H50 06.

560GB

HP20D-C09

Operating and Maintenance Instructions HP20D-C09

TYP: 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 reference The operating instructions are only for internal use.

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Reference list:
List of modifications Documentnumber Creation of original document x rework rework chapter 3 Modification in the original document In section On page Date 29.10.2010 09.11.2010 10.11.2010 Author DD REB REB

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WARNING
This 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.

CAUTION
Some 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.
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.

WARNING CAUTION

MANDATORY PROHIBITED

Must never be performed.

Even items described as CAUTION may result in a serious accident in some situations. At any rate, be sure to follow these important items To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as "CAUTION" and "WARNING".

NOTE

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WARNING
Before 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. TURN

Fig 2: Release of Emergency Stop Observe the following precautions when performing teaching operations within the Ppoint 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.

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CAUTION
Perform 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:

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:
Equipment DX100 controller DX100 programming pendant Cable between the robot and the controller Manual Designation DX100 Programming pendant Robot cable

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Table of Contents

1 1.1 1.2 2 2.1 2.2 3 3.1 3.2 3.3 3.4 4 4.1 4.2 5 5.1 5.2 5.3 5.4 5.5 6 6.1 6.2 7 7.1 7.2 8 8.1 8.2 9 9.1 9.2 9.3 9.4 10 11 11.1 11.2 11.3 11.4 11.5

Product Confirmation ............................................................................................................ 8 Contents Confirmation ............................................................................................................. 8 Order Number Confirmation .................................................................................................... 9 Transport .............................................................................................................................. 10 Transport Method .................................................................................................................. 10 Shipping Bolts and Brackets .................................................................................................. 12 Installation ............................................................................................................................ 14 Safeguarding Installation ....................................................................................................... 15 Mounting Procedures for Robot Base.................................................................................... 15 Types of Mounting ................................................................................................................. 17 Location ................................................................................................................................. 18 Wiring.................................................................................................................................... 19 Grounding .............................................................................................................................. 19 Cable Connection .................................................................................................................. 20 Basic Specifications ............................................................................................................ 23 Basic Specifications ............................................................................................................... 23 Part Names and Working Axes.............................................................................................. 25 Robot Base Dimensions ........................................................................................................ 26 Dimensions and P-Point Maximum Envelope........................................................................ 27 Alterable Operating Range .................................................................................................... 28 Allowable Load for Wrist Axis and Wrist Flange .............................................................. 29 Allowable Wrist Load ............................................................................................................. 29 Wrist Flange........................................................................................................................... 31 System Application ............................................................................................................. 32 Peripheral Equipment Mounts ............................................................................................... 32 Internal User I/O Wiring Harness and Air Line....................................................................... 33 Electrical Equipment Specification .................................................................................... 36 Position of Limit Switch .......................................................................................................... 36 Internal Connections .............................................................................................................. 36 Maintenance and Inspection............................................................................................... 40 Inspection Schedule .............................................................................................................. 41 Notes on Maintenance Procedures ....................................................................................... 46 Notes on Grease Replenishment/Exchange Procedures ...................................................... 48 Setting the Second Home Position (Check Point) ................................................................. 69 Recommended Spare Parts ................................................................................................ 82 Parts List .............................................................................................................................. 84 S-Axis Unit ............................................................................................................................. 84 L-Axis Unit ............................................................................................................................. 86 U-Axis Unit ............................................................................................................................. 88 R-Axis Unit ............................................................................................................................. 90 Wrist Unit ............................................................................................................................... 93

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Product Confirmation

CAUTION
Confirm 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.

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)

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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.

THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.

S/N.

WARNING
High Voltag e Do not open with power the door ON.

Motoman Part No. DX100 Power Supply AC 400/415/440 Peak Serial No. V Average Date/Signature Type Robot Type ERDRRobot Order Robot Serial No. No.

kVA kVA

YASKAWA 2-1 Kurosaki Electric Shiroishi Motoman corporation KammerfeldstrYahatanishi-Ku Kitakyushu-City . 1, D-85391 Fukuoka 806-0004 Allershausen Japan NJ3053-1

CHECK ALL PROPERLY. THE DOOR LOCKS

NJ3005-1

Fig. 3: Location of Order Number Labels

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Transport

CAUTION
Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. Avoid excessive vibration or shock during transport. The system consists of precision components; failure to observe this caution may adversely affect performance.

2.1

Transport Method
Check that the eyebolts are securely fastened.

NOTE

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.

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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".
1

B D

Fig. 4: Transporting Position Table 1: Transporting Position

1 2 3 4
Eyebolt M12 (2 eyebolts), delivered with the robot

View E View F Eyebolt M12 (2 eyebolts), delivered with the robots

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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.

1 2

Fig. 5: Using a Forklift Table 2: Using a Forklift

1 2 3 Bolt M16 (4 places) Palleet Forklift claw entry

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).

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D A

Fig. 6: Shipping Bolts and Brackets Table 3: Shipping Bolts and Brackets
1 2 3 4 5 6 Eyebolt M12 (2 eyebolts), delivered with the robot Enlarged View: Sections B and D Parts Drawing for Section B Enlarged View: Section C Parts Drawing for Section A Enlarged View: Section A

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. 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.

NOTE

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Installation

WARNING
Install 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.

CAUTION
Do 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) Maximum torque in vertical rotation (LU-axes moving direction) 5000 Nm 8000 Nm

Table 5: Endurance Torque in Operation

Endurance torque in horizontal operation (S-axis moving direction) Endurance torque in vertical operation (LU-axes moving direction) 3775 Nm 1700 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").

2 3

25
5

6 7

Fig. 7: Mounting the Robot on Baseplate Table 6: Mounting the robot an baseplate
1 2 3 4 Screw M16 (4 screws) Spring washer Washer Robot base 5 6 7 8 Baseplate Anchor bolt M16 or more Baseplate Robot base

16

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580 335

36
80
260 520

335

24 (

5
2

8x)

260 580

Fig. 8: Baseplate Table 7: Baseplate

1 t = 25 mm up to 50 kg of robots

3.3

Types of Mounting
The YASKAWA-HP20D-C09 is available in two types: floor-mounted type (standard), wallmounted 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.

(4

x)

520

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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. 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

3.4

Location
When the robot is installed, it is necessary to satisfy the following environmental conditions: Ambient temperature: 0 to +45C 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

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Wiring

WARNING
Ground resistance must be 0.1 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.

CAUTION
Wiring must be performed by authorized or certified personnel. Failure to observe this caution may result in fire or electric shock.

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. 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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A
3 2

Fig. 9: Grounding Methode Table 8: Grounding Methode

1 2 3 5.5 mm or more Section A-A Bolt M8 (for grounding), delivered with the robot

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.

