UN
US
ED
Crim
ped
Con
tact
-Pin
8 E1101000130GB03
HP20D-C09
Fig
.26
: (b)
Inte
rna
l Co
nne
ctio
n D
iagr
amm
ME
1M
E2
ME
2M
U1
MV
1M
W1
MV
2
MU
2M
W2
MW
2
MU
3
MV
2
MU
2
MW
3
MV
4M
U4
MV
5M
U5
MW
4
MU
6
MW
6M
V6
ME
3
ME
5M
E4
MW
5
BA
1
BA
2
BB
1
BA
3B
A4
BB
4B
A5
BA
6
ME
6
MV
3
-2 -3
3BC
-121 3E
21 321 3
-5 -6 -7 -9 -11
-10
-8
4 5 6 7 109 118 14 1513 1612
4 SS
1S
S2
SS
14
SS
2
-4 -12
-16
-14
-15
-13
E
MU
5
ME
5M
W5
MV
5
MV
6
ME
6M
W6
MU
6
BA
6B
B6
BB
5
BA
5
-4-3
12C
N-1 -2-7 -8
10C
N-1 -3 -4 -5 -6-2
-2-1-D-C-A -B
SM
SM
MU
3
ME
3B
A3
MW
3M
V3
MU
4
MW
4
BA
4M
E4
MV
4
YB
BB
3
SM
SMYB
26C
N-3
-4-PE
-1-2
25C
N-1 -3 -1-4-2-5
YB
SM YB
SMYB
MU
5
MW
5M
E5
BA
5
MV
5
18C
N-1 -3 -4 -1-2
MV
6
MU
6
MW
6
BA
6B
B6
ME
6
-219
CN
-1 -3 -1 -2-4-2B
B5
BB
4
-2Y
B
MU
1
BA
1
MV
1
ME
1M
W1
3CN
-3 -4-2 -PE
-1
BB
1
MU
2
BA
2M
E2
MW
2M
V2
-5
4CN
-1
BB
2
E
E
PE
No.
12C
N
No.
10C
N
U-A
XIS
R-A
XIS
S-A
XIS
L-A
XIS
No.
25C
N
No.
26C
N
B-A
XIS
T-A
XIS
No.
18C
N
No.
19C
N
No.
35C
N
No.
37C
N
No.
36C
N
No.
3CN
No.
4CN
2BC
(6X
6)
P
3BC
(20-
29)
P
P P PP
P P
212N
o.8C
N
Cas
ing
8CN-
1
64 5 8 9 10 17654 10987
52 43 6
3 42 5 6 No.
9CN
9CN-
1
33
CN
1-1
CN
1-5
CN
1-2
CN
1-3
CN
1-4
CN
2-1
CN
1-6
CN
2-5
CN
2-4
CN
2-3
CN
2-2
CN
3-1
CN
2-6
CN
3-5
CN
3-4
CN
3-3
CN
3-2
CN
4-2
CN
4-1
CN
3-6
CN
4-3
CN
4-5
CN
4-4
CN
1-1
CN
1-5
CN
1-2
CN
1-3
CN
1-4
CN
2-1
CN
1-6
CN
2-5
CN
2-4
CN
2-3
CN
2-2
CN
3-1
CN
2-6
CN
3-5
CN
3-4
CN
3-3
CN
3-2
CN
4-1
CN
4-2
CN
3-6
CN
4-3
CN
4-5
CN
4-4
2BC
(6X
6)
CN
5-1
CN
5-3
CN
5-5
CN
5-4
CN
5-2
CN
6-2
CN
6-1
CN
6-3
CN
6-6
CN
6-4
CN
6-5
CN
5-6
CN
5-1
CN
5-3
CN
5-5
CN
5-4
CN
5-2
CN
6-2
CN
6-1
CN
6-3
CN
6-6
CN
6-4
CN
6-5
CN
5-6
CN
4-6
CN
4-6
FOR
SP
AR
E C
AB
LE
Sec
tion
B f
or IP
65 S
peci
ficat
ion
E1101000130GB03 39
4
HP20D-C09
9 Maintenance and Inspection
WARNINGBefore maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON).
Failure to observe this warning may result in electric shock or injury.
CAUTIONMaintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
For disassembly or repair, contact your YASKAWA Europe GmbH representative.
The battery pack must be connected before removing detection connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
SYS MONI T ORING TIME
DAT A EDIT DISPL A Y UTILITY
Main Men u ShortCut
CONTRO L POWER TIME (1998/07/06 10:00 ) 2385:42'02
SE R VO POWER TIME (1998/07/06 10:30 ) 36000:00'00
PL A YBACK TIME (1998/10/22 1 1:12 ) 2210:00'20
MOVING TIME (1998/10/22 15:30 ) 1875:15'30
OPER A TING TIME (1998/10/22 16:12 ) 0:0'0
1
HOLD START PLAY TEACH REMOTE
T- Z-
T+ Z+
B+ Y+
R+ X+
B- Y-
R- X-
. .
HIGH SPEED
FAST
SLOW MANUAL SPEED
U- Z-
U+ Z+
L+ Y+
S+ X+
L- Y-
S- X- SERVO ON
M M O O T T O O M M A A N N
S S E E L L E E C C T T SERVO ON
READY
MAIN MENU
SHORT CUT
GO BACK
PAGE AREA
LAYOUT
Multi
C C A A N N C C E E L L
COORD DIRECT OPEN
INFORM LIST
BACK SPACE
S S H H I I F F T T I I N N T T E E R R L L O O C C K K
ROBOT
EX.AXIS
MOTION TYPE
T T E E S S T T S S T T A A R R T T
B B W W D D
INSERT
MODIFY ENTER
F F W W D D
DELETE
S S H H I I F F T T 7
4
2 3
. -
5 . 6
0
8
1
9
JOB UTILITY EDIT DISPLAY
Main Menu ShortCut
JOB CONTENT JOB NAME: TEST01
0000 NOP 0001 SET B000 0 0002 SET B001 1 0003 MOVJ VJ=80.00 0004 MOVJ VJ=80.00 0005 DOUT OGH#(13) B002 0006 DOUT OT#(41) ON 0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662 0008 DOUT OT#(44) ON 0009 TIMER T=3.0 0010 MOVL V=880.0 0011 MOVL V=880.0 0012 MOVL V=880.0 0013 MOVL V=880.0
!Turn on servo power
ASSIST
!?
TOOL: 00 CONTROL GROUP: R1 STEP NO: 0003
0 E1101000130GB03
HP20D-C09
9.1 Inspection Schedule
Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are classified into six levels as shown in Table 28: "Inspection Items".
In Table 28: "Inspection Items", the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized by the user, operations to be performed by trained personnel, and operations to be performed by service company personnel. Only specified personnel shall perform the inspection work.
The inspection interval depends on the total servo operation time.
The following inspection schedule is based on the case where the robot is used for arc welding application. If the robot is used for other application or if it is used under special conditions, a case-by-case examination is required. The inspection may be conducted at shorter intervals if the robot is used very frequently for the application such as handling; in this case, contact your YASKAWA europe GmbH representative.
