Motoman SK45

MOTOMAN ROBOTICS ABa subsidiary of YASKAWA Electric Corporation

Service manual, Robot

MOTOMAN-SK45 /-SK45-30

Service manual SK45/ SK45-30

Skapad: 95-04-24 Ändrad: 98-09-22 Filnamn: T:\M-ROBOT\ENGELSK\SK45IH.FM

Page: 1

MOTOMANROBOTICSAB

1. About this manual .................................. 32. Machine description ............................... 3

Technical data 3Identification 3Working area - radial range 4Alterable working envelope 4

3. Precautions for allowable wrist load ....... 5Allowable wrist load 5Allowable U-load 6

4. Lifting instruction .................................... 7Handling of the robot 7Shipping bolts and jigs 8

5. Mounting ................................................ 9General 9Safety 9Robot placed on a common base 9Robot mounted directly on the floor 10Connection to wrist flange 11

6. Connection ........................................... 11General 11Connection customer application 12ConnectionYASNAC MRC 12

7. Construction ......................................... 13Limit switch 13Internal connectors 13

8. Remodelling SK45 to SK45-30 ............ 15Disassmble 15Assembly 16Surfaces to seal 17Finishing 17

9. Maintenance ........................................ 18General 18Inspection schedule 18Replacement procedures for battery unit 19S-axis speed reducer 20Speed reducer L-axis 21Speed reducer U-axis 22Speed reducer R-axis 23B- and T-axes speed reducers 24L-axis cross roller bearing 25Link arms for L- and U-axes 26

10. Spare parts .......................................... 2711. Specification ......................................... 27

Service manual SK45/ SK45-30

Skapad: 95-04-24 Ändrad: 98-09-22 Filnamn: T:\M-ROBOT\ENGELSK\SK45IH.FM

Page: 2

MOTOMANROBOTICS

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Revision

980914MOTOMAN Spareparts no. added for bearings.(Book-format for framemaker documents).

Service manual SK45 / SK45-30

Skapad: 95-04-24 Ändrad: 98-09-22 Filnamn: T:\M-ROBOT\ENGELSK\SK45.FM

Page: 3About this manual

MOTOMANROBOTICSAB

MOTOMAN SK45 / SK45-30Electric Industrial Robot YR-SK45-C000, YR-SK45-C001

YR-SK45-D000, YR-SK45-D001European version of English manual TOE-C945-185B.

1. About this manualYaskawa’s electric industrial robot consist of robot Motoman-SK45 /-SK45-30 and controller YASNAC MRC.The working station can be completed with external axis, tools,fixtures, other machins, safety guards etc.

This manual gives instruction about:-Technical specification-Installation-Maintenance

For the control system YASNAC MRC, see separate instruction.Instruction for handling of robot and sourrounding equipment, see separate instruction.

This servicemanual must not be copied without our written permission and the content thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.

2. Machine description

2.1 Technical dataFor technical data, see separate table in the end of this manual.

2.2 IdentificationThe robot MOTOMAN-SK45 /-SK45-30 as well as the controller YASNAC MRC are provided with machine signs where the robot-number is stated, check that these signs has the same number. If not, contact Motoman Robotics AB.This check is very important if more than one robot will be installed at the same time.The designations of the different axis are general for MOTOMAN-robots and are found in maintenance schedule, spare part list and instruction.



Page: 4 Machine description

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2.3 Working area - radial rangeFor description of working area and dimensions, see separate drawing.

MOTOMAN-SK45 drawing No. HW9180849.MOTOMAN-SK45-30 drawing No. HW9180865.

2.4 Alterable working envelopeThe working envelopes of S-axis can be altered according to the operation conditions. If alteration is necessary, contact Motoman Robotics AB.

AxesWorking range Note1

(limitations)

1. If limitations of the S-axis working area is necessary, contact Motoman Robotics AB.

max. min.

S-axis +180° -180° ±180°, ±150°, ±120°, ±90°, ±60°, ±30°

L-axis +150° -90°

U-axis +145° -120° For SK45-30, +145° / -110°

R-axis +350° -350°

B-axis +125° -125°

T-axis +350° -350°

Fig.1 Name on the robot axes

T+

T-

B+

B-

R+

R-

U+

U-

L+

L-

S+

S-

Rotary head S

Lower arm L

Upper arm U



Page: 5Precautions for allowable wrist load

MOTOMANROBOTICSAB

3. Precautions for allowable wrist load

3.1 Allowable wrist loadThe maximum allowable wrist load for the MOTOMAN-SK45/SK45-30 including brackets, tools and handling article. The following wrist load are allowable.

Following picture shows mounting limits (LB and LT) for the wrists unit, with respective of the total inertia. Total inertia is valid at maximum moment. For other circumstances, for example just moment or just inertia other values can be allowed, contact Motoman Robotics AB.

YR-SK45

Axis Moment Nm Total intertia kg x m2

R 176,4 Nm 10,8 kg x m²

B 176,4 Nm 10,8 kg x m²

T 98 Nm 5 kg x m²

YR-SK45-30

Axis Moment Nm Total intertia kg x m2

R 176,4 Nm 10,8 kg x m²

B 176,4 Nm 10,8 kg x m²

T 98 Nm 5 kg x m²

Fig.2 Allowable inertia to SK45 for wrist unit (B-axis).

T- and R-axis rotationcenter line



Page: 6 Precautions for allowable wrist load

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3.2 Allowable U-loadThe tapped holes on the top of the U-arm are adapted to attachment of equipment to the robot, see picture.Max. load on the U-axis (W1 incl. W2) = 45 kg for SK45.Max. load on the U-axis (W1 incl. W2) = 30kg for SK45-30.Max. load on the U-axis (W3) = 10 kg (max. 49 Nm)1.Max. load on the S-axis (W4) = 30kg².