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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.
4 1

X1

1BC
X1

X2

2BC
X2

Fig. 10: Robot Cables Table 9: Robot Cables

1 2 3 4 The robot side Encoder cables Power cables The DX100 Side

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1BC

2BC

1 5 4
1BC 2BC

Fig. 11: Robot Cable Connectors (Robot Side) Table 10: Robot cable connectors (Robot side)
1 2 3
1 BC 2 BC Connector base fixing screw (M4)

4 5

Union Grease hose

1
X 11 X1 X2 X 21

Fig. 12: Robot Cable Connection to the DX100 Table 11: Robot cableconnection to the DX100
1 Back view

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5
5.1

Basic Specifications
Basic Specifications
Table 12: Basic Specifications
Item Structure Degree of Freedom Payload Repeatability1) Range of Motion S-Axis (turning) L-Axis (lower arm) U-Axis (upper arm) R-Axis (wrist roll) B-Axis (wrist pitch/ yaw) T-Axis (wrist twist) Maximum Speed S-Axis L-Axis U-Axis R-Axis B-Axis T-Axis Allowable Moment2) R-Axis B-Axis T-Axis Allowable Inertia (GD2/4) R-Axis B-Axis T-Axis Approx. Mass Model YASKAWA-HP20D-C09 Vertically Articulated 6 20 kg 0.06 mm -180 -110 -165 180 155 255

-200 - 200 -50 - 230

-360 - 360 3.44 rad/s, 197/s 3.05 rad/s, 175/s 3.26 rad/s, 187/s 6.98 rad/s, 400/s 6.98 rad/s, 400/s 10.47 rad/s, 600/s 39.2 Nm 39.2 Nm 19.6 Nm 1.05 kgm2 1.05 kgm2 0.75 kgm2 3) 273 kg

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Table 12: Basic Specifications

Item Ambient Conditions Temperature Humidity Vibration Acceleration Others Model YASKAWA-HP20D-C09 0C to 45C 20 to 80% RH (non-condensing) 4.9 m/s2 or less (0.5 G) 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) 2.0 kVA

Power Requirements

1. Conformed to ISO9283 2. 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.

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5.2

Part Names and Working Axes

U+ R+

B+ T+

2
URBT-

L-

L+

4
S+

S-

Fig. 13: Part Names and Working Axes Table 13: Part names and working axes
1 2 3
U-arm Wrist flange L-arm

4 5

S-head Robot base

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5.3

Robot Base Dimensions

2000,1

60

2000,1

25

313

375 335

335 375

195,5 395,5

1700,1

250

2600,1

Fig. 14: Robot Base Dimensions Table 14: Robot base dimensions
1 2 3 4 5
Fitting surface Units: mm 12 dia. holes (2 holes) View A 18 dia. holes (4 holes) (for robot fixing)

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5.4

Dimensions and P-Point Maximum Envelope

180
R1 71 7

42

R31

180

1417 1323

150

1717

349 413

514 459

635

288

807

2072 138,5

150 80

795 87,5

105

140

81

2
1003

421 264 157

1485

760

11

0

768
155

505 334

505

505 238 0

25

5

165
559

524

917 260 471 807 991 0

Fig. 15: Dimensions and P-Point Maximum Envelope Table 15: Dimension and P-point maximum envelope
1 2 3

P-point maximum envelope P-point View A

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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 S-Axis Operating Range Specifications 180(standard) 150 120 90 60 30

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6
6.1

Allowable Load for Wrist Axis and Wrist Flange

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. Table 17: Moment and Total Moment of Inertia
Axis R-Axis B-Axis Moment Nm 39.2 39.2 GD2/4 Total Moment of Inertia kgm2 1.05 1.05

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.
2

20 19.6

MomentNm

15

10

0 0

0.25 0.3

0.75 0.6 0.9

Fig. 16: T-axis Allowable Moment of Inertia Diagram (Measured Value from the Rotation Center of the T-axis Flange Surface) Table 18: T-axis allowable moment of inertia diagram
1 2
Total Inertia GD/4 Kgm Moment (Nm)

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LB

105 LT

3
300

LT mm

200 W=10Kg 100 W=16Kg W=20Kg

W=6Kg

100

200 LB mm

300

400

Fig. 17: Moment Arm Rating Table 19: Moment arm rating
1 2 3
Load gravity position R-, T-axis rotation center B-axis rotation center

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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.
1

0,5

4 5

P.C

.D4

3 5 4

Fig. 18: Wrist Flange Table 20: Wirst flange

1 2 3 4 5 6 7
Alignment mark Tapped hole M8 (depth:10) (pitch:1.0) (4 holes) 6 dia. +0,012 / 0 hole (depth: 6) Units: mm View A 50 dia 0 / -0,039 25 dia 0.023 / 0

NOTE

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.

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7
7.1

System Application
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 userss 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.

W2 220

W1 70

2 7 3
70

Fig. 19: Installing Peripheral Equipment Table 21: Installing peripheral equipment
1 Z-coordinate direction 2 X-coordinate direction 3 Center of U-axis rotation 4 Rotating Base 5 6 7
View A Units: mm Limited dimension of Z-coordinate: 400 at a maximum

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(kg) 30 W1=6kg W1=10kg 20

3
10

W1=16kg W1=20kg*1 *1

-200 -100

100 200 300 400 500 (mm)

Fig. 20: Allowable Load on U-axis Table 22: Allowable load on u-axis
1 2 3 In this case, unbalanced moment is not permitted Distance between Center of U-axis Rotation and Load Gravity (w direction) Weight W2

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.
The allowable current for internal user I/O wiring harness The maximum pressure for the air line 3 A or less for each wire (The total current value for pins 1 to 16 must be 40 A or less.) 490 kPa or less (The air line inside diameter: 8.0 mm)

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A
5

1 2
2BC

1BC

3BC

1 4 3

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 2 3 4 5
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 View A 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 Air inlet Tapped hole PT3/8 with pipe plug Exhaust port Tapped hole PT3/8 with pipe plug

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1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

1 2
2 2

4 7 9 13 11 15

3 8 12

6 10 14

(1,25 mm2) (1,25 mm2) (1,25 mm2) (1,25 mm2) (1,25 mm2)

16

3 4
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

5
4 9

1 2 5 7 3 8 12 14 16 6 10

(1,25 mm ) (1,25 mm2) (1,25 mm2) (1,25 mm2) (1,25 mm2)

13

11 15

Fig. 22: Details of the Connector Pin Numbers Table 24:

1 2 3 4 5 6 7 Connector for Internal User I/O Wiring Harness on the Connector Base Open Internal user I/O wiring harness : 0.20 mm, 8 wires, 1.25 mm, 6 wires Connector for Internal User I/O Wiring Harness on the U-arm +24V: for shock sensor (1A) (Shock sensor signal input) Internal user I/O wiring harness : 0.20 mm, 8 wires, 1.25 mm, 6 wires Pins used

NOTE

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.

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.

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HP20D-C09

8
8.1

Electrical Equipment Specification

Position of Limit Switch
The limit switches are optional. See Fig. 23: "Location of Limit Switches". The robot with Sand L-axis overrun limit switches, and LU-axis interference limit switch is the type YRHP0020D-A01 (standard specification).

Fig. 23: Location of Limit Switches Table 25: Location of limit switches
1 2 3 L- and U-axes interference limit switch (optional) L-axis interference limit switch (optional) S-axis overrun limit switch (optional)

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.