NOTE
E1101000130GB03 41
4
HP20D-C09
Ta
ble
28
: In
spe
ctio
n It
ems
(S
hee
t 1
of
2)
Item
sa)
Sc
hed
ule
Me
tho
dO
per
ati
on
Ins
pe
cti
on
C
har
ge
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Specified Personnel
Licensee
Service Company
Alig
nme
nt
mar
k•
Vis
ual
Ch
eck
alig
nm
ent
ma
rk a
ccor
dan
ce a
nd d
am
ag
e a
t the
ho
me
po
sitio
n.•
••
Ext
ern
al l
ead
•V
isua
lC
he
ck f
or
da
ma
ge a
nd
de
teri
ora
tion
of l
ead
s.•
••
Wor
kin
g ar
ea a
nd
ro
bo
t•
Vis
ual
Cle
an
the
wo
rk a
rea
if d
ust
or
spa
tter
is p
rese
nt.
Ch
eck
fo
r d
am
age
an
d
out
sid
e c
rack
s.•
••
Mo
tors
fo
r S
-, L
-, U
-axe
s•
Vis
ual
Ch
eck
fo
r g
rea
se le
aka
ge
.b)•
••
Ba
sep
late
mou
ntin
g bo
lts•
Spa
nne
r W
renc
hT
igh
ten
loos
e b
olts
. R
ep
lace
if n
ece
ssar
y.•
••
Cov
er
mou
ntin
g s
cre
ws
•S
crew
driv
er,
Wre
nch
Tig
hte
n lo
ose
bo
lts.
Re
pla
ce if
nec
ess
ary.
••
•C
onn
ect
or
ba
se•
Ma
nu
al
Ch
eck
fo
r lo
ose
co
nne
cto
rs.
••
•T
imin
g b
elts
for
B-
and
T-a
xes
•M
an
ua
lC
he
ck f
or
be
lt te
nsi
on
an
d w
ea
r.•
•W
ire
harn
ess
in r
obot
(SL
EU
-axi
s w
ire
s)
(RB
T-a
xis
wire
s)
•V
isua
l, M
ulti
met
erC
he
ck f
or
con
duc
tion
bet
we
en
the
ma
in c
on
nect
or
of b
ase
and
in
term
ed
iate
co
nn
ecto
r w
ith m
an
ually
sh
aki
ng
the
wir
es.
Ch
eck
for
we
ar o
f
pro
tect
ive
sp
ring
.c)
••
•R
ep
lace
d)•
Wir
e ha
rnes
s in
rob
ot
(BT
-axi
s w
ire
s)
•V
isua
l, M
ulti
met
erC
he
ck f
or
con
duc
tion
bet
we
en
term
ina
ls a
nd
wea
r of
pro
tect
ive
spri
ng.
c)•
••
Re
pla
ced)
•B
att
ery
pack
in r
obot
•R
ep
lace
the
ba
ttery
pa
ck w
he
n th
e b
att
ery
ala
rm o
ccur
s o
r th
e r
obo
t dro
ve
for
360
00H
.•
•S
-axi
s sp
eed
red
uce
r•
•G
reas
e G
unC
he
ck f
or
ma
lfun
ctio
n. (
Re
pla
ce if
nec
ess
ary.
) S
up
ply
gre
ase
e) (
60
00
H
cycl
e).
Se
e 9
.3.1
"G
rea
se R
epl
enis
hme
nt/
Exc
han
ge
for
S-A
xis
Sp
eed
Re
duc
er"
at P
age
49
. R
ep
lace
gre
ase
e).
(12
000
H c
ycle
) S
ee
9.3
.1 "
Gre
ase
Rep
len
ishm
en
t/E
xcha
ng
e fo
r S
-Axi
s S
pee
d R
edu
cer"
at
Pa
ge
49
.
••
2 E1101000130GB03
HP20D-C09
Sp
eed
red
uce
rs fo
r L-
and
U
-axe
s•
•G
reas
e G
unC
he
ck f
or
ma
lfun
ctio
n.
(Re
pla
ce if
ne
cess
ary
.) S
upp
ly g
rea
see)
(6
000
H
cycl
e).
Se
e 9
.3.2
"G
rea
se R
epl
enis
hme
nt/
Exc
han
ge
for
L-A
xis
Sp
eed
R
ed
uce
r" a
t Pa
ge 5
1,
9.3
.3 "
Gre
ase
Rep
len
ish
me
nt/
Exc
han
ge
for
U-A
xis
Spe
ed
Re
du
cer"
at P
ag
e 53
. R
ep
lace
gre
ase
e) (
12
000
H c
ycle
).
Se
e 9
.3.2
"G
rea
se R
ep
len
ish
men
t/E
xch
ang
e f
or L
-Axi
s S
pee
d R
ed
uce
r"
at P
age
51
, 9
.3.3
"G
reas
e R
eple
nis
hm
en
t/E
xcha
ng
e fo
r U
-Axi
s S
pee
d
Re
duc
er"
at P
age
53
.
••
R-,
B-
and
T-a
xes
spe
ed
re
du
cer
•G
reas
e G
unC
he
ck f
or
ma
lfun
ctio
n.
(Re
pla
ce if
ne
cess
ary
.) S
upp
ly g
rea
see)
(6
000
H
cycl
e).
Se
e 9
.3.4
"G
rea
se R
epl
enis
hme
nt
for
R-A
xis
Sp
ee
d R
ed
uce
r" a
t P
ag
e 5
5, 9
.3.5
"G
rea
se R
ep
len
ish
men
t fo
r B
-, T
-Axe
s S
pe
ed R
edu
cer"
at
Pa
ge
56
.
••
T-a
xis
gea
r•
Gre
ase
Gun
Ch
eck
fo
r m
alfu
nct
ion
. (R
ep
lace
if n
ece
ssa
ry.)
Sup
ply
gre
ase
e) (
600
0H
cy
cle
). 9
.3.6
"G
rea
se R
ep
len
ish
me
nt f
or T
-Axi
s G
ea
r" a
t P
ag
e 5
7•
•R
-axi
s cr
oss
ro
ller
be
arin
g•
Gre
ase
Gun
Ch
eck
fo
r m
alfu
nct
ion
. (R
ep
lace
if n
ece
ssa
ry.)
Sup
ply
gre
ase
e) (
600
0H
cy
cle
). S
ee
9.3
.7 "
Gre
ase
Re
ple
nis
hm
ent f
or
R-a
xis
Cro
ss R
olle
r B
eari
ng"
at P
age
58
••
Ove
rha
ul
••
a.In
spec
tion
No
. cor
resp
ond
to th
e nu
mbe
rs in
Fig
.27:
"In
spec
tion
item
s" a
t Pag
e 45
.b.
The
occ
urre
nce
of a
gre
ase
leak
age
indi
cate
s th
e po
ssib
ility
that
gre
ase
has
seep
ed
into
the
mot
or. T
his
can
caus
e a
mot
or b
reak
dow
n. C
ont
act y
our
YA
SK
AW
A e
uro
pe G
mbH
re
pres
enta
tive.
c.W
hen
chec
king
for
cond
uctio
n w
ith m
ultim
eter
, con
nect
the
bat
tery
to “
BA
T”
and
“OB
T”
of c
onne
cto
rs o
n th
e m
otor
sid
e fo
r ea
ch a
xis,
and
then
rem
ove
conn
ecto
rs o
n de
tect
or s
ide
for
each
axi
s fr
om th
e m
otor
. Oth
erw
ise,
the
hom
e p
ositi
on m
ay b
e lo
st. (
Ref
er t
o 9.
3.8
"Not
es fo
r M
aint
enan
ce"
at P
age
59)
d.W
ire h
arne
ss in
rob
ot to
be
rep
lace
d at
240
00H
insp
ectio
n.e.
