DK - Motoman...Maintenance Instructions DK Please read these instructions before operation and then...

Operating andMaintenance Instructions

DK

Please read these instructions before operation and then

keep them for later reference.

Document no.

TYPE: DK-250, DK-500, DK-1000, DK-1500,DK-2500 for NX 100 control

MRD64092EN.5.I

johnsbr

Typewritten Text

Part Number: 157359-1CD Revision: 0

MRD64092EN.5.I

TABLE OF CONTENS

1 Safety specifications ............................................................................................................. 51.1 General .................................................................................................................................... 51.2 Type overview.......................................................................................................................... 51.3 Symbols and marks on the system / component ..................................................................... 61.4 Danger and warning notes in this safety information............................................................... 6

2 Safety-related duties of the owner ....................................................................................... 82.1 Requirement for operating personnel ...................................................................................... 82.2 Particular risks due to electric current...................................................................................... 92.3 Safety instructions on electrical commissioning .................................................................... 102.4 Safety instructions on mechanical commissioning ................................................................ 122.5 Safety instructions on maintenance and service ................................................................... 14

3 Installing protective devices............................................................................................... 15

4 Using the positioner/component........................................................................................ 164.1 Proper use ............................................................................................................................. 164.2 Improper use.......................................................................................................................... 16

5 Transport instruction .......................................................................................................... 175.1 Transport with crane or forklift ............................................................................................... 18

6 Setup instructions ............................................................................................................... 346.1 Structure and attachment ...................................................................................................... 346.2 Assembly instruction for the base of the positioner ............................................................... 366.3 Overtravel measurement log ................................................................................................. 386.4 Mounting and fastening with compensating plates for exact leveling. ................................... 39

7 Wiring.................................................................................................................................... 41

8 Grounding ............................................................................................................................ 42

9 Electric connections............................................................................................................ 439.1 Electrical interface ................................................................................................................. 439.2 Replacing the battery in the crossbox cables ........................................................................ 449.3 Dimensions for AC servo motor............................................................................................. 449.4 Description of the safety sensor ............................................................................................ 599.5 MOTOMAN delineation system ............................................................................................. 66

10 Technical data...................................................................................................................... 7210.1 Type overview DK.................................................................................................................. 72

11 Overview positioner DK ...................................................................................................... 8711.1 Schematic drawing ................................................................................................................ 87

12 Maintenance and Inspection............................................................................................... 8912.1 General maintenance ............................................................................................................ 8912.2 Handling problems................................................................................................................. 8912.3 Lubrication and inspection schedule...................................................................................... 9012.4 Maintenance DK-250 ............................................................................................................. 9112.5 Maintenance DK-500 ............................................................................................................. 9212.6 Maintenance DK-1000 ........................................................................................................... 9312.7 Maintenance DK-1500 ........................................................................................................... 9412.8 Maintenance DK-2500 ........................................................................................................... 9512.9 General maintenance ............................................................................................................ 9612.10 Checking and adjusting the toothed belt tension. .................................................................. 98

13 Replacement parts and consumables ............................................................................. 10013.1 Replacement parts and consumables DK-250 .................................................................... 10013.2 Replacement parts and consumables DK-500 .................................................................... 10113.3 Replacement parts and consumables DK-1000 .................................................................. 10213.4 Replacement parts and consumables DK-1500 .................................................................. 102

MRD64092EN.5.I

TABLE OF CONTENS

13.5 Replacement parts and consumables DK-2500 .................................................................. 103

MRD64092EN.5.I

1 Safety specifications

1.1 General

As this documentation refers to a special form, all illustrations must be regarded as symbolical.

MOTOMAN robotec GmbH also reserves the right to make technical changes.

If you have any queries, please contact your MOTOMAN robotec GmbH sales partner.

All changes are subject to the written approval of MOTOMAN robotec GmbH.

Unauthorized modification to or operation of the DK positioners voids all warranty and goodwill claims against MOTOMAN robotec GmbH with immediate effect.

The DK positioner has been built in accordance with the latest technological developments and recognized safety requirements. In the event of incorrect operation or misuse, however, there is a risk of danger to:

the limb and life of the operator or of third parties,

the machine and other property of the owner,

the efficient working of the positioner and system.

The operating instructions must be kept permanently on hand at the location where the system is used. In addition to the operating instructions, generally applicable and local regulations for accident prevention and environmental protection must be made available and observed.

1.2 Type overview

The types and the related data of the positioner DK are shown in the following table.

Type DK-250 DK-500 DK-1000 DK-1500 DK-2500

Total weight kg approx. 400 approx. 500 approx. 750 approx. 850 approx. 870

Gear basic drive (tilt axis)

F2CFS-T455-141

F2CFS-T555-171

F2CFS-T455-141F2CFS-T555-

141F2CFS-T655-

171

Motor basic drive (tilt axis)

SGMDH-22A2A-YR11

SGMDH-32A2A-YR11

SGMRS-20A2A-YR11

SGMRS-30A2A-YR11

SGMRS-37A2A-YR11

Drive unit gear F2CFS-T355-141

F2CFS-T455-141

F2CFS-C55-89 F2CFS-C65-89 F2CFS-C65-89

Motor drive arm

SGMPH-15A1A-YR11

SGMDH-22A2A-YR11

SGMRS-30A2A-YR11

SGMRS-37A2A-YR11

SGMRS-37A2A-YR11

Toothed belt 800-8M-30 880-8M-30 880-8M-30

MRD64092EN.5.I 5

1.3 Symbols and marks on the system / component

There may be stickers and signs with important safety, warning or general notes on the system/component.

All notes on the device:

must not be damaged,

must not be removed,

must not be covered, glued over or obliterated.

1.4 Danger and warning notes in this safety information

In this general safety information, danger and warning notes are used depending on the potential risks.

1.4.1 Warning symbol and the signal word related to it

Welding earth transmission






toothed quadrantLubrication fitting DIN71412-M8x1

Lubrication fittingl DIN7142-

M8x1

Lubrication fitting

DIN71412-M8x1

Symbol and signal wordConsequences in the event of non-observance

DANGERIndicate an immediate, high-risk hazard that can cause death or serious bodily injury if no precautions are taken.

WARNINGIndicates a potential medium-risk hazard that can cause death or serious bodily injury if no precautions are taken.

Type DK-250 DK-500 DK-1000 DK-1500 DK-2500

6 MRD64092EN.5.I

1.4.2 Note symbol and the signal word related to it

CAUTIONIndicates a low-risk hazard that could cause minor or moderate bodily injury or property damage if no precautions are taken.

DANGER due to electric current

Indicate an immediate, high-risk hazard that can cause death or serious bodily injury by electric current if no precautions are taken.

Symbol and signal word Explanation

NOTEWhen this symbol appears, it refers to important background information and application tips.

Symbol and signal wordConsequences in the event of non-observance

MRD64092EN.5.I 7

2 Safety-related duties of the owner

The owner of the positioner/component is responsible for the safety of the operating staff! This person must make sure that:

the operating instructions and the related documentation have been read by the operating staff (the manufacturer recommends having this confirmed in writing by the operating staff).

the operating instructions are kept on hand.

the system/component is operated, maintained and serviced only by qualified, trained and instructed personnel.

unauthorised persons cannot have access to the system/component.

the necessary, appropriate and possibly prescribed personal protective equipment is available for the operating and service personnel and used by them.

all existing necessary and prescribed safety equipment is installed and working.

function tests of the safety equipment are performed at prescribed or, if not prescribed, at appropriate regular intervals.

the system/component is operated only in accordance with its intended use.

If you have any questions or problems, contact the service department of MOTOMAN robotec GmbH at tel. no.: (0049) (0) 180 5762683

2.1 Requirement for operating personnel

2.1.1 General

The operating staff must not be under the influence of alcohol, drugs or similar substances. The operating staff must not have a restricted field of vision or be restricted in any other way that could lead to risks. The operating staff must be in a suitable state of health to operate the system/component (in particular, attention must be paid to medical aids, such as cardiac pacemakers etc.)

2.1.2 Qualified personnel:

Persons involved in the commissioning, operation, maintenance and repair of the system/component must be familiar with the system/component and trained accordingly. They must have read the operating manuals and understood them. Furthermore, they must be instructed and must be able to avoid possible residual risks to themselves and third persons while working on the system/component or to reduce such risks as far as possible. To maintain the qualification, the safety instruction must be repeated at least every year.