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Fig. 24: Locations and Numbers of Connectors Table 26: Locations and numbers of connectors
1 2
3BC (for internal user I/O wiring harness) on the U-arm 3BC (for internal user I/O wiring harness) on the connector base

Table 27: List of Connector Types

Name Connector for the internal user I/O wiring harness on the connector base Connector for the internal user I/O wiring harness on the U-arm Cable grommet Pin Pin male female Type of Connector JL05-2A20-29PC (JL05-6A20-29S: Optional) JL05-2A20-29SC (JL05-6A20-29P: Optional) Order No. 104072 104065 104072 104065 107261 104120 104117

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38
INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXIS

POWER CABLE

<NOTES>
- For the limit switch specification, the connection of the section A is changed as follows: - For the IP65 specification, the connection of the section A and B are changed as follows:
LA1 LB1 LA1 LB1 LB1 LA2 LA2 LB2

P P

0BT BAT 0BT BAT

1 2 3 4 0BAT11 BAT11 0BAT12 BAT12

0BAT1 BAT1 0BAT2 BAT2 0BAT3 BAT3

S-AXIS OVERRUN L.S L-AXIS OVERRUN L.S

P P
LB3 LC1 LD1 LC1 LD1 LD1 LC2 LC2 LD2 LB3

0BAT4 BAT4

0BT BAT 0BT BAT

5 6 7 8

0BAT21 BAT21 0BAT22 BAT22

P
LA3

A
L AND U-AXIS INTERFERENCE L.S

S-AXIS OVERRUN L.S L-AXIS OVERRUN L.S

LD3 LD3

P
LC3

1 2 3 4 5 6 7 8

L AND U-AXIS INTERFERENCE L.S

SLU-axes with Overrun Limit Switch Specification

LB1 LB1 LA2 LA2 LB2 LA1 LA1 LA1 LB1 LA3 LB3 LB3 LA1 LB1 LB1

DX100
+24V 0V
1 3

1BC(10X4)

CN1-5 CN1-4

CN1-5 CN1-4

PG0V1 PG5V1 PG0V2 PG5V2 PG0V3 PG5V3 PG0V4 PG5V4 PG0V5 PG5V5 PG0V6 PG5V6

P
P
L AND U-AXIS INTERFERENCE L.S
LC2 LD1 LD1 LC2 LD2 LC1 LC1

S-AXIS OVERRUN L.S

L-AXIS OVERRUN L.S

CN1-10 CN1-9
SPG+1
SPG-1
P P LD1 LD1 LC1 LC3 LD3 LD3

CN1-10 CN1-9 +24V 0V

2 4

17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

CN1-1 CN1-2 PG

CN1-1 CN1-2

S-AXIS
LC1 LD1

P
P

S-AXIS OVERRUN L.S

L-AXIS OVERRUN L.S L AND U-AXIS INTERFERENCE L.S

CN1-3
OBT BAT

CN1-3 FG1

No.20CN 20CN-1 -2 -6 -5 -4 -9 -10 DATA+1 DATA-1 BAT OBT +5V 0V FG1

SLU-axes with Overrun Limit Switch Specification (IP65 specification)

CN1-6 CN1-7
P P

CN1-6 CN1-7

SPG+2 SPG-2

PG

L-AXIS

CN1-8
OBT BAT

CN1-8 FG2

No.21CN 21CN-1 -2 -6 -5 -4 -9 -10 DATA+2 DATA-2 BAT OBT +5V 0V FG2

- 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 the shock sensor signal input port of the DX100 controller.
PG

CN2-1 CN2-2
P P P P OBT BAT P P DATA+3 DATA-3 BAT OBT +5V 0V FG3 DATA+3 DATA-3 BAT OBT +5V 0V FG3

CN2-1 CN2-2

SPG+3 SPG-3

CN2-3
No.6CN

CN2-3 FG3

No.5CN 5CN-1 -2 -3 -4 6CN-1 -2 -3

No.22CN 22CN-1 -2 -6 -5 -4 -9 -10

U-AXIS

DX100 Connection Port Pin No. Shock sensor power supply; +24V (1A) 7 Shock sensor signal input 8

1BC(10X4)
P P

CN2-6 CN2-7
P

CN2-6 CN2-7

SPG+4 SPG-4

PG

R-AXIS

CN2-8
OBT BAT

CN2-8

FG4

No.23CN 23CN-1 -2 -3 -4 24CN-1 -2 -3 DATA+4 DATA-4 BAT OBT +5V 0V FG4

CN3-1 CN3-2
P P P P OBT BAT -4 -10 DATA+6 DATA-6 P P P P OBT BAT -5 -11 -6 +5V 0V FG6 P P DATA+5 DATA-5 BAT OBT +5V 0V

CN3-1 CN3-2

SPG+5 SPG-5

CN3-3

CN3-3

No.7CN 7CN-1 -7 -2 -8 -3 -9 No.14CN 14CN-1 -2 -3 -4 15CN-1 -2 -3 DATA+5 DATA-5 BAT OBT +5V 0V FG5

PG

B-AXIS

FG5

CN3-6 CN3-7
P

CN3-6 CN3-7

SPG+6 SPG-6

PG

T-AXIS

CN3-8

CN3-8

FG6

No.16CN 16CN-1 -2 -3 -4 17CN-1 -2 -3 DATA+6 DATA-6 BAT OBT +5V 0V FG6

CN4-1 +24V
LA1 LB1 P LB3 LA2

CN4-6

LB1

CN4-2 SS2 AL1

LC1 P LD3 LC2 LD1

CN4-1 CN4-6 CN4-2 CN4-7

BC2 AL2 0V +24V
LD1 P U V

CN4-7

CN4-3

CN4-3 CN4-8

CN4-8

- When connecting the pin No.7 and No.8 of the connector base respectively with the pin No.7 and No.8 of 3BC connectors on the U-arm, the connection of crimped contact-pins (SS1, SS2) should be changed as shown in the section C below. (Contact your MOTOMAN robotec GmbH representative when modifying the wiring before use.)
POWER CABLE CONNECTOR BASE

CN4-10 FOR LAMP(OPTIONAL)

CN4-10

CN2-4

INTERNAL CABLE U-ARM

DX100
1BC(10X4)

CN2-4 CN2-5

CN2-5

CN2-9
LB1 LA1 LB1 P LB3 LD1 LC1 LD1 P LD3 LC2 LD1 LC1 LD1 P LA2 LB1 LA1 LB1 P

CN2-9 CN2-10

CN2-10

CN3-4

CN3-4 CN3-5

CN3-5

0V +5V

Casing
CN4-1 CN4-2
CN4-1 CN4-2 24V(1A) SS2 SS1 SS2

CN3-9

CN3-9 CN3-10

CN3-10

0V +5V

E E E
3BC(20-29)

CN4-4

CN4-4 CN4-5 CN4-9

CN4-5 CN4-9

SPG+7 SPG-7 FG7

E E E

Section A for IP65 Specification

Crimped Contact-Pin

C
Base
UNUSED
E

3BC(20-29)

Base
E E
3BC(20-29)
E
P P P P P P

E
P P P P P SS1 SS2 SS1 SS2 P 1 2 3 4 1 2 3 4 5 6 7 8 1 2 3 4 P P 1 2 3 4 5 6 SS1 SS2

E1101000130GB03
E

Casing

3BC(20-29)

E 1 2 3 4 2 3 4
P

3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16

7 8 SS1 SS2 SS1 SS2

1 2 3 4 5 6 SS1 SS2
P

1 2 3 4 5 6 SS1 SS2

FOR SPARE CABLE

SHOCK SENSOR (OPTIONAL)

