MOTOMAN-UP130,UP165,UP200 MAINTENANCE MANUAL · 2018-12-11 · MANUAL NO. HW0480769 7 Part Number:...

MOTOMAN-UP130,UP165,UP200MAINTENANCE MANUALTYPE : YR-UP130-A00 YR-UP165-A00 YR-UP200-A00

Procedures described in this maintenance manual should be carried out by the person who took the maintenance-relevant trainings offered by Yaskawa.

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

Part Number: 170903-1CDRevision: 1

MOTOMAN INSTRUCTIONS

MOTOMAN SETUP MANUALMOTOMAN-UP130, -165 INSTRUCTIONSMOTOMAN-UP200 INSTRUCTIONSYASNAC XRC INSTRUCTIONSYASNAC XRC OPERATOR’S MANUALYASNAC XRC OPERATOR’S MANUAL for BEGINNERS

The YASNAC XRC operator’s manuals above correspond to specific usage.Be sure to use the appropriate manual.

MANUAL NO.

HW0480769 7

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HW0480769

Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.

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Table of Contents

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Table of Contents

1 Introduction1.1 NOTES FOR SAFE OPRERATION . . . . . . . . . . . . . . . . 1-2

1.2 Definition of Terms Used Often in This Manual. . . . . 1-4

1.3 AN EXPLANATION OF WARNING LABLES . . . . . . . 1-5

2 Notes for Maintenance2.1 Battery Pack Connection for S-, L-,

and U-Axis Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Battery Pack Connection for R-, B-,and T-Axis Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Home Position Return Operation3.1 How to Return to the Home Position in the Case of

Replacing the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.1.1 How to Use the Robot Calibration (MOTOCALV EG) . . . . . . . .3-13.1.2 How to Set the Teaching Point for Home Position

Setting before Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 Preparation before Replacement . . . . . . . . . . . . . . . . . . . . .3-1 Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 Home Position Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

3.2 How to Return to the Home Position in the Case of the Exhaustion of the Motor Battery of the Robot Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.2.1 The Method by Using the Home Position Alignment Function for Restoration at the Time of Battery Backup . . . . . .3-4

3.2.2 The Method by Using the Keys . . . . . . . . . . . . . . . . . . . . . . . . .3-4 Calibration Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4

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4 L-axis Fixing Jig Operating 4.1 Fixing Jig Operating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1.1 Specific Jig Installing Posture and Installing Position . . . . . . . . 4-2

4.2 Installing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.3 Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.4 Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

5 Grease Replenishment/Exchange5.1 Grease Replenishment/Exchange for

S-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . . 5-15.1.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15.1.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Grease Replenishment/Exchange for L-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.2.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35.2.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.3 Grease Replenishment/Exchange for U-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5


5.4 Grease Replenishment/Exchange for R-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7


5.5 Grease Replenishment/Exchange for B-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . . 5-9

5.5.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95.5.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

5.6 Grease Replenishment/Exchange for T-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . 5-11

5.6.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-115.6.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12

5.7 Grease Replenishment for Balancer Connection Part . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

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6 Disassembly and Reassembly of the Motor6.1 Disassembly and Reassembly

of the S-Axis Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.2 Disassembly and Reassembly of the L-Axis Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5

6.3 Disassembly and Reassembly of the U-Axis Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-9 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-9

6.4 Disassembly and Reassembly of the RBT-Axes Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12

7 Disassembly and Reassembly of the Speed Reducer7.1 Disassembly and Reassembly

of the S-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . . 7-1 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.2 Disassembly and Reassembly of the L-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . . 7-5 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5

7.3 Disassembly and Reassembly of the U-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . . 7-9 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9

7.4 Disassembly and the Reassemblyof the R-Axis Cyclo Speed Reducer. . . . . . . . . . . . . . . 7-12

Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12

7.5 Disassembly and Reassembly of the B-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . 7-16

Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-16

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7.6 Disassembly and Reassembly of the T-Axis Cycle Speed Reducer . . . . . . . . . . . . . . . 7-20

Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20

8 Disassembly and Reassembly of the Wrist Unit8.1 Disassembly and Reassembly of the Wrist Unit. . . . . 8-1

Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

9 Adjustment the Tension of the RBT-Axes Belts9.1 Disassembly and Reassembly of the R-, B- and

T-Axis Timing Belts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

9.2 Adjustment of the RBT-Axes Timing Belts . . . . . . . . . . 9-3

10 Battery Pack Replacement

11 Cable Wiring Remove Operation of the Cable . . . . . . . . . . . . . . . . . . . . . 11-1 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5

12 Parts List12.1 UP130, UP165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

12.1.1 S-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-112.1.2 S-Axis Driving Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-312.1.3 L-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-512.1.4 L-Axis Driving Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-912.1.5 U.R.B.T-Axis Link Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1112.1.6 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14

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1 Introduction

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1 Introduction

• This maintenance manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-UP130,UP165, and UP200.

• General items related to safety are listed in the Safety Manual Chapter 1: Safety. To ensure correct and safe operation, carefully read the Setup Manual before reading this manual.

• 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 and maintenance 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.

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1 Introduction

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1.1 NOTES FOR SAFE OPRERATION

Read this manual carefully before executing maintenance inspection of the YASNAC XRC.In this manual, the Notes for Safe Operation are classified as "DANGER", "WARNING", "CAUTION", "MANDATORY", or "PROHIBITED".

Even items described as "CAUTION" may result in a serious accident in some situations. At any rate, be sure to follow these important items.

Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel.

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

Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.

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

Must never be performed.

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as "DANGER", "WARNING" and "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.

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.

NOTE

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• Before maintenance, inspection and 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 electric shock or injury.

• After completing the maintenance inspection, make sure where is the home position before operating the manipulator.Failure to observe this warning may cause unexpected manipulator motion, resulting in collision or injury.

• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the playback panel or programming pendant are pressed.When the servo power is turned OFF, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are 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.

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.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the working envelope of the manipulator:-Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.-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 persons are present in the manipulator's work envelope and that you are in a safe location before:-Turning on the YASNAC XRC power-Moving the manipulator with the programming pendant-Running check operations-Performing automatic operations

Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.

TURN

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1 Introduction

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1.2 Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.The MOTOMAN usually consists of the manipulator, the controller, the playback panel, the programming pendant, and manipulator cables.In this manual, the equipment is designated as follows:

• Perform maintenance inspection with the specific person who has took the maintenance training course in Yaskawa.Failure to observe this may result in electric shock or injury.

• When the maintenance inspection is performed, be sure to mount the battery unit before removing the motor encoder connector.Failure to observe this caution may result in disappearance of the home position data.

• 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 XRC cabinet after use.

The programming pendant can be damaged if it is left the manipulator's work area, on the floor, or near fixtures.

• Read and understand the Explanation of the Alarm Display in the Setup Manual before operating the manipulator.

Equipment Manual Designation

YASNAC XRC Controller XRC (Robot Controller)

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

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1.3 AN EXPLANATION OF WARNING LABLES

The following warning labels are attached to the manipulator.Always follow the warning on the labels.Also, an identification label with important information is placed on the body of the manipula-tor. Prior to operating the manipulator, confirm the contents.

Note: Taking the maintenance-relevant trainings offered by Yaskawa is indispensable for replacing the L-axis motor in the balancer-equipped manipulator.

MOTOMAN-UP130, UP165, UP200

Warning label A

Warning label A

Warning label B

Warning label B

Warning label C

Warning label C

Nameplate

Warning Label A

Warning Label B

Warning Label CNameplate

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2 Notes for Maintenance

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2.1 Battery Pack Connection for S-, L-, and U-Axis Motors

• Refer to the Fig. 2-1 "S-, L- and U-Axis Battery Pack Replacement" in this chap-ter.

The connector for the battery pack connection is attached to the main body of the S-, L-, and U-axis motors. Connect the battery pack according to the following procedure.

1. Remove the cap attached to the battery backup connector of the motor.2. Connect the S-, L- and U-Axis battery pack (HW9470932-A) with the battery backup

connector. (Under such a condition, remove the encoder connector and perform the maintenance inspection.)

3. Confirm all connectors connection after the maintenance check ends, and remove the battery pack connection cable for the motor and the battery pack.

4. Install the cap attached to the battery backup connector of the motor. <The case of the battery pack installed improperty> Some of the motors for the S axis and L axis are unable to install the battery pack. (HW9470932-A) directly because that the type of the battery backup connector is differ ent. The battery pack connection cable (HW9470945-A) are necessary in this case. Connect the battery pack connection cable with the motor, then connect the battery pack with it.

2.2 Battery Pack Connection for R-, B-, and T-Axis Motors

• Refer to the Fig. 2-2 "R-, B- and T-Axis Battery Pack Connection" in this chapter.The connector (insertion-type pin terminal) for the battery backup is installed in the end point of the cable for the encoder of the R-, B-, and T-axis motors (BAT and OBT are marked).Connect the battery pack according to the following procedure.

1. Connect the battery pack (HW9470932-B) for the R-, B-, and T-axis with the battery backup connector (BAT and OBT are marked) located in the end point of the cable for the encoder. (Under such a condition, remove the encoder connector and perform the

Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.Do not remove the battery pack in the base connector.

NOTE

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maintenance inspection.)2. Confirm all connectors connection after the maintenance inspection ends, and remove

the battery pack.

Fig. 2-1 S-, L- and U-Axis Battery Pack Replacement

Fig. 2-2 R-, B- and T-Axis Battery Pack Connection

ba BAT1

0BT1a

b0BT

BAT

Connector for the battery backup

S, L, U-axis motors

Battery pack for S, L, U-axis (HW9470932-A)

Battery pack connection cable for the motor (HW9470945-A)

b 0BT4 BAT4 ab

0BT

BAT

a

R, B, T-axis motors

Encoder cable

Battery pack for R, B, T-axis (HW9470932-B)

Connector for the battery backup

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3 Home Position Return Operation

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3.1 How to Return to the Home Position in the Case of Replacing the Motor

3.1.1 How to Use the Robot Calibration (MOTOCALV EG)

The MOTOCALV EG allows the home position reset by teaching the five-point-in-five-posture. Refer to “MOTOCALV EG Operator’s Manual” (152646-1CD) for details on the operation.

3.1.2 How to Set the Teaching Point for Home Position Setting before Replacement

YASNAC-XRC holds the position data of the job program (hereinafter called the JOB) as the pulse number from the home position of each axis. Therefore, by adjusting the home position precisely, the JOB had been used before replacement can be used after replacement without correction. This section explains how to set the YASNAC-XRC.

Preparation before Replacement

• Refer to the Fig. 3-3 "Preparation before replacement (Ex.)" in this chapter.Before replacement, create the standard position (hereinafter called the checked point) for home position adjustment after replacement. The checked point must satisfy the following conditions. Create the JOB so that safety moving to the checked point from the standby position can be ensured. (Hereinafter called the checked JOB)

The position is not deviated by turning the power ON or OFF, or lowering air pressure. Do not create the position in the working part of the tool (end effecter) or the jigs (related unit including the rotary table). Using specific jigs is recommended if necessary.

In the following cases, perform calibration and set the robot geometrical position.• Change in the combination of the MOTOMAN and the control unit.

• Replacement of the motor or encoder.