1. For ceiling mounted robot max. 5 kg (max. 49 Nm) are allowed on W3.

Fig.3 Allowable inertia to SK45-30 for wrist unit (B-axis).

T- and R-axis rotationcenter line

Fig.4 Allowable load on robotarm.

W2W3

W1

W4

W3 = place for valve or similar.W4 = place for serviceunit or similar.

W2 = place for valve or similar.



Page: 7Lifting instruction

MOTOMANROBOTICSAB

4. Lifting instruction

4.1 Handling of the robotThe MOTOMAN-SK45 robot should be lifted using straps threaded through attached eyebolts, see figure. The weight of the MOTOMAN-SK45 robot is without any equipment about 600 kg (including the shipping bolts and jigs).Avoid expose motors, arms and links to force from the straps.Attached eyebolts are designed to support the robot weight!

Avoide expose the equipment to strong vibration or bumps during handling.

Note!Crane operation, sling application, and forklift truck operation should be performed only by licenced personnel. In handling the positioner, extra care must be taken regarding the following:- Never place any part of your body under a suspended load or move a suspended load over any part of another person’s body. Careless handling may result in servere personal injury or death.

If the robot should be moved on a pallet using a forklift, the robot should be attached by shipping bolts. Be sure that the pallet is of good quality.The straps shall be certificated for at least 1000 kg.

Fig.5 Lifting instructions for MOTOMAN-SK45

Eyeboltsare supplied



Page: 8 Lifting instruction

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4.2 Shipping bolts and jigsThe MOTOMAN-SK45 is provided with shipping bolts and jigs to protect the robot from movements and forces during shipment. The jigs are yellow.

Note!Before turning on the power, check to be sure that the shipping bolts and jigs have been removed.Save these shipping bolts and jigs for furture use in the event of moving or carrying the robot..

Pos. Detail Dimension

A Bolt / clamp M6 x 4

B Bolt / clamp M10 x 4

C Bolt / clamp M10 x 4

D Eyebolts M20 x 2

E Rubberplate

F Mounting bolts M20 x 4

Fig.6 Position of shipping bolts and jigs

A

BC

D

E

F



Page: 9Mounting

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5. Mounting

5.1 GeneralThe robot can be delivered in three different performance: floor-, wall- and ceiling mounting.For mounting the robot should be mounted with four M20 hexagon socket head cap bolts with tensile strenght of 1200N/mm². The tightening torque should be 210 Nm.

For wall-mounted types, S-axis working range is restricted to ±30°.

For wall- and ceiling-mounted types, it is necessary to insure that the mounting can support the weight of the manipulator.

Since installation environment has an effect on the positioning accuracy and the life of robot, the robot should be installed under the following prace.-0°C to +45°C (ambient temperature).-Free from corrosive gases or liquid, or explosive gases.-Free from excessive vibration (less than 0,5g).-Free from large electrical noise (plasma).

5.2 SafetyThe MOTOMAN-SK45 should be firmly mounted on a baseplate or foun-dation strong enough to support the robot and withstand repulsion force during acceleration and deceleration. See also chapter 2.3.

✔ Install the safety guards before operating the machin.✔ Don’t start the robot without it is firmly mounted on the floor.✔ Install the robot in a place where the robot with full arm length won’t

reach walls, safety guards or the controller.✔ Don’t install a robot which is damaged or where parts are missing.✔ Check that the shipping bolts and jigs have been removed.

The safety fencing shall fulfill the demands in the EC-directive.

5.3 Robot placed on a common baseThe common base should be in good quality and resistance. The sur-face shall be rugged to increase the friction between robot and base-plate, this to avoid the robot to move during operation. The thickness of the common base should be at least 50 mm. Mount the baseplate to the floor with M20-anchor bolt.



Page: 10 Mounting

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5.4 Robot mounted directly on the floorThe floor has to be strong enough to support the robot and the equipment, see following specification.

5.4.A Where the concrete thickness (floor) is 200 mm or more

a) The surface of the floor should be level and even. If it is uneven, grind the swell and flatten the surface.

b) Check for cracks on the floor. If any cracks are found, remove the material around the cracks and rebuild the floor with concrete. Place the robot by fastening the plate with M20 anchor bolts. The plate is tapped for M16 bolts.

5.4.B Where the concrete thickness (floor) is less than 200 mm

a) Dig a footing in the floor area.

b) Spread stone in the excavated area and tamp them sufficiently to make a solid stone bed.

c) Fill the empty space of the stone bed with grout, and lay the concrete foundation. It should be more than 200 mm thick, and the surface must be level and even.

d) The concrete should be cured for more than a week before installing the robot.

Fig.7 Mounting on a baseplate.

Bolt M20 x 70Spring washerWasherBase

Baseplate



Page: 11Connection

MOTOMANROBOTICSAB

5.5 Connection to wrist flangea) Wash out anticorrosive paint (solid colour) on wrist flange surface

with thinner or light oil before mounting the tools.

b) The T-axis tram marks are placed on the wrist flange. Too be able to see them, it is recommended that the attachment be mounted inside the fitting. -Inside fitting, max. 6 mm deep.-Outside fitting, max. 6 mm deep.

6. Connection

6.1 GeneralExecute grounding of class 3 (ground resistance maximum 100 ohm).Break and lock the feeder before connecting.High voltage work have to be done by qualified personnel.

Note! Separate earth connection for external tools has to be done (welding, motors etc.).

Note! Separate earth connection for external cabling has to be done. ( flutes, channels, ladders etc.).