3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16

C B

Fig. 25: (a) Internal Connection Diagramm

HP20D-C09

2BC(6X6)

E
No.3CN No.8CN

E E
SM
P

Casing
E
P P P P P

FOR SPARE CABLE

3BC(20-29)

CN1-1 CN1-2 CN1-3 CN1-4 CN1-5 CN1-6

CN1-1 CN1-2 CN1-3 CN1-4 CN1-5 CN1-6

ME1 ME2 ME2 MU1 MV1 MW1

3CN-3 -2 -1 -PE -4 -5 MU1 MV1 MW1 ME1 BA1 BB1

S-AXIS

1 2 3 4

1 2 3 4

YB
SS1 SS2 SS1 SS2

No.4CN

P P

CN2-1 CN2-2 CN2-3 CN2-4 CN2-5 CN2-6

CN2-1 CN2-2 CN2-3 CN2-4 CN2-5 CN2-6

MU2 MV2 MW2 MU2 MV2 MW2

4CN-1-A -B -C -D -1 -2 MU2 MV2 MW2 ME2 BA2 BB2

SM YB
No.9CN

L-AXIS

8CN-1 2 3 4 5 6 7 8 9 10 9CN-1 2 3 4 5 6 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

3BC-1 -2 -3 -4 -5 -6 -7 -8 -9 -10 -11 -12 -13 -14 -15 -16

Section B for IP65 Specification

No.26CN

2BC(6X6)
CN4-1 CN4-2 CN4-3 CN4-4 CN4-5 CN4-6

CN3-1 CN3-2 CN3-3 CN3-4 CN3-5 CN3-6

CN3-1 CN3-2 CN3-3 CN3-4 CN3-5 CN3-6

MU3 MV3 MW3 MU4 MV4 MW4

26CN-3 -2 -1 -PE -4 -5

MU3 MV3 MW3 ME3 BA3 BB3

No.25CN

SM YB

U-AXIS

CN4-1 CN4-2 CN4-3 CN4-4 CN4-5 CN4-6

MU5 MV5 MW5 MU6 MV6 MW6

No.10CN

25CN-1 -2 -3 -4 -1 -2
No.35CN

MU4 MV4 MW4 ME4 BA4 BB4

SM YB

R-AXIS

No.18CN

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CN5-1 CN5-2 CN5-3 CN5-4 CN5-5 CN5-6

CN5-1 CN5-2 CN5-3 CN5-4 CN5-5 CN5-6

10CN-1 -2 -3 -4

MU5 MV5 MW5 ME5

ME3 ME4 ME5 ME6 BA1 BB1

18CN-1 -2 -3 -4 -1 -2
No.36CN No.19CN

MU5 MV5 MW5 ME5 BA5 BB5

SM YB

B-AXIS

CN6-1 CN6-2 CN6-3 CN6-4 CN6-5 CN6-6

CN6-1 CN6-2 CN6-3 CN6-4 CN6-5 CN6-6

-5 -6 -7 -8

MU6 MV6 MW6 ME6

No.12CN

BA2 BA3 BA4 BB4 BA5 BA6

19CN-1 -2 -3 -4 -1 -2 12CN-1 -2 -3 -4 BA5 BB5 BA6 BB6

No.37CN

MU6 MV6 MW6 ME6 BA6 BB6

SM YB

T-AXIS

PE

Fig. 26: (b) Internal Connection Diagramm

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HP20D-C09

Maintenance and Inspection

WARNING
Before 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.

CAUTION
Maintenance 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.

REMOTE PLAY

TEACH

START

HOLD

JOB

EDIT

DISPLAY

UTILITY

JOB CONTENT JOB NAME: TEST01 CONTROL GROUP: R1 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 0013 NOP SET B000 0 SET B001 1 MOVJ VJ=80.00 MOVJ VJ=80.00 DOUT OGH#(13) B002 DOUT OT#(41) ON MOVL C00002 V=880.0 CV#(1) CTP=0.662 DOUT OT#(44) ON TIMER T=3.0 MOVL V=880.0 MOVL V=880.0 MOVL V=880.0 MOVL V=880.0

STEP NO: 0003 TOOL: 00

Main Menu

ShortCut

!Turn on servo power

LAYOUT

Multi

COORD
SHORT CUT

DIRECT OPEN

GO BACK

PAGE

AREA
CANCEL

MAIN MENU

SERVO ON READY

!?
ASSIST

SELECT

XS-

X+
S+

SERVO ON

XHIGH SPEED
R-

X+
R+

Y-.
L-

Y+
L+

Y-

FAST
ZU-

B-

Y+ .
B+

DATA
FWD

EDIT

DISPLAY

UTILITY

Z+
U+

MANUAL SPEED

SLOW 7 4 1 0 8 5. 2 . 9 6 3 -

ZT-

Z+
T+

SHIFT

INTER LOCK

TEST START

SHIFT

ROBOT

INFORM LIST

BWD

EX.AXIS

DELETE

INSERT

BACK SPACE

MOTION TYPE

MODIFY ENTER

SYS MONITORING TIME CONTROL POWER TIME (1998/07/06 10:00 ) 2385:42'02 SERVO POWER TIME (1998/07/06 10:30 ) 36000:00'00 PLAYBACK TIME (1998/10/22 11:12 ) 2210:00'20 MOVING TIME (1998/10/22 15:30 ) 1875:15'30 OPERATING TIME (1998/10/22 16:12 ) 0:0'0

MOTOMAN

Main Menu

ShortCut

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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

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Daily

1000HCycle

6000HCycle

12000HCycle

24000H

36000H

Specified Personnel Licensee

Alignment mark Visual Visual Visual Check for grease leakage.b) Tighten loose bolts. Replace if necessary. Tighten loose bolts. Replace if necessary. Check for loose connectors. Check for belt tension and wear. Check for conduction between the main connector of base and intermediate connector with manually shaking the wires. Check for wear of protective spring.c) Replaced) Visual, Multimeter Check for conduction between terminals and wear of protective spring.c) Replaced) Check for damage and deterioration of leads. Clean the work area if dust or spatter is present. Check for damage and outside cracks.

Visual

Check alignment mark accordance and damage at the home position.

External lead

Working area and robot

Motors for S-, L-, U-axes

Spanner Wrench Screwdriver, Wrench Manual Manual Visual, Multimeter

Baseplate mounting bolts

Cover mounting screws

Connector base

Timing belts for B- and T-axes

Wire harness in robot

Grease Gun

E1101000130GB03

(SLEU-axis wires)

(RBT-axis wires)

Wire harness in robot

(BT-axis wires)

Battery pack in robot

Replace the battery pack when the battery alarm occurs or the robot drove for 36000H. Check for malfunction. (Replace if necessary.) Supply greasee) (6000H cycle). See 9.3.1 "Grease Replenishment/Exchange for S-Axis Speed Reducer" at Page 49. Replace greasee). (12000H cycle) See 9.3.1 "Grease Replenishment/Exchange for S-Axis Speed Reducer" at Page 49.