8 MRD64092EN.5.I

2.1.3 Qualified electrician:

Since work on electrical parts of the system/component is particularly dangerous, it may be performed only by a certified electrician who can judge, recognise and avoid possible dangers of the jobs assigned to him based on his training, knowledge and experience as well as based on his knowledge of the relevant regulations.

2.2 Particular risks due to electric current

2.2.1 Working on electrical equipment

Before working on electrical equipment, the main switch of the system/component must be switched OFF, or the mains supply must be disconnected. Then perform suitable measurements to check if the system/component is deenergised.

The system/component must be safeguarded against being switched back ON accidentally and against unauthorised access (e.g. padlock on main switch, warning signs or barriers).

MRD64092EN.5.I 9

2.3 Safety instructions on electrical commissioning


If electrical current is not handled properly, this may result in a life-threatening situation. Therefore, particular attention must be paid to the following:

Only qualified electricians may perform jobs on electrical systems.

When working on electrical systems and components, all relevant guidelines, regulations and technical rules must be observed.

All electrical systems, sub-assemblies and parts must be regularly checked for sound state and proper functioning and replaced if necessary. The checks must be performed in accordance with the valid guidelines and the manufacturer's specifications.

During wiring work the specifications of the manufacturer's electric circuit diagrams (wiring diagrams) must be observed.

Work and troubleshooting on an open control cabinet or on open devices are to be performed with the necessary caution and care because the main power supply terminals can be live, or there may be an external supply voltage.

Even when the main switch is OFF, certain electrical circuits are still connected to the power supply voltage!

Persons with cardiac pacemakers or similar medical aids must not be in the vicinity of large electric currents or voltages, strong magnetic fields or other sources of disturbances that may affect the medical aid.

All cables and lines must be fixed, undamaged, insulated, and have the adequate dimensions. Loose connexions or cables and lines that are burnt, damaged or have inadequate dimensions must be replaced immediately by an authorised electrician.


If electrical current is not handled properly, this may result in a life-threatening situation. Therefore, particular attention must be paid to the following:

Only qualified electricians may perform jobs on electrical systems.

For this, See “Particular risks due to electric current” on Page 9.

10 MRD64092EN.5.I

The documentation on the electrical system/component, circuit diagram and terminal diagram etc. is prepared in compliance with the relevant standards and included in the scope of delivery. The structure and handling of these diagrams is explained in greater detail in the circuit diagram.

Circuit diagram

The circuit diagram is the basis for the functional linking of all individual electrical and electro-mechanical components for the complete system/component. The safety circuits and electrical activation controls included in it as well as all other specifications are to be maintained strictly. All changes to the electrical system are subject to the written approval of MOTOMAN robotec GmbH and may be carried out by authorised specialist personnel only after receipt of the modified circuit diagram.

Terminal diagram

The terminal diagram is a logical version of the circuit diagram and reflects all terminals,cables and connections. The terminal diagram is the guideline for clamping cable wires for electrical installation.

2.3.1 Electrical connection of a positioner/component

The electrical system is to be installed according to the specifications of the terminal diagram of the respective positioner/component.


Observe the specifications of the terminal diagram and the circuit diagram when wiring system parts.

Failure to comply can cause the safety devices to start running unexpectedly or render them ineffective and therefore put persons at risk or cause damage to the electrical components of the system.

MRD64092EN.5.I 11

Before switching on the system/component for the first time, an electrical check must be performed according to the manufacturer's specifications. All locally valid legal regulations must be complied with when commissioning the system/component. The connection conditions of the power supply company must also be taken into account.

2.4 Safety instructions on mechanical commissioning

NOTE

Mains and external supply circuits (e.g. locking, interfaces) in the control cabinets of the system/component are not included in the scope of the product designed and supplied by MOTOMAN robotec GmbH. The user is responsible for ensuring that the mains and external supply circuits are connected in accordance with the guidelines and acknowledged technical regulations at the installation site as well as with other regionally applicable requirements. This includes taking into account the cable dimensioning, fuses, earthing, shut-off and isolation. The necessary data can be found in the circuit diagram and the technical data and specifications of the respective system/component.

DANGER

Faults and carelessness during transport and assembly of a system/component can prove dangerous for persons.

All set-up, assembly and commissioning work must be carried out by instructed specialist personnel.

During transport, make sure the means of transport and the lifting equipment have sufficient carrying capacity! Nobody may stand under suspended load.

Assembly must be performed in accordance with the valid guidelines, specifications and technical rules. The manufacturer's specifications must be observed (e.g. transport instructions and operating instructions).

If necessary or prescribed, personal protective equipment must be worn.

12 MRD64092EN.5.I

2.4.1 Setup and transport

The means of transport used must have sufficient carrying capacity. The system or component weight is specified in the transport instructions or in the technical data. If you have any questions, or if the transport instructions are missing or contradictory, contact the manufacturer (shipper) of the components.

The load must not slip or tilt when it is lifted. Make sure the position of the centre of gravity of the load is centred and balanced.

Individual system elements or components may not be stable in unassembled state. If necessary, use locking or support devices until such elements and components have been mounted according to their intended use. The locking or support devices must be removed before the system elements or components are used.

2.4.2 Assembly and commissioning

During assembly observe any assembly instructions given in the manufacturer's operating and maintenance instructions. If prescribed, comply with the order of assembly, fastening materials, tightening torques etc.

If any transport safety devices were installed, remove them before commissioning.

If the manufacturer has provided any limit stops and/or proximity switches for limiting movements, they must be fastened/installed and adjusted according to the manufacturer's specifications. The limit values specified in the "Layout and Technical Data" must be observed. They must be checked for proper functioning.

The system/component must not be altered or modified in any way. Every alteration or modification must be discussed with the manufacturer.

NOTE

Unauthorised changes ordered by or performed by the user may result in the cancellation of the EC manufacturer's declaration or the EC declaration of conformity and the warranty and guarantee claims!

MRD64092EN.5.I 13

2.5 Safety instructions on maintenance and service

During maintenance, servicing and cleaning, take particular care to ensure that the system/component is switched off and secured against unauthorised access and being switched on again accidentally.

If there are any suspended axes (e.g. a robot arm that could be lowered) in the positioner/component, they must be moved to a safe, monitored position or safely supported before beginning with work. It is forbidden to stand under unsecured suspended axes.

The system/component must be maintained in accordance with the maintenance and repair schedule.

Only genuine spare parts or spare parts and working materials approved by the manufacturer may be used.

Do not use any highly inflammable or corrosive cleaning agents or cleaning agents that are harmful to health or the environment.

Environment

Pay attention to the safety data sheets of the cleaning materials and, if necessary, use the recommended protective equipment. Pay particular attention to environmentally tenable disposal of waste arising from cleaning, as well as to parts exchanged during maintenance and upkeep. Likewise during disposal, observe local regulations and hazardous bylaws.

WARNING

Faults and carelessness during maintenance and servicing of a system/component can prove dangerous for persons.

All maintenance, cleaning and other servicing work must be carried out by instructed specialist personnel.

Press the emergency stop buttons before beginning with maintenance work.

In particular the safety instructions See “Particular risks due to electric current” on Page 9. must be observed.

If necessary or prescribed, personal protective equipment must be worn.

If there are any suspended axes (e.g. with gantries with X, Y, Z axes and tilting axes due to eccentric shifting of the centre of gravity), they must be moved to a safe, monitored position or safely supported before beginning with work.

14 MRD64092EN.5.I

3 Installing protective devices

Safety devices are mandatory for the operation of the positioner/component. They have to be designed according to the relevant guidelines, national regulations, the danger/risk involved and the type of application.

They can consist of mechanical, optic or other safety devices and must surround the danger zone completely. (ISO10218)

The machine/system manufacturer is responsible for adequate installation of safety devices and for compliance with the appropriate standards.

We refer especially to the EC Machinery Directive and the following standards: EN294, EN349, EN547-1, EN10218-1, EN10218-2, EN12100, EN60204-1 and further relevant standards.

