MH6

YASKAWA

YASKAWA MANUAL NO.

HW0484977 2

MOTOMAN-MH6INSTRUCTIONSTYPE: YR-MH00006-A00 (STANDARD SPECIFICATION) YR-MH00006-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONSMOTOMAN-MH6 INSTRUCTIONSDX 100 INSTRUCTIONSDX 100 OPERATOR’S MANUALDX100 MAINTENANCE MANUAL

The DX 100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

1/75

johnsbr

Typewritten Text

Part Number: 156160-1CD Revision: 2

MH6

ii

HW0484977

HW0484977

MANDATORY

• This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-MH6 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 manipulator.

• General items related to safety are listed in the Chapter 1: Safety of the DX 100 instructions. To ensure correct and safe operation, carefully read the DX 100 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 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 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 is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.

2/75

MH6

iii

HW0484977

HW0484977

Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MH6.

In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in some situations.

At any rate, be sure to follow these important items

WARNINGIndicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.

CAUTIONIndicates 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.

MANDATORYAlways be sure to follow explicitly the items listed under this heading.

PROHIBITEDMust never be performed.

NOTETo ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAU-TION” and “WARNING”.

3/75

MH6

iv

HW0484977

HW0484977

WARNING

• Before operating the manipulator, 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 manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Fig. : Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator.Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you.

– Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX100.

– Moving the manipulator 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 manipulator 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.

4/75

MH6

v

HW0484977

HW0484977

Definition of Terms Used Often in This ManualThe MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.

In this manual, the equipment is designated as follows:

CAUTION

• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately,and be sure that all other necessary processing has been performed.

– Check for problems in manipulator 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 manipulator's work area, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator:

Equipment Manual DesignationDX100 controller DX100

DX100 programming pendant Programming pendant

Cable between the manipulator and the controller

Manipulator cable

5/75

MH6

vi

HW0484977

HW0484977

Explanation of Warning LabelsThe following warning labels are attached to the manipulator.

Always follow the warnings on the labels.

Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.

Fig. : Warning Label Locations

MOTOMANTYPE

PAYLOAD

ORDER NO.

SERIAL NO.

MASS

DATE

YASKAWA ELECTRIC CORPORATION JAPAN

kgkg

WARNINGDo not enterrobot work area.

WARNINGMoving partsmay causeinjury

Nameplate:

WARNING Label B:

WARNING Label A:

Nameplate

WARNING label AWARNING label B

WARNING label A

6/75

MH6 Contents

vii

HW0484977

HW0484977

1 Product Confirmation ......................................................................................................................1-1

1.1 Contents Confirmation .......................................................................................................1-1

1.2 Order Number Confirmation...............................................................................................1-2

2 Transport.........................................................................................................................................2-1

2.1 Transport Method............................................................................................................... 2-1

2.1.1 Using a Crane.......................................................................................................2-1

2.1.2 Using a Forklift......................................................................................................2-2

2.2 Shipping Bolts and Brackets .............................................................................................. 2-3

3 Installation.......................................................................................................................................3-1

3.1 Installation of the Safeguarding .........................................................................................3-2

3.2 Mounting Procedures for Manipulator Base.......................................................................3-2

3.2.1 Mounting Example................................................................................................3-3

3.3 Types of Mounting .............................................................................................................3-5

3.3.1 S-axis Operating Range .......................................................................................3-5

3.3.2 Fixing the Manipulator Base .................................................................................3-5

3.3.3 Precautions to Prevent the Manipulator from Falling............................................3-5

3.4 Location .............................................................................................................................3-6

4 Wiring.............................................................................................................................................. 4-1

4.1 Grounding ..........................................................................................................................4-1

4.2 Cable Connection ..............................................................................................................4-2

4.2.1 Connection to the Manipulator..............................................................................4-2

4.2.2 Connection to the DX100......................................................................................4-2

5 Basic Specifications ........................................................................................................................5-1

5.1 Basic Specifications...........................................................................................................5-1

5.2 Part Names and Working Axes..........................................................................................5-2

5.3 Baseplate Dimensions .......................................................................................................5-3

5.4 Dimensions and P-Point Maximum Envelope....................................................................5-4

5.5 Alterable Operating Range ................................................................................................5-5

6 Allowable Load for Wrist Axis and Wrist Flange .............................................................................6-1

6.1 Allowable Wrist Load .........................................................................................................6-1

6.2 Wrist Flange.......................................................................................................................6-3

7/75

MH6 Contents

viii

HW0484977

HW0484977

7 System Application ......................................................................................................................... 7-1

7.1 Peripheral Equipment Mounts ........................................................................................... 7-1

7.1.1 Allowable Load ..................................................................................................... 7-1

7.1.2 Installation Position .............................................................................................. 7-1

7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-3

8 Electrical Equipment Specification.................................................................................................. 8-1

8.1 Location of Limit Switch ..................................................................................................... 8-1

8.2 Internal Connections.......................................................................................................... 8-2

9 Maintenance and Inspection ........................................................................................................... 9-1

9.1 Inspection Schedule .......................................................................................................... 9-1

9.2 Notes on Maintenance Procedures ................................................................................... 9-7

9.2.1 Battery Pack Replacement ................................................................................... 9-7

9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-9

9.3.1 Grease Replenishment/Exchange for S-axis Speed Reducer.............................. 9-99.3.1.1 Grease Replenishment (Refer to fig. 9-4 “S-axis Speed Reducer Diagram” .) ........................... 9-109.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-axis Speed Reducer Diagram” at page 9-9.) ........ 9-10

9.3.2 Grease Replenishment/Exchange for L-axis Speed Reducer ............................ 9-119.3.2.1 Grease Replenishment (Refer to fig. 9-5 “L-axis Speed Reducer Diagram” .)........................... 9-119.3.2.2 Grease Exchange (Refer to fig. 9-5 “L-axis Speed Reducer Diagram” at page 9-11.) ...... 9-12

9.3.3 Grease Replenishment/Exchange for U-axis Speed Reducer ........................... 9-139.3.3.1 Grease Replenishment (Refer to fig. 9-6 “U-axis Speed Reducer Diagram” .) .......................... 9-139.3.3.2 Grease Exchange (Refer to fig. 9-6 “U-axis Speed Reducer Diagram” at page 9-13.)...... 9-14

9.3.4 Grease Replenishment for R-axis Speed Reducer ............................................ 9-15

9.3.5 Grease Replenishment for B- and T-axes Speed Reducers .............................. 9-16

9.3.6 Grease Replenishment for T-axis Gear.............................................................. 9-17

9.3.7 Grease Replenishment for R-axis Cross Roller Bearing .................................... 9-18

9.3.8 Notes for Maintenance ....................................................................................... 9-199.3.8.1 Wrist Axes ............................................................................................. 9-199.3.8.2 Battery Pack Connection....................................................................... 9-19

10 Recommended Spare Parts....................................................................................................... 10-1

8/75

MH6 Contents

ix

HW0484977

HW0484977

11 Parts List .................................................................................................................................... 11-1

11.1 S-Axis Unit ..................................................................................................................... 11-1

11.2 L-Axis Unit...................................................................................................................... 11-4

11.3 U-Axis Unit ..................................................................................................................... 11-5

11.4 R-Axis Unit ..................................................................................................................... 11-7

11.5 Wrist Unit ....................................................................................................................... 11-9

9/75

1 Product ConfirmationMH6 1.1 Contents Confirmation

1-1

HW0484977

HW0484977

1 Product Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.

Standard delivery includes the following four items (Information for the content of optional goods is given separately):

• Manipulator

• DX 100

• Programing Pendant

• Manipulator Cable (between the DX 100 and the Manipulator)

CAUTION

• Confirm that the manipulator and the DX 100 have the same order number. Special care must be taken when more than one manipulator is to be installed.

If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

10/75

1 Product ConfirmationMH6 1.2 Order Number Confirmation

1-2

HW0484977

HW0484977

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the DX 100. The order number is located on a label as shown below.

Fig. 1-1: Location of Order Number Labels

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

Check that the manipulator and the DX100 have the same order number.

Label (Enlarged View)

(a) DX 100 (Front View)

WARNING

Do not open the door

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

AVERAGEPEAK kVA

kAINTERRUPT CURRENT

ERDR-POWER SUPPLY

TYPE

DX100kVA

3PHASE

NJ2960-1

60Hz

SERIAL No.

DATE

AC220V

MADE IN JAPAN

50/60HzAC200V

ORDER NO.NJ1529

(b) Manipulator (Top View)

11/75

2 TransportMH6 2.1 Transport Method

2-1

HW0484977

HW0484977

2 Transport

2.1 Transport Method

2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with two wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in fig. 2-1 “Transporting Position” .

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.

NOTE

• The weight of the manipulator is approximately 130 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.

• Mount the shipping bolts and brackets for transporting the manipulator.

• Avoid putting external force on the arm or motor unit when transporting by a crane, forklift, or other equipment. Fail-ure to observe this instruction may result in injury.