Fig.8 Flange dimensions

6 tapped holeM8 x 1,25deep 14 mm

Mating holeø8H7deep 8 mm

Pitch diameter ø80

Outside ø100h6

Inside ø50H7free deep 6 mm

free hight 6 mm



Page: 12 Connection

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6.2 Connection customer applicationa) Allowable cables and pressure pipes for customer application.

3BC = Customer application.Power limit for internal cables: cable 1-23 = 0,75 mm², max. 6,6A / cable, the sum for cables 1-23 < 60A.

b) Pressure limit for air: max. 0,49 MPa (5 kg/cm²).

c) Connection specification according to the table.

6.3 ConnectionYASNAC MRCa) Ground MOTOMAN-SK45 min. 5,5 mm²

On the robot there are two connector to connection the YASNAC MRC.1BC = Signal cable to the absolute encorder, drawingno: 341975-xx.2BC = Power cable to the servo motors, drawingno: 341976-xx.

b) The connection on the robot and the cable are both marked.Insert the cable and fasten the retaining nut.

c) Voltage feed MRC, see MRC service manual.

d) Grounding MRC. Use third class grounding (resistance between chassi and earth max 100 ohm). Grounding control system MRC min. 8 mm².

Pos. For Type

1 Cable connection of U-axis.Mating plug

JL05-2A24-28SCJL05-6A24-28P

2 Air connection Ø8 mm. PT 3/8 tapped hole

3 Cable connection of S-axis.Mating plug

JL05-2A24-28PCJL05-6A24-28S

4 Air connection Ø8 mm. PT 3/8 tapped hole

5 Earth connection Screw terminal

Fig.9 Cable connection for electric and air

1

2

3

45



Page: 13Construction

MOTOMANROBOTICSAB

7. Construction

7.1 Limit switchLimit switch (LS) for the S-axis is placed according to the figure. Inspection and adjusting of this switch can be done from the back of the robot, after the lower cover has removed.

7.2 Internal connectorsConnectors which easy can be devided are placed in the machine. According to the electrical diagram these are marked with symbols like

See electrical schedule showing internal cable.

Fig.10 Position for limit switch S-axis.

Limit switchS-axis

1BC 2BC3BC

Fig.11 Placing of connectors

Connection of internal cable

No. 1, 2, 3No. 4, 5, 6

No. 7, 10

No. 8, 11 No. 12, 9



Page: 14 Construction

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Name No. Receptacle type Plug type

Base connectors

1BC JL05-2A36-74PC-A66 JL05-6A36-74SC-A66

2BC JL05-2A36-74PCW JL05-6A36-74SCW

3BC JL05-2A24-28PC JL05-6A24-28S (Optional)

Intermediate connectors

10, 11, 12 JL04V-2E24-10PE-B JL04V-8A24-10SE-EB

4 172168-1 172160-1

5, 6 350715-1 350781-1

Feedback unit connector

1, 2, 3 172170-1 172162-1

7, 8, 9 97F3102E20-29P MS3106A20-29S (D190)

Connector for internal wire

JL05-6A24-28P (Optional)

JL05-2A24-28SC



Page: 15Remodelling SK45 to SK45-30

MOTOMANROBOTICSAB

8. Remodelling SK45 to SK45-30Read through and follow this instruction to rebuild a SK45-C000 robot to a SK45-C010 (SK45-30). (To undo, follow the instruction in oppo-site direction.)

8.1 Disassmble

a) Check all parts.

b) Remove rustprotection oil by using a cloth. Note! Do not use solvent!

c) Attach a crane or similar to the outer part of the U-arm to hold the loose arm (weight about 35 kg).

d) Untighten the twelve M8-bolts of the flange of the U-arm.

e) The threaded holes can be used to push the U-arm out from the R-axis housing.

f) Pull the loose U-arm straight out! If the arm is bent the B- and T-axis shaft may be damaged.

1 st housing

1 st shaft

12 st M8x5012 st washer (GT-LH-8)4 st M5x124 st spring washer (2H-5)

UntightenM8-bolts

Disassemble hole

Disassemble hole

Untighten M8-bolts



Page: 16 Remodelling SK45 to SK45-30

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8.2 Assemblya) Check that the extension shaft fit in the R-axis housing.

b) Lubricate the spline part of the extension shaft, use ALVANIA EP2.

c) Attach the extension shaft to the loose U-arm. Use the M5-bolts and the spring washers. Tightening torque shall be 7,5 Nm (0.75 kgfm).

d) Remove all old sealant from the flange of the loose U-arm.

e) Apply new sealant, type 1211.

f) Attach the extension housing to the loose U-arm.Note! position of the housing! Use the twelve new M8x50-bolts and the washers. Tightening torque shall be 25 Nm (2,5 kgfm).

g) Remove all old sealant from the flange of the R-axis housing.

h) Apply new sealant, type 1211.

i) Attach the extended U-arm to the R-axis housing. Keep the loose U-arm in a straight line with the R-axis housing to avoid damages on the internal axis.Note! position of the housing! Use the twelve old M8x50-bolts and washers.Tightening torque shall be 25 Nm (2,5 kgfm).

4 st M5x124 st Spring washers

Splines



Page: 17Remodelling SK45 to SK45-30

MOTOMANROBOTICSAB

8.3 Surfaces to sealNew sealant shall be applied to marked surfaces.Use type 1211

8.4 FinishingRemember, maximum payload is now 30 kg!The reach has been increased by 200 mm.✔ Set Absolute data in MRC (see separate manual).✔ Change parameter settings for SK45-C010. (Shall be carried out by

MOTOMAN Service staff.).

Extension



Page: 18 Maintenance

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9. Maintenance

9.1 GeneralBefore maintenance or inspection, make sure to turn the primary power supply OFF. Maintenance and inspection must be performed by speci-fied personnel.For disassembly or repair, contact MOTOMAN-service.