If the positioner/component from MOTOMAN robotec GmbH is installed, appropriate safety devices, such as optoelectronic protective equipment, isolating protective devices (safety gates, enclosures,…..), are also installed depending on the design and the type of use of the positioner/component.. Furthermore, safety functions, such as emergency stop linking, safe switching off of axes, post-running time / movement of ext. axes, are checked. MOTOMAN robotec GmbH recommends this to all other distributors of our products.

The safety devices mentioned above may not be changed!

Should you have questions in this respect or require information, please contact your MOTOMAN robotec GmbH sales partner.

NOTE

If the positioner/component is not integrated by MOTOMAN robotec GmbH, the machine/system manufacturer must ensure that a superordinate controller or a superordinate control element is implemented before the machine/system is commissioned in order to control the processes (work steps, logical linking, robot jobs) and the behaviour of the system in all operating states, particularly in case of emergency stop, setup work, maintenance etc.).

MRD64092EN.5.I 15

4 Using the positioner/component

4.1 Proper use

The positioner/component may only be used for the purposes described by the manufacturer. For this, pay attention to the product description provided by the manufacturer, e.g. in the offer, the order confirmation, the functional specification, the operating instructions etc. The technical data described in these documents, particularly for the load limits, must also be complied with. Any other use, system modification or manipulation can result in loss of warranty/guarantee and the CE conformity. Any retrofitting to enable alternative work sequences and/or retrofitting with alternative components must be agreed upon with the manufacturer.

4.2 Improper use

The positioner/component must not be used in areas with risk of explosion, in the foodstuff industry or in the pharmaceutical industry unless it has been explicitly designed and approved for this purpose by the manufacturer.Safety devices must not be interfered with or rendered ineffective.Pay attention to the improper use described by the manufacturer (refer to, for example, the operating instructions and, if necessary, the functional specifications).

16 MRD64092EN.5.I

5 Transport instruction

Depending on the size and the type of positioner, it can also be transported with a forklift or crane. The general safety instructions must be observed during transport!

CAUTION

Sling applications and crane or forklift operations must be performed by authorized personnel only.

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

Avoid excessive vibration or shock during transporting.

As the system consists of precision components, faults during transport and installation may adversely affect the performance and life of the positioner.

NOTE

All illustrations must be regarded as symbolical.

Check that the eyebolts are securely fastened.

Use lifting equipment strong enough to withstand the weight.

The attached transport devices, such as eye bolts, transport screws, etc. must be removed after transport!

MRD64092EN.5.I 17

5.1 Transport with crane or forklift

DK-250 Transport with crane

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DK-250 Transport with ForkliftC

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MRD64092EN.5.I 19

Total weight DK-250

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DK-500 Transport with craneC

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MRD64092EN.5.I 21

DK-500 Transport with Forklift

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22 MRD64092EN.5.I

Total weight DK-500

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MRD64092EN.5.I 23


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24 MRD64092EN.5.I


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to th

e c

entre

of g

ravi

ty!

ACH

TUN

G -

CAU

TIO

N

MRD64092EN.5.I 25

Total weight DK-1000

DK

-100

0

app

rox.

750

kg

Ord

er

no

:

AC

HTU

NG

! ATT

EN

TIO

N!

Ges

amtg

ewic

ht/ g

ross

wei

ght:

ca./

appr

ox.

26 MRD64092EN.5.I

DK-1500 Transport with craneC

om

pan

y:

Ord

er n

o.:

Dat

e:

__

__

___

_

DK

-15

00

Lift

ing

jack

Lift

ing

jack

Po

ints

of

atta

chm

en

t 6

xsc

rew

ed

Lift

ing

jack

- Alle

Abb

ildun

gen

sind

als

sin

nbild

lich

zu

erac

hten

!

- All

illus

tratio

ns m

ust b

e re

gard

ed a

s s

ymbo

lical

.

HIN

WEI

S - N

OTE

- Heb

ezeu

ge u

nd A

nsch

lagm

ittel

mit

aus

reic

hend

er T

ragk

raft

verw

ende

n- K

ippg

efah

r! A

uf d

en S

chw

erpu

nkt

ach

ten!

- Use

sui

tabl

e lif

ting

equi

pmen

t with

su

ffici

ent c

arry

ing

capa

city

!- D

ange

r of t

ippi

ng! P

ay a

ttent

ion

to th

e c

entre

of g

ravi

ty!

ACH

TUN

G -

CAU

TIO

N

MRD64092EN.5.I 27

DK-1500 Transport with Forklift

Co

mp

any:

Ord

er n

o.:

Dat

e:

__

__

___

_

DK

-15

00

fork

lift

fork

lift

- Alle

Abb

ildun

gen

sind

als

sin

nbild

lich

zu

erac

hten

!

- All

illus

tratio

ns m

ust b

e re

gard

ed a

s s

ymbo

lical

.

HIN

WEI

S - N

OTE

- Heb

ezeu

ge u

nd A

nsch

lagm

ittel

mit

aus

reic

hend

er T

ragk

raft

verw

ende

n- K

ippg

efah

r! A

uf d

en S

chw

erpu

nkt

ach

ten!

- Use

sui

tabl

e lif

ting

equi

pmen

t with

su

ffici

ent c

arry

ing

capa

city

!- D

ange

r of t

ippi

ng! P

ay a

ttent

ion

to th

e c

entre

of g

ravi

ty!

ACH

TUN

G -

CAU

TIO

N

28 MRD64092EN.5.I


DK

-150

0

app

rox.

850

kg

Ord

er

no

:

AC

HTU

NG

! ATT

EN

TIO

N!

Ges

amtg

ewic

ht/ g

ross

wei

ght:

ca./

appr

ox.

MRD64092EN.5.I 29


Co

mp

any:

Ord

er n

o.:

Dat

e:

__

__

___

_

DK

-250

0L

iftin

g ja

ck

Po

ints

of a

ttach

me

nt 6

xsc

rew

ed

Lifti

ng

jack

- Alle

Abb

ildun

gen

sind

als

sin

nbild

lich

zu

erac

hten

!

- All

illus

tratio

ns m

ust b

e re

gard

ed a

s s

ymbo

lical

.

HIN

WEI

S - N

OTE

- Heb

ezeu

ge u

nd A

nsch

lagm

ittel

mit

aus

reic

hend

er T

ragk

raft

verw

ende

n- K

ippg

efah

r! A

uf d

en S

chw

erpu

nkt

ach

ten!

- Use

sui

tabl

e lif

ting

equi

pmen

t with

su

ffici

ent c

arry

ing

capa

city

!- D

ange

r of t

ippi

ng! P

ay a

ttent

ion

to th

e c

entre

of g

ravi

ty!

ACH

TUN

G -

CAU

TIO

N

30 MRD64092EN.5.I


om

pan

y:

Ord

er n

o.:

Dat

e:

__

__

___

_

DK

-25

00fo

rklif

t

fork

lift

- Alle

Abb

ildun

gen

sind

als

sin

nbild

lich

zu

erac

hten

!

- All

illus

tratio

ns m

ust b

e re

gard

ed a

s s

ymbo

lical

.

HIN

WEI

S - N

OTE

- Heb

ezeu

ge u

nd A

nsch

lagm

ittel

mit

aus

reic

hend

er T

ragk

raft

verw

ende

n- K

ippg

efah

r! A

uf d

en S

chw

erpu

nkt

ach

ten!

- Use

sui

tabl

e lif

ting

equi

pmen

t with

su

ffici

ent c

arry

ing

capa

city

!- D

ange

r of t

ippi

ng! P

ay a

ttent

ion

to th

e c

entre

of g

ravi

ty!

ACH

TUN

G -

CAU

TIO

N

MRD64092EN.5.I 31


DK

-250

0

app

rox.

870

kg

Ord

er

no

:

AC

HTU

NG

! ATT

EN

TIO

N!

Ges

amtg

ewic

ht/ g

ross

wei

ght:

ca./

appr

ox.

32 MRD64092EN.5.I

CAUTION

Use suitable lifting equipment with sufficient carrying capacity!

Use a forklift with sufficient carrying capacity!

Danger of tipping! Pay attention to the centre of gravity!

NOTE

If you have any queries or problems related to positioner transportation or if there is any damage, please contact the service department of MOTOMAN robotec GmbH at tel. no.: (0049) (0) 180 576 268 3.