For
the
gre
ase,
ref
er t
o Ta
ble
29:
"Ins
pect
ion
Par
ts a
nd G
reas
e U
sed"
at P
age
44.
Ta
ble
28
: In
spe
ctio
n It
ems
(S
hee
t 2
of
2)
Item
sa)
Sc
hed
ule
Me
tho
dO
per
ati
on
Ins
pe
cti
on
C
har
ge
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Specified Personnel
Licensee
Service Company
E1101000130GB03 43
4
HP20D-C09
The numbers in the above table correspond to the numbers in Table 28: "Inspection Items" at Page 42
Table 29: Inspection Parts and Grease Used
No. Grease Used Order no. Qty Inspected Parts
12, 13 VIGO Grease RE No. 0 101839 16 kg Speed reducers for S-, L- and U-axes
14, 15 Harmonic Grease SK-1A 127609 2.5 kg Speed reducers for R-, B- and T-axes
T-axis gear
16 Alvania EP Grease 2 127606 16 kg R-axis cross roller bearing
4 E1101000130GB03
HP20D-C09
Fig
.27
: In
spe
ctio
n ite
ms
Th
e nu
mbe
rs in
the
abo
ve F
ig.
27:
"In
spec
tion
item
s" c
orr
espo
nd to
the
nu
mb
ers
in T
abl
e 2
8: "
Insp
ect
ion
Ite
ms"
at
Pag
e 4
2
1711
13
74
4
16
114 15
13
1
12
11
9
110
882
41
5
E1101000130GB03 45
4
HP20D-C09
9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement
The battery packs are installed in the position shown in Fig. 28: "Battery Location". If the battery alarm occurs in the DX100, replace the battery according to the following procedure:
Fig. 28: Battery Location
Table 30: Battery location
1 Cover fixing screw (M4)
2 Battery pack
3 Plate fixing screw (M4)
1BC 2BC
1
2
3
6 E1101000130GB03
HP20D-C09
Fig. 29: Battery Connection
1. Turn OFF the DX100 main power supply.
2. Remove the plate fixing screws and the plate on the connector base, then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the board.
5. Remove the old battery pack from the board.
6. Mount the new battery pack to the holder.
7. Reinstall the plate.
Table 31: Battery connection
1 Battery pack before replacement
2 Connector
3 New battery pack (HW0470360-A) Order No.: 105548
4 See step 4 below
5 Board
6 See step 5 below
Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.
Do not allow plate to pinch the cables when reinstalling the plate.
1
2
4
3
5
6
NOTE
NOTE
E1101000130GB03 47
4
HP20D-C09
9.3 Notes on Grease Replenishment/Exchange Procedures
Make sure to follow the instructions listed below at grease replenishment/exchange. Failure to observe the following notes may result in damage to motor and speed reducer.
If grease is added without removing the plug/screw from the grease exhaust port, the grease will leak inside a motor or an oil seal of a speed reducer will come off, which may result in damage to the motor. Make sure to remove the plug.
Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
Make sure to use a grease pump to inject grease. Set air supply pressure to the grease pump at 0.3 MPa or less, and the grease injection rate at 8 g/s or less.
Make sure to fill the hose on the grease inlet with grease beforehand to prevent air from leaking into the speed reducer.
NOTE
8 E1101000130GB03
HP20D-C09
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer
Fig. 30: S-Axis Speed Reducer Diagram
9.3.1.1 Grease Replenishment (Refer to Fig. 30: "S-Axis Speed Reducer Diagram").
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet and grease exhaust port.
Table 32: S-axis speed reducer diagram
1 Grease exhaust port Hexagon socket head plug PT1/8
2 S-axis speed reducer
3 Grease inlet Hexagon socket head plug PT1/8
For the ceiling-mounted robot, the grease exhaust port and the grease inlet are inverted.
If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
1
2
3
NOTE
NOTE
E1101000130GB03 49
5
HP20D-C09
2. Install a grease zerk PT1/8 to the grease inlet (The grease zerk is delivered with the robot).
3. Inject the grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No.0Order no. 101839.
– Amount of grease: 360 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less.
4. Move the S-axis for a few minutes to discharge excess grease.
5. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Fluit Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
6. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Fluit Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
9.3.1.2 Grease Exchange (Refer to fig. 31 “S-Axis Speed Reducer Diagram” at page 49.)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet and grease exhaust port.
2. Install a grease zerk PT1/8 to the grease inlet (The grease zerk is delivered with the robot).
3. Inject the grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0Order no. 101839
– Amount of grease: approx. 1800 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less.
4. The grease exchange is completed when new grease appears in the grease exhaust port. (The new grease can be distinguished from the old grease by color).
5. Move the S-axis for a few minutes to discharge excess grease.
6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTE
0 E1101000130GB03
HP20D-C09
7. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer
Fig. 31: L-Axis Speed Reducer Diagram
9.3.2.1 Grease Exchange (Refer to Fig. 31: "L-Axis Speed Reducer Diagram").
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
4. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is delivered with the robot).
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0Order no. 101839.
Table 33: L-axes speed reducer diagram
1 Grease exhaust port Hexagon socket head plug PT1/8
2 L-axis speed reducer
3 Grease inlet Hexagon socket head cap screw M6
4 L-arm
For the ceiling-mounted robot, the grease exhaust port and the grease inlet are inverted.
If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
1
2
3
4
NOTE
NOTE
E1101000130GB03 51
5
HP20D-C09
– Amount of grease: 100 cc
– Air supply pressure of grease pump: 0.3 MPa or less.
– Grease injection rate: 8 g/s or less
6. Move the L-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Fluit Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Fluit Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
9.3.2.2 Grease Exchange (Refer to Fig. 31: "L-Axis Speed Reducer Diagram" at Page 51.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
4. Install a grease zerk A-MT6X1 to the grease inlet (The grease zerk is delivered with the robot).
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0Order no. 101839
– Amount of grease: approx. 500 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. The grease exchange is completed when new grease appears in the grease exhaust port. (The new grease can be distinguished from the old grease by color).
7. Move the L-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
9. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTE
2 E1101000130GB03
HP20D-C09
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer
Fig. 32: U-Axis Speed Reducer Diagram
9.3.3.1 Grease Replenishment (Refer to Fig. 32: "U-Axis Speed Reducer Diagram").
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from grease exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
Table 34: U-axis speed reducer diagram
1 U-arm
2 Grease inlet Hexagon socket head
3 Grease exhaust port Hexagon socket head cap screw M6
4 U-axis speed reducer
For the ceiling-mounted robot, the grease exhaust port and the grease inlet are inverted.
If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
1
2
4
3
NOTE
NOTE
E1101000130GB03 53
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4. Install a grease zerk A-MT6X1 to the grease inlet (The grease zerk is delivered with the robot).
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0Order no. 101839
– Amount of grease: 60 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. Move the U-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
9.3.3.2 Grease Exchange (Refer to Fig. 32: "U-Axis Speed Reducer Diagram" at Page 53.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from the grease exhaust port.
3. Install a grease zerk A-MT6X1 to the grease inlet (The grease zerk is delivered with the robot).
4. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0Order no. 101839
– Amount of grease: approx. 300 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
5. The grease exchange is complete when new grease appears in the grease exhaust port. (The new grease can be distinguished from the old grease by color.)
