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system consists of an industrial robot (Motoman-K6S/KlOS) , a numerical control unit (Y ASNAC ERC) , an operating station, a wo~kpiece mounting fixture and another equipment. I This manual is intended to give operating instructions and maintenance procedures primarily for the Motoman-K6S/KlOS robot. For the numerical control urit, refer to the maintenance manual for y ASNAC ERC. Instructions for i the operating fixture and the another equipment are not described in th~s manual, since they a're not furnished by Yaskawa Refer to each supplier of those devices for instructions. Read thoroughly this manual prior to maintenance and retain this for further reference.
CONTENTS
1.
BASIC
SPECIFICATIONs
BASIC SPECIFICATIONS .3 PARTS NAM~ ANp WORKING AXES Motoman-K6S/KlO,~ DIMENSIONS AND "'IORKING RANGE OF B-AXIS 7 ALTERABLE WORkING RANGE 7
4 WORKING
RANGE
.s
2.
LOAD
Folk
V/RIST
PRECAUTIONS
ALLO"IABLE ATTACHMENT
3.
ALLOWABLE
LOAD
oNlu-Axls
10
4.
HANDLING
12
s.
SHIPPING
BOLTS
ANOIJIC-'S
13
6.
INSTALLATION
14
7.
".'iotoman
CO"!STRUCTld)N
16
FOR AXES
7.1 7.2
16
8.
MAI
~~TENANCE
AND
Ad>JUST~~EI\jT
20
8.1 INSPECTION SCHtDULE 20 8.2 INSPECTION ITEMs 21 8.2.1 Replacement Progedures for Battery Unit 8.2.2 Grease Replacem,nt Procedures for S-, LReduction f\lotor 24 8.2.3 Note for Wrist U~it Maintenance 25
23 and U-axis
9.
RECO~.1~.~ENDED
SPARE
I PARTS
26
2 -
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BASIC
SPECIFICATIONS
1.1
BASIC SPECIFICATIONS
Table 1.1 Basic Specifications
Mode!
Item
of K6S and
K1OS
l\1otoman-K
Verticallv articulated
Motoman-K6S
VerticalIy articuIated
1 OS
Operating
Degree Payload of
Mode
Free.dom
6 6 kg
. -
Repeatitive
Positioning
s
Accuracy
axis (turning)
tO.l
mm
3400 2400
arm)
3400
axis
2400
(lower
axis arm)
2700 3600
roll)
275
3600 2700 4000 12015
(upper
Motion
Range
R (wrist axis
2700 4000
110/5 .90/s 110/5
Maximum
Speed
240/5 240/s 400/s 1.2 kg.m kg.mkg.~ kg.~ kg.m2 kg.m2 kg 7.5R3/12 to 45C 80%RH densin
O.5G
Allowable
Moment
Inertia
Temperature
20 to ( non-con
Less than
g)
Free from corrosive or explosive gascs Others .Clean Free all1d dry from excessive
gases
or liquids,
electrical
noise
(plasma)
Power Capaci ty
5 kVJI.
8 kVA
-3
1.2
PARTS
NAME
AND
WORKING
AXES
UPPER (U)
ARM
WRIST
~!
03
1!;!::=1 I:rr;"fij
ROTARY (S) HEAD
03
~
FLANGE
~
~ I' =l ,
LOWER ARM
CONNECTOR BASE
/*-=
Fig.
BASE
1.1
Parts
1.3
Motoman-K6S/KlOS
DIMENSIONS
AND
WORKING
RANGE
Motoman-K6S Dimensions in mm
VIEW
"'rist
Flange
16 ~ f-+-
J ~
< ~
< ~
< ~
3 ~
VIE\-l
Baseplate
Fig.
1.2 and
1.4
WORKING
RANGE
OF B-AXIS
, constant I
~.
."'
Fig.
, .4
\"Jorking
RANGE
R~nge of B-axis
1.5
ALTERABLE
WORKING
The working
conditions Yaskawa as
according to is necessary,
the
operating contact
your
representative
Table
Item
1 J2
Specifications
:t 17 o (Standard) :t150o
2.
ALLOWABLE
LOAD
FOR
WRIST
AND
PRECAUTIOf'IS
2.1
ALLOWABLE
(1) The allowable load for wrist of Motoman-K6S and -KIOS is 6 kg and 10 kg, respectively, including the weight of the grip. The following conditions should be observed.
(2) If force is applied to the wrist instead of the load, force on R-, Band T-axis should be within the values shown in Table 2.1. Contact your Yaskawa representative for further information or assistance.
(3) Where the Fig. 2.1. volume of load is small, refer to limit load gravity shown in
Lb(mm)
Lb(mm)
(a)
Motoman-K6S
(b)
Motoman-K1OS
Fig.