MRD64092EN.5.I 33

6 Setup instructions

6.1 Structure and attachment

6.1.1 Base plate for positionierers DK

Base plate DK-250, DK-500

340

600

420

0 )2 H7 (2x

420

580

6 )2 (10x6M )1 (8x

600

580

420

320

60

610

0,2

295

30

DK-250, DK-500

Base plate

34 MRD64092EN.5.I

Base plate DK-1000, DK-1500, DK-2500

1 600

6 x22

x M

66

150

5°

2 X

45

35039

594

6,5

10

580

0°

1 X

45

40

25

185

148

x M

66

x M

64

x M

02

220

tief

x M

02

2

75

5,5

)x4(

R01

R52

+

100

50

400

1 020

50

1 18,

5

860

2 02,

5

28

8060

±0,5

01 0

5 1,5

250

5002

420

320

+ 2600,50

100 100

+ 2600,50

230

150

122,75 122,75

200

300330

Base plate

DK-1000, DK-1500, DK-2500

MRD64092EN.5.I 35

6.2 Assembly instruction for the base of the positioner

The Positioner must be mounted on a base plate and foundation. That is strong enough to permanently carry the weight of the positioner and to absorb all occurring acceleration and deceleration forces.

6.2.1 Ambient conditions at the place of use:

6.2.2 Requirements related to the hall floor / floor characteristics:

MOTOMAN robotec GmbH strongly recommends using the floor anchor:

or an equivalent product of a comparable manufacturer.

If the type FHB dyn 20x170 is used, the following conditions must be fulfilled (differences must be discussed with the manufacturer of the floor anchor and/or a structural engineer):

unreinforced or reinforced concrete.

cracked or non-cracked.

CAUTION

Uneven surfaces on the mounting area can cause deformations.

This may affect the functioning of the positioner/component!

Temperature: 0° to + 45° Celsius

Humidity: 20% - 80% rel. humidity

Vibrations less than 0.5 G (5 m/s2)

Miscellaneous: No corrosive gases, liquids. No water, oil, aggressive dust. No electrical faults (plasma, magnetic tables etc.....).

Type: fischer Highbond-Anker dynamic FHB dyn or FHB dynV

Designation: FHB dyn 20x170

36 MRD64092EN.5.I

Strength classes according to DIN EN 206-1:2001-07 min: C20/25 max: C50/60.

Strength classes according to DIN 1045:1988-07: min: B25 max: B55.

Edge distance: min. 150 mm (from each anchor to each edge of the concrete slab).

Base plate thickness: min. 25 mm.

Concrete thickness: min. 340 mm.

6.2.3 Evenness / height offset:

The concrete floor must be absolutely even in the area of the base plates! If not, an even compensating layer must be used.

The thickness of the compensating layer must not exceed half of the shaft diameter (max.: 0.39 in).

When mounting the positioner type with turn unit – counter bearing (WD, WH, G also positioners of the type WL with counter bearing), the max. horizontal height offset of 10 mm must not be exceeded.

Background: max. compensation with adjusting screws.

The foundation of the positioner must be able to withstand the maximum loads in accordance with the ”maximum acceleration and brake forces of the positioner in an emergency-off situation” and the ”maximum torques during normal operation”.

NOTE

The centric position of the centre axes of turn unit – counter bearing must have a length of 10 m within +/- 0.2 mm (in horizontal and vertical position). Also, all positioners must be horizontally and vertically aligned with an even surface using a machine spirit level.

MRD64092EN.5.I 37

6.2.4 Maximum acceleration and brake forces of the positioner in an emergency-off situation:

DK-250 = 4.600 Nm

DK-500 = 7.900 Nm

DK-1000 = 5.000 Nm

DK-1500 = 7.100 Nm

DK-2500 = 11.000 Nm

6.2.5 Maximum moments during normal operation:

DK-250 = 3.020 Nm

DK-500 = 5.240 Nm

DK-1000 = 3.200 Nm

DK-1500 = 4.700 Nm

DK-2500 = 7.300 Nm

6.3 Overtravel measurement log

6.3.1 Overtravel measurement DK250 turning

6.3.2 Overtravel measurement DK250 tilting

Measured values type DK250:

Overtravel distance mm 0120

Overtravel time ms 0421




38 MRD64092EN.5.I

6.3.3 Overtravel measurement DK2500 turning

6.3.4 Overtravel measurement DK2500 tilting

6.4 Mounting and fastening with compensating plates for exact leveling.

Installation of mortar cartridge and anchor rod

Note: The same setting times apply to a moist drill hole







Setting time:

Floor temperature

(°C)

Setting time (min)

>20 10

+10 to +20 20

0 to +10 60

MRD64092EN.5.I 39

Use a concrete drill (d = 25 mm) to drill holes approximately 170 mm deep in all the through holes (d = 26 mm) into the base plate and clean them.

Note: - Please pay attention to the information on the packaging for the floor attachment plugs. - The floor attachment plugs are not contained in the scope of supply!

6.4.1 Structure of the fastening with adjustment plate

Next use a spirit level to align the positioner so that it will be exactly level vertically and horizontally. Use M16 screw bolts for this purpose.

NOTE

After aligning and fastening the positioner, remove the attached transport aids (e.g. attachment points, stacker supports, etc.)!

M16 jack screwAnchor bolt

Locking nut

Base plate

Press plate

40 MRD64092EN.5.I

7 Wiring

WARNING

Ground resistance must be 0.1 Ohm 0,1 or less.

Failure to observe these warnings can lead to fire or electrical shock.

Before you connect, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)


CAUTION

Wiring must be performed by authorized or certified personnel.

The control unit input supply voltage without is 3 x 200V at 50/60Hz.

Connections to other power supply systems must be made using an appropriate adapter transformer.

When the systems are being connected, the corresponding safety precautions, especially VDE 0100 and EN 60204, as well as the requirements of the local power company must be observed.

A connection to the wrong power supply system could cause considerable damage to the control unit. Any earth wire connection to a component must be properly installed and safe according to industry standards. (The contact points must not be insulated.)


MRD64092EN.5.I 41

8 Grounding

Observe the local regulations for the wire cross-section. The cable cross-section must be 16.0 mm2 or more.

NOTE

Never use the ground point and ground cable together with other ground cables. Never connect an additional ground cable of another provider!

Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.

Ensure that no paint or other insulating material is on the earthing or connection point of the earthing cable

42 MRD64092EN.5.I

9 Electric connections

9.1 Electrical interface

The electrical interfaces in the positioner depend on the positioner model.

Connections in the base

Plug for battery backup

Plug for motor, brake

Plug for encoder

Mastic

Cable for safety sensor

Mastic

Plug for motor, brake

Plug for battery backup

Battery at the crossbox cables

MRD64092EN.5.I 43

9.2 Replacing the battery in the crossbox cables

Replace the battery of standard positioners as described below:

An error message appears on the programming pendant, indicating that the battery must be replaced.

CAUTION:To avoid loss of data, do not switch off the control before replacing the battery!

Replace the battery at the crossbox cables.

9.3 Dimensions for AC servo motor

9.3.1 Typ SGMDH-32A2A-YR11

NOTE

The battery for the crossbox cables should be replaced every two years by trained and instructed specialist staff in order to prevent loss of set data

275

20470

44 MRD64092EN.5.I

NOTE

All dimensions in mm!

Absolute encoder is used as detector, 17 bit.

Vibration: 15 µm or less.

Connector and cable gland are optional.

Electrical specifications: BE9401716

This motor corresponds to the IP67 degree of protection. (except for the cable plug)

Motors with oil seal should be operated under the following conditions. • The optimal oil level is below the oil sealing lip. • Oil should splash on the oil seal.

For designation (**) see cable diameter (reference: BE9372785).