12/75

2 TransportMH6 2.1 Transport Method

2-2

HW0484977

HW0484977

Fig. 2-1: Transporting Position

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with bolts as shown in fig. 2-2 “Using a Forklift” . Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transport the manipulator slowly with due caution in order to avoid overturning or slippage.

Rubber plateRubber plate

Hexagon socket head cap screw M10 (2 screws)

Shipping bracket

View A

Shipping bracket

13/75

2 TransportMH6 2.2 Shipping Bolts and Brackets

2-3

HW0484977

HW0484977

Fig. 2-2: Using a Forklift

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and a shipping brackets. (See fig. 2-3 “Shipping Bolts and Brackets” .)

Fig. 2-3: Shipping Bolts and Brackets

• The shipping bolts and bracket are painted yellow.

• The shipping bracket is to be fixed with the hexagon socket head cap screw M10 (2 screws).

Bolt M16 (4 bolts)

Pallet

Forklift claw entry

NOTEBefore turning ON the power, make 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 manipulator must be moved again.

Shipping bracket

Hexagon socket head cap screw M10(2 screws) Side ViewFront View

14/75

3 InstallationMH6

3-1

HW0484977

HW0484977

3 Installation

WARNING

• Install the safeguarding.

Failure to observe this warning may result in injury or damage.

• Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

Failure to observe this warning may result in injury or damage.

• Do not start the manipulator or even turn ON the power before it is firmly anchored.

The manipulator may overturn and cause injury or damage.

• When mounting the manipulator on the ceiling or wall, the base section must have sufficient strength and rigidity to support the weight of the manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling.

Failure to observe these warnings may result in injury or damage.

CAUTION

• Do not install or operate a manipulator 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. 2-3 “Shipping Bolts and Brackets” are removed.

Failure to observe this caution may result in damage to the driving parts.

15/75

3 InstallationMH6 3.1 Installation of the Safeguarding

3-2

HW0484977

HW0484977

3.1 Installation of the Safeguarding

To insure safety, be sure to install safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance.

Responsibility for Safeguarding (ISO10218)

The user of a manipulator or robot system shall ensure that safeguarding is 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 Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.

Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator referring to table 3-1 “Maximum Repulsion Forces of the Manipulator at Emergency Stop” and table 3-2 “Endurance Torque in Operation” .

A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities. Mount the manipulator base as instructed in chapter 3.2.1 “Mounting Example” .

Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop

Maximum torque in horizontal rotation (S-axis moving direction)

3800 N•m(390 kgf•m)

Maximum torque in vertical rotation (L-, U-axes moving direction)

3500 N•m(357 kgf•m)

Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation (S-axis moving direction)

900 N•m(93 kgf•m)

Endurance torque in vertical operation (L-, U-axes moving direction)

1500 N•m(158 kgf•m)

16/75

3 InstallationMH6 3.2 Mounting Procedures for Manipulator Base

3-3

HW0484977

HW0484977

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 manipulator or the mounting fixture. It is recommend to prepare a baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size.

The manipulator base is tapped for four mounting holes; securely fix the manipulator base to the baseplate with four hexagon head bolts M16 (50 mm long is recommended).

Next, fix the manipulator 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. 3-1 “Mounting the Manipulator Baseplate” at page 3-4.

17/75

3 InstallationMH6 3.2 Mounting Procedures for Manipulator Base

3-4

HW0484977

HW0484977

Fig. 3-1: Mounting the Manipulator Baseplate

Baseplate

View A

16 dia.(2 holes)

+0.018 0Tapped hole 18 dia.

(4 holes)

+0.018 0 12 dia.

20

A

40 mm or more

Hexagon socket head cap screw M16 (4 screws)

Spring washerWasher

Manipulator base

Baseplate

Manipulator base

Anchor bolt M16 or more

Baseplate

Units: mm

60

300

260

60

240

260

300

292

0.1102

0.11530.1100

0.1

132

0.1

102

0.1

153

0.1132

0.1

130

18/75

3 InstallationMH6 3.3 Types of Mounting

3-5

HW0484977

HW0484977

3.3 Types of Mounting

The MOTOMAN-MH6 is available in three types: floor-mounted type (standard), wall-mounted type and ceiling-mounted type. For wall-mounted and ceiling-mounted types, the three points listed below are different from the floor-mounted type.

• S-axis Operating Range

• Fixing the Manipulator Base

• Precautions to Prevent the Manipulator from Falling

3.3.1 S-axis Operating Range

For the wall-mounted type, the S-axis movable range must be ±30°. (The range is adjusted prior to the shipment.)

3.3.2 Fixing the Manipulator 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 manipulator base. Use a torque of 206 N•m when tightening the screws.

3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted types, take appropriate measures to avoid the falling of the manipulator in case of emergency. Refer to fig. 3-2 “Precaution against Falling” for details.

Fig. 3-2: Precaution against Falling

Manipulator base

Support

Hexagon socket head cap screw M16 (4 screws)(Tensile strength: 1200 N/mm2 or above)

19/75

3 InstallationMH6 3.4 Location

3-6

HW0484977

HW0484977

3.4 Location

When installing a manipulator, it is necessary to satisfy the following environmental conditions:

• Ambient Temperature: 0° to +45°C

• Humidity: 20 to 80%RH (non-condensing)

• Free from dust, soot, oil, or water

• Free from corrosive gas or liquid, or explosive gas or liquid.

• Free from excessive vibration (4.9 m/s2 [0.5G] or less)

• Free from large electrical noise (plasma)

• The flatness for installation is 0.5 mm or less

NOTE

In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact your Yaskawa representative (listed on the back cover of this instruction manual) to perform a wall/ceiling installation on site.

20/75

4 WiringMH6 4.1 Grounding

4-1

HW0484977

HW0484977

4 Wiring

4.1 Grounding

Follow the local regulations and electrical installation standards for grounding. A wire of 5.5 mm2 or more is recommended.

Refer to fig. 4-1 “Grounding Method” at page 4-2 to connect the ground line directly to the manipulator.

WARNING

• Ground resistance must be 100 Ω or less.

Failure to observe this warning may result in fire or electric shock.

• Before wiring, make sure to turn 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

NOTE

• Never use this wire 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 elec-trical installation standards.

21/75

4 WiringMH6 4.2 Cable Connection

4-2

HW0484977

HW0484977

Fig. 4-1: Grounding Method

4.2 Cable Connection

Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cable (2BC). (Refer to fig. 4-2 “Manipulator Cables” at page 4-3.)

Connect these cables to the manipulator base connectors and to the DX 100. Refer to fig. 4-3(a) “Manipulator Cable Connectors (Manipulator Side)” at page 4-4" and fig. 4-3(b) “Manipulator Cable Connectors (DX 100 Side)” at page 4-4.

4.2.1 Connection to the Manipulator

Before connecting cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, then 1BC. After inserting the cables, depress the lever until it clicks.

4.2.2 Connection to the DX100

Before connecting cables to the DX100, verify the numbers on both manipulator cables and the connectors on the DX100. When connecting, insert the cables in the order of X21, then X11, and depress each lever low until it clicks.

AA

Delivered with the manipulatorView ABolt M8 (for grounding)

22/75


4-3

HW0484977

HW0484977

Fig. 4-2: Manipulator Cables

molexmolexmolex molexmolexmolex

2BC

X11

1BC

1BC

X212BC

X11 1BC

X21

2BC

The DX100 side The Manipulator side

Encoder cable

Power cable

The DX100 side The Manipulator side

23/75


4-4

HW0484977

HW0484977

Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)

Fig. 4-3(b): Manipulator Cable Connectors (DX 100 Side)

Connector detailsManipulator side

X11X21

24/75

5 Basic SpecificationsMH6 5.1 Basic Specifications

5-1

HW0484977

HW0484977

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications1)

1 SI units are used in this table. However, gravitational unit is used in ( ).

Item Model MOTOMAN-MH6Structure Vertically ArticulatedDegree of Freedom 6Payload 6 kgRepeatability*2)

2 Conformed to ISO9283

±0.08 mmRange of Motion S-Axis (turning) ±170°

L-Axis (lower arm) +155°, -90°U-Axis (upper arm) +250°, -175°R-Axis (wrist roll) ±180°B-Axis (wrist pitch/yaw) +225°, -45°

T-Axis (wrist twist) ±360°Maximum Speed S-Axis 3.84 rad/s, 220°/s

L-Axis 3.49 rad/s, 200°/sU-Axis 3.84 rad/s, 220°/sR-Axis 7.16 rad/s, 410°/sB-Axis 7.16 rad/s, 410°/sT-Axis 10.65 rad/s, 610°/s

Allowable Moment3)

3 Refer to chapter 6.1 “Allowable Wrist Load” at page 6-1 for details on the permissible moment of inertia.

R-Axis 11.8 N•m (1.2 kgf•m)B-Axis 9.8 N•m (1.0 kgf•m)T-Axis 5.9 N•m (0.6 kgf•m)

Allowable Inertia(GD2/4)

R-Axis 0.27 kg•m2

B-Axis 0.27 kg•m2

T-Axis 0.06 kg•m2

Approx. Mass 130 kgAmbient Conditions Temperature 0° to 45°C

Humidity 20 to 80% RH at constant temperatureVibration Acceleration Less than 4.9 m/s2 (0.5 G)Others Free from corrosive gas or liquid, or explosive gas.