• Clearing stored memory.

• Home position deviation caused by hitting the MOTOMAN against a workpiece, etc.

• Replacement, disassembly, and assembly of the main parts of the speed reducer in

performing calibration, be sure to satisfy the following conditions. Avoid applying external

force to the robot.

• Remove the hand of the wrist part and other parts.

NOTE

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Use pointed jigs to create the position so that the deviation is easily found. Keep a distance as long as possible from the rotational center of the replacing axis.

Considering the moving direction of the replacing axis, create the position so that the deviation is easily found and the axis will not interfere with the jigs even if it is deviated.One of the checked point when replacing the U-axis on the UP130-A00 Spot System is shown below as an example.

• The check-point cannot be created without operating each axis. Therefore, the check-point cannot be created if the axis cannot operate for some reasons including failure. It is recommended to create the check-point for each axis under normal operating conditions.

Next, check the home position of the replacing axis. Move the replacing axis to the 0 pulse position, the home position, on the position screen, and check the position of the home position mark. If it is deviated, adjust it.An example of the U-axis of UP130-A00 is shown below.

Fig. 3-3 Preparation before replacement (Ex.)

Replacement

• Refer to the Fig. 3-4 "Replacement (Ex.)" in this chapter.The attitude cannot be hold because the motor is removed for replacement. Hold the arm using the chain block. If not, it is seriously dangerous. Replace it with due care. The example of the U-axis of UP130-A00 is shown below.

Fig. 3-4 Replacement (Ex.)Remove the motor and replace it.

2

3

A

View observed from the arrow A

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Home Position Adjustment

After completing the replacing work, move the replaced axis to the position of the home position mark. Perform the home position alignment only for the replaced axis.(For more detailed information, refer to "YASNAC XRC INSTRUCTIONS".) Move the axis to the checked point by the checked JOB. (Care must be taken so that the axis may not interfere with the jigs in moving the axis.) Move only the replaced axis to adjust the deviation from the point created before the work for alignment.

Display the position screen (command value).The example of U-axis is shown below.

Using the above values, calculate the amount of deviation. (Subtract the command value from the present value.)

Present value - Command value = the amount of deviation U(-3067) - (-2989) = -78

Move the replaced axis to a position where it will not interfere with the jigs when it moves to the home position by stepping back of the Checked JOB. (Care must be taken so that the axis may not interfere with the jigs in moving the axis.) Move the replaced axis to the pulse position equal to the amount of deviation on the position screen.The example is shown below.

Perform the home position alignment only for the replaced axis on this position.(For more detailed information, refer to "YASNAC XRC INSTRUCTIONS".)Move the axis to the Checked point by the Checked JOB again. Check that it is in the point created before the work for completing the work. If it is deviated, repeat the adjustment procedures. Check the operation by using the JOB before replacement. When no problem is found, write the home position data (ABSO data) and the date in the label attached on the inside of the XRC.

Command value R1

S:007 Interpolation: Link Speed: 25.00%

[Command value] Instruction tool: 0 [Present value] Operation tool: 0

R1:S 3458 R1:S 3458

L 5638 L 5638

U -2989 U -3067

R 80 R 80

B -10754 B -10754

T -10 T -10

Command value R1

S:007 Interpolation: Link Speed: 25.00%

[Command value] Instruction tool: 0 [Present value] Operation tool: 0

R1:S 58 R1:S 58

L 0 L 0

U 0 U -78

R 0 R 0

B -11700 B -11700

T 0 T 0

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3.2 How to Return to the Home Position in the Case of the Exhaustion of the Motor Battery of the Robot Axis

3.2.1 The Method by Using the Home Position Alignment Function for Restoration at the Time of Battery Backup

This is the method for operating the software of the "Backup alarm restoration" on Programing Pendant. After moving the robot to the posture close to the home position (within 1motor rotation) by teaching operation. The multi-turn data is updated in this method.

3.2.2 The Method by Using the Keys

This is the method for writing a differential pulse between the key position and the home position at the time of the MOTOMAN shipment in the home position label attached on the inside of the YASNAC panel. When the home position disappears, move the robot to the key position, form which set mentioned above the differential pulse as the home position.

Calibration Operation

UP200

Prepare the Table 3-1 "Required Parts List" parts for performing calibration.

Table 3-1 Required Parts List UP130 and UP165

Drawing number (Product number) Name Number Remark

HW9405595-1 Pin 6 For all the axes

HW9405584-1 Jig 1 For the R-axis

MSTH6-20 Knockout pin 2 For the R-axis

HW9405597-1 Jig 1 For the T-axis

MSTH10-30 Knockout pin 2 For the T-axis

Drawing number (Product number) Name Number Remark

HW9405595-1 Pin 4 For the S-, L-, U- and R-axis

HW9405627-1 Pin 1 For the B-axis

HW9405626-1 Pin 1 For the T-axis

HW9405624-1 Jig 1 For the R-axis

MSTH6-20 Knockout pin 2 For the R-axis

HW9405625-1 Jig 1 For the T-axis

HW0404355-1 Knockout pin 2 For the T-axis

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1. S-axis PositioningAs shown in the Fig. 3-5 "S-axis Positioning", insert the pin (HW9405595-1) from the

hole of the pin (6 dia.) of the S head into the slot of the base part for positioning by the teach box.

Fig. 3-5 S-axis Positioning 2. L-Axis Positioning

As shown in the Fig. 3-6 "L-Axis Positioning", insert the pin (HW9405595-1) from the

hole of the pin (6 dia.) of the S head into the slot of the L-arm for positioning by the teach box.

Fig. 3-6 L-Axis Positioning

0+0018

HW9405595-1 Pin

180±0.1

0+0018

L-Arm

HW9405595-1 Pin

S head

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3. U-Axis PositioningAs shown in the Fig. 3-7 "U-Axis Positioning", insert the pin (HW9405595-1) from the

hole of the pin (6 dia.) of the L-arm into the slot of the casing for positioning by the teach box.

Fig. 3-7 U-Axis Positioning4. R-axis Positioning

(1) UP130 and UP165 As shown in the Fig. 3-8 "R-Axis Positioning", fasten the jigs (HW9405584-1) to the U-arm with two knockout pins (MSTH6-20), and insert the pin (HW9405595-1) into the slot of the wrist unit for positioning by the teach box.

(2) UP200 As shown in the Fig. 3-8 "R-Axis Positioning", fasten the jigs (HW9405624-1) to the U-arm with two knockout pins (MSTH6-20), and insert the pin (HW9405595-1) into the slot of the wrist unit for positioning by the teach box.

Fig. 3-8 R-Axis Positioning

0+0018

L-Arm

Casing

HW9405595-1 pin

MSTH6-20 two Knockout pins

U-arm Wrist unit135.5 (165)*

HW9405595-1 Pin

HW9405584-1 Jigs

40

(HW9405624-1 Jigs)**: Inside of ( ) indicates the type and dimension for UP200 model.

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5. B-Axis Positioning(1) UP130 and UP165

As shown in the Fig. 3-9 "B-Axis Positioning", insert the pin (HW9405595-1) from

the hole of the pin (6 dia.) of the B-axis speed reducer part into the slot of the wrist part for positioning by the teach box.

(2) UP200As shown in the Fig. 3-9 "B-Axis Positioning", insert the pin (HW9405627-1) from

the hole of the pin (8 dia.) of the B-axis speed reducer part into the slot of the wrist part for positioning by the teach box.

Fig. 3-9 B-Axis Positioning6. T-Axis Positioning

(1) UP130 and UP165 As shown in the Fig. 3-10 "T-Axis Positioning", fasten the jigs (HW9405597-1) with two knockout pins (MSTH10-30), and insert the pin (HW9405595-1) from the hole of the T-axis flange into the slot of the wrist part for positioning by the teach box.

(2) UP200 As shown in the Fig. 3-10 "T-Axis Positioning", fasten the jigs (HW9405625-1) with two knockout pins (HW0404355-1), and insert the pin (HW9405626-1) from the hole of the T-axis flange into the slot of the wrist part for positioning by the teach box.

Fig. 3-10 T-Axis Positioning

0+0018

0+0018

B-axisspeed reducer part

Wrist part

HW9405595-1 Pin

*: inside of ( ) indicates the types and dimension for UP200

(HW9405627-1 Pin)*

T-axis flange

Wrist part

91(1

01)*

MSTH10-30two Knockout pins (MISUMI.corp)(HW0404355-1, two Knockout pins)*

HW9405597-1 Jigs

HW9405595-1 Pin

62.5±0.02 62.5±0.02(46±0.02)* (46±0.02)*

(HW9405625-1 Jigs)*

(HW9405626-1 Pin)*

*: inside of ( ) indicates the types and dimension for UP200

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4 L-axis Fixing Jig Operating

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4.1 Fixing Jig Operating

In the MOTOMAN-UP130 series, different from the conventional SK series, the "Linkless mechanism with the balancer" is adopted. Therefore, releasing the L-axis holding power including removing the L-axis motor or releasing the brake is seriously dangerous because it will cause a L-arm rotation different from the conventional model's rotation, depending on the edge load, wrist load posture, U-axis posture, and L-axis posture. (For outlined mechanism, refer to section 4.4 “Mechanism” in this chapter.) When releasing the L-axis holding power for L-axis motor replacement, or releasing the brake, be sure to hold the L-arm using the fixing jigs specified in this manual and following the procedures. After mount this fixing jig, be sure to release the brake and confirm the L-axis is completely fixed.

Set the L-arm in the recommended posture in Fig. 4-12 "UP130 external view"..

Fig. 4-11 L-arm Posture Range to be Avoided

Maintenance and inspection must be performed by specified personal.

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

• Avoid using the fixing jigs at the angles below. The manipulator axis may move when the brake is released.UP130… -15° to +15° (-30423 to +30423 pulse)UP165, UP200… -15° to +15° (-35039 to +35039 pulse)

-15° +15°

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In this case, the tip of the flange may move by several hundred mm. If there are interfering objects around, move the rotation axis or other axes to perform the above in the posture without interference.This section explains the procedures for fixing the L-arm in the attitude shown in Fig. 4-12 "UP130 external view".

4.1.1 Specific Jig Installing Posture and Installing Position

Set the L-arm in the posture in Fig. 4-12 "UP130 external view".L-axis: -60° (-121692 pulse for UP130 and -140154 pulse for UP165 and UP200)Rotate the U-arm in the θ direction shown in Fig. 4-12 "UP130 external view" (the direction to minimize the relative angle of the L-axis and U-axis) so that the relative angle of the L-axis and U-axis can be minimized. At this time, care must be taken so that the arm including the work and hand may not interfere with the peripheral devices and the main unit of the robot. Install the specific fixing jigs in the B part (the rear of the balancer) shown in Fig. 4-12 "UP130 external view".

Fig. 4-12 UP130 external view

• If fix the axis at the above range under necessity such as the motor cannot be driven, turn the brake ON and OFF by inches to move the arm gradually when release the brake. Repeat this until the arm no longer moves.

B part

Balancer

U-arm

L-arm P pointL-arm

Edge load

L-axis motor

AA

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4.2 Installing

• Refer to the Table 4-2 "L-Axis Fixing Jigs List" and Fig. 4-13 "Detail View of Installing the Specific Jigs".