9.2 Inspection scheduleOverhaul inspections are classified into three types:-Periodical (daily, every 1.000H and 6.000H)-Primary (12.000H)-Secondary (24.000H)

Maintenance schedule is devided in time interval. Follow the 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.

The inspection interval is based on the servo power ON time.

For axes which are used very frequently (in handling application, etc.) it is recommended that inspections are constructed at approximately one-half of the normal schedules.

See separate schedule in this documentation!



Page: 19Maintenance

MOTOMANROBOTICSAB

9.3 Replacement procedures for battery unitIf the battery charge becomes too low or is depleted, replace it according to the following procedures.

a) When changing battery unit the power must be ON between YASNAC MRC and MOTOMAN-SK45.

b) Remove the side cover (U-axis motor side) of rotary bed.

c) Remove the battery unit mounting screw (M4).

d) Remove the pins on the both sides of battery.

e) Remove the old battery and mount the new battery. Be sure to insert the pins in correct direction.

Fig.12 Change of batteryBattery

Cover




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9.4 S-axis speed reducer

9.4.A Grease replenishmenta) Be sure to remove SO exhaust plug. (If the grease is added with

exhaust plug in place, the grease will infiltrate into the motor).

b) Inject grease into SI grease inlet by using a grease gun.

c) Move the S-axis for 30 minutes to discharge the extra grease.

d) Wipe SO exhaust port with a cloth and reinstall the plug.

9.4.B Grease replacementa) Be sure to remove SO exhaust plug. (If the grease is added with

exhaust plug in place, the grease will infiltrate into the motor).

b) Inject grease into SI grease inlet by using a grease gun.

c) The grease replacement is completed when new grease appears from SO exhaust port. The new grease is distinguished from old grease by colour.

d) Move the S-axis for 30 minutes to discharge the extra grease.

e) Wipe SO exhaust port with a cloth and reinstall the plug.

Note!If the robot will be mounted upside down, the in- and outlet nipples should change places.

S-axis Qua. Grease

Replenishment (first time) 1400 cc Molywhite RE No. 00

Replenishment 700 cc Molywhite RE No. 00

Replacement ca 3400 cc Molywhite RE No. 00

Fig.13 Speed reducer to S-axis.Note! In ceiling mounted the in- and outlet will be inverted.

Grease - inletnipple A-PT1/8

Grease - outletnipple A-PT1/8

Speed reducer



Page: 21Maintenance

MOTOMANROBOTICSAB

9.5 Speed reducer L-axis

9.5.A Grease replenishmenta) Move the L-axis to upright position.

b) Be sure to remove LO, (If grease is added with exhaust plugs in place, the grease will infiltrate into the motor).

c) Inject grease into LI, grease inlets by using a grease gun.

d) Move L-axis for 30 minutes to discharge the extra grease.

e) Wipe LO and LI exhaust ports with a cloth and reinstall the plugs.

9.5.B Grease replacementa) Move the L-axis to upright position.

b) Be sure to remove LO exhaust plugs. (If grease is added with exhaust plugs in place, the grease will infiltrate into the motor).

c) Inject grease into LI grease inlets by using a grease gun.

d) The grease replacement is completed when new grease appears from exhaust ports. The new grease is distinguished from old grease by colour.

e) Move L-axis for 30 minutes to discharge the extra grease.

f) Wipe LO and LI exhaust ports with a cloth and reinstall the plugs.

L-axis Qua. Grease



Replacement 850 cc Molywhite RE No. 00

Fig.14 Speed reducer for L-axis.The robot seen from behind. The U-arm in upright position.

LI Inletnipple A-PT1/8

LO Outletmagic plug M6




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9.6 Speed reducer U-axis

9.6.A Grease replenishmenta) Move the U-axis forward about 60°. Now the inlet nipple is visible

from the backside.

b) Be sure to remove UO, (If grease is added with exhaust plugs in place, the grease will infiltrate into the motor).

c) Inject grease into UI, grease inlets by using a grease gun.

d) Move U-axis for 30 minutes to discharge the extra grease.

e) Wipe UO and UI exhaust ports with a cloth and reinstall the plugs.

9.6.B Grease replacementa) Move the U-axis forward about 60°. Now the inlet nipple is visible

from the backside.

b) Be sure to remove UO, (If grease is added with exhaust plugs in place, the grease will infiltrate into the motor).

c) Inject grease into UI, grease inlets by using a grease gun.


e) Move U-axis for 30 minutes to discharge the extra grease.

f) Wipe UO and UI exhaust ports with a cloth and reinstall the plugs.

U-axis Qua. Grease




Fig.15 Speed reducer for U-axis.The robot seen from the front.

UI Inletnipple A-PT1/8

UO Outletmagic plug



Page: 23Maintenance

MOTOMANROBOTICSAB

9.7 Speed reducer R-axis

9.7.A Grease replenishmenta) Remove RO plug for air flow.

b) Inject grease into RI grease inlet by using a grease gun.

c) Reinstall RO plug.

d) Move R-axis for 30 minutes to discharge the extra grease.

e) Reinstall the plug for air flow.

9.7.B Replacementa) Remove RO plug for air flow.

b) Inject grease into RI grease inlet by using a grease gun.

c) Reinstall RO.


e) Move R-axis for 30 minutes to discharge the extra grease.

f) Reinstall the plug for air flow.

R-axis Qua. Grease




RI InletG-nipple A-PT1/8

Fig.16 R-axis speed reducer.

RO Plug for air flowhexagon socket head PT1/8




MOTOMANROBOTICS

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9.8 B- and T-axes speed reducers

9.8.A Replenishmenta) Remove BO plug for air flow (magic screws M6).

b) Inject grease into BI grease inlets by using a grease gun.

c) Wipe BO exhaust ports with a cloth and reinstall the plugs.