Free from water, oil, or dust.Free from excessive electrical noise (plasma).

Power Capacity 1.5 kVA

25/75

5 Basic SpecificationsMH6 5.2 Part Names and Working Axes

5-2

HW0484977

HW0484977

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

T+

T-B-

B+R+

R-U-

U+

L- L+

S-

S+

L-arm

Rotary head

Manipulator base

U-arm

Wrist flange

26/75

5 Basic SpecificationsMH6 5.3 Baseplate Dimensions

5-3

HW0484977

HW0484977

5.3 Baseplate Dimensions

Fig. 5-2: Baseplate Dimensions

20

±0.1

130

60

300

260

60

240

260

300

292

±0.1102

±0.1153±0.1100

View A

0.1

132

±0.1

102

± 0.

115

3

±0.1132

A

+0.018 012 dia.

18 dia. (4 holes)

+0.018 016 dia.

(2 holes)

27/75

5 Basic SpecificationsMH6 5.4 Dimensions and P-Point Maximum Envelope

5-4

HW0484977

HW0484977

5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope (YR-MH00006- A00, -A01)

188 199

141

R1422

175°�

83°

90°

155°�

614

95640

155

450

170°

170°

501 0

538 764

316

204

5

0

352

681

1722

1122

637

309 0

152

349

381

1422

250°

R270R38

1

P-point maximum envelope

P-point

150

28/75

5 Basic SpecificationsMH6 5.5 Alterable Operating Range

5-5

HW0484977

HW0484977

5.5 Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the operating conditions as shown in table 5-2 “S-Axis Operating Range” . If alteration is necessary, contact your Yaskawa representative in advance.

.

Table 5-2: S-Axis Operating Range

Item SpecificationsS-Axis Operating Range

±170°(standard)±150°±135°±120°±105°± 90°± 75°± 60°± 45°± 30°± 15°

29/75

6 Allowable Load for Wrist Axis and Wrist FlangeMH6 6.1 Allowable Wrist Load

6-1

HW0484977

HW0484977

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load is 6 kg. 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 6-1 “Allowable Wrist Load”. Contact your Yaskawa representative for further information or assistance.

When the volume load is small, refer to the moment arm rating shown in fig. 6-1 “Moment Arm Rating”.

The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative beforehand when only moment of inertia, or load moment is small and moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative beforehand.

Fig. 6-1: Moment Arm Rating

Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1)

1 ( ): Gravitational unit

GD2/4 Total Moment of Inertia kg•m2

R-Axis 11.8 (1.2) 0.27

B-Axis 8.8 (1.0) 0.27

T-Axis 5.9 (0.6) 0.06

(mm)LB

(mm

)T L

238

W = 3 kg

167

141

W = 6 kg

200

100

3002001000

B

TL

L

95

R-, T-axes rotationcenter line

B-axis rotation center line

Load gravity position

30/75

6 Allowable Load for Wrist Axis and Wrist FlangeMH6 6.1 Allowable Wrist Load

6-2

HW0484977

HW0484977

Fig. 6-2: The Diagram Moment/Inertia for R-axis

Fig. 6-3: The Diagram Moment/Inertia for B-axis

Fig. 6-4: The Diagram Moment/Inertia for T-axis

Mom

ent (

Nm

)

GD2/4 (kg m2)

11.8

15

10

5

00.27 0.483

0 0.2 0.4 0.6

Mom

ent (

Nm

)

GD2/4 (kg m2)

9.810

7.5

5

2.5

00.37

0 0.1 0.2 0.3 0.40.27

Mom

ent (

Nm

)

GD2/4 (kg m2)

5.96

4

2

00.06 0.14

0 0.05 0.1 0.15

31/75

6 Allowable Load for Wrist Axis and Wrist FlangeMH6 6.2 Wrist Flange

6-3

HW0484977

HW0484977

6.2 Wrist Flange

The wrist flange dimensions are shown in fig. 6-5 “Wrist Flange”. In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.

Fig. 6-5: Wrist Flange

45°

6

6

P.C.D40

Tapped holes M6 (depth:9 mm) (pitch:1.0) (4 holes)

25 d

ia.

6 dia. +0.015 0

(depth: 6 mm)

+0.0

21 0

50 d

ia.

0 -0

.039

Units: mm

NOTE Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools.

32/75

7 System ApplicationMH6 7.1 Peripheral Equipment Mounts

7-1

HW0484977

HW0484977

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in fig. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ system applications. The following conditions should be observed to attach or install peripheral equipment.

7.1.1 Allowable Load

• The allowable load on the U-axis is a maximum of 15 kg, including the wrist load.For instance, when the mass installed in the wrist point is 6 kg, the mass which can be installed on the upper arm becomes 9 kg.

• The allowable load on the S-axis is a maximum of 20 kg. Install the peripheral equipment on the S-axis so that the moment of inertia (GD2/4) from the S-axis rotation center becomes 1.25 kgm2 or less.

7.1.2 Installation Position

There is a limitation also on the installation position. fig. 7-2 “Allowable Load on U-axis” at page 7-2 shows the distance between the U-axis rotation center and the load gravity.

33/75

7 System ApplicationMH6 7.1 Peripheral Equipment Mounts

7-2

HW0484977

HW0484977

Fig. 7-1: Installing Peripheral Equipment

Fig. 7-2: Allowable Load on U-axis

A

W1

230

199

10590

5015

2.5

70

70

Z-di

rect

ion

rest

rictio

n35

0 or

less 23

0

Upper armZ-direction

U-axisrotation center

X-direction

Rotary head

Tapped hole M10 (4 holes)(pitch: 1.5) (depth: 20)

Tapped hole M6(length: 12) (4 holes)

View A

20

15

4003002000 1000

-200

10

5

-100

W1 = 0 kg

W1 = 6 kg

X Direction Restriction

Distance between U-Axis Rotation Center and Load Gravity (mm)

Wei

ght W

2 (k

g)

W1 = 3 kg

34/75

7 System ApplicationMH6 7.2 Internal User I/O Wiring Harness and Air Line

7-3

HW0484977

HW0484977

7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.2 mm2 x 8, 0.75 mm2 x 2 and 1.25 mm2 x 4 ) and two air lines are incorporated in the manipulator for the drive of peripheral device mounted on the upper arm as shown in fig. 7-3 “Connectors for Internal User I/O Wiring Harness and Air Line” at page 7-4.

The connector pins 1 to 16 are assigned as shown in fig. 7-4 “Details of Connector Pin Numbers” at page 7-4. Wiring must be performed by users.

The allowable current for internal user I/O wiring harness

3 A or less for each wire(The total current value for pins 1 to 16 must be 40 A or less.)

The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less(The air line inside diameter: 8.0mm and 6.5 mm.)

35/75


7-4

HW0484977

HW0484977

Fig. 7-3: Connectors for Internal User I/O Wiring Harness and Air Line

Fig. 7-4: Details of Connector Pin Numbers

Connector for internal user I/O wiringharness on U-axis: JL05-2A20-29SC (socket connector with a cap).Prepare pin connector JL05-6A20-29P.

Exhaust port ATapped holes PT3/8with pipe plug

Exhaust port BTapped holes PT3/8with pipe plug

Tapped hole PT3/8with pipe plug

Air inlet A

Tapped hole PT3/8with pipe plug

Air inlet B

View A Connector for internal user I/O wiringharness on S-axis: JL05-2A20-29PC (pin connector with a cap). Prepare socket connector JL05-6A20-29S.

A

Connector for Internal User I/O Wiring Harnesson the Connector Base

Connector for Internal User I/O Wiring Harnesson the U-arm

Pins usedPins used

Internal user I/O wiring harness : 0.2 mm2, 8 lead wires : 0.75 mm2, 2 lead wires : 1.25 mm2, 4 lead wires

Internal user I/O wiring harness : 0.2 mm2, 8 lead wires : 0.75 mm2, 2 lead wires : 1.25 mm2, 4 lead wires

(+24V (1A): for shock sensor)(Shock sensor signal input)

36/75


7-5

HW0484977

HW0484977

The same pin-number connectors (1 to 16) at both connector base part and arm part are connected with the single wire lead of 0.2 mm2, 0.75 mm2 or 1.25 mm2.

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 DX 100 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.

• For the wiring, refer to fig. 8-3(a) “Internal Connection Diagram” at page 8-3.

37/75

8 Electrical Equipment SpecificationMH6 8.1 Location of Limit Switch

8-1

HW0484977

HW0484977

8 Electrical Equipment Specification

8.1 Location of Limit Switch

The limit switches are optional. See fig. 8-1 “Location of Limit Switches” . The overrun limit switches (the S- and L-axis overrun limit switches and the LU-axes interference limit switch) can be mounted only if the manipulator type is: YR-MH00006-A01.