1. Remove the three rubber caps and three screws (Hexagon socket head cap screw M8 (15 screws) or M12 (18 screws) installed on the rear of the balancer.

2. Insert the M45xP1.5 screw side of the stud (Two types of screws, M55xP2 and M45xP1.5, are processed in the stud.) into the hole of the rear of the balancer, and screw them into the screw part of the rod (M45xP1.5), a component part of the balancer. At this time, screw them in tightly so that there is no "looseness" between the stud and rod.

3. Screw the nut into the stud until it touches the rear of the balancer. At this time screw it in tightly so that there is no "looseness" between the edge of the nut and the contact surface of the rear of the balancer.

4. Install the shaft HW9405579-1 with three hexagon socket head cap screws M8 (length: 40mm) or M12 (length: 40mm).

5. Tighten the three hexagon socket head cap screws M8 (length: 40 mm) or M12

(length: 40mm) equally with the tightening torque (M8: 20Nm, M12: 58Nm)

6. Release the L-axis brake to confirm that the L-axis is firmly fixed.(Prepare for the shock at the time of arm motion by releasing the brake by inches.)

• Avoid using the same hexagon socket head cap screws M8 (length: 40mm) or M12

(length: 40mm) repeatedly. Replace them with new ones.

• Use a bolt with tensile strength of 1200 N/mm2 or more for the hexagon socket head cap

screws M8 (length: 40mm) or M12 (length: 40mm).

Table 4-2 L-Axis Fixing Jigs List

Drawing number (Product number) Name Number

HW9402997-1 Plate 1

HW9402998-1 Plate 1

HW9405579-1 Shaft 1

ANE12-300 (Manufacturer: MISUMI.corp)

Total screw 2

Hexagon socket head cap screw M8 (15mm) 3



Hexagonal nut M12 4

HW9405580-1 Stud 1

HW9405581-1 Nut 1

NOTE

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Fig. 4-13 Detail View of Installing the Specific Jigs

• For removal procedures, check that the L-axis holding power has been restored first, and

then perform the installing procedures in inverted order. In some attitudes of the robot,

removing them may be impossible. (because of the mesh of the stud and rod) In this

case, before performing the removal work, as shown in, Fig. 4-14 "Detail View of

Removing the Specific Jigs" install the plates (HW9402997-1 and HW9402998-1), insert

the total screw with double nut (M12) installed on the edge of the plate, and screw in the

total screw while pressing the plate of the rear of the balancer so that the nut can be

moved by hand.

Rubber cap

Hexagon socket head cap screws M8x15 (3 screws)(or Hexagon socket head cap screw M12x18 (3 screws))

Hexagon socket head cap screws M8x40 (3 screws)(or Hexagon socket head cap screw M12x40 (3 screws))

Nut (HW9405581-1)

Stud (HW9405580-1)

Shaft (HW9405579-1)

Rod

Case

When installing the jigs

Before installing the jigsM55xP2

M4.5xP1.5

NOTE

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4.3 Removing

• Refer to Fig. 4-14 "Detail View of Removing the Specific Jigs".1. Remove the shaft (HW9405579-1) and nut (HW9405581-1) installed on the stud.

When the nut is hard to remove, after installing the plate (HW9402997-1) on the stud (HW9405580-1) and installing the plate (HW9402998-1) in the case, screw the total screw until the nut loosens.

2. Remove the stud from the rear of the balancer.3. Remove the stud, plate (HW9402997-1) installed on the case, plate (HW9402998-1),

and total screw.

Fig. 4-14 Detail View of Removing the Specific Jigs

Rubber cap

Hexagon socket head cap screw M8x15 (3 screws)(or Hexagon socket head cap screw M12x18 (3 screws))

Hexagon socket head cap screw M8x40 (3 screws)(or Hexagon socket head cap screw M12x40 (3 screws))

Nut (HW9405581-1)

Stud (HW9405580-1)

Plate (HW9402997-1)

Hexagonal nut M12 (4 nuts)

2-ANE 12-300 *MISUMI.corp*

Plate (HW9402998-1)

Rod

Case

M55xP2

M45xP1.5

When installing the jigs

Before installing the jigs

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4.4 Mechanism

• Refer to Fig. 4-15 "The L-Arm Rotating Direction".

The L-arm rotating direction depends on the extent of the torque Tb generated by the balancer, and the load torque TL generated around the L-axis. The torque Tb generated by the balancer is always generated toward the directions where the L-arm becomes 0° from the posture vertical against the ground, and its extent varies depending on the L-axis angle. The load torque TL generated around the L-axis works around the center of the L-axis rotation, and its direction and extent vary depending on the edge load, postures of the wrist, the U-arm, and the L-arm. When no load is applied to the edge, for the L-arm rotating direction, 3 patterns are assumed as described in the Fig. 4-15 "The L-Arm Rotating Direction".It is quite difficult to accurately compare the extent of the torque works around the L-axis and the extent of the torque generated by the balancer on the actual work site. Although the loaded torque direction generated around the L-axis could be identified in the conventional series, the rotational direction cannot be identified in this unit; therefore, handling this unit in the same way as the conventional series is seriously dangerous, as the L-arm may rotate in a direction that the operator does not expect.

Fig. 4-15 The L-Arm Rotating Direction

Posture in which the L-arm operates in the clockwise direction

Posture in which the L-arm does not operate

Posture in which the L-arm operates in the counterclockwise direction

75° 55°

65°

60°

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5 Grease Replenishment/Exchange

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5.1 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear

• Refer to the Fig. 5-16 "S-Axis Speed Reducer and Gear Diagram".

Fig. 5-16 S-Axis Speed Reducer and Gear Diagram

5.1.1 Grease Replenishment

1. Remove the So exhaust plug.

2. Inject grease into the Si grease inlet using a grease gun.

3. Move the S-Axis for a few minutes to discharge the excess grease.4. Reinstall the So exhaust plug. (Spread the modifier silicon caulk on the screw of the

plug.)

If grease is added without removing the exhaust plug, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the plug.

Grease type: Molywhite RE No.00Amount of grease: 530cc(1060cc for 1st supply)

So: Grease exhaustHexagon socket head (PT 1/8) plug

Si: Grease inletGrease zerk (A-PT 1/4)

S-axis speed reducer

NOTE

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5.1.2 Grease Exchange

1. Remove the So exhaust plug.2. Inject grease into the Si grease inlet using a grease gun.3. The grease replacement is complete when new grease appears in the So exhaust port.

The new grease can be distinguished from the old grease by color.

4. Move the S-Axis for a few minutes to discharge the excess grease.5. Wipe the So exhaust port with a cloth and reinstall the plug. (Spread the modifier

silicon caulk on the screw of the plug.)

Grease type: Molywhite RE No.00Amount of grease: 3650cc

If the plug is installed when grease is being exhausted, grease will go inside the motor and may damage it.

NOTE

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5.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

• Refer to the Fig. 5-17 "L-Axis Speed Reducer Diagram".

Fig. 5-17 L-Axis Speed Reducer Diagram


1. Make the L-Arm vertical for ground.2. Remove the Lo exhaust plugs.

3. Inject grease into the Li grease inlet using a grease gun.

4. Move the L-Axis for a few minutes to discharge the excess grease.5. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier

silicon Caulk on the screw of the plug.)

If grease is added without removing the exhaust plug, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.

Grease type: Molywhite RE No.00Amount of grease: 400cc

(800cc for 1st supply)

L-axis speed reducer Lo: Grease exhaustHexagon socket head (PT 1/8) plug

Li: Grease inletGrease Zerk (A-PT 1/8)

NOTE

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1. Make the L-Arm vertical for ground.2. Remove the Lo exhaust plugs.

3. Inject grease into the Li grease inlets using a grease gun.

4. The grease replacement is complete when new grease appears in the Lo exhaust ports. (The new grease can be distinguished from the old grease by color.)

5. Move the L-Axis for a few minutes to discharge the excess grease.6. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier


If grease is added without removing the exhaust plugs, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.

Grease type: Molywhite RE No.00Amount of grease for Li: approx. 2000cc

NOTE

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5.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

• Refer to the Fig. 5-18 "U-Axis Speed Reducer Diagram".

Fig. 5-18 U-Axis Speed Reducer Diagram


1. Make the U-Arm horizontal for ground.2. Remove the Uo exhaust plugs.

3. Inject grease into the Ui grease inlet using a grease gun.

4. Move the U-Axis for a few minutes to discharge the excess grease.5. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier



Grease type: Molywhite RE No.00Amount of grease for Ui: 250cc


Uo: Grease exhaustHexagon socket head (PT1/8)plug

U-axis speed reducer

Ui: Grease inletGrease zerk (A-PT1/8)

NOTE

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1. Make the U-Arm horizontal for ground.2. Remove the Uo exhaust plugs.

3. Inject grease into the Ui grease inlet using a grease gun.

4. The grease replacement is complete when new grease appears in the Uo exhaust ports. (The new grease can be distinguished from the old grease by color.)

5. Move the U-Axis for a few minutes to discharge the excess grease.6. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier



Grease type: Molywhite RE No.00Amount of grease for Ui: approx. 1650cc

If the plug is installed when grease is being exhausted, grease will go inside the motor and may damage it.

NOTE

NOTE

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5.4 Grease Replenishment/Exchange for R-Axis Speed Reducer

• Refer to the Fig. 5-19 "R-Axis Speed Reducer Diagram".

Fig. 5-19 R-Axis Speed Reducer Diagram


1. Remove the Ro exhaust plugs.

2. Remove the Ri plug: PT1/8 and install the grease zerk (A-PT1/8) and inject grease into the Ri grease inlet using a grease gun.

UP130 and UP165

UP200

3. Move the R-Axis for a few minutes to discharge the excess grease.4. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier


If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.

Grease type: Molywhite RE No.00Amount of grease for Ri: 28cc


Grease type: Molywhite RE No.00Amount of grease for Ri: approx. 40cc


R-axis speed reducer

Ro: Grease exhaustHexagon socket head (PT1/8) plug

Ri: Grease inletHexagon socket head (PT1/8)plug

NOTE

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1. Remove the Ro exhaust plugs.

2. Remove the Ri plug: PT1/8 and install the grease zerk (A-PT1/8) and inject grease into the Ri grease inlet using a grease gun.

UP130 and UP165

UP200

3. The grease replacement is complete when new grease appears in the Ro exhaust ports. (The new grease can be distinguished from the old grease by color.)

4. Move the R-Axis for a few minutes to discharge the excess grease.5. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier





NOTE

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5.5 Grease Replenishment/Exchange for B-Axis Speed Reducer and Gear

• Refer to the Fig. 5-20 "B-Axis Speed Reducer and Gear Diagram".

Fig. 5-20 B-Axis Speed Reducer and Gear Diagram


1. Remove the Bo exhaust plugs.

2. Inject grease into the Bi grease inlet using a grease gun. UP130 and UP165

UP200

3. Move the B-Axis for a few minutes to discharge the excess grease.4. Wipe the Bo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier



Grease type: Molywhite RE No.00Amount of grease for Bi: 200cc


Grease type: Molywhite RE No.00Amount of grease for Bi: 260cc


Bo: Grease exhaustHexagon socket head (PT1/8) plug

B-axis speed reducerBi: Grease inlet

Grease zerk (A-MT6) (1 zerk)

NOTE

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1. Remove the Bo exhaust plugs.