2.1
Limit
-8
Load Gravity
-
.Inside
=:>
Wrist
Flange
3. ALLOWABLE
LOAD ON U-AXIS
to thi~ U-axis,
the following
lS kg max
center of U-axis; rotation :
(at
.Never perform additional modifications on the robot to make provisions for other conditions. For attaching the equipment on U-axis use clamps shown in Fig. 3. 1. 4-}16 x PI, 28 j5 12
t5
t
(kg), 15 ""' N
~ Rr
WI
LOAD
CAPACITY
(kg)
'-'
E-o :I: C H t.J ~
10
w,'
"' ~
...w,
1 J
Fig. 3.1 Allov.Jable Load on U-axis -10 for
Dimensions in mm
~.1otoman-K6S
3.
ALLOWABLE
LOAD
0"'1 U-AXIS
(Cont'd)
(2)
~1otoman-KlOS
25 kg max.
.Unbalance moment at the center of U-axis rotation: 6 kg:m (at WI=5 kg) .Never perform addition al modifications on the robot to make provisions for other conditions. For attaching the equipment on U-axis, use clamps shown in Fig. 3.2. 4-M6 x -.&.-- 45 12PI, .
-.,
-. I
~ ~
L
(kg)
" :1= -
81
W1
LOAD
GRAVITY
('kg)
25 20 15 10
~
WI
I 5
~ "
-Wll~
200 100
GRAVITY
w.
$:1
-fV!
U-AXIS CENTER ROTATION (POINT
+w,
U)
..o:
-ILL..L
Dimensions in mm
3.2
Fig.
Allowable
Load on U-axis 11
for
Motoman-K10S
5.
SHIPPING
BOL TS
AND
JIGS
Motoman is provided with shipping bolts and ji!~s at @ to @ in Fig. 5.1 to protect the robot from the movement and forces during shipment. The jigs are painted yellow. Be sure to remove thE~mbefore .insta11ation. NOTE
Before turning ori the power, check to be shipping bolts and jigs have been removed. so may cause ciamage to the driving parts. sure that the Failure to do
These shipping bolts and jigs must be stored for future event of moving or carrying the robot.
use in the
-~ ~~ ~
Fig.
5.1
Positions
of Shipping
-13
6.
INSTALLATION
The Motoman should be firmly mounted on a baseplate, or foundation rigid enough to support the Motoman and withstand repulsion forces during acceleration and deceleration. Mount the baseplate in either of the following ways. For mounting dimensions of Motoman baseplate, see par. 1.3. (1) Where the Motoman and the mounting fixture flat steel plate (common base) : are installed on a comm9n
The common base should be rugged and durable to prevent shifting of the Motoman or the mounting fixture. When the Motoman is used for welding, connect the ground lead to the Motoman baseplate.
For Motoman baseplate mounting, see Fig. 6.1
SPRING
WASHER
6.1
t,1ounting
The floor should be rigid enough to support construction procedure are as follows . ."IThere the concrete thickness (f1oor)
Foundation
is 150 mm or more
(i} The surface of floor should be level and even. grind the swell and flatten the surface.
If it is uneven,
(n) Check for cracks on the floor. If any c:rack is found, remove the material around the crack and rebuild the floor with concrete. Place the robot by fastening the plate with M20 anchor bolts. The plate is tapped for M20 bolts . Where the cancrete thickness faundatian . (flaar) is less 1:han 150 mm ar an earth
(i) Dig a footing in the floor area. (n) Spread stones in the excavated area and tamp them sufficiently make a solid stone bed . to
(~ Fi11 the empty space of the stone bed with grout, and 1ay the concrete foundation. It should be more than 150 mm thick, and the surface must be leve1 and even.
(v) The concrete the robot. should be ,cured for more than a week before installing
14 -
6.
INSTALLATION
(Cont'd)
(3)
Mounted
types (Standard),
Foot-mounted available .
wall-mounted
type, !3ao !45 S-axis
and c:eiling-mounted
range
types
are
l.
working
is as follow.
2. The brakes in S-axis and in ""rist (R-, B- and T-axis) are optional. When using wall-mounted type, S-axis should be provided with a brake.
( 4) Incorporated cables and air duct duct for application in tl1otoman for user
or below
(i)
Incorpora1:ed cable connector Type M53102A 18-15 (with cap): Connect the plug type M53106B to this .
18-1P
(J)
..
@ O)
Air
intet:
PT3/8
tap,
with
bull
plug
~~
VIEW
Incorpora1:ed cable connector Type M53102A 18-1? (with cap) : Connect the plug type M53106B 18-15 to this .
Air inlet: PT3/8 tap, with bull plug
A:
@)
Locations Connectors
Fig.6.2
Cable
connectors
cables: 0.75
are connected
mm2, 6 cables
with
.Using
Fig. 6.3 Detailed
pins:
A to F
Drawing
of Connector
Pin No.
-15
7.
7.1
Motoman
POSITIONS
CONSTRUCTION
OF LIMIT SWITCHES FOR AXES
16
7.2
INTERNAL
CONNECTIONS
are used with each pin connector which of connectors, see
Highly reliable connectors which can be easily removed connector part. In Figs. 7.3 and 7.4, "-<I;:-" shows can also be removed. For the numbers and locations Fig. 7.2.