Attach the battery connecting terminal (NICHIFU)

A Battery (+)

B Battery (-)

MRD64092EN.5.I 45

Encoder connecting terminal

Motor, brake connection

Receptacle: 97F3102E20-29P

Options:

Plug: JL08A-20-29S-J1-EB

Cable gland: JL04-2022CKE (**)

A ----------- K ----------

B ----------- L ----------

C DATA + M -----------

D DATA- N ----------

E ---------- P ----------

F ---------- R ----------

G 0 V S Battery -

H + 5V DC T Battery +

JHousing earth

connection

Receptacle: JL04V-2E24-10PE-B

Options:

Plug: JL04V-8A24-10SE-EB

Cable gland:JL04-2428CK (**)

A phase U

B phase V

C phase W

D Housing earth connection

E Brake

F Brake

G ---------------------

46 MRD64092EN.5.I

9.3.2 Typ SGMDH-22A2A-YR11

NOTE




Connector and cable gland are optional.

Electrical specifications: BE9401714

This motor corresponds to the IP67 degree of protection. (except for the cable plug)


For designation (**) see cable diameter (reference: BE9372785).


A Battery (+)

MRD64092EN.5.I 47



B Battery (-)

Receptacle: 97F3102F20-29P

Options:

Plug: JL08A-20-29S-J1-EB

Cable gland: JL04-2022CKE (**)

A ----------- K ----------

B ----------- L ----------

C DATA + M -----------

D DATA- N ----------

E ---------- P ----------

F ---------- R ----------

G 0 V S Battery -

H + 5V DC T Battery +

JHousing earth

connection

Receptacle: JL04V-2E24-10PE-B

Options:

Plug: JL04V-8A24-10SE-EB

Cable gland:JL04-2428CK (**)

A phase U

B phase V

C phase W


E Brake

F Brake

G ---------------------


48 MRD64092EN.5.I

9.3.3 Typ SGMPH-15A1A-YR11

NOTE


Motor specification: DP9492297

Encoder specifications: DP9494166

The magnetic brake is only for the self-holding position.

This motor corresponds to the IP55 degree of protection (except for the connector and drive at the rear). • When connectors needs IP55 attach waterproof connector. • When drive end side needs IP55 mount an oilseal.


PC-2005M Battery (+)

PC-2005F Battery (-)

MRD64092EN.5.I 49



1 DATA + Blue

2 DATE - blue/black

3 3.6 V (Battery) yellow + red

4 0 V (Battery) yellow/black + black

5 +5V (PG) Red

6 0V (PG) gray

7 FG Orange

8 ---------- ----------

9 ---------- -----------

1 phase U Red

2 phase V White

3 phase W Blue

4 F G green/yellow

5 Brake Black

6 Brake Black

50 MRD64092EN.5.I

9.3.4 Typ SGMRS-20A2A-YR11

NOTE




Electrical specifications: 900-010-752.

This motor corresponds to the IP67 degree of protection. • If this motor is used for conformity protection, IP67 is applicable; select the plugs and cables in accordance with this drawing.


Permissible radial load: 980N(At the end of the shaft) Permissible thrust load: 490N

Maximum speed: 4600min-1

The bearings include a plastic cast cage and urea grease.

If you apply the emergency brake, also use the dynamic brake! • Emergency brake energy: 2800 J or less. • Emergency brake interval: 30 minutes or more.

MRD64092EN.5.I 51

Encoder connecting terminal (JAE)

Motor connecting terminal (JAE)




Receptacle: JN2AS10ML1

Options:

Plug: JN2FS10SL

stay bolt: JN1-22-**S-10000

1 DATA + 6 Battery (+)

2 DATA- 7Housing earth

connection

3 ------------ 8 -----------

4 +5V DC 9 0V

5 Battery (-) 10 ----------

A phase U

B phase V

C phase W


E Housing earth connection

F Housing earth connection

G

Connection socket: JL04V-2E20-10PE-B

Options:

PLUG: JL04V-8A24-10SE-EB

Cable clamp: JL04-2428CK(**)

14

8

37

10

AGBC

DE

F

52 MRD64092EN.5.I


NOTE










224

113

3,218

3,4

11

Ø0

520,0-

82Ø

03

10,

0-

196

242305

46 63

471

0,04 A

Ø 0,04 A

0,02

MRD64092EN.5.I 53







Options:

Plug: JN2FS10SL




connection

3 ------------ 8 -----------

4 +5V DC 9 0V

5 Battery (-) 10 ----------

A phase U

B phase V

C phase W


E Brake connection

F Brake connection

G


Options:



14

8

37

10

AGBC

DE

F

54 MRD64092EN.5.I


NOTE










82 Ø

03

10,

0-

3,411 Ø

0520,0-

18

326

46

263

63217

245

134

471

0,02

Ø 0,04 A

0,04 A

3,2

MRD64092EN.5.I 55







Options:

Plug: JN2FS10SL*




connection

3 ------------ 8 -----------

4 +5V DC 9 0V

5 Battery (-) 10 ----------

A phase U

B phase V

C phase W


E Brake connection

F Brake connection

G


Options:



14

8

37

10

AGBC

DE

F

56 MRD64092EN.5.I

9.3.7 Connection at the positioner

The electric connections are on the bottom on the stand.

Up to 4 connections are available, which can be optionally assigned (refer to the positioner model):

Connection 1:

Connection 2:

Connection 3:

Connection 4:

9.3.8 Connection at the control

Check the numbers before you connect the connection cable to the control (NX100)

With the help of the circuit diagram provided, connect the connections of the positioner in the switch cabinet.

With the help of the circuit diagram of the positioner, connect the welding earth connection.

The safety sensor must be integrated in the safety device by trained and instructed specialist staff!

The servo control must be connected by instructed specialist staff! If you have any queries or problems, please contact the service department of MOTOMAN robotec GmbH at tel. no.: (0049) (0) 180 5762683.

Before operating the positioner, check whether all connections, such as the welding earth connection, have been made properly.

NOTE

Due to the special hazards posed, work on electric parts of the switch cabinet must only be carried out by qualified electricians. A qualified electrician can assess the work to be carried out and recognize and avert possible dangers because of his training, knowledge and experience as well as his knowledge of applicable regulations.

MRD64092EN.5.I 57

NOTE

The number of servo controls depends on the type of positioner.

Depending on the construction of the positioner, additional connections can be installed as an option for special safety features, for example.

In addition, the electric connection can also be installed in an access box as a separate terminal block.

X 2

Reverse side of the control cabinet

Interior of the control cabinet

Servo control

Connection OverRun

Connections at the positioner

58 MRD64092EN.5.I

9.4 Description of the safety sensor

9.4.1 Inductive safety sensor BES M13MI-POC40B-S04G

The BALLUFF safety sensor (BES M12MI-POC40B-S04G) may be installed depending on the positioner type.

NOTE

For further technical data of the safety sensor, please refer to the documentation from BALLUFF.

Electrical data

Connection Connector

Rated operational voltage, DC 24 V DC

Rated operational current (le) 200 mA

Maximum delay in readiness (tv) 30 ms

Electrical design DC, d.c. voltage

Usage category DC 13

Maximum hysteresis (H) 15 %

Off-load current, energized = 15 mA

Off-load current, de-energized = 15 mA

Maximum residual current (lr) 20 µA

Maximum residual ripple from Ue = 15%

Switching output PNP

MRD64092EN.5.I 59

Switching function Break contact (NC)

Switching frequency (f) 300 Hz

Maximum static voltage drop 2.5 V

Maximum operating voltage, DC (UB) 30 V

Minimum operating voltage, DC (UB) 12 V

Mechanical data

Number of conductors 3-wire

Tightening torque 15 Nm

Nominal switching distance (sn) 4 mm

Diameter M12x1 mm

Safe switching distance (Sa) 0...3.2 mm

Mechanical installation conditions Flush installation possible

Maximum ambient temperature +70 °C

Minimum ambient temperature -250°C

Degree of contamination 3

Material of the active surface LCP

Material, housing CuZn, nickel-plated

Repetition accuracy (R) = 5%

General data

Function display yes

Short-circuit protection yes

Brand GlobalProx

Safety class 2

With reverse polarity protection yes

Approval CE,c_ul_us

Connection diagram Pinout

Electrical data

60 MRD64092EN.5.I

9.4.2 Row position switch BNS 813-B..-L12-61-12-...

The BALLUFF row position switch (BNS 813-B..-L12-61-12-...) may be installed and preset depending on the positioner type. The station at the positioner/track can be determined with the row position switch. If you have any queries related to checking and setting the row position switch, please contact the service department of MOTOMAN robotec GmbH at telephone no.: (0049) (0) 180 5762683.