6. Move the U-axis for a few minutes to discharge excess grease.
If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
NOTE
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7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Fluid Plast on the thread part of the plug, then tighten the plug with a tightening torque of 5 Nm.
9.3.4 Grease Replenishment for R-Axis Speed Reducer
Fig. 33: R-Axis Speed Reducer Diagram
1. Remove the hexagon socket head cap screw M6 from the exhaust port.
2. Inject grease into the grease inlet using a grease gun (Refer to Fig. 33: "R-Axis Speed Reducer Diagram").
– Grease type: Harmonic grease SK-1AOrder no. 100148
– Amount of grease: 8cc
3. Reinstall the screw on the exhaust port. Before installing the screw, apply Fluid Plast on the thread part of the screw, then tighten the screw with a tightening torque of 5 Nm.
Table 35: R-axis speed reducer diagram
1 Grease inlet Grease zerk A-MT6 x 1
2 Cap
3 Exhaust port screw M6
The exhaust port is used for air exhaust, and the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
1
23
NOTE
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9.3.5 Grease Replenishment for B-, T-Axes Speed Reducer
Fig. 34: B-, T-Axes Speed Reducers Diagram
1. Remove the plug LP-M5 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet (The grease zerk is delivered with the robot).
4. Inject grease into the grease inlet using a grease gun (Refer to Fig. 34: "B-, T-Axes Speed Reducers Diagram").
– Grease type: Harmonic grease SK-1AOrder no. 127609
– Amount of grease: For B-axis: 10 cc
– For T-axis: 5 cc)
Table 36: B-, T-axes speed reducer diagram
1 Exhaust port (B-axis) Plug LP-M5
2 T-axis speed reducer
3 Exhaust port (T-axis) screw M6
4 Grease inlet (T-axis) screw M6
5 Grease inlet (B-axis) screw M6
6 B-axis speed reducer
Remove the cover for the B-axis speed reducer.
4
5
6
32
1
NOTE
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5. Reinstall the plug/screw to the exhaust ports. Before installing the plug/screw, apply Fluid Plast on the thread part of the plug/screw, then tighten the plug/screw with a tightening torque of 5 Nm.
6. Remove the grease zerk from the grease inlets, and reinstall the screws. Before installing the screws, apply Fluid Plast on the thread part of the screws, then tighten the screws with a tightening torque of 5 Nm.
9.3.6 Grease Replenishment for T-Axis Gear
Fig. 35: T-Axis Gear Diagram
1. Remove the plug LP-M5 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet (The grease zerk is delivered with the robot).
4. Inject grease into the gear grease inlet using a grease gun. (Refer to Fig. 35: "T-Axis Gear Diagram").
– Grease type: Harmonic grease SK-1AOrder no. 127609
– Amount of grease: 5 cc
The exhaust port is used for air exhaust, and the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
Mount the cover for the B-axis speed reducer (Refer to 9.3.8 "Notes for Maintenance" at Page 59).
Table 37:
1 Exhaust port Plug LP-M5
2 Grease inlet screw M6
NOTE
NOTE
Exhaust portExhaust port1
2
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5. Reinstall the plug to the exhaust port. Before installing the plug, apply Fluit PlastFluit Plast on the thread part of the plug, then tighten the screw with a tightening torque of 5 Nm.
6. Remove the grease zerk from the gear grease inlet, and reinstall the screw. Before installing the screw, apply Fluit Plast on the thread part of the screw, then tighten the screw with a tightening torque of 5 Nm.
9.3.7 Grease Replenishment for R-axis Cross Roller Bearing
Fig. 36: R-axis Cross Roller Bearing Diagram
1. Remove the plug LP-M5 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet (The grease zerk is delivered with the robot).
4. Inject grease into the grease inlet using a grease gun (Refer to Fig. 36: "R-axis Cross Roller Bearing Diagram" at Page 58).
The exhaust port is used for air exhaust, and the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
Table 38: R-axis cross roller bearing diagram
1 Exhaust port Plug LP-M5
2 R-axis cross roller bearing
3 Grease inlet screw M6
NOTE
12
3
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– Grease type: Alvania EP grease 2Order no. 127606
– Amount of grease: 8 cc
5. Reinstall the plug to the exhaust port. Before installing the plug, apply Fluit Plast on the thread part of the plug, then tighten the screw with a tightening torque of 5 Nm.
6. Remove the grease zerk from the gear grease inlet, and reinstall the screw. Before installing the screw, apply Fluit Plast on the thread part of the screw, then tighten the screw with a tightening torque of 5 Nm.
9.3.8 Notes for Maintenance
9.3.8.1 Wrist Unit
The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with sealing bond. If the wrist cover is disassembled, make sure to reseal with Fluit Plast.
Fig. 37: Sealing Part of Wrist Unit
The exhaust port is used for air exhaust, and the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
Table 39: Sealing part of wrist unit
1 Cover jointing face
2 Cover
NOTE
1
1
2
2
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9.3.9 Home Position Calibration
WARNINGBefore operating the robot, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the DX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the robot cannot be stopped in case of an emergency.
Observe the following precautions when performing teaching operations within the P-point maximum envelope of the robot:
– View the robot from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always prepare your reactions to a robot’s unexpected approach toward you.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended robot operation may result in injury.
Prior to performing the following operations, be sure that no one is in the P-point maximum envelope of the robot, and be sure that you are in a safe place when:
– Turning ON the DX100 power.
– Operating the robot with the programming pendant.
Injury may result from contact with the robot if persons enter the P-point maximum envelope of the robot.
Always press the emergency stop button immediately if there are problems.
Emergency stop buttons are located on the right of the front door of the DX100 and the programming pendant.
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9.3.10 Home Position Calibration
Home position calibration is an operation in which the home position and absolute encoder position coincide. Although this operation is performed prior to shipment at the factory, the following cases require this operation to be performed again.
● Change in the combination of the robot and DX100.
● Replacement of the motor or absolute encoder.
● Clearing stored memory (by replacement of NIF01 circuit board, weak battery, etc.).
● Home position deviation caused by hitting the robot against a workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home position mark on each axis so that the robot can take its posture for the home position. There are two operations for home position calibration:
● All the axes can be moved at the same time: Recalibrate the home position by moving all the axes together if changing the combination of robot and circuit board.
● Axes can be moved individually: Recalibrate the home position for the individual axes that were affected by the replacement, if replacing the motor or absolute encoder.
If the absolute data of its posture for the home position is already known, set the absolute data again after completing home position registration.
CAUTIONPerform the following inspection procedures prior to teaching the robot. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed.
– Check for problems in robot movement.
– Check for damage to the insulation and sheathing of external wires.
– Always return the programming pendant to its hook on the DX100 cabinet after use.
If the programming pendant is inadvertently left on the robot, a fixture, or on the floor, the robot or a tool could collide with it during robot movement, possibly causing injury or equipment damage.
Teaching and playback are not possible before the completion of the 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.
NOTE
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9.3.11 Calibrating Operation
9.3.11.1 Registering All Axes at One Time
1. Select {ROBOT} under the main menu.
– The sub menu appears.
2. Select {HOME POSITION}.
– The HOME POSITIONING window appears.
Home Position: The home position is the pulse value "0" for each axis and its posture.
Home position calibration screen is displayed only in security mode or management mode.
SUPPLE-MENT
NOTE
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3. Select {DISPLAY} under the menu.
– The pull-down menu appears.