2. Inject grease into the Bi grease inlet using a grease gun. UP130 and UP165

UP200

3. The grease replacement is complete when new grease appears in the Bo exhaust ports. (The new grease can be distinguished from the old grease by color.)

4. Move the B-Axis for a few minutes to discharge the excess grease.5. Wipe the Bo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier


If grease is added without removing the exhaust plugs, grease will go outsidethe grease box and may damage it. It is absolutely necessary to remove the plugs.

Grease type: Molywhite RE No.00Amount of grease for Bi: approx. 900cc

Grease type: Molywhite RE No.00Amount of grease for Bi: approx. 1300cc

NOTE

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5.6 Grease Replenishment/Exchange for T-Axis Speed Reducer and Gear

• Refer to the Fig. 5-21 "T-Axis Speed Reducer And Gear Diagram".

Fig. 5-21 T-Axis Speed Reducer And Gear Diagram


1. Remove the To exhaust plugs.

2. Inject grease into the Ti grease inlet using a grease gun. UP130 and UP165

UP200

3. Move the T-Axis for a few minutes to discharge the excess grease.4. Wipe the To exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier



Grease type: Molywhite RE No.00Amount of grease for Ti: 200cc




T-axis speed reducer

To: Grease exhaustHexagon socket head (M6) plug

Ti: Grease inlet Grease zerk (A-MT6) (1 zerk)

NOTE

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1. Remove the To exhaust plugs.

2. Inject grease into the Ti grease inlet using a grease gun. UP130 and UP165

UP200

3. The grease replacement is completed when new grease appears from the To exhaust port. (The new grease is distinguished from the old grease by color.)

4. Move the T-Axis for a few minutes to discharge the excess grease.5. Wipe the To exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier





NOTE

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5.7 Grease Replenishment for Balancer Connection Part

• Refer to the Fig. 5-22 "Balancer Connection Part".

Fig. 5-22 Balancer Connection Part

1. Remove the air exhaust plugs of connection and . (Refer to Fig. 5-22 "Balancer Connection Part".)

2. Inject grease into Vc grease inlets of connection and using a grease gun.

.

3. Reinstall the plugs of connection and . (Spread the modifier silicon caulk on the screw of the plug.)

Grease type: Alvania EP Grease 2Amount of grease: 5cc (10cc for 1st supply)

Grease is not exhausted from the exhaust ports and . Do not inject excessive grease into the gear grease inlet.

Air exhaust

Connection Vc: Grease inlet

Air exhaustHexagon socket head plug (PT1/8)

ConnectionNeedle bearingConnection

2 Tapper roller bearings

Connection Vc: Grease inletGrease zerk (A-PT1/8) (2 zerks)

1 2

1 2

NOTE 1 2

1 2

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6 Disassembly and Reassembly of the Motor

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6.1 Disassembly and Reassembly of the S-Axis Motor

• Refer to Fig.6-23 (a) Disassembly and Reassembly of the S-Axis Motor and Fig.6 (x) Disassembly and Reassembly of the S-Axis Motor.

Disassembly

1. Turn OFF the robot controller.2. Connect the backup battery. (Refer to chapter 2 "Notes for Maintenance" in this book.)

3. Remove the MS connector (encoder, power) connected to the S-axis motor .

4. Remove the hexagon socket head cap screws , and remove the S-axis motor

from the gear unit with the tapped holes on the motor flanged surface. At this time,

be careful not to scratch the oil seal in the gear unit .

5. Remove the hexagon socket head cap screws to remove the shaft and the key

.

Reassembly

1. Mount the key on the S-axis motor . (The key is attached to the S-axis motor

.)

2. Apply sealing bond (ThreeBond 1206C) between the S-axis motor flanged surface

and the shaft , and mount the S-axis motor and the shaft .

3. Tighten the hexagon socket head cap screws (apply LOCTITE 242 to the screw parts) with the tightening torque shown in Table 6-3 "The Comparison Table for Parts".

4. Apply sealing bond (ThreeBond 1206C) between the S-axis motor flanged surface

and the gear unit . Being careful not to scratch the oil seal in the gear unit , mount

the S-axis motor on the gear unit .

5. Tighten the hexagon socket head cap screws with the tightening torque shown in Table 6-3 "The Comparison Table for Parts".

6. Mount the MS connector (encoder, power) of the internal cable on the S-axis motor .

7. Supply grease (Molywhite RE No.00) from the grease supply part.

8. Remove the backup battery.

9. Turn ON the robot controller.

Refer to chapter 2 "Notes for Maintenance",chapter 3 "Home Position Return Operation", Table 4 "L-axis Fixing Jig Operating" and chapter 5 "Grease Replenishment/Exchange", and chapter 9 "Adjustment the Tension of the RBT-Axes Belts" in this manual.

NOTE

1

2 1

5

5

6 3

4

4 1 4

1

1

3 1 3

6

1

5 5

1 5

2

1

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Table 6-3 The Comparison Table for Parts

No Name Number Notes

S-axis Motor HW9381382-A 1

Hexagon Socket Head Cap Screws M12x40 Conical Spring Washer 2H-12

4 each Tightening torque 84N•m

Shaft HW9381446-A 1

Key 1

Gear Unit 1

Hexagon Socket Head Cap ScrewsM10x110 Conical Spring Washer 2H-10

1 each Tightening torque 82N•m

1

2

3

4

5

6

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Fig. 6-23 (a) Disassembly and Reassembly of the S-Axis Motor

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Fig. 6 (x) Disassembly and Reassembly of the S-Axis Motor

6

5

4

3

2

1 the part to apply the sealing

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6.2 Disassembly and Reassembly of the L-Axis Motor

• Refer to Fig.6-25 (a) Disassembly and Reassembly of the L-Axis Motor and Fig.6-25 (b) Disassembly and Reassembly of the L-Axis Motor (UP130).

Disassembly

1. Turn OFF the robot controller, fasten the balancer, and drain grease.2. Connect the backup battery. (Refer to chapter 2 "Notes for Maintenance".)

3. Remove the MS connector (encoder, power) connected to the L-axis motor .

4. Remove the hexagon socket head cap screws , and remove the L-axis motor

from the motor base with the tapped holes on the L-axis motor flanged surface. At this time, be careful not to scratch the oil seal in the motor base.

5. Remove the hexagon socket head cap screws , and remove the shaft , the key

, the pipe , the gear and the shaft .

Reassembly

1. Mount the key on the L-axis motor . (The key is attached to the L-axis motor

.)

2. Apply sealing bond (ThreeBond 1206C) between the L-axis motor flanged surface

and the shaft , and mount the L-axis motor , the shaft , the pipe , the gear

and the shaft .

3. Tighten the hexagon socket head cap screws (apply LOCTITE 242 to the screw parts) with the tightening torque shown in the Table 6-4 "The Comparison Table for Parts".

4. Apply sealing bond (ThreeBond 1206C) between the L-axis motor flanged surface and the motor base. Being careful not to scratch the oil seal in the motor base, mount

the L-axis motor on the motor base.

5. Tighten the hexagon socket head cap screws with the tightening torque shown in the Table 6-4 "The Comparison Table for Parts".

6. Mount the MS connector (encoder, power) of the internal cable on the L-axis motor .


8. Supply grease (Molywhite RE No.00).


• Execute disassembly and reassembly of the L-axis motor after mounting the L-axis fixing jig on the balancer. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L-axis motor brake.

Failure to observe this leads unexpected L-arm rotation at the moment when the L-axis motor is removed and it may result in damage to machinery or death or serious injury.

• Refer to chapter 4 "L-axis Fixing Jig Operating" in this book about how to fix the balancer.

1

2 1

1

8 3

4 5 6 7

4 1 4

1

1

3 1 3 5

6 7

8

1

1

2

1

6-5

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No. NameNumber

Notes

L-axis Motor HW9381261-AL-axis Motor HW9381536-A

11

For UP130 and UP165For UP200

Hexagon Socket Head Cap Screws M12x35 Conical Spring Washer 2H-12

4 each

Tightening Torque84N•m

Shaft HW9482306-BShaft HW9482306-EShaft HW9482339-A

111

For UP130For UP165For UP200

Key 1

Pipe HW9405134-1•Retaining Ring ISTW-15 1 For UP130

Gear HW9482308-AGear HW9482358-A

11

For UP130For UP165 and UP200

Shaft HW9481343-A 1

Hexagon Socket Head Cap Screws M8x115 Conical Spring Washer 2H-8Hexagon Socket Head Cap Screws HW9482316-C Conical Spring Washer ISTW12Hexagon Socket Head Cap Screws HW9482506-A Conical Spring Washer ISTW12

1 each1 each1 each

Tightening Torque for UP130 :40N•m Tightening Torque for UP165 :40N•m Tightening Torque for UP200 :68N•m

1

2

3

4

5

6

7

8

6-6

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Fig. 6-25 (a) Disassembly and Reassembly of the L-Axis Motor

6-7

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Fig.6-25 (b) Disassembly and Reassembly of the L-Axis Motor (UP130)

Fig. 6-25 (c) Disassembly and Reassembly of the L-Axis Motor (UP165 and UP200)

The part to apply the sealing bond

8

7

6 5

4

3

2

1

8

6

7

34

2 1

6-8

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6.3 Disassembly and Reassembly of the U-Axis Motor

• Refer to "Fig. 6-26 (a) Disassembly and Reassembly of the U-Axis Motor " and "Fig. 6-26 (b) Disassembly and Reassembly of the U-Axis Motor ".

Disassembly

1. Turn OFF the robot controller, drain grease, and connect the backup battery.

2. Remove the MS connector (encoder, power) connected to the U-axis motor .(Refer to chapter " 2 Notes for Maintenance " in this manual).

3. Before removing the U-axis motor , hold the U-arm not to rotate by chain block etc.

4. Remove the hexagon socket head cap screws , and remove the U-axis motor

from the casing with the tapped holes on the U-axis motor flanged surface. At this time, be careful not to scratch the oil seal in the casing.

5. Remove the retaining ring and the bolt to remove the shaft , the gear , the

shaft and the key .

Reassembly

1. Mount the key on the U-axis motor . (The key is attached to the U-axis motor

.)

2. Apply sealing bond (ThreeBond 1206C) between the U-axis motor flanged surface

and the shaft , and mount the U-axis motor, the shaft , the gear and the shaft

.

3. Mount the shaft , the gear and the retaining ring , after tightening the bolt (apply LOCTITE242 to the screw parts) with the tightening torque shown in the Table 6-5 "The Comparison Table for Parts".

4. Apply sealing bond (ThreeBond 1206C) between the U-axis motor flanged surface and the casing. Being careful not to scratch the oil seal in the gear unit, mount the U-

axis motor on the casing.

5. Tighten the hexagon socket head cap screws with the tightening torque shown in the Table 6-5 "The Comparison Table for Parts".