S-axis speed reducer

Service Company

42
Method Operation Inspection Charge

Table 28: Inspection Items (Sheet 1 of 2)

Itemsa)

Schedule

HP20D-C09

Table 28: Inspection Items (Sheet 2 of 2)

Method Operation Inspection Charge

Itemsa)

Schedule

Daily

1000HCycle

6000HCycle

12000HCycle 24000H

36000H

Specified Personnel

Licensee

Speed reducers for L- and U-axes

Grease Gun

Check for malfunction. (Replace if necessary.) Supply greasee) (6000H cycle). See 9.3.2 "Grease Replenishment/Exchange for L-Axis Speed Reducer" at Page 51, 9.3.3 "Grease Replenishment/Exchange for U-Axis Speed Reducer" at Page 53. Replace greasee) (12000H cycle). See 9.3.2 "Grease Replenishment/Exchange for L-Axis Speed Reducer" at Page 51, 9.3.3 "Grease Replenishment/Exchange for U-Axis Speed Reducer" at Page 53.

R-, B- and T-axes speed reducer

Grease Gun

Check for malfunction. (Replace if necessary.) Supply greasee) (6000H cycle). See 9.3.4 "Grease Replenishment for R-Axis Speed Reducer" at Page 55, 9.3.5 "Grease Replenishment for B-, T-Axes Speed Reducer" at Page 56. Check for malfunction. (Replace if necessary.) Supply greasee) (6000H cycle). 9.3.6 "Grease Replenishment for T-Axis Gear" at Page 57 Check for malfunction. (Replace if necessary.) Supply greasee) (6000H cycle). See 9.3.7 "Grease Replenishment for R-axis Cross Roller Bearing" at Page 58

E1101000130GB03

T-axis gear

Grease Gun Grease Gun

R-axis cross roller bearing

Overhaul

a. Inspection No. correspond to the numbers in Fig. 27: "Inspection items" at Page 45. b. The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your YASKAWA europe GmbH representative. c. When checking for conduction with multimeter, connect the battery to BAT and OBT of connectors on the motor side for each axis, and then remove connectors on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to 9.3.8 "Notes for Maintenance" at Page 59) d. Wire harness in robot to be replaced at 24000H inspection. e. For the grease, refer to Table 29: "Inspection Parts and Grease Used" at Page 44.

Service Company

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HP20D-C09

Table 29: Inspection Parts and Grease Used

No. 12, 13 Grease Used VIGO Grease RE No. 0 Order no. 101839 Qty 16 kg Inspected Parts Speed reducers for S-, L- and Uaxes Speed reducers for R-, B- and Taxes T-axis gear 16 Alvania EP Grease 2 127606 16 kg R-axis cross roller bearing

14, 15

Harmonic Grease SK-1A

127609

2.5 kg

The numbers in the above table correspond to the numbers in Table 28: "Inspection Items" at Page 42

44

E1101000130GB03

5 8

11

8 14 1 13 4

10

16 15

9 13

E1101000130GB03
1 12 4

11

17

Fig. 27: Inspection items

The numbers in the above Fig. 27: "Inspection items" correspond to the numbers in Table 28: "Inspection Items" at Page 42

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9.2
9.2.1

Notes on Maintenance Procedures

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:

1BC

2BC

Fig. 28: Battery Location Table 30: Battery location

1 2 3 Cover fixing screw (M4) Battery pack Plate fixing screw (M4)

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6 2

5 4 3

Fig. 29: Battery Connection Table 31: Battery connection

1 2 3 4 5 6 Battery pack before replacement Connector New battery pack (HW0470360-A) Order No.: 105548 See step 4 below Board See step 5 below

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. Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.

NOTE

6. Mount the new battery pack to the holder. 7. Reinstall the plate. Do not allow plate to pinch the cables when reinstalling the plate.

NOTE

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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

48

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9.3.1

Grease Replenishment/Exchange for S-Axis Speed Reducer

2 3

Fig. 30: S-Axis Speed Reducer Diagram Table 32: S-axis speed reducer diagram
1 2 3 Grease exhaust port Hexagon socket head plug PT1/8 S-axis speed reducer Grease inlet Hexagon socket head plug PT1/8

NOTE

For the ceiling-mounted robot, the grease exhaust port and the grease inlet are inverted.

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. 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

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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: Amount of grease: Air supply pressure of grease pump: VIGO Grease RE No.0 Order no. 101839. 360 cc 0.3 MPa or less 8 g/s or less.

Grease injection rate:

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. 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. 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: Amount of grease: Air supply pressure of grease pump: Grease injection rate: VIGO Grease RE No. 0 Order no. 101839 approx. 1800 cc 0.3 MPa or less 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.

50

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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

4 1 2

Fig. 31: L-Axis Speed Reducer Diagram Table 33: L-axes speed reducer diagram
1 2 3 4
Grease exhaust port Hexagon socket head plug PT1/8 L-axis speed reducer Grease inlet Hexagon socket head cap screw M6 L-arm

NOTE

For the ceiling-mounted robot, the grease exhaust port and the grease inlet are inverted.

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. 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

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. 0 Order no. 101839.

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Amount of grease: Air supply pressure of grease pump: Grease injection rate:

100 cc 0.3 MPa or less. 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. 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

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: Amount of grease: Air supply pressure of grease pump: Grease injection rate: VIGO Grease RE No. 0 Order no. 101839 approx. 500 cc 0.3 MPa or less 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.

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9.3.3

Grease Replenishment/Exchange for U-Axis Speed Reducer

1

2 4

Fig. 32: U-Axis Speed Reducer Diagram Table 34: U-axis speed reducer diagram
1 2 3 4 U-arm Grease inlet Hexagon socket head Grease exhaust port Hexagon socket head cap screw M6 U-axis speed reducer

NOTE

For the ceiling-mounted robot, the grease exhaust port and the grease inlet are inverted.

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. 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

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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: Amount of grease: Air supply pressure of grease pump: Grease injection rate: VIGO Grease RE No. 0 Order no. 101839 60 cc 0.3 MPa or less 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. 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

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: Amount of grease: Air supply pressure of grease pump: Grease injection rate: VIGO Grease RE No. 0 Order no. 101839 approx. 300 cc 0.3 MPa or less 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.

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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

1

Fig. 33: R-Axis Speed Reducer Diagram Table 35: R-axis speed reducer diagram
1 2 3 Grease inlet Grease zerk A-MT6 x 1 Cap Exhaust port screw M6

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: Amount of grease: Harmonic grease SK-1A Order no. 100148 8cc

NOTE

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.

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.

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9.3.5

Grease Replenishment for B-, T-Axes Speed Reducer

1

2 3 6 4

Fig. 34: B-, T-Axes Speed Reducers Diagram Table 36: B-, T-axes speed reducer diagram
1 2 3 4 5 6
Exhaust port (B-axis) Plug LP-M5 T-axis speed reducer Exhaust port (T-axis) screw M6 Grease inlet (T-axis) screw M6 Grease inlet (B-axis) screw M6 B-axis speed reducer

1. Remove the plug LP-M5 from the exhaust port. Remove the cover for the B-axis speed reducer.

NOTE

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: Amount of grease: For T-axis: Harmonic grease SK-1A Order no. 127609 For B-axis: 10 cc 5 cc)

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NOTE

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.