– The same operation as the instruction 3 can also be performed by selecting {PAGE}, and selection box appears.
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4. Select the desired control group.
– Select the control group for HOME POSITIONING.
– The control group can also be selected by pressing page key .
5. Select {EDIT} under the menu.
– The pull-down menu appears.
6. Select {SELECT ALL AXES}.
– The confirmation dialog box appears.
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7. Select {YES}.
– Displayed position data of all axes are registered as home position. When {NO} is selected, the registration will be canceled.
9.3.11.2 Registering Individual Axes
1. Select {ROBOT} under the main menu.
– The sub menu appears.
2. Select {HOME POSITION}.
3. Select the desired control group.
– Perform the step 3 and 4 of the “Registering All Axes at One Time” to select the desired control group.
4. Select the axis to be registered.
– Move the cursor to the axis to be registered, and select it.
– A confirmation dialog box appears.
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5. Select {YES}.
– Displayed position data of the axis is registered as home position. When {NO} is selected, the registration will be canceled.
9.3.11.3 Changing the Absolute Data
To change the absolute data of the axis when home position calibration is completed, perform the following:
1. Select {ROBOT} under the main menu.
2. Select {HOME POSITION}.
3. Select the desired control group.
– Perform the step 3 and 4 of the “Registering All Axes at One Time” to select the desired control group.
4. Select the absolute data to be registered.
– The number can now be entered.
5. Enter the absolute data using the numeric keys.
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6. Press [ENTER].
– Absolute data is modified.
9.3.11.4 Clearing Absolute Data
1. Select {ROBOT} under the main menu.
– The sub menu appears
2. Select {HOME POSITION}.
– Perform the step 3 and 4 of the “Registering All Axes at One Time” to select the desired control group.
3. Select {DATA} under the main menu.
– The pull-down menu appears.
4. Select [CLEAR ALL DATA].
– A confirmation dialog box appears.
5. Select {YES}.
– All absolute data are cleared.
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– When {NO} is selected, the registration will be canceled.
9.3.12 Home Position of the Robot
In case of ES165D, the home position are as follows.
Fig. 38: Home Positon
Table 40: Home position
1 B-axis center line angle against, U-axis center line (0°)
2 U-axis angle against horizontal line on the ground (0°)
3 L-axis angle against vertical line to the ground (0°)
1 2
3
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9.4 Setting the Second Home Position (Check Point)
Other robot models have different positions. Always refer to "ROBOT INSTRUCTIONS" for the correct robot model.
WARNINGBe aware of safety hazards when performing the position confirmation of the second home position (check point).
When "OUT OF RANGE (ABSO DATA)" alarm occurs, abnormality of the PG system may be a cause of the alarm. The robot may operate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
Before operating the robot, check that the SERVO ON lamp goes out when the emergency stop buttons on the front door of DX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the robot cannot be stopped in case of an emergency.
Observe the following precautions when performing teaching operations within the P-point maximum envelope of the robot:
– View the robot from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended robot operation may result in injury.
Prior to performing the following operations, be sure that no one is in the P-point maximum envelope of the robot, and be sure that you are in a safe place when:
– Turning ON the DX100 power.
– Moving the robot with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result from contact with the robot if persons enter the P-point maximum envelope of the robot.
Press the emergency stop button immediately whenever there are problems.
Emergency stop buttons are attached on the front door of the DX100 and the right side of the programming pendant.
NOTE
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9.4.1 Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not match the data stored in the absolute encoder the last time the power supply was turned OFF, an alarm is issued when the controller power is turned ON.
There are two possible causes of this alarm:
● Error in the PG system.
● The robot was moved after the power supply was turned OFF.
If there is an error with the PG system, the robot may stall when playback is started. If the absolute data allowable range error alarm has occurred, playback and test runs will not function and the position must be checked.
CAUTIONPerform the following inspection procedures prior to teaching the robot. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed.
– Check for problems in robot movement.
– Check for damage to the insulation and sheathing of external wires.
Always return the programming pendant to its hook on the DX100 cabinet after use.
If the programming pendant is inadvertently left on the robot, a fixture, or on the floor, the robot or a tool could collide with it during robot movement, possibly causing injury or equipment damage.
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Fig. 39: Purpose of position check
Table 41:
1 "OUT OF RANGE (ABSO DATA)" alarm occurs
2 Reset alarm
3 Turn ON servo power
4 Position confirmation operation
5 Compare second home position (check point)* pulses with current position pulses
6 Alarm occurs again
7 Correct defective axis
8 Position checking point
9 Playback possible
10 Procedure After Alarm Occurs
� • •
�
NG
OK
�
1
2
4
5
6
7
8
9
3
10
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Position Check
After the "OUT OF RANGE (ABSO DATA)" alarm occurs, move to the second home position using the axis keys and perform the position confirmation. Playback, test runs, and FWD operation will not function unless "CONFIRM POSITION" is performed.
Pulse Difference Check
The pulse number at the second home position is compared with that at the current position. If the difference is within the allowable range, playback is enabled. If not, the alarm occurs again.
● The allowable range pulse is the number of pulses per rotation of the motor (PPR data).
● The initial value of the second home position is the home position (where all axes are at pulse 0). The second home position can be changed.
Alarm Occurrence
If the alarm occurs again, there may be an error in the PG system. Check the system. After adjusting the erroneous axis, calibrate the home position of the axis, then check the position again.
9.4.2 Procedure for the Second Home Position Setting (Check Point)
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.
If two or more robots or stations are controlled by one controller, the second home position must be set for each robot or station.
1. Select {ROBOT} under the main menu.
– The sub menu appears.
Home position calibration of all the axes at the same time enables playback operations without having to check the position.
Sometimes in a system with a robot with no brake, it is possible to enable playback without position checking after the alarm occurs. However, as a rule, always perform "CONFIRM POSITION". Under the above special conditions, the robot moves as follows:
After the start, the robot moves at low speed (1/10 of the maximum speed) to the step indicated by the cursor. If it stops and restarts during this motion, the low speed setting is retained until the step at cursor is reached.
Regardless of cycle setting, the robot stops after reaching to the step indicated by cursor. Starting the robot again then moves it at the programmed speed and cycle of the job.
NOTE
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2. Select {SECOND HOME POS}.
– The SECOND HOME POS window appears. A message “Available to move to and modify specified point” is displayed.
3. Press the page key , or select {PAGE} to display the selection window for the control group.
– When there are two or more group axes, select the group axes to which the second home position is to be specified.
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4. Press the axis keys.
– Move the robot to the new second home position.
5. Press [MODIFY], then [ENTER].
– The second home position is changed.
9.4.3 Procedure after the Alarm
If the "OUT OF RANGE (ABSO DATA)" alarm occurs:
● Reset the alarm;
● Turn ON the servo power;
then confirm the second home position. After the confirmation, if the PG system is found to be the cause of the alarm, perform the necessary operation, such as replacing the PG, etc.
The robot current position data when turning main power supply OFF and ON can be confirmed in “POWER ON/OFF POS" window.
WARNINGBe aware of safety hazards when performing the position confirmation of the specified point.
Abnormality of the PG system may be the cause of the alarm. The robot may operate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
For details on the “POWER ON/OFF POS" window, refer to " 7.7 Position Data When Power is Turned ON/OFF " in DX100 MAINTENANCE MANUAL.
SUPPLE-MENT
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1. Select {ROBOT} under the main menu.