Fig. 8-1: Location of Limit Switches

(optional)

(optional)L-and U-axes interference L.S.

S-axis overrun L.S.(optional)

L-axis overrun L.S.

38/75

8 Electrical Equipment SpecificationMH6 8.2 Internal Connections

8-2

HW0484977

HW0484977

8.2 Internal Connections

Highly reliable connectors are equipped on each connection part of the manipulator to enable easy removal and installation for maintenance and inspection. For the number and location of connectors, see fig. 8-2 “Location and Numbers of Connectors” and table 8-1 “List of Connector Types” .

Diagrams for internal connections of the manipulator are shown in " fig. 8-3(a) “Internal Connection Diagram” at page 8-3 and fig. 8-3(b) “Internal Connection Diagram” at page 8-4 .

Fig. 8-2: Location and Numbers of Connectors

3BC (for internal user I/Owiring harness)

3BC (for internal userI/O wiring harness)

Table 8-1: List of Connector Types

Name Type of ConnectorConnector for the internal user I/O wiring harness on the connector base

JL05-2A20-29PC(JL05-6A20-29S: Optional)

Connector for the internal user I/O wiring harness on the U-arm

JL05-2A20-29SC(JL05-6A20-29P: Optional)

39/75

1 [Heading 1]MH6 1.1 [Heading 2]

8-3

HW0484977

HW0484977

Fig. 8-3(a): Internal Connection Diagram

-3-2

1

E

32

3BC-1

-6-7

-5

-10-11

-9-8

-13

-15-14

-16

-12

76

11

98

10

5

16

13

1514

12

-443

12

1

32

SS1SS2

SS1SS2

4 4

E

SS2SS1

87

4

23

1

E

E E

34

1

E E

2

E

-2-3-4 4

23

13BC-1

66-6

-8-9

-76

987

-11-12-13-14

11

1312

14

10-10

-16 1615-15

555-5

3BC(20-29)

P

P

P

P

P

3BC(20-29)

P

P

P

LC2LD2LD2

LD1P

LB1LB2 LB2

LA2P

LA1

LC1

LA3LB3

LB2LB1

LB1

LA1

LC3LD3

LD2LD1

LD1

LC1

LD1 LD1LC1

LB1 LB1LA1

LD1

LC2LD2LD2

LD1LC1

LB1

LA2LB2LB2

LB1LA1

LC3LD3

LA3LB3

C

1BC(10X4)DX100

SS224V(1A)

CN4-2CN4-1

CN4-2CN4-1 SS1

SS2

P

P

P

P

P

P

P

P

LC1 LD1LD1+24V

+24V

LD1LD2

P

LB1LB2LA1 LB1

P

CN2-10

CN4-6 LB1

-21CN-1No.1CN

DATA+5DATA-5P

PG

PG

-4

-2-3

OBT+5V0VFG5

BATOBT

2CN-1

-2

-4

-2

-3

+5VOBT

0V

BAT

No.3CN3CN-1

4CN-1

DATA+6DATA-6

OBTBAT

FG6-3

P

P

P

P

BAT-3

0BAT3BAT3

0BAT2BAT2

P

P

P

P

P

P

DATA-1DATA+1

BAT

0V+5V

FG1

DATA+2DATA-2

+5VOBTBAT

0V

OBT

FG2

22CN-1No.22CN

-2-6

-4-9-7

23CN-1-2

-5-4

-6

-9

No.23CN

-5

-7

AL1

AL2

FG4

P

P

0VCN4-10CN4-10P

P

P

P

P

P

P

-8-2

OBTBAT

UV

+5V0V

0V+5V

CN3-10CN3-9

PCN3-10CN3-9

FG8

FG7

SPG-7SPG+7

CN4-9 CN4-9

CN3-4CN3-5P

CN3-4CN3-5

CN4-4CN4-5 P

CN4-4CN4-5

CN2-9

CN2-10

CN2-9

CN2-4CN2-5 P

CN2-4CN2-5

CN1-4CN1-5

CN1-2CN1-1

CN1-9CN1-10

CN1-3

CN1-8

CN1-7CN1-6

CN2-2CN2-1

CN2-3

CN2-7CN2-6

CN3-2CN3-1

CN2-8

CN3-3

CN3-7CN3-6

CN4-1

CN4-7

CN4-3

CN4-2

CN4-6

CN3-8

CN4-8

1BC(10X4)

DATA-1DATA+1

BAT

0V+5V

FG1

PG

DATA+2DATA-2

+5VOBTBAT

0V

PGOBT

PG

PG

No.16CN16CN-1

-6-2

-4-5

-10-9

9CN-1

10CN-1

-3-2

-2

-4

-3

No.13CN-1-7

DATA+5DATA-5

No.9CN

FG4OBTBAT

BAT

+5V0V

OBT

DATA+4DATA-4

+5VOBT

FG30V

BATDATA-3DATA+3

P

-3-9

+5V0V

-4-10

-5-11

DATA+6DATA-6

+5V0V

-6 FG6

FG2

1718

21

1920

22

0BAT1BAT1

12

43

BAT110BAT12BAT12

0BAT11

24

272625

2928

BAT40BAT4

3132

2

43

1PG5V1

PG5V2PG0V2

PG0V1

30

7

56

8

0BAT21

0BAT22BAT21

BAT22

12

4

65

3

23

18CN-1No.18CN

-2-6

-4-9-10

19CN-1-2

-5-4

-6

-9

No.19CN

-5

678

1011

9

12

PG5V3PG0V4PG5V4

PG5V5PG0V6

PG0V5

PG5V6

151413

16

8

13

42

5 PG0V37

P

P

P

P

CN1-5

1BC(10X4)

CN1-4P

CN1-10CN1-9

CN1-1CN1-2

P

P

CN1-3

CN1-6CN1-7

CN1-8

P

DX100

SPG+2SPG-2

FG2

FG1

SPG-1SPG+1

+24V0V

+24V0V

0BTBAT0BTBAT

0BTBAT

BAT0BT

CN2-1CN2-2P

CN2-3

CN2-6CN2-7P

CN3-1CN3-2P

CN2-8

CN3-3 FG5

CN3-6CN3-7P

CN4-1

FG6

CN4-2

CN4-3

CN4-7P

P

CN3-8

SS2

BC2

+24V

SPG-6SPG+6

SPG-5SPG+5

SPG+4SPG-4

FG3

SPG+3SPG-3

-10

E

CN4-8P

B2

A2

B1

A1

B3

A3

E

1.For the limit switch specification, the connection of the section A B are changed as follows:<Notes>

S-AXIS OVERRUN L.S. Connected to B1

L-AXIS OVERRUN L.S. B2Connected to

L AND U-AXES INTERFERENCE L.S.B3Connected to

L AND U-AXES INTERFERENCE L.S. B3Connected to

L-AXIS OVERRUN L.S.A2

Connected to

L AND U-AXIS INTERFERENCE L.S.A3Connected to

SLU-axes with Limit Switch Specification

S-AXIS OVERRUN L.S. Connected to B1

S-AXIS OVERRUN L.S. A1Connected to

S-axis with Limit Switch Specification 2.For 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.

87

Pin No. Connected Port in DX100Shock sensor power supply; +24V (1A)Shock sensor signal input port

3. When connecting the pins No.7 and No.8 of 3BC connector base and the pins No.7 and No.8 of 3BC U-arm, the crimped contact-pins (SS1and SS2) need to be replaced as shown in .(Contact your Yaskawa representative in case of modifying the wiring before use.)