6. Mount the MS connector (encoder, power) of the internal cable on the U-axis motor .


8. Supply grease (Molywhite RE No.00).



No. NameNumber

Notes

U-axis Motor HW9381261-A 1

Hexagon Socket Head Cap Screws M12x40 Conical Spring Washers 2H-12

4 each

Tightening Torque 84N•m

Shaft HW9482306-C 1


11


Shaft HW9481343-A 1

1

1

2 1

1

7 8 3 4

7 6

6 1 6

1

1

3 3 4

5

5 4 7 8

1

1

2

1

1

2

3

4

5

6-9

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Fig. 6-26 (a) Disassembly and Reassembly of the U-Axis Motor

Key 1

Retaining Ring ISTW-12 1

Bolt HW9482316-A 1 Tightening Torque 40N•m


No. NameNumber

Notes

6

7

8

6-10

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Fig. 6-26 (b) Disassembly and Reassembly of the U-Axis Motor

8

7

6

5

4

3

2

1


6-11

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6.4 Disassembly and Reassembly of the RBT-Axes Motors

• Refer to Fig.6-27 (a "Disassembly and Reassembly of the RBT-axes Motors" and Fig.6-27 (b "Disassembly and Reassembly of the RBT-Axes Motors".

Disassembly

1. Turn OFF the robot controller.

2. Remove the GT-SA bolts • to remove the covers • and the gaskets •

.

3. Connect the backup battery to the connector on the upper part of the casing . (Refer to chapter 2 "Notes for Maintenance" in this manual.)

4. Remove the RBT-axis motor’s connectors connected to the internal cable.

5. Remove the hexagon socket head cap screws , and remove the RBT-axis motors

from the casing with the notch on the casing .

6. Remove the hexagon socket head cap screws to remove the keys , the pulleys

and B covers .

Reassembly

1. Mount the key on the RBT-axis motors . (The key is attached to the RBT-axis

motors .)

2. Mount the pulleys and the B covers on the RBT axis motors and tighten the

hexagon socket head cap screws (apply LOCTITE 242 to the screw parts) with the tightening torque shown in the Table 6-6 "The Comparison Table for Parts".

3. Apply sealing bond (ThreeBond 1206C) between the RBT-axis motors and the

casing , and mount the RBT-axis motors on the casing .

4. Adjust the tension of the belt, and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 6-6 "The Comparison Table for Parts". (Refer to the chapter 9 "Adjustment the Tension of the RBT-Axes Belts" in this manual.

5. Connect the connector connected to the internal cable to the connector on the upper part of casing. Remove the backup battery.

6. Mount the covers • and the gaskets • , and tighten them with the GT-SA

bolts • .7. Turn ON the robot controller.

12 13 10 8 11

9

7

1

2

1 7 7

6 3

4 5

4 1 4

1

4 5 1

6

1

7 1 7

2

8 10 9 11

12 13

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No. Name Number Notes

RBT-axis Motors : R-axis HW9380938-A : B•T-axis HW9381368-A

12

Hexagon Socket Head Cap Screws M6x30 Conical Spring Washer 2H-6(B•T-axis) Collar HW9404231-1

4 each x 3

4x3

Tightening Torque 10.0 N•m

Key 3

Pulley HW9482275-APulley HW9482450-APulley HW9482275-A

321

For UP130, 200 (RBT-Axes)For UP165 (RB-Axes)For UP165 (T-Axis)

B Cover HW9405163-1 3

Hexagon Socket Head Cap Screw M6x20 Conical Spring Washer 2H-6

1 each x 3 Tightening Torque 16.5 N•m

Casing HW9100889-1 1

Cover HW9302176-1 1

Gasket HW9381484-A 1

Cover HW9405439-1 1

Gasket HW9482427-A 1

GT-SA Bolts M6x15 4 Tightening Torque 10 N•m

GT-SA Bolts M6x15 7 Tightening Torque 10 N•m

1

2

3

4

5

6

7

8

9

10

11

12

13

6-13

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Fig. 6-27 (a) Disassembly and Reassembly of the RBT-axes Motors

6-14

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Fig.6-27 (b) Disassembly and Reassembly of the RBT-Axes Motors

A

View observed from the arrow A (a scale of measurement 1 : 8)


121110

R-axis motor

T-axis motor

B-axis motor

29

8

7

6

54

3

1

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7 Disassembly and Reassembly of the Speed Reducer

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• Refer to Fig.7-28(a "Disassembly and Reassembly of the S-Axis Speed Reducer" and Fig.7-28(b "Disassembly and Reassembly of the S-Axis Speed Reducer" in this chapter.

7.1 Disassembly and Reassembly of the S-Axis RV Speed Reducer

Disassembly

1. Turn OFF the robot controller and drain grease.

2. Remove the hexagon socket head cap screws • , and remove the shaft and

the gear unit with the tapped holes.

3. Remove the hexagon socket head cap screws to remove the upper part from the S head of the robot.

4. Remove the hexagon socket head cap screws to remove the RV speed reducer

from the base .

5. Remove the tube connected to the straight union .

6. Remove the straight union from the RV speed reducer .

7. Remove the hexagon socket head cap screws , and remove the shaft and O-ring

with the tapped holes.

Reassembly

1. Mount the straight union on the RV speed reducer .

2. Mount O-ring on the shaft , apply sealing bond (ThreeBond 1206C) between the

RV speed reducer and the shaft , and tighten the hexagon socket head cap

screws with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".

3. Connect the tube to the straight union .

4. Apply sealing bond (ThreeBond 1206C) between the RV speed reducer and the

base , and tighten the hexagon socket head cap screws (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".

Refer to chapter 3 "Home Position Return Operation", chapter 4 "L-axis Fixing Jig Operating" and chapter 5 "Grease Replenishment/Exchange" in this book.

NOTE

11 2 12

3

4

5 1

13

10 9

9 1

7 6

8

9 1

8 6

1 6

7

10 9

1

13 5

7-1

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5. Mount the upper part from the S head of the robot on (3), and tighten the hexagon

socket head cap screws with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".

6. Apply sealing bond (ThreeBond 1206C) between (4) and the gear unit , and tighten

the hexagon socket head cap screws (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".

7. Mount the shaft on the RV speed reducer , and tighten the hexagon socket head

cap screws (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".



Number

Name

The number of the parts

Notes

RV Speed Reducer HW9381388-A 1

Hexagon Socket Head Cap Screws M8x90Spring Washers 2H-8

8 each Tightening Torque 24.5N•m

Gear Unit HW9171471-A 1


17 each Tightening Torque 142N•m



Shaft HW9302385-1 1



O-ring G135 1

Straight union KQS10-01S 1

Tube NB-1075-1,1. 1



Shaft HW9302524-1 1

Base HW9100888-1 1

4

3

2

12 1

11

1

2

3

4

5

6

7

8

9

10

11

12

13

7-2

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Fig. 7-28(a Disassembly and Reassembly of the S-Axis Speed Reducer

7-3

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Fig.7-28(b Disassembly and Reassembly of the S-Axis Speed Reducer

13

12

11

10

98

7

65

43

2

1


S-head

7-4

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7.2 Disassembly and Reassembly of the L-Axis RV Speed Reducer

• Refer to Fig.7-29(a "Disassembly and Reassembly of the L-Axis Speed Reducer" and Fig.7- 29 (b "Disassembly and Reassembly of the L-Axis Speed Reducer" in this chapter.

Disassembly

1. Turn OFF the robot controller, and fix the balancer.

2. Remove the L-axis motor . (Refer to section 6.2 “Disassembly and Reassembly of the L-Axis Motor”.)

3. Hold the L arm not to rotate by the chain block etc. before removing the RV speed

reducer .

4. Remove the hexagon socket head cap screws to remove the motor base and

the oil seal from the RV speed reducer .

5. Remove the hexagon socket head cap screws • • to remove the RV speed

reducer and O-ring from the S head .

Reassembly

1. Mount the O-ring on the RV speed reducer .

2. Apply sealing bond (ThreeBond 1206C) between (1) and the S head , and tighten

the hexagon socket head cap screws • • with the tightening torque shown in the Table 7-8 "The Comparison Table for Parts".

3. Mount the motor base on the RV speed reducer , and tighten the hexagon

socket head cap screws with the tightening torque shown in the Table 7-8 "The Comparison Table for Parts".

4. Mount the L-axis motor . (Refer to section 6.2 “Disassembly and Reassembly of the L-Axis Motor”.)


• Execute disassembly and reassembly of the L-axis motor after mounting the L-axis fixing jig on the balancer. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L-axis motor brake.

Failure to observe this leads unexpected L-arm rotation at the moment when the L-axis motor is removed and it may result in damage to machinery or death or serious injury.

• Refer to chapter 4 "L-axis Fixing Jig Operating" about the way to fasten the balancer.

10

1

4 2

5 1

8 7 3

1 6 9

6 1

9

3 7 8

2 1

3

10

7-5

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Number

Name

The number of the parts

Notes

RV Speed Reducer HW9381442-ARV Speed Reducer HW9381442-B

11


Motor Base HW9200895-1 1





Oil Seal Y507212.5 1

O-ring G300 1





S head HW9100894-1 1

L-axis motor 1

1

2

3

4

5

6

7

8

9

10

7-6

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Fig. 7-29(a Disassembly and Reassembly of the L-Axis Speed Reducer

7-7

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Fig.7- 29 (b Disassembly and Reassembly of the L-Axis Speed Reducer

View observed from the arrow A(1:2)

A

10

4

33

8 7

6

5

41

32


L-arm

7-8

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7.3 Disassembly and Reassembly of the U-Axis RV Speed Reducer

• Refer to Fig.7-30(a "Disassembly and Reassembly of the U-Axis Speed Reducer"Disassembly and Fig.7- 30 (b "Disassembly and Reassembly of the U-Axis Speed Reducer" in this chapter.

Disassembly


2. Hold the U-arm unit not to fall by the chain block etc before removing the U-axis

motor .(Refer to section 6.3 “Disassembly and Reassembly of the U-Axis Motor”.)

3. Remove the U-axis motor .

4. Remove the hexagon socket head cap screws • to remove the U-arm unit from the body of the machine.

5. Remove the hexagon socket head cap screws to remove the RV speed reducer

and the O-ring from the U-arm unit .

6. Remove the O-ring from the RV speed reducer .

Reassembly

1. Mount the O-ring to the RV speed reducer .

2. Mount 1. on the U-arm unit , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-9 "The Comparison Table for Parts".

3. Apply sealing bond (ThreeBond 1206C) between the RV speed reducer and the

L-arm on the body, and tighten the hexagon socket head cap screws • with the tightening torque shown in Table 7-9 "The Comparison Table for Parts".