– The sub menu appears.
2. Select {SECOND HOME POS}.
– The SECOND HOME POS window appears.
3. Press the page key , or select {PAGE} to display the selection window for the control group.
– When there are two or more group axes, select the group axes to which the second home position is to be specified.
4. Press [FWD].
– TCP moves to the second home position. The robot moving speed is set as selected manual speed.
5. Select {DATA} under the menu.
6. Select {CONFIRM POSITION}.
– A message “Home position checked” appears.
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– Pulse data of the second home position and current pulse data are compared. If the compared error is in allowed range, playback operation can be done.
– If the error is beyond the allowed range, the alarm occurs again.
9.4.3.1 Encoder Connector (with CAUTION Label)
● Battery Pack Connection (for S-, L-, U-axes Motors)
The connectors (crimped contact-pin) for the battery backup are installed at the end point of the motors (marked as BAT and OBT). Connect the battery pack according to the following procedure.
1. Remove the cap attached to the battery backup connector of the motors.
2. Connect the battery packs (HW9470932-A / Order no. 111512) with the battery backup connectors located at the end point of the cables for the encoder. (Under this condition, remove the encoder connector and carry out the maintenance checks).
3. After the maintenance check, verify that all the connectors are connected and remove the battery pack. Install the caps attached to the battery backup connector of the motor.
When performing maintenance such as replacement of a wire harness in the robot, the encoder connector (with CAUTION label) will be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.
Removing the encoder connector without connecting the battery pack leads to disappearance of the encoder absolute data.
For the battery pack connection, refer to Fig. 40: "Encoder connector Diagram (for S-, L- and U-Axes)" at Page 77 and Fig. 41: "Encoder Connector Diagram (for R-, B- and T-Axes)" at Page 78.
Do not remove the battery pack in the connector base.
NOTE
NOTE
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Fig. 40: Encoder connector Diagram (for S-, L- and U-Axes)
● Battery Pack Connection (for R-, B-, T-axes Motors)
The connectors (crimped contact-pin) for the battery backup are install.ed at the end point of the motors (marked as BAT and OBT). Connect the battery pack according to the following procedure.
Table 42: Encoder connector diagram (for S-, L- and U-axes)
1 Motor
2 Motor power connector
3 Battery pack HW9470932-A Order no. 111512
4 Connector for the battery backup
5 a: Crimped contact-pin (Socket)
b: Crimped contact-pin (Pin)
6 CAUTION Label (Enlarged view)
7 CAUTION label
8 Encoder connector
b
aab0BT
BAT BAT*0BT*
Connect battery to encoder to save the data before removing conector.
CAUTION
CAUTIONConnect battery to encoder to save the data before removing conector.
1
2
3
5
4
6
7
8
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1. Connect the battery packs (HW9470932-A / Order no. 111512) with the battery backup connectors located at the end point of the cables for the encoder (Under this condition, remove the encoder connector and carry out the maintenance checks).
2. After the maintenance check, verify that all the connectors are connected and remove the battery pack. Install the caps attached to the battery backup connector of the motor.
Fig. 41: Encoder Connector Diagram (for R-, B- and T-Axes)
Do not remove the battery pack in the connector base.
Table 43: Encoder connector diagram (for R-, B- and T-axes
1 Encoder 7 CAUTION Label (Enlarged view)
2 Motor cable, etc. 8 CAUTION label
3 Connection 9 Wire harness in robo
4 Battery pack HW9470932-A Order no. 111512
10 Power connector
5 Encoder connector 11 Motor
6 a: Crimped contact-pin (Socket) b: Crimped contact-pin (Pin)
NOTE
BAT0BTb
aa
b0BTBAT
BAT0BTb
aa
bBAT
0BT
CAUTION
CA
UTIO
N
Connect battery to encoder
to save the data before rem
oving conector.
Connect battery to encoder to save the data before removing conector.
1
2
3
45
67
8
9 10
11
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9.4.4 Exhaust Procedures of Dew Condensation Water
Add this item to 9.2 "Notes on Maintenance Procedures" at Page 46.
9.4.4.1 In Case of Floor Installation
Fig. 42: Dew Condensation Water Exhaust (Floor Installation)
1. Make the U-axis horizontal to the ground as shown in Fig. 42: "Dew Condensation Water Exhaust (Floor Installation)".
2. Remove the plug from the water exhaust port 1.
3. Remove the plug from the water exhaust port 2.
4. Discharge the dew condensation water.
5. Apply Fluit Plast on the thread part of each plug, and reinstall the plug on water exhaust port 1.
6. Reinstall the plug on water exhaust port 2.
Table 44: Dew condensation water exhaust
1 Dew condensation water exhaust port 2: plug PT 1/8
2 Dew condensation water exhaust port 1: plug PT 1/8
1
2
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9.4.4.2 In Case of Wall Installation
Fig. 43: Dew Condensation Water Exhaust (Wall Installation)
1. Make the U-axis horizontal to the ground as shown in Fig. 43: "Dew Condensation Water Exhaust (Wall Installation)".
2. Remove the plug from the water exhaust port 1.
3. Discharge the dew condensation water.
4. Apply Fluit Plast on the thread part of the plug, and reinstall the plug on water exhaust port 1.
Table 45:
1 View A
2 Dew condensation water exhaust port 1: plug PT 1/8
1
2
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9.4.4.3 In Case of Ceiling Installation
Fig. 44: Dew Condensation Water Exhaust (Ceiling Installation)
1. Make the U-axis horizontal to the ground as shown in Fig. 44: "Dew Condensation Water Exhaust (Ceiling Installation)".
2. Remove each plug from the water exhaust port 1 and 2.
3. Discharge the dew condensation water.
4. Apply Fluit Plast on the thread part of each plug, and reinstall the plugs on water exhaust port 1 and 2 respectively.
Table 46: Dew
1 Dew condensation water exhaust port 2: plug PT 1/
2 Dew condensation water exhaust port 1: plug PT 1/8
12
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10 Recommended Spare Parts
It is recommended to keep the parts and components in the following table in stock as spare parts for the YASKAWA-HP20D-C09. Product performance cannot be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows:
● Rank A: Expendable and frequently replaced parts.
● Rank B: Parts for which replacement may be necessary as a result of frequent operation.
● Rank C: Drive unit.
For replacing parts in Rank B or Rank C, contact your YASKAWA europe GmbH representative.
Table 47: Spare Parts for the YR-HP0020D-C09 (Sheet 1 of 2)
Rank PartsNo.
Name Type Order Nr. Manufacturer Qty QtyperUnit
Remarks
A Grease VIGO Grease RE No. 0
Yaskawa Electric Corporation
16 kg -
A Grease Harmonic Grease SK-1A
Harmonic Drive Systems Co., Ltd.