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. Mount the cover for the B-axis speed reducer (Refer to 9.3.8 "Notes for Maintenance" at Page 59).

NOTE

9.3.6

Grease Replenishment for T-Axis Gear

1 port Exhaust

Fig. 35: T-Axis Gear Diagram Table 37:

1 2
Exhaust port Plug LP-M5 Grease inlet screw M6

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: Amount of grease: Harmonic grease SK-1A Order no. 127609 5 cc

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NOTE

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.

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

1 2

Fig. 36: R-axis Cross Roller Bearing Diagram Table 38: R-axis cross roller bearing diagram
1 2 3 Exhaust port Plug LP-M5 R-axis cross roller bearing Grease inlet screw M6

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).

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Grease type: Amount of grease:

Alvania EP grease 2 Order no. 127606 8 cc

NOTE

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.

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
9.3.8.1

Notes for Maintenance

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.
1 2

Fig. 37: Sealing Part of Wrist Unit Table 39: Sealing part of wrist unit
1 2
Cover jointing face Cover

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9.3.9

Home Position Calibration

WARNING
Before 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 robots 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 Ppoint 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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CAUTION
Perform 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.

9.3.10

Home Position Calibration

NOTE

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.

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.

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SUPPLEMENT

Home Position: The home position is the pulse value "0" for each axis and its posture.

9.3.11

Calibrating Operation

NOTE

Home position calibration screen is displayed only in security mode or management mode.

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.

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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.
1 2

Fig. 38: Home Positon Table 40: Home position

1 2 3
B-axis center line angle against, U-axis center line (0) U-axis angle against horizontal line on the ground (0) L-axis angle against vertical line to the ground (0)

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NOTE

Other robot models have different positions. Always refer to "ROBOT INSTRUCTIONS" for the correct robot model.

9.4

Setting the Second Home Position (Check Point)

WARNING
Be 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 Ppoint 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.

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CAUTION
Perform 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.

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.

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2
3
10

NG

5 6

OK

9
Fig. 39: Purpose of position check Table 41:
1 2 3 4 5 6 7 8 9 10 "OUT OF RANGE (ABSO DATA)" alarm occurs Reset alarm Turn ON servo power Position confirmation operation Compare second home position (check point)* pulses with current position pulses Alarm occurs again Correct defective axis Position checking point Playback possible Procedure After Alarm Occurs

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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. 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

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.

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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 group.

, or select {PAGE} to display the selection window for the control

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

WARNING
Be 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.

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.
SUPPLEMENT

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.

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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 group.

, or select {PAGE} to display the selection window for the control

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) 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 UAxes)" at Page 77 and Fig. 41: "Encoder Connector Diagram (for R-, B- and T-Axes)" at Page 78.

NOTE

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. Do not remove the battery pack in the connector base.

NOTE

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CAUTION
Connect battery to encoder to save the data before removing conector.

0BT BAT

b a
4

a 0BT* b BAT*

3 6 5

CAUTION
Connect battery to encoder to save the data before removing conector.

Fig. 40: Encoder connector Diagram (for S-, L- and U-Axes) Table 42: Encoder connector diagram (for S-, L- and U-axes)
1 2 3 4 5
Motor Motor power connector Battery pack HW9470932-A Order no. 111512 Connector for the battery backup a: Crimped contact-pin (Socket) b: Crimped contact-pin (Pin)

6 7 8

CAUTION Label (Enlarged view) CAUTION label Encoder connector

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.

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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. Do not remove the battery pack in the connector base.

NOTE

1 11

10
0BT BAT
Connect battery to encoder to save the data before removing conector.

3
b a b a 0BT BAT

CAUTION

5 4

8
0BT BAT a b b a 0BT BAT

CAUTION
Connect battery to encoder to save the data before removing conector.

Fig. 41: Encoder Connector Diagram (for R-, B- and T-Axes) Table 43: Encoder connector diagram (for R-, B- and T-axes
1 2 3 4 5 6 Encoder Motor cable, etc. Connection Battery pack HW9470932-A Order no. 111512 Encoder connector a: Crimped contact-pin (Socket) b: Crimped contact-pin (Pin) 7 8 9 10 11 CAUTION Label (Enlarged view) CAUTION label Wire harness in robo Power connector Motor

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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) Table 44: Dew condensation water exhaust
1 2
Dew condensation water exhaust port 2: plug PT 1/8 Dew condensation water exhaust port 1: plug PT 1/8

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.

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9.4.4.2

In Case of Wall Installation

Fig. 43: Dew Condensation Water Exhaust (Wall Installation) Table 45:
1 2
View A Dew condensation water exhaust port 1: plug PT 1/8

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.

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9.4.4.3

In Case of Ceiling Installation

Fig. 44: Dew Condensation Water Exhaust (Ceiling Installation) Table 46: Dew
1 2
Dew condensation water exhaust port 2: plug PT 1/ Dew condensation water exhaust port 1: plug PT 1/8

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.

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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.

NOTE

Table 47: Spare Parts for the YR-HP0020D-C09 (Sheet 1 of 2)

Rank Parts Name No. A A A A A Grease Grease Grease Liquid Seal Battery Pack Type Order Nr. Manufacturer Qty Qty per Unit 1 for connector base for wire harness in manipulator replacing Remarks

VIGO Grease RE No. 0 Harmonic Grease SK-1A Alvania EP Grease 2 Fluit Plast HW0470360-A

Yaskawa Electric Corporation Harmonic Drive Systems Co., Ltd. Showa Shell Sekiyu K.K.

16 kg 2.5 kg 16 kg -

Yaskawa Electric Corporation Yaskawa Electric Corporation

Battery Pack

HW9470984-A

B B B B B B B B

B-Axis Timing Belt T-Axis Timing Belt S-Axis Speed Reducer S-Axis Input Gear L-Axis Speed Reducer L-Axis Input Gear U-Axis Speed Reducer R-Axis Speed Reducer

80S4.5M653 80S4.5M518 HW0387753-B HW0313491-1 HW0387753-C HW0313492-1 HW9280880-G HW0381463-A

Mitsuboshi Belting Limited Mitsuboshi Belting Limited Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation

1 1 1 1 1 1 1 1

1 1 1 1 1 1 1 1

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Table 47: Spare Parts for the YR-HP0020D-C09 (Sheet 2 of 2)

Rank Parts Name No. B B B B B-Axis Speed Reducer T-Axis Speed Reducer Internal Wire Harness Internal Cable for B- and TAxes S-Axis AC Servomotor Type Order Nr. Manufacturer Qty Qty per Unit 1 1 1 1 Remarks

HW9381633-A HW0382140-A HW0175594-A HW0270954-A

Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation

1 1 1 1

HW0388665-A SGMRV09ANA-YR1* HW0388666-A SGMRV13ANA-YR2* HW0388663-A SGMRV05ANA-YR1* HW0389298-A SGMPH02ANA-YR1*

L-Axis AC Servomotor

Yaskawa Electric Corporation

U-Axis AC Servomotor

Yaskawa Electric Corporation

AC Servo Motor for R-, B- and T-Axes

Yaskawa Electric Corporation

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11.1

Parts List
S-Axis Unit
1001 1008 1011 1012 1010 1034 1013 1020 1041 1022 1021 1041 1024 1023 1027 1030 1033 1014 1024 1023 1026 1009 1036 1035 1031 1032

1030

1002

1016 1015 1017 1018 1025 1038 1040 1039 1014 1020 1005 1006 1004 1037 1003

1007

1028 1029

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Table 48
No. 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 DWG No.