4. Mount the U-axis motor .(Refer to section 6.3 “Disassembly and Reassembly of the U-Axis Motor”)




RV Speed Reducer HW9381465-ARV Speed Reducer HW9381465-C

11




Hexagon Socket Head Cap Screws M10x35Conical spring washers 2H-10


U-arm Unit 1

O-ring 1

U-axis Motor 1



4

6

6

2 3 4

7 1

5 4

5 1

5 1

4 7

1

2 3

6

1

2

3

4

5

6

7

7-9

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Fig. 7-30(a Disassembly and Reassembly of the U-Axis Speed Reducer

7-10

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Fig.7- 30 (b Disassembly and Reassembly of the U-Axis Speed Reducer

7

6

5

4

3

2

1


L-arm

7-11

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7.4 Disassembly and the Reassembly of the R-Axis Cyclo Speed Reducer

• Refer to Fig.7-31(a "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer", Fig.7- 31 (b "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer" and Fig.7- 31 (c "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer" in this chapter.

Disassembly


2. Remove the hexagon socket head cap screws and the pin , and use the tapped

holes to remove the wrist unit from the cyclo speed reducer .

3. Remove the hexagon socket head cap screws , and use the tapped holes to remove

the cyclo speed reducer from the U-arm .

Reassembly

1. Apply sealing bond (ThreeBond 1206C) between the U-arm and the cycle speed

reducer , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-10 "The Comparison Table for Parts".

2. Mount the wrist unit on the cycle speed reducer with the hexagon socket head

cap screws temporarily, and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-10 "The Comparison Table for Parts" after

putting the pin .3. Turn ON the robot controller.



Cyclo Speed Reducer HW9381399-ACyclo Speed Reducer HW9381260-A

11


Hexagon Socket Head Cap Screws M8x95Spring Washers 2H-8Hexagon Socket Head Cap Screws M12x115Spring Washers 2H-12Washer HW9302581-1

16 each

12 each

Tightening Torque for UP130: 40N•mTightening Torque for UP165 and UP200: 142N•m



Pin MSTM8-20 1

Wrist Base HW9100890-1Wrist Base HW9100955-1

11


U-arm 1

3 4

5 1

2

1 6

6

1 2

5 1

3 3

4

1

2

3

4

5

6

7-12

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Fig. 7-31(a Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer

7-13

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Fig.7- 31 (b Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer

7-14

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Fig.7- 31 (c Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer


6 54

321

7-15

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7.5 Disassembly and Reassembly of the B-Axis RV Speed Reducer


2. Remove the hexagon socket head cap screws to remove the cover .

3. Remove the hexagon socket head cap screws • • • , use the tapped holes

to remove the RV speed reducer , the shims , the gear and the bearing all

together from the wrist .

4. Remove the hexagon socket head cap screws to remove the shims , the gear

and the bearing from the RV speed reducer . (Use the tapped holes in

removing the gear .)

Reassembly

1. Mount the bearing , the shims and the gear on the RV speed reducer ,

and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts".

2. Apply sealing bond (ThreeBond 1208D) between the RV speed reducer and the

wrist , and tighten the hexagon socket head cap screws • • • (Apply

ThreeBond 1208D only to the screw part of .) with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts".

3. Mount the wrist and the cover on the RV speed reducer , and tighten the

hexagon socket head cap screws with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts".




RV Speed Reducer HW9380961-ARV Speed Reducer HW9381453-A

11


Cover HW0300889-1Cover HW9302370-1

11


Hexagon Socket Head Cap Screws M6x25Spring Washers 2H-6Hexagon Socket Head Cap Screws M6x12Spring Washers 2H-6

4 each

6 each

Tightening Torque for UP130 and UP165: 10 N•mTightening Torque for UP200: 10 N•m


2 each

6 each

Tightening Torque for UP130 and UP165: 40 N•mTightening Torque for UP200: 226N•m

Hexagon Socket Head Cap Screws M8x90Spring Washers2H-8

4 each Tightening Torque 40 N•m


14 each

10 each


3 2

4 5 6 12

1 8 9 11

10

7 8

9 11 1

9

11 8 9 1

7

1

10 4 5 6 12

4

10 2 1

3

1

2

3

4

5

6

7-16

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4 each Tightening Torque 16.5 N•m

Shim HW9403624-1 1

Gear HW9380983-A 1

Wrist HW9100896-1Wrist HW9100954-1

11


Bearing 6908•Retaining ring C-type 51040 1 each


16 each

14 each




7

8

9

10

11

12

7-17

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Fig. 7-32(a Disassembly and Reassembly of the B-Axis RV Speed Reducer

7-18

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Fig.7- 32 (b Disassembly and Reassembly of the B-Axis RV Speed Reducer


11

10

98

7

6

54 3

2

1

12

7-19

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7.6 Disassembly and Reassembly of the T-Axis Cycle Speed Reducer

Disassembly


2. Remove the hexagon socket head cap screws to remove the flange .

3. Remove the hexagon socket head cap screws , remove the cycle speed reducer

, the gear , the shims and the washer all together from the wrist with the tapped holes.

4. Remove the hexagon socket head cap screws to remove the gear , the shims

and the washer from the cycle speed reducer .

Reassembly

1. Mount the gear , the shim and the washer on the cycle speed reducer ,

and tighten the hexagon socket head cap screws (Apply LOCTITE 242 to the screw parts.) with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts".

2. Apply sealing bond (ThreeBond 1208D) between the cyclo speed reducer and the

wrist , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts". (For UP200, Apply sealing bond (ThreeBond 1208D) to the screw part of 2 screws which are indicated with "" and shown in " Fig. 7- 33 (c) Disassembly and Reassembly of the T-Axis

Cycle Speed Reducer (UP200) " out of 8 hexagon socket head cap screws , and tighten them with the tightening torque shown in Table 7-12 "The Comparison Table for Parts".)

3. Apply sealing bond (ThreeBond 1208D) between the cyclo speed reducer and the

flange , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts"






Hexagon Socket Head Cap Screws M8x15Conical spring washers 2H-8Hexagon Socket Head Cap Screws M8x20Conical spring washers 2H-8

14 each

16 each

Tightening Torque for UP130 and UP165: 40 N•mTightening Torque for UP200:40 N•m

Flange HW9302056-1Flange HW9302372-1

11


Hexagon Socket Head Cap Screws M14x40GT-SH Washers M14Hexagon Socket Head Cap Screws M14x40GT-SH Washers M14

4 each

8 each



11

For UP130 For UP165 and UP200

2 3

4

1 5 6 8 9

7 5

6 8 1

5 6 8 1

7

1

9 4

4

1

3 2

1

2

3

4

5

7-20

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Shims HW9403620-1 to5 1

Hexagon Socket Head Cap Screws M5x16Conical spring washers 2H-5

1 each Tightening Torque 10 N•m

Washer HW9403619-1 1

Wrist HW9100896-1Wrist HW9100954-1

11




6

7

8

9

7-21

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Fig. 7-33(a Disassembly and Reassembly of the T-Axis Cycle Speed Reducer

7-22

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Fig.7- 33 (b Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP130,UP165)

Fig.7- 33 (c Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP200)

9 87

65

4

3

2

1


4

7-23

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8 Disassembly and Reassembly of the Wrist Unit

170903-1CD


8.1 Disassembly and Reassembly of the Wrist Unit

Disassembly


2. Remove the hexagon socket head cap screws , remove the wrist unit from the

cycle speed reducer with the tapped holes on the wrist base part .

Reassembly

1. Mount the wrist unit on the cyclo speed reducer with the hexagon socket head

cap screws temporarily, and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 8-13 "The Comparison Table for Parts".




Wrist Unit HW9171451-AWrist Unit HW9171451-BWrist Unit HW9171561-A

111

For UP130For UP165For UP200

Wrist Base HW9100890-1Wrist Base HW9100955-1

11


Hexagon Socket Head Cap Screw M12x35 Spring Washer 2H-12Hexagon Socket Head Cap Screw M12x35 Spring Washer 2H-12

8 each

12 each

Tightening Torque for UP130 and UP165 : 142 N•mTightening Torque for UP200 : 142 N•m


11

UP130 and UP165UP200

3 1

4 2

1 4

3 3

1

2

3

4

8-1

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Fig. 8-34 Disassembly and Reassembly of the Wrist Unit

2 3 14

8-2

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9 Adjustment the Tension of the RBT-Axes Belts

170903-1CD


• Refer to Fig. 9-35 "Timing Belt Adjustment" in this chapter.

9.1 Disassembly and Reassembly of the R-, B- and T-Axis Timing Belts

Disassembly

1. Turn OFF the robot controller, and drain grease.

2. Remove the GT-SA bolts and remove the cover and gasket .

3. Remove the T-axis motor and remove the T-axis timing belt . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

4. Remove the B-axis motor and remove the B-axis timing belt . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

5. Remove the R-axis motor and remove the R-axis timing belt . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

Reassembly

1. Mount the R-axis timing belt and mount the R-axis motor . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

2. Mount the B-axis timing belt and mount the B-axis motor . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

3. Mount the T-axis timing belt and mount the T-axis motor . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

Refer to chapter 3 "Home Position Return Operation", and chapter 6 "Disassembly and Reassembly of the Motor" in this manual.

NOTE

9 7 8

6 3

5 2

4 1

1 4

2 5

3 6

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Fig. 9-35 Timing Belt Adjustment


NO. Name Number Notes

R-Axis Timing Belt 200S8M976R-Axis Timing Belt 200S8M960

11

For UP130 and UP200UP165

B-Axis Timing Belt 200S8M800 1

T-Axis Timing Belt 200S8M656 1

R-Axis Motor 1

B-Axis Motor 1

T-Axis Motor 1

Cover 1

Gasket HW9302176-1 1

GT-SA Bolt M6 x 15 7 Tightening Torque: 10 N•m

1

2

3

4

5

6

7

8

9

9 7 8

1

4

36 5

2

L-arm

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9.2 Adjustment of the RBT-Axes Timing Belts

Inspect the tension of the timing belt due to opening the cover of the belt tension inspection part as shown above.

1. Remove the hexagon socket head cap screws (M16 x 15)(4 screws) • the spring washers 2H-6, and remove the cover (HW9405164-1) • the gasket (HW9482310-A).

2. Loosen the hexagon socket head cap screws which are installed in the motor, and tighten the hexagon socket head cap screws with the tightening torque shown in the section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors” after adjustment the tension of the timing belt by the tension meter to fall within the tension shown in the Table 9-15 "Tension of the timing belts".

Table 9-15 Tension of the timing belts

Tension

R-Axis 219 - 290N (22.3 - 29.6 kgf)

B-Axis 219 - 290N (22.3 - 29.6 kgf)

T-Axis 219 - 290N (22.3 - 29.6 kgf)

Belt tension inspection part

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10Battery Pack Replacement

• Refer to Fig.10-36(a "Battery Location (Back View)", Fig.10- 36(b "Battery Loca-tion (Top View)", Fig.10- 36(c "Battery Connection for SLU-Axis", Fig.10- 36(d "Battery Connection for RBT-Axis" in this chapter

The battery packs are attached in the two positions indicated in Fig.10-36(a "Battery Location (Back View)" and Fig.10- 36(b "Battery Location (Top View)".If a battery alarm occurs in the XRC, replace the battery packs according to the following procedure:

Fig. 10-36(a Battery Location (Back View)

Fig.10- 36(b Battery Location (Top View)

3BC2BC1BC

Manipulator base

Battery pack Connector base

Pan head screw with washer M5 (8 washers)

Pan head screw with washer M5 (8 washers)

Battery pack forSLU-axes(HW9470932-A)

Battery pack for RBT-axes(HW9470932-B)

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Fig.10- 36(c Battery Connection for SLU-Axis

Fig.10- 36(d Battery Connection for RBT-Axis

1. Turn the XRC main power supply off.2. Remove the plate of the connector base to replace the battery unit.3. Remove the mounting screw which mounted on the plate of battery unit.4. Remove the plastic tape (insulation tape) protecting the connection part of the battery

pack in the manipulator.5. Connect the new battery unit.6. Remove the old battery unit.