9.8.B Replacementa) Remove BO plugs for air flow (magic screws M6).

b) Inject grease into BI grease inlets by using a grease gun.

c) The grease replacement is completed when new grease appears from exhaust ports. The new grease is distinguished from old grease by colour.

d) Wipe BO exhaust ports with a cloth and reinstall the plugs.

B-axis Qua. Grease

Replenishment (first time) B 600 cc Molywhite RE No. 00

Replenishment B 300 cc Molywhite RE No. 00

Replacement B 1500 cc Molywhite RE No. 00

Fig.17 Speed reducer B-axis.

BI Inletnipple A-MT6x1

BO Plug for air flowmagic screw M6

Flange



Page: 25Maintenance

MOTOMANROBOTICSAB

9.9 L-axis cross roller bearing

9.9.A Replenishmenta) Move the L-arm to upright position or little forward. The nipples are

within reach from the backside.

b) Remove LO plug for air flow (magic screw PT1/8 placed in the back-side of the storage).

c) Inject grease into LI grease inlets by using a grease gun, no overfill protection exist.

d) Wipe LO exhaust ports with a cloth and reinstall the plug.

L-axis cross roller bearing Qua. Grease

Replenishment L 30 cc Alvania EP grease 2

Fig.18 L-axis cross roller bearing.The robot seen from behind.

LI Inletnipple A-PT1/8

LO Plug for air flowhexagon socket head PT1/8




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9.10 Link arms for L- and U-axes

a) Remove 1, 2 and 3 plugs for air flow.

b) Inject grease into link 1, 2 and 3.

c) Reinstall 1, 2 and 3 plugs for air flow.

Link Link work Qua. Grease

1 Replenishment (first time) 32 cc Alvania EP grease 2

1 Replenishment 16 cc Alvania EP grease 2

2 and 3 Replenishment (first time) 24 cc Alvania EP grease 2

2 and 3 Replenishment 12 cc Alvania EP grease 2

Fig.19 Link taper roller bearing.

Plug for air flowPlug for air flow

Plug for air flow

Link 1Link 2

Link 3

Link 1 InletG-nipple A-PT1/8Note! Both sides

Link 3 InletG-nipple A-MT6x1

Link 2 InletG-nipple A-MT6x1



Page: 27Spare parts

MOTOMANROBOTICSAB

10. Spare partsIt is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-SK45 robot. The list are ranked in three categories as follows:Rank A: ConsumablesRank B: Parts for which replacement may be necessary as a result

of frequent operation.Rank C: Drive units

See separate list.

Send your spare part order to:Address: MOTOMAN ROBOTICS AB

BOX 504, 385 25 Torsås, Sweden

Telephone: +46 486 488 00Telefax: +46 486 414 10

... or to nearest distributor.

11. Specification-Technical specifications-Spare parts-Service schedule



Page: 28 Specification

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MOTOMAN-SK45

Skapad: 96-08-07 Ändrad: 98-10-14 Filnamn: T:\M-ROBOT\ENGELSK\SK45-RES.FM

Page: 29YR-SK45-C000 / YR-SK45-C010

MOTOMANROBOTICSAB

MOTOMAN-SK45


Page: 30 YR-SK45-C000 / YR-SK45-C010

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Pos. No. Part name YEC No. Motoman No.