S-axis Unit
Name Motor S head Socket screw Spring washer Speed reducer GT-SA bolt Base GT-SA bolt M base APS bolt Plug Union Cover Tube Cover GT-SA bolt Shoulder Lever Union Saddle Socket screw Clamp Screw with spring washer Cap GT-SA bolt Holder Cover APS bolt Eye bolt Socket screw Spring washer GT-SA bolt Gear Socket screw Spring washer V ring Plate GT-SA bolt GT-SA bolt Cable tie Order Nr.: Pcs 1 1 1 1 1 16 1 3 1 4 1 1 1 2 1 2 1 1 2 1 2 2 2 1 2 1 1 2 2 3 3 9 1 1 1 1 1 6 6 2

SGMRV-09ANA-YR1* HW0100545-2 M16X20 2H-16 HW0387753-B M10X40 HW0100544-2 M8X30 HW0305306-2 M5X10 PT1/8 UKM6-01 HW0305809-1 NB-0640-B HW0304221-1 M6X15 MSB8-15 HW0400645-1 TSH6-01M CD-31 M6X10 TA1-S10 M5X10 EZ5036A0 M6X15 HW0305812-1 HW9406775-1 M6X8 M12 M8X60 2H-8 M12X35 HW0313491-1 M6X60 2H-6 V-375L HW0405277-1 M5X16 M5X12 T50R

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11.2

L-Axis Unit
2024 2023 2001

2017

2005

2004 2008 2011 2012 2010 2009 2003 2006 2002

2016 2018 2019

2007

2037 2026 2027

2028 2014 2013 2022 2021 2020

2032

2014 2013 2016 2015

2029 2031 2030 2037

1002

2033 2034

2035 2036 2037

2031

Table 49
No. 2001 2002 2003 2004 2005 2006 2007 2008 DWG No.

L-Axis Unit
Name Motor Socket screw Spring washer Gear M base Oil seal Plate Support Order Nr. Pcs 1 1 1 1 1 1 1 1

SGMRV-13ANA-YR2* M6X90 2H-6 HW0313492-1 HW0304229-1 Y426012.5 HW0401506-1 HW0304226-1

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Table 49
No. 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2026 2027 2028 2029 2030 2031 2032 DWG No. M6X10 2H-6 HW0304227-1 M6X8 M12X40 2H-12 M10X35 2H-10 HW0100546-2 HW0387753-C M10X40 M12X40 2H-12 HW0404196-4 M8X30 M8X25 TA1-S10 M5X10 M6X10 HW0305813-1 HW0305698-1 M5X12 PT1/8 *STAINLESS* 2033 2034 2035 2036 2037 1002 CD-31 M5X12 TA1-S10 M5X10 T50L HW0100545-2

L-Axis Unit
Name Socket screw Spring washer Cover APS bolt Socket screw Spring washer Socket screw Spring washer L arm Speed reducer Socket screw Socket screw Spring washer Washer GT-SA bolt GT-SA bolt Clamp Screw with spring washer Socket screw Holder Cover GT-SA bolt Plug Order Nr. Pcs 2 2 1 4 12 12 6 20 1 1 14 2 2 2 4 4 4 4 1 1 1 6 1

Saddle GT-SA bolt Clamp Screw with spring washer Cable tie S head

1 2 2 2 6 1

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11.3

U-Axis Unit
3002 3001 3005 3020 3003

3019 3019 3012 3006 3016 3018 3017

2017

3009 3008

3016 3018 3017

3011 3010 3007 3013 3014

3015

Table 50
No. 3001 3002 3003 3005 3006 DWG No.

U-Axis Unit
Name Motor Cover GT-SA bolt Casing Speed reducer Order Nr. Pcs 1 1 7 1 1

SGMRV-05ANA-YR1* HW0313490-1 M4X14 HW0102379-1 HW9280880-G

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Table 50
No. 3007 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 2017 DWG No. M8X45 M5X65 2H-5 M14X35 GT-SH-14 M8X30 M10X20 2H-10 M6X10 HW0404196-2 M10X35 2H-10 PT1/8 EZ2940A0 HW0100546-2

U-Axis Unit
Name GT-SA bolt Socket screw Spring washer Socket screw GT-SH washer GT-SA bolt Socket screw Spring washer Socket screw Washer Socket screw Spring washer Plug Cap L arm Order Nr. Pcs 16 1 1 6 6 4 1 1 1 2 2 2 2 1 1

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11.4

R-Axis Unit
4062 4020 4024 4023 4016 4021 4034 4022 4017 4013 4019

4002 4014 4077 4058 4056 4024 4034 4023 4078 4018 4001

5046

4005

4012 4033 4031

4003 4004 4032 4007 4010 4008

4029

4036 4030 4042 3005 4006 4007 4009 4035 4057 4011 4044 4011 4024

4079 4022 4037 4076 4075 4025 4039 4040 4082 4073 4074 4072 4074 4073 4080 4070 4069 4046 4045 4024 4034 4023 4083 4060 4055

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Table 51
No. 4001 4002 4003 4004 4005 4006 4007 4008 4009 4010 4011 4012 4013 4014 4016 4017 4018 4019 4020 4021 4022 4023 4024 4025 4029 4030 4031 4032 4033 4034 4035 4036 4037 4039 4040 4042 4044 4045 4046 4055 4056 4057 4058 DWG No. M6X65 2H-6 M5X20 M6X30 HW0305305-3 M4X20 2H-4 HW0404196-5 M6X20 M4X45 M6X6 A-MT6X1 HW0381872-A M6X35

R-Axis Unit (Sheet 1 of 2)

Name Socket screw Spring Washer GT-SA bolt GT-SA bolt M cover Socket screw Spring Washer Washer GT-SA bolt Socket screw Socket screw G Nipple Cross roller bearing GT-SA bolt Oil seal Shaft Block Housing Shaft Support Saddle Socket screw GT-SA bolt S cover Speed reducer Shaft Oil seal M base Shaft Spring Washer N base APS bolt GT-SA bolt Clamp Pan screw with spring washer APS bolt Plug Socket screw Spring Washer Support Motor Cap GT-SA bolt Order Nr. Pcs 8 8 4 3 1 12 13 1 8 1 2 1 1 8 1 1 1 1 1 1 2 6 10 1 1 1 1 1 1 6 1 4 4 1 1 1 1 2 2 1 1 1 6

TC941045*FKM* HW0403857-1 HW0405201-2 HW0304318-1 HW0304085-1 HW0304914-1 HW0404503-1 M4X20 M4X12 HW0200540-1 HW0381463-A HW0404403-1 AE1314A0 HW0304932-1 HW0404402-1 2H-4 HW0411398-1 M4X10 M5X16 TA1-S8 M4X8 M5X8 LP-M5 M5X35 2H-5 HW0404918-1 SGMPH-02ANA-YR1* EZ5036A0 M6X20