7. Protect the connection part of the battery pack in the manipulator with plastic tape (insulation tape).

8. Mount the battery unit with the screw, and then mount the connector base.

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

Do not pinch the cable when the base connector is installed.

ab 0BT1

BAT1

0BT1BAT1a

ba

bBAT10BT1

b

a0BT1

BAT1

a: Insertion-type pin terminal(Male)b: Insertion-type pin terminal(Female)

See Procedure 6

See Procedure 7

See Procedure 4See Procedure 5

Internal wires for SLU-axes

Battery pack for SLU-axes before replacement

New battery pack

a

b

b

a

0BT4ba BAT4

BAT4a0BT4b

0BT4

BAT4

BAT40BT4

See Procedure 6

Internal wires for RBT-axes

See Procedure 7

See Procedure 4

Battery pack for RBT-axes before replacement

New battery packSee Procedure 5a: Insertion-type pin terminal(Male)b: Insertion-type pin terminal(Female)

NOTE

NOTE

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11 Cable Wiring

Remove Operation of the Cable

Remove the encoder cable connectors, after connecting new battery pack not to loose the encoder absolute data.

Work Procedure

1 Undo the four hexagon socket head cap screws (M6x12), and remove the cover (HW9200891-1) beside the L-arm.

2 Remove the screws of the upper side of the model GP holder (BGP-48) to remove the flexible tube.

3 Remove the seven hexagon socket head cap screws (M6x16) to remove the cover (HW9302176-1) and the gasket (HW9381484-1).

NOTE

Cover

BGP-48

CoverGasket

Hexagon socket head cap screw

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4 Remove the four (M6x16) and two (M6x12) hexagon socket head cap screws to remove the cover (HW9405439-1), the gasket (HW9482427-A) and the cover (HW9405310-1).

5 Remove the two pan head screws with washers (M4x10) to remove the connector (JL05-2A-24-28S), and pull the air tube out of the union.

6 Remove the hexagon socket head cap screws (M6x16) to remove the ground wire for the JL connector.

7 Verify that the R-, B- and T-axis motors connect with the battery for backup. Then remove the connector on the motor side of the relay adopter in the casing.

8 Verify that the U-axis motor connects with the battery for backup. Then remove the U-axis cable.

Cover

Union (2)

JL Connector

U-Axis connector

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9 Remove the support (HW9302140-1) from the casing.

10 Take out the lead wire from the casing.

11 Verify that the S- and L-axis motors connect with the battery for backup. Then remove the S- and L-axis motor connector.

12 Remove the cover (HW9381532-1). Remove the two hexagon socket head cap screws (M6x20) to remove the plate (HW9405448-1) from the support (HW9302335-1).

13 Remove the four cross recessed APS bolts (M6x12) to remove the connector base (HW9302338-A).

14 Remove the S-axis speed reducer grease hose and the air tube from the union.

Cover

Hexagon socket head cap Screw

Plate

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15 Remove the ground wire of the S-axis base. (There are two points to remove.)

16 Remove the housings (1BC, 2BC and 3BC).

17 Remove the two pan head screws with washers (M4x16) to remove the 4BC connector mounted on the base.

18 Remove the two hexagon socket head cap screws (M5x12) to remove the saddle (FCD-51).

Ground wire

Housing

Nut M4HW9481087-EGasket

2-pan head screw with washer M4X16

Detail view of installing JL connector

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11 Cable Wiring

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Reassembly

19 Remove the insert pin terminals of the battery and the S-axis LS lead wire.

20 Extract the cable.

1 Insert the cable.

2 Mount the saddle (FCD-51) with the hexagon socket head cap screws (M5x12).

Direction of extraction

Direction of insertion

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11 Cable Wiring

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3 Mount the 4BC connector on the base with the two pan head screws with washers (M4x16).

4 Mount the insert pin terminals on the battery and the S-axis LS lead wire.

5 Mount the housing (1BC, 2BC and 3BC).

6 Mount the ground wire of the S-axis base. (There are two places to mount.)

7 Mount the grease hose and the air tube of the S-axis speed reducer on the union.

8 Mount the connector base (HW9302338-A) with the four cross recessed APS bolts (M6x12).

2-Pan head screw with washer M4 (16washers) Nut M4

HW9481087-EGasket

Detail view of installing JL connector

Housing

Ground wire

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9 Mount the plate (HW9405448-1) on the support (HW9302335-1) with the two hexagon socket head cap screws (M6x20), and then mount the cover (HW9381532-1).

10 Mount the S- and L-axis motor connector, and remove the S- and L-axis battery for backup.

11 Insert the lead wire into the casing.

12 Mount the support (HW9302140-1) with the four hexagon socket head cap screws (M6x20, applying the sealing bond).

Cover

Hexagon socket head cap Screw

Plate

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13 Mount the connector on the motor side of the relay adopter in the casing. Then mount the U-axis motor cable on the U-axis motor, and remove the battery for the U-, R-, B- and T-axis for backup.

14 Mount the ground wire attached to the casing with the hexagon socket head cap screw (M6x16).

15 Mount the JL connector (JL05-2A-24-28S) with the two pan head screws with washers (M4x10), and mount the air tube.

16 Mount the cover (HW9405439-1), the cover (HW9405310-1) and the gasket (HW9482427-A) with the four (M6x16) and two (M6x12) hexagon socket head cap screws.

17 Mount the cover (HW9302176-1) and the gasket (HW9381484-1) with the seven hexagon socket head cap screws (M6x16).

Union (2)

JL Connector

Cover

CoverGasket

Hexagon socket head cap screw

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18 Mount the flexible tube on the lower side of the model GP holder, and fasten the upper side of the model GP holder with the screws.

19 Mount the L-arm cover (HW9200892-1) with the hexagon socket head cap screws.

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12 Parts List

170903-1CD

12Parts List

12.1 UP130, UP165

12.1.1 S-Axis Driving Unit(1)

1027

10281024

1026

1025

10341035

1033

1006

1005

10121011

1001

10141013

1003

1016

1015

1004

1022

1023

1021

306210451046

1020

1019

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12 Parts List

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No. DWG No. Name Pcs.

1001 HW9100888-1 Base 1

1003 HW9381388-A Speed reducer 1

1004 AS568-281 O ring 1

1005 HW9302345-1 Shaft 1

1006 G135 O ring 1

1007 TC9011513 Oil seal 1

1008 VC801057 Oil seal 1

1009 AR-110 Clip 1

1010 6817ZZ Bearing 1

1011 M6×20 Socket screw 4

1012 2H-6 Conical spring washer

4

1013 KQS10-01S Union 1

1014 NB-1075-1 Tube 1



9



8

1019 HW9100894-1 S head 1


1021 HW9405032-1 Bolt 1



17

1024 HW9404486-1 Shaft 1

1025 LFF-3025 Oiless 1

1026 HW9404863-1 Stopper 1



1

1029 S130 O ring 1

1030 HW9302346-1 Shaft 1



4

1033 HW9470892-A Leads 1



2

1036 HW9302335-1 Support 1



4

1039 SGMDH-45A2B-YR12

Motor 1



4

1042 HW9381446-A Shaft 1



1



1

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12.1.2 S-Axis Driving Unit(2)

1039

1040

1041

1042

2028

2026

20282031

20331044

1043

2030

20252029

2027

2026

2025

2022

20242023

2013

2014

2012

2015

2016

201720182019

2020

2021

2017

2001

2003

2004

2002

2005

2006

20082007

2032

1018

1017

2009

2011

20101029

1031

1032

1036

1037

1038

1030

1008

1010

1009

1007

1019

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1019 HW9100894-1 S head 1

2001 HW9381475-A Gear 1

2002 HW9405052-1 B stopper 1



6

2005 HW9481231-A Bearing 1

2006 HW9405049-1 B stopper 1



6

2009 HW9302141-1 Flange 1



4

2012 HW9405048-1 Housing 1



7

2015 G85 O ring 1

2016 HW9405304 Shim 1

2017 HR33206J Bearing 2



8

2020 HW9405047-1 Shaft 1

2021 HW9381476-A Gear 1

2022 HW9405051-1 Cover 1



7

2025 ISTW-35 Stopper 2


2027 HW9381477-A Gear 1

2028 IRTW-72 Stopper 2

2029 CIMR35-1 Shim 2

2030 Y507212.5 Oil seal 1


2032 HW9100893-1 Gear case 1

2033 PT1/8 Plug 1

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12 Parts List

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12.1.3 L-Axis Driving Unit(1)

3025

3027

3028

3029

30233022

302130203051

30543053

3052

30553061

30503046

3049

30473048

3035 3034

3033

30363037

30313032

3030

30493046

3050

30513054

3053

3052

30473048

1019

30163024

3019

3018

30073006

3019

3005

3004 3062

30083014

30153013

3012

3001

30103011

3009 30033002

UP130 (UP160: Next page)

3017

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12 Parts List

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UP165

3001

3010

3011

3002

3003

3015

3014

3009

3013

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12 Parts List

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1019 HW9100894-1 S head 1

3001 SGMGH-44A2A-YR12

Motor 1



4

3004 HW9200895-1 M base 1

3005 EZ0094-AO Air breezer 1

3006 POC6-01M Union 1

3007 UB-0640-0.1C Tube 1

3008 Y507212.5 Oil seal 1

3009 HW9482308-A(UP130)HW9482358-A(UP165)

Gear 1

3010 HW9482306-B(UP130)HW9482306-E(UP165)

Shaft 1

3011 HW9481343-A Shaft 1

3012 HW9405134-1 Pipe 1

3013 ISTW-15(UP130)ISTW-12(UP165)

Stopper 1

3014 M8×115(UP130)HW9482316-C(UP165)

Socket screw 1

3015 2H-8(UP130)2H-12(UP165)

Conical spring washer

1

3016 HW9381442-A(UP130)HW9381442-B(UP165)

Speed reducer 1




24


3021 GT-SH-12 Washer 18


3023 GT-SH-16 Washer 6

3024 G300 O ring 1

3025 HW9100895-1 L arm 1

3027 HW9200891-1 Cover 1

3028 M6×12 APS bolt 4

3029 A-PT1/8 G nipple 1

3030 HW9405162-1 Shaft 1



6


3034 STW-90 C stopper 1

3035 HW9405161-1 Cover 1



4

3038 HW9302054-1 Shaft 1


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12

3041 NA6912 Bearing 1

3042 AR-85 C stopper 1

3043 WR60 C stopper 1

3044 SB75×95×5 Oil seal 1

3045 SB60×78×9 Oil seal 1

3046 HW9405055-1 Shaft 2



18

3049 KE901107 Oil seal 2

3050 HR32916J Bearing 2

3051 HW9405056-1 B cover 2




8

3055 HW9405195-1 Shim 1

3056 HW9405195-2 Shim 2

3057 HW9405195-3 Shim 1

3058 HW9405195-4 Shim 1

3059 HW9405195-5 Shim 1

3060 HW9405195-6 Shim 1

3061 HW9405195-7 Shim 1

3062 PT1/8 Plug 2

12-8

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12.1.4 L-Axis Driving Unit(2)