NOTE

For further technical data of the row position switch, please refer to the documentation from BALLUFF.

Characteristic Value

Construction Row position switch

Design 61

Active principle mechanical

Shaped as plunger Anti-friction bearing

Plunger diameter 10 mm

Switch element BSE 61

Feedthrough for cable gland 2 thread outputs, M20x1.5

Plug None

Plunger distance, 1st switching point 12 mm

Pitch (T) 12 mm

Width 120 mm

Height (H) 36...84 mm

Depth 74 mm

Protection type IP IP67

MRD64092EN.5.I 61

Assembly

9.4.3 Positioning switch

The Siemens position switch (ID: G_NSC0_XX_90013) may be installed depending on the positioner type. The position switch prevents the rotary axis from being turned beyond a preset value. After the presetting by MOTOMAN robotec GmbH, the rotary axis can be rotated through maximum + 190° and - 190° without any damage, e.g. cable damage etc., to the positioner.

If you have any queries related to checking and setting the position switch, please contact the service department of MOTOMAN robotec GmbH at telephone no.: (0049) (0) 180 5762683.

MLFB/code no.: 3SE2120, 3SE2120-0GW, 3SE2120-0GW00-0AA3, 3SE2120-0GW00-0AG2, 3SE2120-0GW00-0AK0, 3SE2120-1GW, 3SE2120-1GW00-0AA3, 3SE2120-1GW00-0AC1, 3SE2120-1GW00-0AE0, 3SE2120-1GW00-0AG1, 3SE2120-1GW00-0AG2, 3SE2120-1GW00-0AK0, 3SE2120-1GW00-0AK1, 3SE2120-3GW, 3SE2120-3GW00-0AA3,

NOTE

To ensure the switching function, the dimension 3 -0.5 must be particularly observed!

NOTE

For information on modifying the positioner for endless rotation of the rotary axis, please contact MOTOMAN robotec GmbH.

Cam Cam bar

62 MRD64092EN.5.I

3SE2120-6GW, 3SE2120-6GW00-0AA3, 3SE2120-6GW00-0AG1, 3SE2120-6GW00-0AG2, 3SE2120-6GW00-0AK1, 3SE2120-7GW, 3SE2120-7GW00-0AA3, 3SE2120-8GW00, 3SE2120-8GW00-0AA3, 3SE2120-8GW00-0AK1.

9.4.4 Inductive safety sensor GG712S

Depending on the positioner type, the positioner may have a built-in safety sensor from ifm (GG712S).

NOTE

For further technical details of the position switch with rocker, please refer to the documentation from Siemens.

NOTE

For further technical data of the safety sensor, please refer to the documentation from ifm.

16

5675

26

7

7,3x5,3

30

60

19

40

Ø5,3

60

54

30

M20x1,5

39

7

MRD64092EN.5.I 63

Enabling zone

The outputs (OSSDs) are enabled only if there is damping in the enabling zone. The outputs remain switched off outside this enabling zone. With damping with a standard plate of 18 x 18 x 1 mm made of FE360 (= ST37K) and with flush installation according to IEC 60947-5-2, the enabling zone is in the range = 1 ... = 5 mm. The safe switch-off distance is > 7 mm. If you use damping elements whose material, shape and size differ from those of the standard plate, the enabling zone is different. Enabling zone for other materials*:

* Typical values with damping with a reference measuring plate of 18 x 18 x 1 mm and flush installation according to IEC 60947-5-2

1 Safety sensor

2 Close-up zone

3 Enabling zone

4 Safe switch-off distance

5 Damping element

Yellow signal LED: Switching state

Green power LED: Operating voltage

Material Enabling zone

Stainless steel 1.4301 (V2A)

0.5...3.5 mm

AIMg3G22 0..0.20.00 in

CuZn37 0..0.20.00 in

Cu 0..0.1.5 mm

LEDs

64 MRD64092EN.5.I

Assembly

Flush installation of the device is possible according to IEC 60947-5-2, type I1A18SP2.

- Secure the device against being detached. Maximum tightening torque: 30 Nm

- Comply with the installation requirements shown in figures 1 to 3:

- Deenergise the electrical connection of the system. If necessary, also switch off relay load circuits to which power is supplied independently.

- Supply voltage: connect L+ at connection 1 and L– at connection 3 of the plug.

Operation as four wire system

NOTE

Depending on the properties of the damping element, there may not be any close-up zone.

NOTE

The nominal voltage is 24 V DC. This voltage may fluctuate between 19.2 V and 30 V incl. 5 % residual ripple according to EN 61131-2.

Evaluation unit or PLC

MRD64092EN.5.I 65

9.4.5 Operation of the safety sensor

Safe state

The safe state is the switched off state (currentless state: logical "0") of at least one of the outputs A1 and A2 (OSSDs). If one of the outputs A1 and A2 is switched off, the downstream safety-oriented logical unit must bring the complete system to the state defined as safe.

Switched state

If the damping element is in the enabling zone and there is no sensor error, both outputs A1 and A2 (OSSDs) are enabled (logical "1").

Cross connections

- A cross connection between the two outputs (A1 and A2) is detected by the safety sensor and results in switching off of the outputs (OSSDs) when the next safety request is made. Outputs A1 and A2 remain switched off until the error has been eliminated.

- A cross connection between one of the two outputs (A1 or A2) and the supply voltage results in switching off of the other output (A2 or A1) when a safety request is made.

The output characteristics, overview tables and response times can be found in the documentation from ifm (GG712S).

9.5 MOTOMAN delineation system

The MOTOMAN delineation system is used to check the position if there are problems, or to determine the exact position (for example, after disconnecting the encoder cable, when replacing the motor, when replacing the gear, or if the battery at the crossbox cables is empty).

66 MRD64092EN.5.I

NOTE

Other delineation systems may be installed on the positioner DK-250 and DK-500 as an option. - If you have any queries or problems related to the installed delineation, please contact the service department of MOTOMAN robotec GmbH at tel. no.: (0049) (0) 180 5762683.

The delineation system may be set only by trained and instructed specialist staff!

The auxiliary tool with the pins to be used is not included in the scope of delivery and must either be ordered separately (article number 118573) or created with the help of the drawing shown below.

Alternatively, the delineation can also en attached to the drive of the main arm!

MRD64092EN.5.I 67

Drawing of auxiliary tool

137193

102353DIN7979-6x50

102346DIN6325-4x40

M4x25-8.8 DIN 912

A-A

A A

118573Complete auxiliary tool

68 MRD64092EN.5.I

9.5.1 Checking the delineation

For example, after disconnecting the encoder cable, when the motor or gear is replaced, or if the battery at the crossbox cables is empty, the following points must be observed to restore the absolute data with the delineation.

The error message appears on the programming pendant after the control is switched on. It must be confirmed with "RESET".

10

5

5

67H 8

74 H

25

4,4

5A-A

3.2

5

A

A

4,5

10

3.2

25

137193 Centre part of auxiliary tool

MRD64092EN.5.I 69

In the main menu, press "SYSTEM INFO". Then select the point "SAFETY" in the submenu.

Enter the password under "MODE".

In the main menu, press "ROBOT". Then select the point "ZERO POSITION" in the submenu.

With the "PAGE" button on the programming pendant, scroll through the individual pages with the zero position.

NOTE: All absolute data marked with " * " must be reset.

Press the "SERVO" button and the hold-to-run button. An error message will appear that must be confirmed with "RESET". Then the servo motors of the positioner are started.

Now press the direction keys (+/-) on the programming pendant to move the positioner to the delineation position (0 position). This position is reached when the delineation pin fits in the socket.

NOTE

If you have any queries or problems related to the password, please contact the service department of MOTOMAN robotec GmbH at tel. no.: (0049) (0) 180 5762683

70 MRD64092EN.5.I

NOTE: When approaching the delineation position, select a low speed (using the "SLOW" button on the programming pendant).

Now select the axis for which the absolute data is missing and press the button "SELECT" and "YES" to set the approached zero position.

NOTE

Note down the absolute data of the respective zero positions and keep it with your documentation.

When positioning with several delineation units, you must repeat this procedure for each delineation!

T-Z-

T+Z+

B+Y+

R+X+

B-Y-

R-X-

..