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Table 51
No. 4060 4062 4069 4070 4072 4073 4074 4075 4076 4077 4078 4079 4080 4082 4083 3005 5046 DWG No. HW0304930-1 6811LLU HW9405817-1 HW9302603-1 HW9406148-1 M4X10 2H-4 TA1-S8 M4X8

R-Axis Unit (Sheet 2 of 2)

Name Support Bearing Cover Support Plate Socket screw Spring washer Clamp Screw with spring washer Plug Pin Cable tie Union GT-SA bolt Cable tie Casing Uarm Order Nr. Pcs 1 1 1 1 1 2 2 3 3 1 2 3 1 4 1 1 1

PT1/8 *STAINLESS* MS4-10 T50R CMBG8+9+10X2P+12-42 M5X16 T30R HW0102379-1 HW0100623-1

92

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11.5

Wrist Unit

3005

5045 5073 5046 5071 5001 5072 5002 5003 5006 5067 5005

5007 5055 5008 5057 5008 5067 5007 5045 5044 5006 5003 5062 5005 5026 5037 5043 5053 5048 5040 5049 5039 5068 5036 5016 5041 5017 5070 5040 5025 5026 5038 5028 5027 5042 5064 5068 5023 5033 5020

5011

5014 5019

5035 5068 5034 5013

5018 5063 5012

5022

5047 5069 5061 5030 5029 5031 5031

5021 5032 5069 5047

5066 5065

5024

5030 5052

5060

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Table 52
No. 5001 5002 5003 5005 5006 5007 5008 5011 5012 5013 5014 5016 5017 5018 5019 5020 5021 5022 5023 5024 5025 5026 5027 5028 5029 5030 5031 5032 5033 5034 5035 5036 5037 5038 5039 5040 5041 5042 5043 5044 5045 5046 5047 5048 DWG No. HW9406556-1 M4X12 M5X20 HW9200798-1

Wrist Unit (Sheet 1 of 2)

Name Support GT-SA bolt GT-SA bolt Cover Motor Socket screw Pulley Belt Gear GT-SA bolt B cover Pulley Socket screw GT-SA bolt Bearing B nut Shim Bearing Socket screw GT-SA bolt Shaft Oil seal Bearing Shaft O ring Housing Speed reducer Housing Gear Pulley Socket screw Bearing Bearing Bearing Oil seal Speed reducer Housing Wrist base GT-SA bolt Belt GT-SA bolt U arm Socket screw GT-SA bolt Order Nr. Pcs 1 2 4 2 2 2 2 1 1 4 1 1 1 4 1 1 1 1 1 8 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 11 1 24 1 2 12

SGMPH-02ANA-YR1* M4X16 HW9482727-A 80S4.5M518 HW9381658-A M4X12 HW9405452-1 HW9482725-A M5X16 M4X16 HW9482218-A HW9405199-1 SP-0120** HW9481180-A M5X16 M5X12 HW0304232-1 TC60747*FKM* HW9481187-A HW0304233-1 S75 HW0304087-1 HW0382140-A HW0304086-1 HW9381659-A HW9482726-A M5X20 6002ZZ 6901ZZ 6814ZZ TC74.5X90X7*FKM* HW9381633-A HW9405792-1 HW0200451-1 M5X16 80S4.5M653 M5X12 HW0100623-1 M6X6 M4X16

94

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Table 52
No. 5049 5052 5053 5055 5057 5060 5061 5062 5063 5064 5065 5066 5067 5068 5069 5070 5071 5072 5073 3005 DWG No. M4X12 M5X16 M6X6 M6X14 M6 M5X16 M4X12 LP-M5 HW9405791-3 6811LLU HW0404606-1 HW0404605-1 2H-4 2H-5 M6 M6X6 TA1-S8 M4X8 T50R HW0102379-1

Wrist Unit (Sheet 2 of 2)

Name GT-SA bolt GT-SA bolt Socket screw Socket screw Washer GT-SA bolt GT-SA bolt Plug Housing Bearing Cover Plug Spring washer Spring washer Washer Socket screw Clamp Pan screw with spring washer Cable tie Casing Order Nr. Pcs 4 5 1 1 1 4 8 1 1 1 1 1 2 3 2 1 1 1 1 1

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96

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YASKAWA in Ihrer Nhe / YASKAWA near You

YASKAWA Electric Corporation
JP 2-1, Kuroskai-shiroishi Yahatanishi-ku Kitakyushu-shi 806-0004 +093-645-8801

MOTOMAN EU
A Yaskawa Europe GmbH Wien +43-1-707-9324-15 CZ Yaskawa Czech s.r.o Prag +420-257-941-718 D Yaskawa Europe GmbH Allershausen +49-8166-90-0 Yaskawa Europe GmbH Eschborn +49-6169-777250 DK Motoman Robotics Europe AB Lsning +45-7022-2477 Yaskawa Iberica S.L E Barcelona +34-93-6303478 Yaskawa France SARL F Nantes +33-2-4131919 FIN Yaskawa Finland Oy Turku +358-403000600 GB Yaskawa UK Ltd. Banbury +44-1295-272755 Yaskawa Italia s.r.l. I Modena +39-059-280496 Turin +39-011-9005833 NL Yaskawa Benelux B.V Son +31-40-2895500 P Yaskawa Iberica S.L Aveiro +351-234-9430 900 SE Yaskawa Nordic AB Kalmar +46-480-417800 Toras +46-480-417800 SI Yaskawa Slovenia d.o.o Ribnica +386-1-8372-410 Yaskawa Ristro d.o.o Ribnica +386-1-8372-410

Distributors
BG Kammarton Bulgaria Ltd.
Sofia +359-02-926-6060

CH Messer Eutectic Castolin Switzerland S.A.

Dllikon +41-44-847-17-17

CZ Hadyna International spol s.r.o.

Ostrava-Marianske Hory +420-596-622-636

Sp-Tech s.r.o.
Nymburk +420-325-515105

H Flexman Robotics Kft

Budapest +36-30-9510065

Rehm Hegesztstechnika Kft

Budapest +36-53-380-078

IL Yaskawa Europe Technology LTD.

Rosh Haayin +972-3-9004114

N Optimove AS
Lierstranda +47-32240600

PL Integrator RHC Sp. z o.o.

Torun +48-56-6519710

RUS Weber Comechanics

Torun +7-495-105-8887

TR Teknodrom Robotik Otomasyon San. Tic. Ltd. pti

Gebze/Kocaeli +90-262-678-88-18

ZA Robotic Systems SA PT Y Ltd

Johannesburg +27-11-6083182

Standort/ Yaskawa Europe GmbH Location Robotics Division Standort Allershausen Kammerfeldstrae 1 85391 Allershausen Fon +49 -81 66 -90 -0 Fax: +49 -81 66 -90 -103

Schulungszentrum und Vertriebsniederlassung / Training centre and sales ofce

Yaskawa Europe GmbH Drives + Motion Division Hauptstrae 185 65760 Eschborn Fon +49-61 96 -7 77 25 -0 Fax: +49-61 96 -7 77 25 -39

www.yaskawa.eu e-Mail: info@yaskawa.eu.com

nderungen, welche dem technischen Fortschritt dienen, vorbehalten. Alterations in the course of technical progress, are reserved, without separate information.