1001 1 Robot base HW9100779-

1002 1 S-axis base HW9200794-1

1003 1 S-axis head HW9100777-1

1004 1Servo motorSGMD-32AWA-YR11

HW9381136-A 9130720

1005 1 Reducer HW9380736-A 9130710

1006 1 Shaft HW9381161-A

1007 1 Shaft HW9481647-A

1008 1 Shaft HW9381163-A

1009 1 Oils sealing Y426012.5

1010 3 Tube NB-0860

1011 1 Coupling PH8-01

1012 1 Support HW9301730-1

1012AA 2 Bolt M6x16

1012AB 2 Spring washer 2H-6

1012AC 2 Washer M6

1013 1 Support HW9301730-2

1013AA 2 Bolt M6x16


1013AC 2 Washer M6

1014 3 Saddle CD-31

1015 6 Bolt M5x10

1015AA 6 Spring washer 2H-5

1016 4 Bolt M6x14


1017 1 Cover HW9404379-1

1018 6 Bolt M6x12

1020 2 Cover HW9404215-1

1021 4 Bolt M6x12

1023 2 Coupling POC8-01

1024 2 Coupling PMF8-01

1025 2 Greas nipple A-PT1/8

MOTOMAN-SK45



MOTOMANROBOTICSAB

1026 1 Cover HW9404247-1

1027 1 Cover HW9404384-1

1028 1 Clip TA1-S10

1028AA 1 Clip T50R

1028AB 1 Bolt M5x8

1029 1 Bracket HW9404380-1

1030 12 Bolt M6x12

1032 2 Bolt M6x10

1033 2 Spring washer 2H-6

1034 1 Stopper HW9481652-A

1035 2 Bolt M6x70

1036 1 Bolt M16x20


1038 8 Bolt M12x50

1039 8 Spring washer SW-2H-12

1040 1 Bolt M8x100

1041 1 Spring washer GT-LH-8

1042 1 Tube HW9404207-1

1043 6 Bolt M16x40


1045 14 Bolt M10x35


1047 12 Bolt M12x35



MOTOMAN-SK45


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MOTOMAN-SK45



MOTOMANROBOTICSAB


1003 1 S-axis head HW9100777-1

2001 1 Reducer-L HW9380616-A 9130711

2002 1 Reducer-U HW9380616-B 9130712

2003 2 Shaft HW9381152-A

2004 2 Shaft HW9481648-A

2005 2 Bolt HW9481645-A


2006 1 Shaft HW9481649-A

2007 1 Shaft HW9481650-A

2008 1 Link B HW9200793-1

2009 1 Link A HW9200792-1

2010 1 Bearing HW9481646-A 9125120

2011 1 Bearing HW9481320-A 9125121

2012 1 L-arm HW9100780-1

2013 2 Motor base HW9200791-1

2014 1 Shaft HW9200816-1

2014AA 6 Bolt M16x45


2014AC 12 Bolt M12x40

2014AD 12 Spring washer SW-2H-12

2015 1 Oil sealing AG3217A4

2016 1 O-ring S240

2017 2 O-ring S32

2018 2 O-ring G190

2019 2 Oil sealing VC1952207

2020 2 Oil sealing Y426012.5

2021 2 Clip STW-9

2022 2Servo motorSGMD-22AWA-YR13

HW9381137-A 9130721

2023 1 Shaft HW9301654-1

2024 2 Washer HW9404205-1

2025 2 Bolt M10x25

MOTOMAN-SK45


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2027 1 Bearing cover HW9301653-1