C

Power Cable Internal Cable

U-armConnector Base

Casing

Base

Crimped Contact-Pin

Unused

B-AXIS

T-AXIS

R-AXIS

L-AXIS

S-AXIS

U-AXIS

POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS

INTERNAL CABLE IN BT-AXIS

FOR LAMP(OPTION)

40/75

8.2 Internal Connections

8-4

HW0484977

HW0484977

Fig. 8-3(b): Internal Connection Diagram

ME1ME2ME2MU1MV1MW1

MV2

MU2MW2

MW2

MU3

MV2

MU2

MW3

MV4MU4

MV5MU5

MW4

MU6

MW6MV6

ME3

ME5ME4

MW5

BA1

BA2

BB1

BA3BA4BB4BA5BA6

ME6

MV3MW3

BA3ME3

MU3MV3

MU1

MW1ME1

BB1 BA1

MU2

MW2MV2

ME2

BB2 BA2

MV1

BB3

SM

YB

MV5 MU5

MW5

5CN-1-2-3

BA5BB5

-1-2

ME5-4

SM

YB

ME6MW6

BA6

MV6 -3-4-1

-2

BB6-2

MU67CN-1

-3-2

1

E

32

3BC-1

-6-7

-5

-10-11

-9-8

-13

-15-14

-16

-12

76

11

98

10

5

16

13

1514

12

-443

12

1

32

SS1SS2

SS1SS2

4 4

E

-5

-2

-4-3

15CN-1

14CN-1

SS2SS1

SS2SS17

8

SM

SM

YB

SM

17CN-3-2

-4-PE-1

YB

4

23

1

E

E E

34

1

E E

2

E

-2-3-4 4

23

13BC-1

6

20CN-3

6

E

-1-PE

-5-4

21CN-3

-1-2

-PE

-5-4

-2

-6

-8-9

-76

987

-11-12-13-14

11

1312

14

10-10

-16 1615-15

E

555-5

YB

SM

YB

MU4MV4

BA4BB4

MW4ME4

11CN-1

-5

-2-3-4-1-2

MV5 MU5

-2

ME5MW5

MU6MV6

-3-4

-7-6

ME6-8MW6

BA5

BA6BB6

BB5

PE

(10)/1C(10)/1C(10)/1C(10)/1C(10)/1C

No.5CN

No.7CN

No.12CN

No.6CN

No.8CN

E-WRCT 60sq

(10)/1C

3BC(20-29)

P

P

P

No.14CN

No.17CN

P

P

3BC(20-29)

P

P

P

No.20CN

No.21CN

2BC(6X6)

No.11CN

No.15CN

C

CN1-1CN1-2

CN1-4

CN1-5

CN1-6

CN2-1CN2-2

CN2-3CN2-4

CN2-5

CN2-6

CN3-1CN3-2

CN3-3CN3-4

CN3-5

CN3-6

CN1-3

CN4-2CN4-1

CN4-3CN4-4

CN4-5

CN4-6

CN5-1CN5-2

CN5-3CN5-4

CN5-5

CN5-6

CN6-1CN6-2

CN6-3CN6-4

CN6-5

CN6-6

2BC(6X6)

CN1-1

CN1-5

CN1-4CN1-3

CN1-6

CN2-1CN2-2

CN2-3CN2-4

CN2-5

CN2-6

CN3-1CN3-2

CN3-3CN3-4

CN3-5

CN1-2

CN4-1CN4-2

CN3-6

CN4-3CN4-4

CN4-5

CN4-6

CN5-1CN5-2

CN5-3

CN5-5

CN5-6

CN5-4

CN6-2

CN6-3CN6-4

CN6-5

CN6-6

CN6-1

CasingBase

For Spare Cable

Shock Sensor(Optional)

S-AXIS

L-AXIS

B-AXIS

U-AXIS

R-AXIS

T-AXIS

41/75

9 Maintenance and InspectionMH6 9.1 Inspection Schedule

9-1

HW0484977

HW0484977

9 Maintenance and Inspection

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 9-1 “Inspection Items” at page 9-3.

In table 9-1 “Inspection Items” at page 9-3, the inspection items are classified into three types of operation: 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.

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 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.

42/75


9-2

HW0484977

HW0484977

NOTE

• The inspection interval depends on the total servo opera-tion time.

• The following inspection schedule is based on the case where the manipulator is used for arc welding applica-tion. If the manipulator is used for other application or if it is used under special conditions, a case-by-case exami-nation is required.The inspection may be conducted at shorter intervals if the manipulator is used very frequently for the application such as handling; in this case, contact your Yaskawa rep-resentative.

43/75


9-3

HW0484977

HW0484977

Tabl

e 9-

1: In

spec

tion

Item

s (S

heet

1 o

f 2)

Item

s1)Sc

hedu

leM

etho

dO

pera

tion

Insp

ectio

n

Cha

rge

Daily1000HCycle6000HCycle12000HCycle24000H36000H

Specified

Licensee

Service

1A

lignm

ent m

ark

•Vi

sual

Che

ck tr

am m

ark

acco

rdan

ce a

nd d

amag

e at

th

e ho

me

posi

tion.

••

•2

Ext

erna

l lea

d•

Visu

alC

heck

for d

amag

e an

d de

terio

ratio

n of

lead

s.•

••

3W

orki

ng a

rea

and

man

ipul

ator

•Vi

sual

Cle

an th

e w

ork

area

if d

ust o

r spa

tter i

s pr

esen

t. C

heck

for

dam

age

and

outs

ide

crac

ks.

••

•4

S,L

,U-a

xes

mot

or•

Visu

alC

heck

for g

reas

e le

akag

e.2)

••

•5

Bas

epla

te m

ount

ing

bolts

•Sp

anne

rW

renc

hTi

ghte

n lo

ose

bolts

. Rep

lace

if n

eces

sary

.•

••

6C

over

mou

ntin

g sc

rew

s•

Scre

wdr

iver

, Wre

nch

Tigh

ten

loos

e bo

lts.

Rep

lace

if n

eces

sary

.•

••

7B

ase

conn

ecto

rs•

Man

ual

Che

ck fo

r loo

se c

onne

ctor

s.•

••

8B

T-ax

es ti

min

g be

lt•

Man

ual

Che

ck fo

r bel

t

ten

sion

and

wea

r.•

•9

Wire

har

ness

in m

anip

ulat

or(S

LUR

BT-

axes

lead

s))

•Vi

sual

Mul

timet

erC

heck

for c

ondu

ctio

n be

twee

n th

e m

ain

conn

ecte

r of b

ase

and

inte

rmed

iate

con

nect

or w

ith m

anua

lly s

haki

ng th

e w

ire.

Che

ck fo

r wea

r of p

rote

ctiv

e sp

ring3)

••

•R

epla

ce4)

•10

Wire

har

ness

In m

anip

ulat

or(B

T-ax

es le

ads)

•Vi

sual

Mul

timet

erC

heck

for c

ondu

ctio

n be

twee

n te

rmin

als

and

wea

r of p

rote

ctiv

e sp

ring.

3)•

••

Rep

lace

4)•

11B

atte

ry p

ack

in m

anip

ulat

or•

Rep

lace

the

batte

ry p

ack

whe

n th

e ba

ttery

ala

rm o

ccur

s or

the

man

ipul

ator

dro

ve fo

r 360

00H

.•

•12

S-ax

is s

peed

redu

cer

••

Gre

ase

Gun

Che

ck fo

r mal

func

tion.

(Rep

lace

if n

eces

sary

.) S

uppl

y gr

ease

5) (6

000H

cyc

le).

See

chap

ter 9

.3.1

at p

age

9-9

.R

epla

ce g

reas

e5). (

1200

0H c

ycle

)Se

e ch

apte

r 9.3

.1at

pag

e 9-

9 .

••

44/75


9-4

HW0484977

HW0484977

13LU

-axe

s sp

eed

redu

cers

••

Gre

ase

Gun

Che

ck fo

r mal

func

tion.

(R

epla

ce if

nec

essa

ry.)

Supp

ly g

reas

e5) (6

000H

cyc

le).

See

chap

ter 9

.3.2

at p

age

9-11

an

d ch

apte

r 9.3

.3at

pag

e 9-

13 .

Rep

lace

gre

ase5)

(120

00H

cyc

le).

See

cha

pter

9.3

.2at

pag

e 9-

11 ,

chap

ter 9

.3.3

at p

age

9-13

and

cha

pter

9.3

.5at

pag

e 9-

16

••

14R

BT-a

xes

spee

d re

duce

rs•

Gre

ase

Gun

Che

ck fo

r mal

func

tion.

(R

epla

ce if

nec

essa

ry.)

Sup

ply

grea

se5)

(6

000H

cyc

le).

See

chap

ter 9

.3.4

at p

age

9-15

and

cha

pter

9.3

.5at

pag

e 9-

16 .

••

15T-

axis

gea

r•

Gre

ase

Gun

Che

ck fo

r mal

func

tion.

(R

epla

ce if

nec

essa

ry.)

Sup

ply

grea

se5)

(600

0H c

ycle

).See

cha

pter

9.3

.6at

pag

e 9-

17 .

••

16R

-axi

s cr

oss

rolle

r bea

ring

•G

reas

e G

unC

heck

for m

alfu

nctio

n. (

Rep

lace

if n

eces

sary

.) S

uppl

y gr

ease

5)

(600

0H c

ycle

). c

hapt

er 9

.3.7

at p

age

9-18

.•

•17

Ove

rhau

l•

•1

Insp

ectio

n N

o. c

orre

spon

d to

the

num

bers

in fi

g.9-

1 “I

nspe

ctio

n Ite

ms”

at p

age

9-5.

2Th

e oc

curre

nce

of a

gre

ase

leak

age

indi

cate

s th

e po

ssib

ility

that

gre

ase

has

seep

ed in

to th

e m

otor

. Thi

s ca

n ca

use

a m

otor

bre

akdo

wn.

Con

tact

you

rYa

skaw

a re

pres

enta

tive.