Fig.
7.2
Table
List of Connector
Type
Plug Type
I-CA3106B. 32P:lOS
!'-!o.
Receptacle. Ty~)e
ZBC 3BC
MS3102A.18-1P
172170-1
ICable
Intermediate Connector
1-480276-0
s~
Feedback Unit Connector Connector for . Incorporated Cable
172168-1
lfiJ:tf
172168-1 MS3106B.18-P
MS3102A.18-1S (Optional)
17 -
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8.
t..1Alt-JTENANCE
AND
ADJUSTt..1ENT
8.1 INSPECTION
SCHEDULE
To insure optimum life of operation, a suggested schedule of periodicalinspections and adjustments is offered. Adjust the schedule according to your operating conditions. Especially, axes frequently used for handling should be checked at half-periods of the follo~'ing schedule .
Fig.
8.1
Inspection
Schedule
-20
8.2
INSPECTION
ITEMS
(Contid)
-E~-AXIS
/,.--~-~
~ -AXIS
R-AXIS
Fig.
8.2
Inspection
Parts
and Inspection
Number
-22
Replacement
battery following the the the
Procedures
for Battery
too low or is
Unit
depleted, replace it according
(U-axis
motor
side)
of rotary (M5) .
head.
mounting
screw
(PC-2005-M,
W) on both
sides
of battery.
-<
-E--{>
and mount
NOTE
l. When the battery unit is replaced. Keep the power ON between y ASNAC
Be sure to insert the pins in correct
and Motoman .
direction.
2.
Fig.
8.3
Battery
Loca1~ion
-23
8.2.2 Grease Replacement Reduction Motor (l) (2) Remove Inject using plugs grease grease @ , @
Procedures
for
S-,
L-
and
U-axis
and APO)
@,
@ and @
8.2
Amount
S-axis
MotomanK6S MotomanK1OS
700 cc 600 cc
400 cc
(3) The grease replacement is completed when new grease appears from @ @ and @ .The new grease is distinguished. ofrom old grease by color.
(4) "Iipe parts @ ,
@ and @ with ~
@ GREASE
a cloth
and
reinstall
the
plug
(f)
INLET U-AXIS REDUCTION MOTOR ~
~-
.1 .~
--.
'.
--,--~ r-:~
REDUCTION
MOTOR
I Oetailed LReduction
l Par~ MOTOR
n ,..,.,.-r--
I "
@-:
~ CQVER
I ~.:J ":-7" ~/
~ -~
t""" ~ U-AXIS
MOTOR MOTOR
REDUCTION
MOTOR
Fig.
8.4
Grease
Lubricated
24 -
8.2.3
Unit
tJaintenance
The motor and feedback unit are provided ,:X'ith the wrist unit. To counteract fumes from welding operation, etc. , the hatched parts are sea]ed with sealing compound so that fumes from welding operation, etc. do not penetrate into the wrist unit. Therefore" if the wrist shaft is disassembled, reseal with seaUng compound (KE4~;RTV) .
Fig.
8.5
Sealing
-25
It is recommended that the following parts and components be kept in stock as spare parts for the Motoman-K6S/K10S. List of spare parts for Motoman-K6S and KIOS is shown in Table 9.1 and 9.2, respectively. They are ranked A, B and C, as follows .
Rank A: Expendable be expected. parts and those"1or which frequent replacement can
Rank
may be necessary
as a result
of
9.1
Parts Name
Rema..ks
S-axis, Lead terminal treatment completion L-2xis, Lead terminal treatment completion
1
z 3
A
H\\'8471013-A
4 S 6
7 Sillcon rubber compound (tube) Grease 2.5 kg
1
1 1
Yaska~.a EJectric I.Ug. Go., Ltd.
Gear
9 10 II 12 13
l
2 1
T-axis (Tip)
1 ~
1 1 1 1
Speed reducer
~ 1 I
14 15
1
2
16
17
AG Servomotor
1
Yaska~.a Elcctric "Ifg. Go. .Ltd. Interna! wiring
18 19 ZO ZI ZZ
1 1
1 I
1 1 1
In L ann
Wrist unlt
26 -
9.
RECOM""\ENDED
PARTS Spare
Type
Rank
Parts Nanle
I.\anu(acturcr
Qty\
1 2 3 4
A
5 6
7
Grease
2.5 kg
Shln-Etsu Chemical
KE4SRTV
Co.. Ltd.
1 1
1
8 Gear
9
11\\.8~2S13S-1 H\\'8~2S133-1
2 2 l l 1 2
, 1
~ brake Ilith
10
II
1Z 13 14 15
key. terminal
16
3 1 1 1 1
Without
brake
completion
17 18 ]9 20 21 1
in L arm
-27
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TOE..c945-111
MOTOMAN Box 504 8-38525 ROBOTICS Torss 8weden AB
MAY 1994
MOTOMAN
ROBOTICS
OXON
U.K
LTD
1 Swan Industrial Estate Banbury Tel. int. 44295-272755 Fax. int. 44295-267127