2028 8 Bolt M8x20



2031 3 Bolt M6x16


2033 1 Plug LP-M5

2034 1 Grease nipple A-MT6x1

2035 3 Grease nipple A-P1/8

2036 4 Coupling POC6-01M

2037 4 Tube UB-0640-0.1C

2038 5 Plug PT1/8

2039 4 Set screw M6x8

2039AA 2 Air bleeder EZ0094-EO

2040 2 Cup EZ52002AO

2041 8 Bolt M12x40


2043 24 Bolt M10x50


2045 12 Bolt M12x35

2046 12 Spring washer SW-2H-12

2047 6 Bolt M16x45


2049 1 Bolt M8x35


2051 3 Stopp HW9881688-A

2052 3 Bolt M10x20

3011 2 Grease nipple A-PT1/8

3033 1 Cover HW9404202-1

3034 4 Bolt M6x12

3036 1 Bracket HW9404259-1


MOTOMAN-SK45



MOTOMANROBOTICSAB

3037 2 Bolt M6x12

4003 1 Housing HW9100778-1

6018 1 Clip MB5

6019 2 Bolt M4x8

6020 1 Clip T20S


MOTOMAN-SK45


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MOTOMAN-SK45



MOTOMANROBOTICSAB


3002 2 Bearing HR32012XJ 9117046

3003 1 Bearing HW9481646-A 9125120

3004 2 Oil sealing AG3584AO


3006 6 Bolt M8x20


3008 2 Shaft HW9404245-1

3009 8 Bolt M8x60


3012 3 Plug LP-M5

3013 1 Grease nipple A-MT6x1


3015 3 Bolt M6x16


3017 2 Washer HW9404205-1

3018 2 Bolt M10x25


3020 1 Shaft HW9301654-1

3021 1 Shims HW9404246-1

3022 1 Shims HW9404246-2

3023 1 Shims HW9404246-3

3024 1 Shims HW9404246-4

3025 1 Shims HW9404246-5

3026 1 Shims HW9404246-6

3027 1 Cover HW9404381-1

3028 4 Bolt M6x12

3030 1 Cover HW9404382-1

3031 4 Bolt Mx12

3039 1 Plate HW9404262-1

3039AA 2 Bolt M6x14


MOTOMAN-SK45


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3040 1 Saddle CD-31

3040AA 2 Bolt M5x10


3040AC 1 Clip TAI-S10

3040AD 1 Clip T50R

3040AE 1 Bolt M5x8

3041 1 Oil sealing AG3217A4

3042 1 Gasket HW9481087-E

4000 2Servo motorSGMP-15AW-YR11

HW9380768-A 9130620

4001 1Servo motorSGMP-08AW-YR11

HW9380635-A 9130621

4002 1 Reducer HW9280679-A 9130713

4003 1 Housing HW9100778-1

4003AA 2 Bolt M6x8

4003AB 1 Bolt M6x10

4003AC 1 Spring washer 2H-6

4003AD 1 Bolt M5x8

4004 1 Housing HW9200797-1

4005 1 Shaft HW9381147-A

4006 1 Shaft HW9381165-A

4007 3 Ring PLO17X021E

4008 2 O-ring ARP568-258

4009 1 Shaft HW9381146-A

4010 1 Ball bearing 6002DDU*NS7* 9125122

4011 1 Bearing HW9481232-A 9125123

4012 1 Bearing HW9481656-A 9125124

4013 2 Oil sealing AE1314J1

4014 1 Oil sealing AE2651F4

4015 1 Kuggskiva HW9481751-A

4016 1 Coupling HW9381150-A

4017 1 Cog disc HW9481654-A

4018 1 Cog disc HW9481655-A


MOTOMAN-SK45



MOTOMANROBOTICSAB

4019 1 Cog disc HW9381164-A

4020 1 Cog belt 250S5M525

4021 1 Cog belt 250S5M475

4022 1 Housing HW9200815-1

4023 6 Bolt M14x30

4024 6 Washer GT-SH-M14

4025 16 Bolt M8x70


4027 1 Plug PT1/8

4028 12 Bolt M8x50

4029 12 Spring washer GT-LH-8

4030 3 Bolt M5x30


4032 1 Shaft HW9404359-1

4032AA 8 Bolt M4x20


4033 1 Grease nipple A-PT1/8


4035 3 Bolt M4x12


4037 1 Clip WR25

4038 1 Washer HW9404218-1

4039 1 Bolt M6x20


4041 2 Cup EZ2228AO

4042 2 Cup EZ5013AO

4043 1 Cup EZ2228AO

4044 1 Sleeve HW9404219-1

4045 4 Bolt M4x12


4047 1 Sleeve HW9404224-1

4048 1 Sleeve HW9404224-2


MOTOMAN-SK45


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MOTOMANROBOTICS

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4050 3 Bolt M4x12


4052 1 Sleeve HW9404224-3

4053 1 Sleeve HW9404224-4

4054 8 Sleeve HW9404231-1

4055 8 Bolt M6x30


4056AA 4 Bolt M8x30


4057 1 Bearing nut HW9404227-1

4058 2 Bolt M5x7

4059 1 Housing HW9404226-1

4060 3 Bolt M4x25


4062 1 Clip IRTW-32

4063 2 Clip ISTW-15

4064 1 Sleeve HW9404217-1

6034 1 Coupling KQE12-03

6074 2 Bolt M4x16

6075 2 Nut M4


MOTOMAN-SK45



MOTOMANROBOTICSAB

MOTOMAN-SK45


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MOTOMANROBOTICS

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5002 1 Housing HW9100782-1

5003 1 U-arm HW9100811-1

5004 1 Reducer-B HW9381139-A 9130714

5005 1 Reducer-T HW9280651-A 9130715

5006 1 Gear wheel HW9381156-A








5014 1 Shaft HW9381160-A

5015 1 Shaft HW9381159-A

5016 1 O-ring S32

5017 1 Oil sealing AE3092E2

5018 1 Clip STW-60

5019 1 Oil sealing AE0743-GOOQ8

5020 1 Oil sealing AE1550JO

5021 1 Ball bearing 6912DU 9125125

5022 1 Ball bearing HR30203J 9125072

5023 1 Ball bearing HR32907J 9125126

5024 1 Bearing HW9381114-A 9125127

5025 2 Bearing HW9481643-A 9125128

5026 1 Ring PLO15X019E

5027 1 Flange HW9494220-1

5028 1 Clip WR45

5029 1 Ball bearing 6909DDU*NS7* 9125129

5030 1 Shaft HW9381208-A

5031 1 Shaft HW9481644-A

5032 6 Bolt M4x25

MOTOMAN-SK45



MOTOMANROBOTICSAB


5034 2 Clip ISTW-15

5035 1 Clip IRTW-35

5036 1 Ball bearing 6202DDU 9125130

5037 1 Shaft HW9381149-A

5038 3 Bolt M4x12


5040 1 Shaft HW9301659-A

5044 3 Bolt M4x12


5046 1 Plug PT1/8


5048 12 Bolt M6x20

5049 1 Clip WR30

5050 2 Clip ISTW-17

5051 1 Shims HW9404243-1

5052 2 Shims HW9404243-2

5053 1 Shims HW9404243-3

5054 1 Shims HW9404243-4

5055 1 Shims HW9404243-5

5056 12 Washer GT-LH-6

5057 1 Sleeve HW9404240-1

5058 4 Bolt M4x12


5060 15 Bolt M8x18


5062 1 Grease nipple A-MT6X1

5063 12 Bolt M8x25


5056 1 Shaft HW9301656-1

5066 1 Bearing nut HW9404235-1

5067 2 Bolt M5x8


MOTOMAN-SK45


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MOTOMANROBOTICS

AB

5068 3 Bolt M4x10


5070 3 Set screw M4x6

5071 1 Washer HW9404292-1

5072 2 Plate HW9404391-1

5073 1 Bolt M6x16


5075 1 Cover HW9301655-1

5076 6 Bolt M5x16


5078 2 Bolt M6x14


5080 1 Housing HW9404242-1

5081 6 Bolt M5x30


5083 1 Sleeve HW9404232-1

5084 1 Sleeve HW9404232-2

5085 1 Shims HW9404239-1

5086 1 Shims HW9404239-2

5087 1 Shims HW9404239-3

5088 1 Shims HW9404239-4

5089 1 Shims HW9404239-5


5091 3 Bolt M4x10


5093 1 Sleeve HW9404232-3

5094 1 Shims HW9404234-1

5095 1 Shims HW9404234-2

5096 1 Shims HW9404234-3

5097 1 Shims HW9404234-4

5098 1 Shims HW9404234-5

5099 1 Sleeve HW9404232-4


MOTOMAN-SK45



MOTOMANROBOTICSAB


5101 1 Shims HW9404244-1

5102 1 Shims HW9404244-2

5103 1 Shims HW9404244-3

5104 1 Shims HW9404244-4

5105 1 Shims HW9404244-5

5106 4 Bolt M4x8


5108 1 Housing HW9404233-1

5109 3 Bolt M5x20


5111 3 Bolt M5x14


5113 1 Flange HW9301660-1

5113AA 1 Bolt M6x6

5114 8 Bolt M8x20


5116 1 O-ring G35

5117 12 Bolt M6x60


5119 1 Cover HW9404241-1

5120 4 Bolt M4x12


5122 2 Plug PT3/8

5123 1 Plug PT1/8

5124 1 Clip STW-17



MOTOMAN-SK45


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Skapad: 95-04-24 Ändrad: 98-09-22 Filnamn: T:\M-ROBOT\ENGELSK\SK45-TAB.FM