3W

hen

chec

king

for c

ondu

ctio

n w

ith m

ultim

eter

, con

nect

the

batte

ry to

“BAT

” and

“O

BT”

of c

onne

ctor

s on

the

mot

or s

ide

for e

ach

axis

, and

then

rem

ove

conn

ecto

rs o

n de

tect

or s

ide

for e

ach

axis

from

the

mot

or. O

ther

wis

e, th

e ho

me

posi

tion

may

be

lost

. (R

efer

to c

hapt

er9.

3.8

“Not

es fo

r Mai

nten

ance

”at

pag

e9-

19.)

4W

ire h

arne

ss in

man

ipul

ator

to b

e re

plac

ed a

t 240

00H

insp

ectio

n.5

For t

he g

reas

e, re

fer t

o ta

ble

9-2

“Ins

pect

ion

Parts

and

Gre

ase

Use

d” a

t pag

e9-

6.

Tabl

e 9-

1: In

spec

tion

Item

s (S

heet

2 o

f 2)

Item

s1)Sc

hedu

leM

etho

dO

pera

tion

Insp

ectio

n

Cha

rge

Daily1000HCycle6000HCycle12000HCycle24000H36000H

Specified

Licensee

Service

45/75


9-5

HW0484977

HW0484977

Fig.

9-1:

Insp

ectio

n Ite

ms

5

4

8

14

9

11

13 13 12

1415

16

4 4

Not

e:Th

is fi

gure

sho

ws

the

stan

dard

spe

cific

atio

n m

anip

ulat

or in

the

hom

e po

sitio

n.

B-a

xis

R-a

xis

T-ax

isB

-axi

s

46/75


9-6

HW0484977

HW0484977

The numbers in the above table correspond to the numbers in table 9-1 “Inspection Items”.

Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts 12,13 VIGO Grease

RE No.0S-, L-, and U-axis speed reducers

14,15 Harmonic Grease SK-1A

R-, B-, and T-axis speed reducers,T-axis gear

16 Alvania EP Grease 2

R-axis cross roller bearings

47/75

MH6 9.2 Notes on Maintenance Procedures

9-7

HW0484977

HW0484977

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in fig. 9-2 “Battery Location” . If the battery alarm occurs in the DX100, replace the battery in accordance with the following procedure:

Fig. 9-2: Battery Location

Fig. 9-3: Battery Connection

1. Turn OFF the DX 100 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 connectors on the board.

5. Remove the old battery pack from the board.

Plate fastening bolt

Connector base

Support

Battery pack

Connector

Battery pack before replacementSee procedure 5

See procedure 4New battery pack

Board

48/75

MH6 9.2 Notes on Maintenance Procedures

9-8

HW0484977

HW0484977

6. Mount the new battery pack on the battery holder.

7. Reinstall the plate.

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

NOTE Do not allow plate to pinch the cables when reinstalling the plate.

49/75

MH6 9.3 Notes on Grease Replenishment/Exchange Procedures

9-9

HW0484977

HW0484977

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 instructions may result in damage to a motor and a speed reducer.

9.3.1 Grease Replenishment/Exchange for S-axis Speed Reducer

Fig. 9-4: S-axis Speed Reducer Diagram

NOTE

• If grease is injected 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/screw.

• Do not install a joint, a hose, etc. to a 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 a hose on the grease inlet with grease to keep air from entering into the speed reducer.

Hexagon socket head plug PT1/8 Grease inlet

S-axis speed reducer

Hexagon socket head plug PT1/8

Grease exhaust port

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

50/75


9-10

HW0484977

HW0484977

9.3.1.1 Grease Replenishment (Refer to fig. 9-4 “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.

2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)

3. Inject the grease through the inlet using a grease gun.

– Grease type: VIGO Grease RE No. 0

– Amount of grease: 70 cc (140 cc for 1st supply)

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate: 8 g/s or less

4. Move the S-axis for a few minutes to discharge the excess grease.

5. Wipe the discharged grease with a cloth. Remove the grease zerk from the grease inlet, and reinstall the plugs to the grease inlet and grease exhaust port. Before installing the plugs, apply Three Bond 1206C on the thread part of each plug, then tighten the plugs with a tightening torque of 4.9 N•m (0.5 kgf•m).

9.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-axis Speed Reducer Diagram” at page 9-9.)

1. Remove the hexagon socket head plug PT 1/8 from the grease exhaust port.


3. Inject the grease through the grease inlet using a grease gun.


– Amount of grease: approx. 450 cc



4. The grease exchange is complete when new grease appears from the 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 the excess grease.

NOTE

• If grease is injected with the plugs on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plugs before the grease injection.


NOTE

• 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.


51/75


9-11

HW0484977

HW0484977

6. Wipe the discharged grease with a cloth. Remove the grease zerk from the grease inlet, then reinstall the hexagon socket head plug PT 1/8 to the inlet and exhaust port. Before installing the plugs, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

9.3.2 Grease Replenishment/Exchange for L-axis Speed Reducer

Fig. 9-5: L-axis Speed Reducer Diagram

9.3.2.1 Grease Replenishment (Refer to fig. 9-5 “L-axis Speed Reducer Diagram” .)

1. Make the L-arm vertical to ground.


3. Remove the hexagon socket head cap screw M6 from the grease inlet.

4. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk is delivered with the manipulator.)

5. Inject grease through the grease inlet using a grease gun.

L-arm

Grease inlet Hexagon socket head cap screw M6

Hexagon socket head plug PT1/8 Grease exhaust port

NOTE For ceiling-mounted manipulators, the grease exhaust port and the grease inlet are inverted

NOTE

• If grease is injected with the exhaust plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.


52/75


9-12

HW0484977

HW0484977





6. Move the L-axis for a few minutes to discharge the excess grease.

7. Remove the grease zerk from the grease inlet and reinstall the screw.Before installing the screw, apply Three Bond 1206C on the thread part of each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m).

8. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 1/8 to the exhaust port.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

9.3.2.2 Grease Exchange (Refer to fig. 9-5 “L-axis Speed Reducer Diagram” at page 9-11.)

1. Make the L-arm vertical to ground.


3. Remove the hexagon socket head cap screw M6 from the grease inlet.

4. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk is delivered with the manipulator.)



– Amount of grease: approx. 420 cc



6. The grease discharge is complete when new grease appears from the 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 the excess grease.

8. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head cap screw M6 to the grease inlet.Before installing the screw, apply Three Bond 1206C on the thread part of each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m).

9. Wipe the discharged grease with a cloth and reinstall the plug to the exhaust port.Before installing the plugs, apply Three Bond 1206C on the thread part

NOTE

• If grease is injected with the exhaust plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.


53/75


9-13

HW0484977

HW0484977

of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

9.3.3 Grease Replenishment/Exchange for U-axis Speed Reducer

Fig. 9-6: U-axis Speed Reducer Diagram

9.3.3.1 Grease Replenishment (Refer to fig. 9-6 “U-axis Speed Reducer Diagram” .)

1. Make the U-arm horizontal to ground.

2. Remove the hexagon socket head cap screw M6 from the grease exhaust port.

3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.





U-arm

Grease exhaust portHexagon socket head cap screw M6

U-axis speed reducer

Grease inletHexagon socket head plug PT1/8

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

NOTE

• If grease is injected with the bolt on, the grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.


54/75


9-14

HW0484977

HW0484977



6. Move the U-axis for a few minutes to discharge the excess grease.

7. Remove the grease zerk from the grease inlet and reinstall the plug.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m)

8. Wipe the discharged grease with a cloth and reinstall the hexagon socket head cap screw M6 to the exhaust port.Before installing the screw, apply Three Bond 1206C on the thread part of each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m).

9.3.3.2 Grease Exchange (Refer to fig. 9-6 “U-axis Speed Reducer Diagram” at page 9-13.)

1. Make the U-arm horizontal to ground.

2. Remove the hexagon socket head cap screw M6 from the grease exhaust port.

3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.




– Amount of grease: approx.200 cc



6. The grease discharge is complete when new grease appears from the exhaust port. The new grease can be distinguished from the old grease by color.

7. Move the U-axes for a few minutes to discharge the excess grease.

8. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1/8.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

9. Wipe the discharged grease with a cloth and reinstall the hexagon socket head cap screw M6 to the exhaust port.Before installing the screw, apply Three Bond 1206C on the thread part of each screw, then tighten the screw with a tightening torque of 10 N•m (1.0 kgf•m).

NOTE

• If grease is injected with the bolt on, the grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.


55/75


9-15

HW0484977

HW0484977

9.3.4 Grease Replenishment for R-axis Speed Reducer

Fig. 9-7: R-axis Speed Reducer Diagram

1. Remove a plug LP-M5 from the exhaust port.

2. Remove the pipe plug.

3. Inject grease through the grease inlet using a grease gun. (Refer to fig. 9-7 “R-axis Speed Reducer Diagram” .)

– Grease type: Harmonic grease SK-1A


4. Reinstall the pipe plug.

5. Reinstall the plug LP-M5 on the exhaust port.

Pipe plug

Grease inletGrease zerk A-MT6X1

Exhaust port(Plug LP-M5)

NOTEThe exhaust port is used for air exhaust, and the grease is not exhausted from the exhaust port. Do not inject exces-sive grease through the grease inlet.