HIGHSPEED

FAST

SLOWMANUAL SPEED

U-Z-

U+Z+

L+Y+

S+X+

L-Y-

S-X- SERVO ON

M O T O M A N

SELECTSERVOON

READY

MAINMENU

SHORTCUT

GO BACK

PAGE AREA

LAYOUT

Multi

CANCEL

COORDDIRECTOPEN

INFORMLIST

BACKSPACE

SHIFTINTERLOCK

ROBOT

EX.AXIS

MOTIONTYPE

TESTSTART

BWD

INSERT

MODIFY ENTER

FWD

DELETE

SHIFT7

4

2 3

. -

5. 6

0

8

1

9

ASSIST

!?

MRD64092EN.5.I 71

10 Technical data

10.1 Type overview DK

The DK positioner comprises two servo axes (tilt axis and rotational axis). The tilt axis on the positioner can be swivelled through +/- 90°. The rotation axis has an endless rotation. (for the types DK-250 and DK-500 this is only possible without media!) The positioners of type DK-250 and DK-500 designed in such a way that, depending on the specified load, no counter bearing is used. For the positioner type DK-1000 or higher an additional counter bearing is mounted on the tilt axis.

The positioner of the DK series is fitted with the following components:

Safety sensors, zeroing function for axes on both sides and a welding current collector. The positioner can also be fitted with additional options such as electric, pneumatic and hydraulic duct at the counter bearing.

Y

Z

Z

H

Y d

X

d

X

H

DK-250, DK-500

DK-1000, DK-1500, DK-2500

72 MRD64092EN.5.I

10.1.1 Additional functions for DK

Type DK-250 DK-500 DK-1000 DK-1500 DK-2500

Payload kg 250 500 1.000 1.500 2.500

Height of the tilt axis "H" mm 500 500 620 620 620

Height of the positioner "Z" mm 767 767 800 800 800

Diameter of the aceplate „d“

mm 500 500 600 600 600

Floor space X x Y mm x mm 650 x 650 650x 650 663 x 1,600 679 x 1,600 680 x 1,600

Tilt axis:

Torque, static Nm 1.290 2.350 4.700 7.720 11.750

Speed rpm 31,1 22,5 8,0 7,2 5,3

Rotation axis:

Torque, static Nm 370 740 2.050 3.300 3.300

Speed rpm 25,5 27,1 22,5 18,3 18,3

Description DK-250, DK-500 òDK-1000

Slip ring component, 16 signal, pneumatic hoses - o

Slip ring component, 16 signal, 2x pneumatic hoses - o

Slip ring component, 16 signal, 4x hydraulic lines - o

Slip ring component, ASI BUS, pneumatic hoses - o

Slip ring component, ASI BUS, 2x pneumatic hoses - o

Slip ring component, ASI BUS, 4x hydraulic lines - o

Slip ring component, Profibus, pneumatic hoses - o

Slip ring component, Profibus, 2x pneumatic hoses - o

Slip ring component, Profibus, 4x hydraulic lines - o

Fastening and installation kit for 30x40 mm support bar, faceplate

o o

Fastening and installation kit for 30x40 mm support bar, fastener.

o o

Fastening and installation kit for 50x60 mm support bar, faceplate

o o

MRD64092EN.5.I 73

- = not available

o = option

10.1.2 Specified load of DK positioners

*Nominal Values, for real application please contact MOTOMAN robotec GmbH ([email protected]).

Fastening and installation kit for 50x60 mm support bar, fastener

o o

Description DK-250, DK-500 òDK-1000

0

1000

2000

3000

0 200 400 600 800 1000

DK 250

DK 500

DK 1000

DK 1500

DK 2500

DK 2500

DK 1500

DK 1000

DK 500

DK 250

max

imum

load

[kg]

Distance from centre of gravity to faceplate [mm]

74 MRD64092EN.5.I

10.1.3 Type list of the basic drives

Type Graphics

DD

DH

DG

R

Drive unit Type rated Load

kg

Overhang COG

mm

rated Torque

N*m

Peak Torque

N*m

rated Speed

rpm

max. Speed

rpm

max. Inertia

kg*m2

Load at rated

Load

mm

Acc./Dec. Angle

degree

DD-150 Direct Drive 150 400 160 375 24,7 37,0 20 1.000 30

DD-250 Direct Drive 250 300 500 1.150 16,9 25,3 130 1.500 30

DD-500 Direct Drive 500 190 940 2.130 10,6 28,4 200 1.700 30

DD-750 Direct Drive 750 175 1.400 3.200 10,6 28,4 280 2.000 30

DD-1000 Direct Drive 1000 205 2.070 4.700 10,6 28,4 420 2.200 30

DD-1500 Direct Drive 1500 180 3.240 7.300 8,8 21,1 1.300 2.700 30

MRD64092EN.5.I 75

DH-150 Hollow Shaft Drive

150 800 225 650 11,3 19,8 40 1.000 30


250 450 370 800 17,0 25,4 80 1.500 30


500 320 740 1.930 10,2 27,1 160 1.700 30


750 320 1.240 3.020 10,2 27,1 240 2.000 30


1000 350 2.050 5.240 8,4 22,5 700 2.500 30


1500 350 3.300 8.160 7,0 16,9 1.800 3.200 30


3000 650 4.440 10.550 5,97 14,1 3.500 4.000 30

DG-150 Gear Drive 700 165 400 93,8 250 1,8

for rack & pinion drives

DG-250 Gear Drive 1200 245 550 68,2 182 3,1

DG-300 Gear Drive 1800 290 700 93,8 225 7,3

DG-500 Gear Drive 3300 460 1.030 68,2 164 13,4

DG-1500 Gear Drive 1.400 3.200 10,6 28,4

DG-2000 Gear Drive 2.070 4.700 10,6 28,4

DG-3000 Gear Drive 3.240 7.300 8,8 21,1

Drive unit Type rated Load

kg

Overhang COG

mm

rated Torque

N*m

Peak Torque

N*m

rated Speed

rpm

max. Speed

rpm

max. Inertia

kg*m2

Load at rated

Load

mm

Acc./Dec. Angle

degree

76 MRD64092EN.5.I

Type R-250 R-500 R-750 R-1000 R-1500 R-2000 R-3000 R-4000 R-5000 R-6000

Typical load kg 250 500 750 1.000 1.500 2.000 3.000 4.000 5.000 6.000

Maximum load

kg 500 800 1.200 1.500 2.000 4.500 7.500 12.500 15.000 25.000

Maximum moment of

inertia

kg*m2 80 160 240 700 1.800 3.500 7.500 15.000 26.000 40.000

Workpiece at

nominal load

mm 1.500 1.500 1.500 2.200 3.000 3.000 4.500 5.500 6.500 7.500

Drive unit

DH-250 DH-500 DH-750 DH-1000

DH-1500

DH-3000

DG-1500

DG-2000

DG-2000

DG-3000

Type Hollow Shaft Drive Gear Drive

Nominal torque

Nm 370 740 1.240 2.050 3.300 4.440 3.980 7.400 9.850 13.900

Acceleration torque

Nm 800 1.930 3.020 5.240 8.160 10.550 9.100 16.900 22.500 31.500

Acceleration angle

° 30 30 30 30 30 30 25 20 15 10

Maximum rotational

speed

°/S 153 163 163 108 97 85 57 45 34 28

Swivel time for 180° (approx.)

sec 2,0 2,0 2,0 2,5 2,8 3,0 4,5 5,2 6,5 7,5

Drive unit Motor Toothed belt

Motor toothed wheel

Toothed

washer of the drive.

Toothed belt

tension

Gear Gear ratio

Total ratio

Nominal

torque

Maximum speed

Refer to mechanical

parts list

Hz

See Mechanical

parts list

N*m U/min

DD-150 81 81 160 37,0

DD-250 118,5 118,5 500 25,3

DD-500 141 141 940 28,4

DD-750 141 141 1.400 28,4

DD-1000 141 141 2.070 28,4

DD-1500 171 171 3.240 21,1

MRD64092EN.5.I 77

10.1.4 DD-xxx

These drives offer extremely high torque capacities and very good precision together with excellent dynamics. In addition, they are robust, maintenance-free and the cheaper versions our drive systems. The drives consist of a Cyclo drive with a Yaskawa AC-servo motor attached to it by means of a intermediate flange. The output side of the drive is supported in large-scale bevel roller bearings. Input and output

DH-150

Refer to mechanical

parts list

L-5M-15-CXP

III

24 72 116

Refer to mechanical

parts list

59 177,0 225 19,8

DH-250 L-5M-15-CXP

III

36 72 145 59 118,0 370 25,4

DH-500 L-8M-20-Extr.