3080

30773076

3075

3074

3068

3067

3072

3073

30713070

3066

30703071

30693065

3064

3063

30453043

30413042

3044

3038

30403039

30783079

3025

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3025 HW9100895-1 L arm 1

3063 HW9405057-1 Clevis 1


3065 PT1/8 Plug 2

3066 HW9200892-1 Frange 1

3067 HW9302126-1 Rod 1

3068 M8 Set screw with a ball

1

3069 FD3187AO Dust seal 1

3070 SOB-607440 Oiless 2

3071 IRTW-75 C stopper 2

3072 HW9482271-A Coil spring 1



3075 HW9301853-1 Flange 1

3076 HW9100909-1 Case 1




8

3080 EZ2228A0 Cap 1

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12.1.5 U.R.B.T-Axis Link Unit

4024

4024

40794080

40814019AA

40204022

40194021

4076

40794080

4081

4075

4022

4023 40204021

40794080

40813025

40684067

40434042

4041

40444045

40694070

4001

4005 4094

4088

4089

4096

4095

40994098

4096

40784077

4082

40934092

4091

4084

4006

4085

40874086

40034004 4002

4013

4012

40254026

40204014

40184057

4015 40584017

4016

41014103

41024055

4056

40334032

4031

4028 4065

4100

4035

4034 40374036

40304029

40634061

4062

40534052

40644066

4051

40224021

40744020

4019

40494050

4047

4048

40094010

40834090

4008

40114007

40594060

4054 4071

40734072

4046 4027

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3025 HW9100895-1 L arm 14001 6919DDU Bearing 14002 HW9405058-1 B cover 14003 M5×12 Socket screw 34004 2H-5 Conical spring

washer3

4005 WR95 S stopper 14006 HW9302143-1 Shaft 14007 6914DDU Bearing 14008 HW9381448-A Pulley 14009 M5×16 Socket screw 34010 2H-5 Conical spring

washer3

4011 ISTW-70 Stopper 14012 HW9381449-A Shaft 14013 HW9302142-A Shaft 14014 6204DDU Bearing 14015 HW9381447-A

(UP130)HW9381559-A(UP165)

Pulley 1

4016 M5×16 Socket screw 34017 2H-5 Conical spring

washer3

4018 HW9482276-A Pulley 14019 HW9482275-A

(UP130)HW9482450-A(UP165)

Pulley 2

4019AA HW9482275-A Pulley 14020 HW9402163-1 B cover 44021 M6×20 Socket screw 34022 2H-6 Conical spring

washer3


Motor 1


Motor 2


washer1

4027 HW9100889-1(UP130)HW9100889-2(UP165)

Casing 1

4028 HW9405482-1 Flange 14029 M6×12 Socket screw 74030 2H-6 Conical spring

washer7

4031 HW9482447-A Oil seal 14032 HW9405481-1 Collar 14033 ISTW-72 Stopper 14034 HW9405439-1 Cover 14035 HW9482427-A Gasket 14036 M6×12 Socket screw 44037 2H-6 Conical spring

washer4

4041 A-PT/1/8 G nipple 14042 HW9405165-1 Cover 14043 G45 O ring 14044 M6×20 Socket screw 44045 2H-6 Conical spring

washer4

4046 PT1/8 Plug 24047 HW9302176-1 Cover 14048 HW9381484-A Gasket 14049 M6×15 Socket screw 74050 2H-6 Conical spring

washer7


Motor 1

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washer4

4054 HW9381465-A(UP130)HW9381465-C(UP165)

Speed reducer 1

4055 HW9405164-1 Cover 14056 HW9482310-A Gasket 14057 M6×15 Socket screw 44058 2H-6 Conical spring

washer4


washer16

4061 HW9482316-A Bolt 14062 2H-12 Conical spring

washer1

4063 HW9482318-A(UP130)HW9482451-A(UP165)

Gear 1

4064 HW9481343-A Shaft 14065 ISTW-12 C stopper 14066 HW9482306-C Shaft 14067 M10×35 Socket screw 184068 2H-10 Conical spring

washer18


washer6

4071 G270 O ring 14072 POC6-01M Union 24073 UB-0640-0.1C Tube 14074 200S8M976

(UP130)200S8M960(UP165)

Timing belt 1

4075 200S8M800 Timing belt 14076 200S8M656 Timing belt 14077 M12×40 Socket screw 124078 2H-12 Conical spring

washer12


washer12

4081 HW9404231 Washer 34082 HW9200894-1 U arm 14083 6904LLU*NS7* Bearing 14084 6811LLU Bearing 14085 HW9482283-A Shaft 14086 M4×14 Socket screw 44087 2H-4 Conical spring

washer4

4088 6914DDU Bearing 14089 ISTW-70 C stopper 14090 51020 C stopper 14091 HW9482282-A Shaft 14092 M4×14 Socket screw 64093 2H-4 Conical spring

washer6

4094 G185 O ring 14095 HW9381399-A Speed reducer 14096 PT1/8 Plug 24098 M8×95 Socket screw 164099 2H-8 Conical spring

washer16

4100 MSTM8-20 Pin 14101 HW9405310-1 Cover 14102 M6×12 Socket screw 24103 2H-6 Conical spring

washer2

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12 Parts List

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12.1.6 Wrist Unit

5010

5011

5082

50795012

50905081

5009

5011

5006

50375036

5114~51165033

50355034

5047

5042

5046

50455043

50485045

50445011

5008

5110~51135040

50955096

50945011

5007

5038

5041

5053

50525097

50025003

5001

5095

5096

5094

5004

50505029

50315032

5030

5027

50285026

5025

5117~5121

50215019

50145015 5013

50205021

5018

5016

50175023

5024

5022

50745075

50775076

50565057 5062

50585051

5061

5055

5106~5109

5054

5051

5039

5064

50595063

5068

50705069 5066

50725073

50675065

50715102~5105

5051

5087 5052

50615050

50515098~5101

508350845086

5085

50925091

50885005

5093

5089

5090

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5001 HW9100890-1 Wrist base 1



8

5004 MSTM8-20 Pin 1

5005 HW9100896-1 Wrist 1







36

5012 ARP568-263 O ring 1

5013 HW9482260-A Shaft 1



4

5016 HW9302055-A Shaft 1

5017 HW9481234-A Bearing 1

5018 HW9403607-1 B cover 1




8

5022 HW9301424-1 Housing 1

5023 HW9405445-1 B nut 1

5024 M4×6 H set screw 1

5025 G70 O ring 1

5026 AC2651FO Oil seal 1

5027 6810 Bearing 1

5028 WR50 Clip 1

5029 AC1030FO Oil seal 1

5030 HW9380982-A Gear 1



6

5033 HW9380983-A Gear 1



4

5036 6908 Bearing 1

5037 51040 C stopper 1

5038 HW9380984-A Gear 1

5039 HW9380986-A Gear 1

5040 HW9481236-A Bearing 1

5041 HW9403609-1 Housing 1

5042 HW9403610-1 B cover 1




8

5046 HW9405444-1 B nut 1


5048 HW9405097-1 Cover 1


5050 G110 O ring 1

5051 HR32004XJ Bearing 4

5052 6911 Bearing 1

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5053 AE3290E3 Oil seal 1

5054 S60 O ring 1

5055 HW9403618-1 Housing 1



5

5058 HW9380987-A Gear 1

5059 HW9380988-A Gear 1

5060 HW9380989-A Gear 1

5061 HW9405443-1 B nut 2

5062 M5×7 Set screw with a ball

4

5063 HW9481235-A Bearing 1

5064 HW9405442-1 Shaft 1

5065 HW9403615-1 Washer 1



1

5068 HW9403616-1 B cover 1



4

5071 HW9403617-1 Housing 1



3

5074 HW9200900-1 Cover 1

5075 A-MT×1 G nipple 1


5077 M5 Washer 8

5079 HW9301409-1 Cover 1



4

5082 PT1/8 Plug 1

5083 HW9380985-A(UP130)HW9381049-A(UP165)

Gear 1

5084 HW9403619-1 Washer 1



1

5087 HW9380986-A(UP130)HW9381048-A(UP165)

Gear 1



5090 GT-SH-M14 washer 4

5091 HW9302056-1 Flange 1



5094 HW9481237-A Stopper 2



4

5097 EZ5036AO Cap 2

5098 HW9403620-1 Shim 1

5099 HW9403620-2 Shim 1

12-16

HW0480769109 of 111

12 Parts List

170903-1CD


5100 HW9403620-6 Shim 1

5101 HW9403620-7 Shim 1

5102 HW9403621-1 Shim 1

5103 HW9403621-2 Shim 1

5104 HW9303621-5 Shim 1

5105 HW9303621-6 Shim 1

5106 HW9303622-1 Shim 1

5107 HW9303622-2 Shim 1

5108 HW9303622-4 Shim 1

5109 HW9303622-6 Shim 1

5110 HW9303623-1 Shim 1

5111 HW9303623-2 Shim 1

5112 HW9303623-4 Shim 1

5113 HW9303623-5 Shim 1

5114 HW9303624-1 Shim 1

5115 HW9303624-2 Shim 1

5116 HW9303624-3 Shim 1

5117 HW9303625-1 Shim 1

5118 HW9303625-2 Shim 1

5119 HW9303625-4 Shim 1

5120 HW9303625-5 Shim 1

5121 HW9303625-6 Shim 1

12-17

HW0480769110 of 111

MOTOMAN-UP130, UP165, UP200 MAINTENANCE MANUAL

HEAD OFFICE2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, JapanPhone +81-93-645-7703 Fax +81-93-645-7802

100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA America Inc. (Motoman Robotics Division)

Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, SwedenPhone +46-480-417-800 Fax +46-480-417-999

YASKAWA Nordic AB

Yaskawastrasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Europe GmbH Robotics Divsion )

9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, KoreaPhone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Korea Co., Ltd

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Singapore) PTE Ltd.

No7 Yongchang North Road, Beijing E&T Development Area China 100176Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA SHOUGANG ROBOT Co. Ltd.

#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, IndiaFax +91-124-475-8542Phone +91-124-475-8500

YASKAWA India Private Ltd. (Robotics Division)

YASKAWA Electric (China) Co., Ltd.22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone +86-21-5385-2200 Fax 86-21-5385-3299

YASKAWA Electric (Thailand) Co., Ltd.252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,Rachadaphisek Road Huaykwang, Bangkok 10320, ThailandPhone +66-2693-2200 Fax +66-2693-4200

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanFax +886-2-8913-1513Phone +886-2-8913-1333

YASKAWA Electric Taiwan Corporation

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia

Fax +62-21-2982-6741Phone +62-21-2982-6470

PT. YASKAWA Electric Indonesia

7HW0480769MANUAL NO.

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

111 of 111

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