Page: 47MOTOMANROBOTICSAB

Technical specifications

Articel

Data for MOTOMAN-SK45

Motion range Maximum speed Allowable moment Allowable inertia

Operation mode Vertically

Degree of freedom 6

Payload 45 kg

Repetitive positioning accuracy ±0,15 mm

S-axis (turning) 360° 2,62 rad/s, 150°/s

L-axis (lower arm) 240° 2,09 rad/s, 120°/s

U-axis (upper arm) 265° 2,71 rad/s, 155°/s

R-axis (wrist roll) 700° 4,19 rad/s, 240°/s 176,4 Nm 10,8 kgm²

B-axis (wrist pitch/yaw) 250° 4,19 rad/s, 240°/s 176,4 Nm 10,8 kgm²

T-axis (wrist twist) 700° 5,93 rad/s, 340°/s 98 Nm 5 kgm²

Weight 600 kg

Colour YASKAWA BLUE




Article

Data for MOTOMAN-SK45-30


Operation mode Vertically

Degree of freedom 6

Payload 30 kg

Repetitive positioning accuracy ±0,15 mm

S-axis (turning) 360° 2,62 rad/s, 150°/s

L-axis (lower arm) 240° 2,09 rad/s, 120°/s

U-axis (upper arm) 255° 2,71 rad/s, 155°/s

R-axis (wrist roll) 700° 4,19 rad/s, 240°/s 176,4 Nm 10,8 kgm²

B-axis (wrist pitch/yaw) 250° 4,19 rad/s, 240°/s 176,4 Nm 10,8 kgm²

T-axis (wrist twist) 700° 5,93 rad/s, 340°/s 98 Nm 5 kgm²

Weight 610 kg

Colour YASKAWA BLUE




Article

Common data for MOTOMAN-SK45 and SK45-30


Ambient conditions Temperature 0°C to +45°C

Humidity 20 to 80% RH, Non - condensing

Vibration Less than 0,5 G

Others Free from corrosive gasses, liquids or explosive gasses.Clean and dry.Free from excessive electrical noise (plasma).

Power capacity Top: 10 kVA, Common: 8 kVA




Service schedule

Daglig

1.000

6.000

12.000

24.000

181315 16

16

20

1817

17

15

1

1

1

1

2

2

2

2 3

3

3

3 14

5

5

5 6

6

6

4

4

4

4

4

4

4

4 8

8

8

9

9 7

7

7

16

16 19

19 12

12

11 10




No.Schedule (Daily / interval)

Check point Method OperationD 1.000 6.000 12.000 24.000

1 ✔ ✔ ✔ ✔ Tram mark Visual Check for tram mark.

2 ✔ ✔ ✔ ✔ External lead Visual Check for damage or deterioration.

3 ✔ ✔ ✔ ✔ Working area and robot

Visual Clean the working area if dust or spatter exists.Check for damage and outside cracks.

4 ✔ ✔ ✔ ✔ L- and U-axes mounting baseplate

Visual Check for leakage.

5 ✔ ✔ ✔ Baseplate mounting screws

Wrench Tighten loose bolts.Replace if necessary.

6 ✔ ✔ ✔ Cover mounting screws

Screw driver Wrench

Tighten loose bolts.Replace if necessary.

7 ✔ ✔ ✔ Motor connectors Manual Check for loose connector and tighten if necessary.

8 ✔ ✔ ✔ Base connectors Manual Check for loose connector and tighten if necessary.

9 ✔ ✔ Shield coil to cablage

Visual Remove the cover and check the wear of the shield coil. Seal with new grease.

10 ✔ R- and B-axes timing belt

Manual Check for tension and wear of belt.




11 ✔ Wire harness in robot.

VisualMultimeter

Check for conduction between the main connector of base and intermediate connector. Check for wear of protective spring. Shall be carried out with servomotors disconnected. Replace cable lead after 24.000H.

12 ✔ ✔ S-, L- and U-axes limit switch set.

Screw driverWrench keyMultimeter

Check for stain, damage and looseness. Tighten and check the dog movement.

13 ✔ L- and U-axes link VisualManual

Move the L- and U-axes forward, backward, up and down to check for looseness of the bearing.Supply grease after 6.000H.Replace grease after 12.000H.

14 ✔ Battery unit in robot Multimeter If the robot is 2.8V or less, replace the battery unit.

15 ✔ ✔ S-axis speedreducer

Grease gun Check for malfunction.Supply grease after 6.000H.Replace grease after 12.000H.

16 ✔ ✔ L- and U-axes speed reducer







17 ✔ ✔ R-axis speedreducer


18 ✔ ✔ B- and T-axes speed reducers


19 ✔ ✔ L-axis cross roller bearing

Grease gun Check for malfunction.Supply grease after 6.000H.

20 ✔ Overhaul Contact MOTOMAN-service.






Spare Parts MOTOMAN-SK45 / -SK45-30Rank A: ConsumablesRank B: Parts for which replacement may be necessary as a result of frequent operation.Rank C: Drive units.

Rank No. Parts Name Type Manufacturer Qty. Qty/unit Remarks

A1 Battery unit HW8471030-A YASKAWA ELECTRIC

CORPORATION1 1 S-axis

2 Grease Molywhite RENo. 00

YASKAWA ELECTRIC CORPORATION

16 kg -

3 Alvania EPGrease 2

Shell 16 kg -

B 4 Timing belt 250S5M525 Bando ChemicalIndustries Ltd.

1 1 R-axis

5 Timing belt 250S5M475 1 1 B-axis

6 S-axis speed reducer HW9380736-A


1 1 S-axis

7 L-axis speed reducer HW9380616-A 1 1 L-axis

8 U-axis speed reducer HW9380616-B 1 1 U-axis

9 R-axis speed reducer HW9280679-A 1 1 R-axis

10 B-axis speed reducer HW9381139-A 1 1 B-axis

11 T-axis speed reducer HW9280651-A 1 1 T-axis




C 12

AC Servo motor

S-axis HW9381136-A


1 1 With brake

13 L- and U-axes

HW9381137-A 1 2 With brake

14 R-axis HW9380635-A 1 1 With brake

15 B- and T-axes

HW9380768-A 1 2 With brake

14 Internal wiring HW9171248-A 1 1

Rank No. Parts Name Type Manufacturer Qty. Qty/unit Remarks

Motoman SK45

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Transcript of Motoman SK45