2.5 kg -
A Grease Alvania EP Grease 2
Showa Shell Sekiyu K.K. 16 kg -
A Liquid Seal Fluit Plast - -
A Battery Pack HW0470360-A Yaskawa Electric Corporation
1 1 for connector base
A Battery Pack HW9470984-A Yaskawa Electric Corporation
1 1 for wire harness in manipulator replacing
B B-Axis Timing Belt
80S4.5M653 Mitsuboshi Belting Limited 1 1
B T-Axis Timing Belt
80S4.5M518 Mitsuboshi Belting Limited 1 1
B S-Axis Speed Reducer
HW0387753-B Yaskawa Electric Corporation
1 1
B S-Axis Input Gear
HW0313491-1 Yaskawa Electric Corporation
1 1
B L-Axis Speed Reducer
HW0387753-C Yaskawa Electric Corporation
1 1
B L-Axis Input Gear
HW0313492-1 Yaskawa Electric Corporation
1 1
B U-Axis Speed Reducer
HW9280880-G Yaskawa Electric Corporation
1 1
B R-Axis Speed Reducer
HW0381463-A Yaskawa Electric Corporation
1 1
NOTE
2 E1101000130GB03
HP20D-C09
B B-Axis Speed Reducer
HW9381633-A Yaskawa Electric Corporation
1 1
B T-Axis Speed Reducer
HW0382140-A Yaskawa Electric Corporation
1 1
B Internal Wire Harness
HW0175594-A Yaskawa Electric Corporation
1 1
B Internal Cable for B- and T-Axes
HW0270954-A Yaskawa Electric Corporation
1 1
C S-Axis AC Servomotor
HW0388665-A
SGMRV-09ANA-YR1*
Yaskawa Electric Corporation
1 1
C L-Axis AC Servomotor
HW0388666-A
SGMRV-13ANA-YR2*
Yaskawa Electric Corporation
1 1
C U-Axis AC Servomotor
HW0388663-A
SGMRV-05ANA-YR1*
Yaskawa Electric Corporation
1 1
C AC Servo Motor for R-, B- and T-Axes
HW0389298-A
SGMPH-02ANA-YR1*
Yaskawa Electric Corporation
1 3
Table 47: Spare Parts for the YR-HP0020D-C09 (Sheet 2 of 2)
Rank PartsNo.
Name Type Order Nr. Manufacturer Qty QtyperUnit
Remarks
E1101000130GB03 83
8
HP20D-C09
11 Parts List
11.1 S-Axis Unit
1007
1005
1020
1025
1014
1006
1016
1017
1018
1015 1037
1028
1029
1038
1039
1040
1002
1004
1003
1030
1009
1030
1031
1032
1033
1035
1036
1034
1001
1008
1027
1024
10241023
1026
1020
1023
1022
1041
1041
1012
1013
1010
1014
1011
1021
4 E1101000130GB03
HP20D-C09
Table 48 S-axis Unit
No. DWG No. Name Order Nr.: Pcs
1001 SGMRV-09ANA-YR1* Motor 1
1002 HW0100545-2 S head 1
1003 M16X20 Socket screw 1
1004 2H-16 Spring washer 1
1005 HW0387753-B Speed reducer 1
1006 M10X40 GT-SA bolt 16
1007 HW0100544-2 Base 1
1008 M8X30 GT-SA bolt 3
1009 HW0305306-2 M base 1
1010 M5X10 APS bolt 4
1011 PT1/8 Plug 1
1012 UKM6-01 Union 1
1013 HW0305809-1 Cover 1
1014 NB-0640-B Tube 2
1015 HW0304221-1 Cover 1
1016 M6X15 GT-SA bolt 2
1017 MSB8-15 Shoulder 1
1018 HW0400645-1 Lever 1
1020 TSH6-01M Union 2
1021 CD-31 Saddle 1
1022 M6X10 Socket screw 2
1023 TA1-S10 Clamp 2
1024 M5X10 Screw with spring washer
2
1025 EZ5036A0 Cap 1
1026 M6X15 GT-SA bolt 2
1027 HW0305812-1 Holder 1
1028 HW9406775-1 Cover 1
1029 M6X8 APS bolt 2
1030 M12 Eye bolt 2
1031 M8X60 Socket screw 3
1032 2H-8 Spring washer 3
1033 M12X35 GT-SA bolt 9
1034 HW0313491-1 Gear 1
1035 M6X60 Socket screw 1
1036 2H-6 Spring washer 1
1037 V-375L V ring 1
1038 HW0405277-1 Plate 1
1039 M5X16 GT-SA bolt 6
1040 M5X12 GT-SA bolt 6
1041 T50R Cable tie 2
E1101000130GB03 85
8
HP20D-C09
11.2 L-Axis Unit
Table 49 L-Axis Unit
No. DWG No. Name Order Nr. Pcs
2001 SGMRV-13ANA-YR2* Motor 1
2002 M6X90 Socket screw 1
2003 2H-6 Spring washer 1
2004 HW0313492-1 Gear 1
2005 HW0304229-1 M base 1
2006 Y426012.5 Oil seal 1
2007 HW0401506-1 Plate 1
2008 HW0304226-1 Support 1
1002
20122011 2018 2006
2032
2002
2003
2004
2005
200120232024
20072019
20162008
2010
2017
2009
2027
2037
2013
2013
2014
2014
20262028
20152016
2020
2031
2030
2029
2031
20362035
2037
2037
20332034
20212022
6 E1101000130GB03
HP20D-C09
2009 M6X10 Socket screw 2
2010 2H-6 Spring washer 2
2011 HW0304227-1 Cover 1
2012 M6X8 APS bolt 4
2013 M12X40 Socket screw 12
2014 2H-12 Spring washer 12
2015 M10X35 Socket screw 6
2016 2H-10 Spring washer 20
2017 HW0100546-2 L arm 1
2018 HW0387753-C Speed reducer 1
2019 M10X40 Socket screw 14
2020 M12X40 Socket screw 2
2021 2H-12 Spring washer 2
2022 HW0404196-4 Washer 2
2023 M8X30 GT-SA bolt 4
2024 M8X25 GT-SA bolt 4
2026 TA1-S10 Clamp 4
2027 M5X10 Screw with spring washer
4
2028 M6X10 Socket screw 1
2029 HW0305813-1 Holder 1
2030 HW0305698-1 Cover 1
2031 M5X12 GT-SA bolt 6
2032 PT1/8
*STAINLESS*
Plug 1
2033 CD-31 Saddle 1
2034 M5X12 GT-SA bolt 2
2035 TA1-S10 Clamp 2
2036 M5X10 Screw with spring washer
2
2037 T50L Cable tie 6
1002 HW0100545-2 S head 1
Table 49 L-Axis Unit
No. DWG No. Name Order Nr. Pcs
E1101000130GB03 87
8
HP20D-C09
11.3 U-Axis Unit
Table 50 U-Axis Unit
No. DWG No. Name Order Nr. Pcs
3001 SGMRV-05ANA-YR1* Motor 1
3002 HW0313490-1 Cover 1
3003 M4X14 GT-SA bolt 7
3005 HW0102379-1 Casing 1
3006 HW9280880-G Speed reducer 1
2017
3011
3006
3019
3007
3016
3016
30053020
3001
3012
3002 3003
3018
3018
3017
301730083009
3010
3015 30143013
3019
8 E1101000130GB03
HP20D-C09
3007 M8X45 GT-SA bolt 16
3008 M5X65 Socket screw 1
3009 2H-5 Spring washer 1
3010 M14X35 Socket screw 6