56/75


9-16

HW0484977

HW0484977

9.3.5 Grease Replenishment for B- and T-axes Speed Reducers

Fig. 9-8: B- and T-axes Speed Reducers Diagram

1. Remove the plug LP-M5 of B-axis or the hexagon socket head cap screw M6 of T-axis from the exhaust ports.

2. Remove the hexagon socket head cap screws M6 from the grease inlets and install the grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)

3. Inject grease through the grease inlets using a grease gun. (Refer to fig. 9-8 “B- and T-axes Speed Reducers Diagram” )


– Amount of grease: For B-axis: 10 cc (20 cc for 1st supply)

– Amount of grease: For T-axis: 5 cc (10 cc for 1st supply)

4. Remove the grease zerk form the grease inlets and reinstall the screws. Before installing the screws, apply Three Bond 1206C on the thread part of them, then tighten the screws with a tightening torque of 6 N•m (0.6 kgf•m).

5. Reinstall the plug LP-M5 of B-axis or the hexagon socket head cap screw M6 of T-axis to the exhaust ports.Before installing the plug/screw, apply Three Bond 1206C on the

Exhaust port (B-axis)(Plug LP-M5)

Grease inlet (T-axis)(Hexagon socket head cap screw M6)

Exhaust port (T-axis)

T-axis speed reducer

B-axis speed reducer

(Hexagon socket head cap screw M6)

Grease inlet (B-axis)

(Hexagon socket head cap screw M6)

NOTE Remove the U-arm cover side of the B-axis speed reducer.


57/75


9-17

HW0484977

HW0484977

thread part, then tighten them with a tightening torque of 6 N•m (0.6 kgf•m).

9.3.6 Grease Replenishment for T-axis Gear

Fig. 9-9: T-axis Gear Diagram

1. Remove the plug LP-M5 from the grease exhaust port.

2. Remove the hexagon socket head cap screw M6 from the grease inlet, then install the grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)

3. Inject grease through the grease inlet using a grease gun. (Refer to fig. 9-9 “T-axis Gear Diagram” )


– Amount of grease: 5 cc (10 cc for the 1st supply)

4. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head cap screw M6.Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m).

5. Reinstall the plug LP-M5 to the exhaust port.Apply Three Bond 1206C to screwed parts when installing the plug.

NOTEMount the U-arm cover side of the B-axis speed reducer. (Refer to chapter 9.3.8 “Notes for Maintenance” at page 9-19.)


Exhaust port(Plug LP-M5)

Grease inlet(Hexagon socket head cap screw M6)

58/75


9-18

HW0484977

HW0484977

9.3.7 Grease Replenishment for R-axis Cross Roller Bearing

Fig. 9-10: R-axis Cross Roller Bearing Diagram

1. Remove the plug LP-M5 from the exhaust port.

2. Remove the hexagon socket head cap screw M6 from the grease inlet, then install the grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)

3. Inject grease through the grease inlet using a grease gun. (Refer to fig. 9-10 “R-axis Cross Roller Bearing Diagram” .

– Grease type: Alvania EP grease 2

– Amount of grease: 3 cc (6 cc for the 1st supply)

4. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head cap screw M6.Before installing the screw, apply Three Bond 1206C on the thread part of the screw, then tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m).

5. Reinstall the plug LP-M5 to the exhaust port.Apply Three Bond 1206C to screwed parts when installing the plug.

R-axis cross roller bearing(Plug LP-M5)Exhaust port

Hexagon socket head cap screw M6

Grease inlet

NOTE The exhaust port is used for air flow. Do not inject exces-sive grease through the gear grease inlet.

59/75


9-19

HW0484977

HW0484977

9.3.8 Notes for Maintenance

9.3.8.1 Wrist Axes

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. Therefore, if the wrist cover is disassembled, be sure to reapply the sealing bond when reassemble the cover. (Three Bond 1206C, refer to table 10-1 “Spare Parts for YR-MH00006-A00, -A01” at page 10-1 .)

Fig. 9-11: Sealing Para of Wrist Unit

9.3.8.2 Battery Pack Connection

Before removing the encoder connector (with CAUTION label), connect the battery pack referring to the following figures.

Fig. 9-12(a): Battery Pack Connector Diagram for SLU-axes

Cover jointing face

Cover jointing face

Cover

Cover

b

aabOBT

BAT BAT*OBT*

Encoder connector

Power connector

Motor

Battery pack: HW9470932

Connector for battery backup

60/75


9-20

HW0484977

HW0484977

Fig. 9-12(b): Battery Pack Connector Diagram for RBT-axes

OBTBAT

OBT4BAT4

OBTBAT

OBT4BAT4

Motor

Motor cable etc.

Encoder

Power connector

Encoder connector Battery pack

Connect

a: Crimped contact-pin (socket)b: Crimped contact-pin (pin)

Connect battery to encoderto save the data beforeremoving connector.

CAUTIONCAUTION label (Enlarged view)

Connect battery to encoder

to save the data beforerem

oving connector.

CA

UTIO

N

CAUTION label

Inte

rnal

wire

61/75

10 Recommended Spare PartsMH6

10-1

HW0484977

HW0484977

10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-MH6. 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

NOTE For replacing parts in Rank B or Rank C, contact your Yaskawa representative.

Table 10-1: Spare Parts for YR-MH00006-A00, -A01 (Sheet 1 of 2)

Rank Parts

No.

Name Type Manufacturer Qty Qty

per

Unit

Remarks

A 1 Grease VIGO Grease RE No.0

Yaskawa ElectricCorporation

16 kg -

A 2 Grease Harmonic Grease SK-1A

Harmonic DriveSystems Inc.

2.5 kg

-

A 3 Grease Alvania EPGrease 2

Showa Shell Sekiyu K.K.

16 kg -

A 4 Liquid Gasket Three Bond 1206C

Three Bond Co., Ltd.

- -

A 5 Battery Pack HW0470360-A Yaskawa ElectricCorporation

1 1

A 6 Battery Pack HW9470932-A Yaskawa ElectricCorporation

1 1 For replacement of wire harness in manipulator

B 7 B-axis Timing Belt 60S4.5M558 Mitsuboshi Belting Limited

1 1

B 8 T-axis Timing Belt 60S4.5M387 Mitsuboshi Belting Limited

1 1

B 9 S-axisSpeed Reducer

HW0386621-B Yaskawa ElectricCorporation

1 1

B 10 S-axis Input Gear HW0312734-1 Yaskawa ElectricCorporation

1 1

B 11 L-axisSpeed Reducer

HW0387809-A Yaskawa ElectricCorporation

1 1

62/75

10 Recommended Spare PartsMH6

10-2

HW0484977

HW0484977

B 12 L-axis Input Gear HW0312735-1 Yaskawa ElectricCorporation

1 1

B 13 U-axisSpeed Reducer

HW9280738-B Yaskawa ElectricCorporation

1 1

B 14 U-axis Input Gear HW0303277-4 Yaskawa ElectricCorporation

1 1

B 15 R-axisSpeed Reducer


1 1

B 16 B-axisSpeed Reducer


1 1

B 17 T-axisSpeed Reducer


1 1

B 18 R-axis Cross Roller Bearing


1 1

B 19 Wire Harness in Manipulator


1 1

B 20 B- and T-axesWire Harness in Manipulator


1 1

C 21 S-and U-axesAC Servomotor

SGMRV-05ANA-YR2*HW0388664-A


1 2

C 22 L-axisAC Servomotor

SGMRV-09ANA-YR1*HW0388665-A


1 1

C 23 R- B-, and T-axesAC Servomotor

SGMPH-01ANA-YR1*HW0389297-A


1 3

Table 10-1: Spare Parts for YR-MH00006-A00, -A01 (Sheet 2 of 2)

Rank Parts

No.