3011 GT-SH-14 GT-SH washer 6
3012 M8X30 GT-SA bolt 4
3013 M10X20 Socket screw 1
3014 2H-10 Spring washer 1
3015 M6X10 Socket screw 1
3016 HW0404196-2 Washer 2
3017 M10X35 Socket screw 2
3018 2H-10 Spring washer 2
3019 PT1/8 Plug 2
3020 EZ2940A0 Cap 1
2017 HW0100546-2 L arm 1
Table 50 U-Axis Unit
No. DWG No. Name Order Nr. Pcs
E1101000130GB03 89
9
HP20D-C09
11.4 R-Axis Unit
4005
40584077
4033
4004
40074006
40314012
40324008
4009
4007
4010
4029
4030
4042
4057
4044
4011
4062
4060
4013
4019
4014
4020
4021
4024
4024
4024
40394040
4055
4022
40234076
4079
4037
4025
4082
4072
4070
40454046
4075
4034
4083
4022
40234016
4024
40234034
4017
4002
4001
50464078
4018
4034
4035
4036
3005
4056
4003
4011
4074
4074
4073
4073
40804069
0 E1101000130GB03
HP20D-C09
Table 51 R-Axis Unit (Sheet 1 of 2)
No. DWG No. Name Order Nr. Pcs
4001 M6X65 Socket screw 8
4002 2H-6 Spring Washer 8
4003 M5X20 GT-SA bolt 4
4004 M6X30 GT-SA bolt 3
4005 HW0305305-3 M cover 1
4006 M4X20 Socket screw 12
4007 2H-4 Spring Washer 13
4008 HW0404196-5 Washer 1
4009 M6X20 GT-SA bolt 8
4010 M4X45 Socket screw 1
4011 M6X6 Socket screw 2
4012 A-MT6X1 G Nipple 1
4013 HW0381872-A Cross roller bearing 1
4014 M6X35 GT-SA bolt 8
4016 TC941045*FKM* Oil seal 1
4017 HW0403857-1 Shaft 1
4018 HW0405201-2 Block 1
4019 HW0304318-1 Housing 1
4020 HW0304085-1 Shaft 1
4021 HW0304914-1 Support 1
4022 HW0404503-1 Saddle 2
4023 M4X20 Socket screw 6
4024 M4X12 GT-SA bolt 10
4025 HW0200540-1 S cover 1
4029 HW0381463-A Speed reducer 1
4030 HW0404403-1 Shaft 1
4031 AE1314A0 Oil seal 1
4032 HW0304932-1 M base 1
4033 HW0404402-1 Shaft 1
4034 2H-4 Spring Washer 6
4035 HW0411398-1 N base 1
4036 M4X10 APS bolt 4
4037 M5X16 GT-SA bolt 4
4039 TA1-S8 Clamp 1
4040 M4X8 Pan screw with spring washer
1
4042 M5X8 APS bolt 1
4044 LP-M5 Plug 1
4045 M5X35 Socket screw 2
4046 2H-5 Spring Washer 2
4055 HW0404918-1 Support 1
4056 SGMPH-02ANA-YR1* Motor 1
4057 EZ5036A0 Cap 1
4058 M6X20 GT-SA bolt 6
E1101000130GB03 91
9
HP20D-C09
4060 HW0304930-1 Support 1
4062 6811LLU Bearing 1
4069 HW9405817-1 Cover 1
4070 HW9302603-1 Support 1
4072 HW9406148-1 Plate 1
4073 M4X10 Socket screw 2
4074 2H-4 Spring washer 2
4075 TA1-S8 Clamp 3
4076 M4X8 Screw with spring washer
3
4077 PT1/8 *STAINLESS* Plug 1
4078 MS4-10 Pin 2
4079 T50R Cable tie 3
4080 CMBG8+9+10X2P+12-42 Union 1
4082 M5X16 GT-SA bolt 4
4083 T30R Cable tie 1
3005 HW0102379-1 Casing 1
5046 HW0100623-1 Uarm 1
Table 51 R-Axis Unit (Sheet 2 of 2)
No. DWG No. Name Order Nr. Pcs
2 E1101000130GB03
HP20D-C09
11.5 Wrist Unit
3005
5046
5001
5002
5045
5005
5044
5067
5008
5006
5003
5007
5003
5045
5005
5006
5067
5007
50115008 50575055
5072
5071
5073
5039
50385040
50415016
5070
5049
5017
5068
5036
5040
5048
5043
5012
50265064
5062
50425023
5033
5020
5022
5032
50475069
5047
5060
50655026
5025
50275028
5052
5030
5066
5069
5021
5068
5053
5037
5034
5063
5014
5019
5013
5035
5068
5018
5061
5030
5031
50295031
5024
E1101000130GB03 93
9
HP20D-C09
Table 52 Wrist Unit (Sheet 1 of 2)
No. DWG No. Name Order Nr. Pcs
5001 HW9406556-1 Support 1
5002 M4X12 GT-SA bolt 2
5003 M5X20 GT-SA bolt 4
5005 HW9200798-1 Cover 2
5006 SGMPH-02ANA-YR1* Motor 2
5007 M4X16 Socket screw 2
5008 HW9482727-A Pulley 2
5011 80S4.5M518 Belt 1
5012 HW9381658-A Gear 1
5013 M4X12 GT-SA bolt 4
5014 HW9405452-1 B cover 1
5016 HW9482725-A Pulley 1
5017 M5X16 Socket screw 1
5018 M4X16 GT-SA bolt 4
5019 HW9482218-A Bearing 1
5020 HW9405199-1 B nut 1
5021 SP-0120** Shim 1
5022 HW9481180-A Bearing 1
5023 M5X16 Socket screw 1
5024 M5X12 GT-SA bolt 8
5025 HW0304232-1 Shaft 1
5026 TC60747*FKM* Oil seal 2
5027 HW9481187-A Bearing 1
5028 HW0304233-1 Shaft 1
5029 S75 O ring 1
5030 HW0304087-1 Housing 1
5031 HW0382140-A Speed reducer 1
5032 HW0304086-1 Housing 1
5033 HW9381659-A Gear 1
5034 HW9482726-A Pulley 1
5035 M5X20 Socket screw 1
5036 6002ZZ Bearing 1
5037 6901ZZ Bearing 1
5038 6814ZZ Bearing 1
5039 TC74.5X90X7*FKM* Oil seal 1
5040 HW9381633-A Speed reducer 1
5041 HW9405792-1 Housing 1
5042 HW0200451-1 Wrist base 1
5043 M5X16 GT-SA bolt 11
5044 80S4.5M653 Belt 1
5045 M5X12 GT-SA bolt 24
5046 HW0100623-1 U arm 1
5047 M6X6 Socket screw 2
5048 M4X16 GT-SA bolt 12
4 E1101000130GB03
HP20D-C09
5049 M4X12 GT-SA bolt 4
5052 M5X16 GT-SA bolt 5
5053 M6X6 Socket screw 1
5055 M6X14 Socket screw 1
5057 M6 Washer 1
5060 M5X16 GT-SA bolt 4
5061 M4X12 GT-SA bolt 8
5062 LP-M5 Plug 1
5063 HW9405791-3 Housing 1
5064 6811LLU Bearing 1
5065 HW0404606-1 Cover 1
5066 HW0404605-1 Plug 1
5067 2H-4 Spring washer 2
5068 2H-5 Spring washer 3
5069 M6 Washer 2
5070 M6X6 Socket screw 1
5071 TA1-S8 Clamp 1
5072 M4X8 Pan screw with spring washer
1
5073 T50R Cable tie 1
3005 HW0102379-1 Casing 1
Table 52 Wrist Unit (Sheet 2 of 2)
No. DWG No. Name Order Nr. Pcs
E1101000130GB03 95
9
HP20D-C09
6 E1101000130GB03
HP20D-C09
E1101000130GB03 97
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