Name Type Manufacturer Qty Qty

per

Unit

Remarks

63/75

11 Parts ListMH6 11.1 S-Axis Unit

11-1

HW0484977

HW0484977

11 Parts List

11.1 S-Axis Unit

10021003

1004

1005

1006

1008

1009

1010

10111012

1013

1014

1015

1016

1017

1018

1007

1001

1020

1034

10361037

10451047

1051

1022

1023

10311032

1033

1052

1030

1025

1023

10241029

1028

10261027

1019

10421041

1040

10431044

1020

1014

1011

10121055

1055

1013

1053

1054

64/75


11-2

HW0484977

HW0484977

Table 11-1: S-axis Unit

No. DWG No. Name Pcs1001 HW0102222-1 Base 1

1002 HW0102223-1 S head 1

1003 HW0312732-1 M base 1

1004 SGMRV-05ANA-YR2* Motor 1

1005 M4X10 GT-SA bolt 1

1006 HW0312734-1 Gear 1

1007 M5X85 Socket screw 1

1008 2H-5 Spring washer 1

1009 HW0412662-1 Support 1

1010 HW0412662-2 Support 1

1011 TA1-S10 Clamp 2

1012 M5X8 Round Head Screw with Spring Washer

2

1013 T50R Insulok 2

1014 CD-31 Saddle 2

1015 EZ5036A0 Cap 1

1016 POC6-01 Union 1

1017 NB-0640-0.2 Tube 1

1018 PT1/8 Plug 1

1019 M5X10 APS bolt 6




1024 HW0413455-1 Dog 1






1030 HW0386621-B Speed reducer 1

1031 TSH6-01M Union 1

1032 NB-0640-0.3 Tube 1

1033 HW0313539-1 Cover 1


1036 HW0312987-1 Cover 1

1037 HW0313540-A Cover 1



1042 M6 GT-LH washer 5

1043 PMF6-01 Union 1

1044 PT1/8 Plug 1



1051 TS200CHM Tarminal 1

65/75


11-3

HW0484977

HW0484977

1052 HW0411175-1 Cover 1

1053 HW0314103-1 Support 1

1054 C-30-SG-30A Glomet 1


Table 11-1: S-axis Unit

No. DWG No. Name Pcs

66/75

11 Parts ListMH6 11.2 L-Axis Unit

11-4

HW0484977

HW0484977

11.2 L-Axis Unit

2010

2011

2009

2001

20022020

2019

2003

2012

2013 1002

2005

2004

20142015

2006

20162018

Table 11-2: L-Axis Unit

No. DWG No. Name Pcs2001 SGMRV-09ANA-YR1* Motor 1

2002 HW0387809-A Speed reducer 1

2003 HW0312735-1 Gear 1


2005 HW0102224-1 L arm 1

2006 HW0312986-1 Cover 1





2013 PT1/8 Plug 1




2018 M6 GT-LH washer 4


2020 M14 GT-SH washer 2

1002 HW0102223-1 S head 1

67/75

11 Parts ListMH6 11.3 U-Axis Unit

11-5

HW0484977

HW0484977

11.3 U-Axis Unit

3002

3006

30093001

30083007

30293030

3027

3003

3035

3034

30343035

3011

3010

3012

3012

2005

3013

3028

3028

3020

3032

30213022

3031

3013

30233019

30253024

30373036

3026

3004

Table 11-3: U-Axis Unit

No. DWG No. Name Pcs3001 SGMRV-05ANA-YR2* Motor 1


3003 HW9280738-B Speed reducer 1


3006 HW0303277-4 Gear 1



3009 HW0102336-1 Casing 1

3010 HW0201196-1 Cover 1


3012 HW0404179-1 Stopper 2


3019 HW0404718-1 N base 1




3023 HW9481087-A Gasket 1

68/75

11 Parts ListMH6 11.3 U-Axis Unit

11-6

HW0484977

HW0484977


2

3025 M3 Nut 2


3027 PT1/8 Plug 1

3028 PT3/8*dacro* Plug 2



3031 KQE10-03 Union 1

3032 KQE12-03 Union 1





2005 HW0102224-1 L arm 1

Table 11-3: U-Axis Unit


69/75

11 Parts ListMH6 11.4 R-Axis Unit

11-7

HW0484977

HW0484977

11.4 R-Axis Unit

40014016

40414011

4018

4008

40084010

4007

40204019

4004

4040

4035

4036

4021

4024

4025

4002

40134003

4003

4012

4017

40224023

40144015 4038

40054006

4028

4034

40304029

4037

4039

40374032

4031

4026

40274042

4028

40304029

4033

3009

40095008

70/75

11 Parts ListMH6 11.4 R-Axis Unit

11-8

HW0484977

HW0484977

Table 11-4: R-Axis Unit

No. DWG No. Name Pcs4001 SGMPH-01ANA-YR1* Motor 1





4006 H-3 Spring waser 12

4007 HW0381872-A Cross roller bearing 1



4010 2H-6 Spring waser 8

4011 TC12227FKM Oil seal 1

4012 6809ZZ Bearing 1

4013 HW0404161-1 M base 1



4016 HW0404163-1 Fly wheel 1

4017 HW0304348-1 Shaft 1

4018 HW0404196-1 Washer 1



4021 HW0404164-1 Shaft 1

4022 HW0404717-2 Support 1


4024 HW0304455-1 Cover 1


4026 HW0404478-2 Cover 1


4028 HW0403879-1 Saddle 2



4031 TA1-S8 Clamp 1


1

4033 T18L Insulok 1

4034 T50R Insulok 2

4035 HW0404720-1 Cover 1


4037 LP-M5 Plug 2

4038 MT6X1 G nipple 1


4040 EZ5036A0 Cap 1

4041 HW0404304-1 Packin 1

4042 M5X10 APS bolt 1

3009 HW0102336-1 Casing 1

71/75

11 Parts ListMH6 11.5 Wrist Unit

11-9

HW0484977

HW0484977

11.5 Wrist Unit

5056

5057

5010

5008

50125001

5001

5002

5002

50185020

50345047

50485004

5024

50145015

5062

5017

502350305024

5024

5019

50165013

5058

5010

5011

5011

50635064

5027

50265029

5028

5032

50255021

5060

5031

5022

5049

5033

5055

5003

5051

50525035

5060

50615036

5038

5050

5037

5060

5060

5054

5041

5059

5042

5046

5040

5045

5039

5044

5005

5007

5043

5053

3009

72/75


11-10

HW0484977

HW0484977

Table 11-5: Wrist Unit

No. DWG No. Name Pcs5001 SGMPH-01ANA-YR1* Motor 2







5008 HW0100620-1 U arm 1

5009 HW0200491-1 Wrist base 1

5010 HW9200780-1 Cover 2


5012 HW9406556-3 Support 1


5014 TA1-S8 Clamp 1


1

5016 T18L Insulok 1

5017 HW9482352-A Pulley 1

5018 HW0481429-A Pulley 1

5019 60S4.5M387 Belt 1

5020 60S4.5M558 Belt 1

5021 HW0481692-A Pulley 1

5022 RTW28 Retaining Ring-C type

1

5023 HW9482220-A Pulley 1



5026 HW9404988-1 B cover 1


5028 HW0404266-1 Housing 1


5030 HW9381452-A Gear 1

5031 6811LLU Bearing 1

5032 HW9482218-A Bearing 1

5033 688A Bearing 1

5034 6902ZZ*NS7* Bearing 1

5035 6812LLU Bearing 1

5036 HW9381384-A Gear 1


5038 HW9405199-1 B nut 1

5039 HW9481180-A Bearing 1

5040 HW0404550-1 Housing 1



73/75


11-11

HW0484977

HW0484977

5043 HW9481024-A Bearing 1

5044 HW0307678-1 Shaft 1

5045 HW0307679-1 Flange 1


5047 HW0403705-1 Housing 1



5050 SP-0120** Sim 1

5051 HW0404302-1 Shaft 1


5053 HW0303912-1 Housing 1


5055 HW0404303-1 Coller 1

5056 HW0404279-1 Block 1



5059 HW0404371-2 Bolt 1


5061 LP-M5 Plug 1



5064 M6 Washer 1

3009 HW0102336-1 Casing 1


5061 LP-M5 Plug 1



5064 M6 Washer 1

3009 HW0102336-1 Casing 1


5061 LP-M5 Plug 1



5064 M6 Washer 1

3009 HW0102336-1 Casing 1

Table 11-5: Wrist Unit


74/75

YASKAWA

YASKAWA ELECTRIC CORPORATION

Specifications are subject to change without noticefor ongoing product modifications and improvements.

HW0484977MANUAL NO.

Printed in Japan November 2009 08-10C

2

MOTOMAN-MH6INSTRUCTIONS

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, JapanPhone +81-93-645-7745

Fax +1-937-847-6277

Fax +81-93-645-7746

Fax +46-480-417999

Fax +49-8166-90-103

Fax +82-53-382-7845

Fax +65-6289-3003

Fax +60-3614-08929

Fax +86-10-6788-0542

Fax +91-124-475-8542

Fax +66-2-693-4200

MOTOMAN INC. HEADQUARTERS805 Liberty Lane, West Carrollton, OH 45449, U.S.A.Phone +1-937-847-6200

MOTOMAN ROBOTICS EUROPE ABFranska Vagen 10, Box 4004, SE-390 04 Kalmar, SwedenPhone +46-480-417800

MOTOMAN ROBOTEC GmbHKammerfeld strasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100

YASKAWA ELECTRIC KOREA CORPORATION1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, KoreaPhone +82-53-382-7844

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741Phone +65-6282-3003

YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, MalaysiaPhone +60-3614-08919

YASKAWA ELECTRIC (THAILAND) CO., LTD.252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, ThailandPhone +66-2-693-2200

SHOUGANG MOTOMAN ROBOT CO., LTD.No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, ChinaPhone +86-10-6788-0541

MOTOMAN MOTHERSON ROBOTICS LTD.Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India Phone +91-124-475-8500

75/75

MH6

Documents

Transcript of MH6