24 60 109 59 147,5 740 27,1

DH-750 L-8M-20-Extr.

24 60 110 59 147,5 1.240 27,1

DH-1000 L-8M-20-Extr.

30 60 114 89 178,0 2.050 22,5

DH-1500 L-8M-20-Extr.

30 72 134 89 213,6 3.300 16,9

DH-3000 255 255 4.440 14,1

DG-150

Refer to mechanical

parts list

Refer to mechanical

parts list

16 16 166 250

DG-250 22 22 245 182

DG-300 16 16 287 225

DG-500 22 22 458 164

DG-1500 141 141 1.400 28,4

DG-2000 141 141 2.070 28,4

DG-3000 171 171 3.240 21,1

NOTE

No indexation is attached to the basic drive types "DD" and "DH"!

Drive unit Motor Toothed belt

Motor toothed wheel

Toothed

washer of the drive.

Toothed belt

tension

Gear Gear ratio

Total ratio

Nominal

torque

Maximum speed

78 MRD64092EN.5.I

sides are sealed with the help of shaft sealing rings. The output flange must be assembled together with a sealing agent. When fastening the drive and the output flange, all fastening bores must be used and the high-strength screws must be tightened with the prescribed torques.Depending on the fitting position, the output flange must be provided with either a lubricant filler and opening. For this, the intermediate flange is fitted with two 180° offset threads R1/4". Once the output flange has been fitted, the drive is to be filled with oil in accordance with the manufacture's guidelines. The lubricant must be replaced after 5 years. We recommend an inspection of the drive by the manufacturer after 10 years.

Information for maintenance (See 12.1)

10.1.5 Permissible torsion forces of drive without sleeve shaft (DD-150 to DD-1500)

0

500

1.000

1.500

2.000

2.500

3.000

3.500

4.000

4.500

0 100 200 300 400 500

DD-150

DD-1500

DD-1000

DD-750

DD-500

DD-250

ma

xim

um lo

ad [k

g]

Distance from centre of gravity to rotary axis

MRD64092EN.5.I 79

10.1.6 Permissible torsion forces of drives without sleeve shafts (DD-150 to DD-1500)

0

500

1000

1500

0 200 400 600 800 1000

DD-150

DD-1500

DD-1000

DD-750

DD-500

DD-250

max

imum

load

[kg]


80 MRD64092EN.5.I

10.1.7 Permissible moment of inertia for drive without sleeve shaft (DD-150 to DD-1500)

10.1.8 DH-xxx

These drives, with their central sleeve shafts, allow for media to be performed at the output end. The drive has an extended central drive sleeve shaft, which is powered by a drive motor over a cam belt (in the case of DH-3000 it is a gear wheel) The drives are fitted with seals on both the input and output end. The output side of the drive is supported in large-scale bevel roller bearings (DH-3000 has crossed roller bearing). When fastening the drive and the output flange, all fastening bores must be used and the high-strength screws must be tightened with the prescribed torques. The lubricant of the drive must be replaced after 5 years. We recommend an inspection of the drive by the manufacturer after 10 years.The cam belt must be checked yearly for wear and be replaced after 5 years.

Information for maintenance (See 12.1).

0

500

1.000

1.500

2.000

2.500

3.000

3.500

4.000

4.500

0 1000 2000 3000 4000

DD-150

DD-1500

DD-1000

DD-750

DD-500

DD-250

max

imu

m lo

ad [k

g]

Diameter of the workpiece [mm]

MRD64092EN.5.I 81

10.1.9 Permissible rotational load of drive with sleeve shaft (DH-250 to DH-3000)

0

500

1.000

1.500

2.000

2.500

3.000

3.500

4.000

4.500

0 100 200 300 400 500

DH-250

DH-1500

DH-1000

DH-750

DH-500

DH-3000

ma

xim

um lo

ad [k

g]

Distance from centre of gravity to rotary axis

82 MRD64092EN.5.I

10.1.10 Permissible tilt loads of drives with sleeve shafts (DH-250 to DH-3000)

0

1.000

2.000

3.000

4.000

0 00 400 600 800 1000

DH-250

DH-1500

DH-1000

DH-750

DH-500

DH-3000

max

imum

load

[kg]


MRD64092EN.5.I 83

10.1.11 Permissible mass moment of inertia for drives with sleeve shafts (DH-250 to DH-3000)

10.1.12 DG-xxx

These drives are fitted with gear pinions on the drive output end. The sizes DG-150 and DG-500 are used for linear drive systems, the sizes DG-1500 to DG-3000 serve as driving mechanisms for toothed rotary connectors. The latter sizes consist of the drive types DD-xxx with flanged gear pinions at the far side. Just the same as with the other drive systems, this drive requires all fastening bores to be used together with high-strength screws and the prescribed torques. The lubricant of the drive must be replaced after 5 years. We recommend an inspection of the drive by the manufacturer after 10 years.

Information for maintenance (See 12.1)

0

500

1.000

1.500

2.000

2.500

3.000

3.500

4.000

4.500

0 1000 2000 3000 4000

DH-250

DH-1500

DH-1000

DH-750

DH-500

DH-3000m

axim

um lo

ad [k

g]


84 MRD64092EN.5.I

10.1.13 Technical data for R-3000 to R-6000

The positioners are fitted with pluggable connectors for all kinds of connections. Other options are:

Bushings for electrical, compressed air and hydraulics for endlessly turning positioners.

Separate welding mass transfer for a defined assignment of welding machines to stations.

Frames for fixture mounting.

The fastening must only be carried out on a load-bearing undersurface. If down pins are to be used, only those which can withstand dynamic loads and have been approved by the building standards control can be used in the sizes and numbers determined by us.

Technical data R-3000 R-4000 R-5000 R-6000

Typical load kg 3.000 4.000 5.000 6.000

Maximum load kg 7.500 12.500 15.000 25.000

Maximum moment of inertia kg*m2 7.500 15.000 26.000 40.000

Workpiece at nominal load mm 4.500 5.500 6.500 7.500

Drive unit DG-1500 DG-2000 DG-2000 DG-3000

Type Gear Drive

Nominal torque Nm 3.980 7.400 9.850 13.900

Acceleration torque Nm 9.100 16.900 22.500 31.500

Acceleration angle ° 25 20 15 10

Maximum rotational speed °/s 57 45 34 28

Swivel time for 180° (approx.) sec 4,5 5,2 6,5 7,5

MRD64092EN.5.I 85

10.1.14 Permissible mass moment of inertia for basic drives (R-2000 to R-6000)

10.1.15 Admissible load for basic drives for 2-station operation (R-2000 to R-6000)

0

5.000

10.000

15.000

20.000

25.000

30.000

35.000

40.000

0 1000 2000 3000 4000 5000 6000 7000 8000

R -2000

R -3000

R -4000

R -5000

R -6000

max

imu

m lo

ad [

kg]


0

1.000

2.000

3.000

4.000

5.000

6.000

0 1000 2000 3000 4000 5000

R -4000

R -2000

R -5000

R -6000

R -3000

Max

imu

m lo

ad p

er s

tatio

n [k

g]

Length of the workpiece [mm]

86 MRD64092EN.5.I

11 Overview positioner DK

11.1 Schematic drawing

Figure 1: Schematic drawing positioner

Number Designation Number Remarks

1 Floor panel with base 1 Can be fitted optionally.

2Tilt axis

(Motor + gear)1

3 Safety sensor 2

4Rotation axis(Motor + gear)

1

5 Delineation system 1Different delineation systems (x2) may be

installed for type DK-250 and DK-500!

6Rack segment(pinion + gear)

1Only installed for type DK-1000, DK-1500 and

DK-2500.

7 Welding earthing 12 x welding earths are installed for type DK-

250 and DK-500"

8 Faceplate 1

9 Borehole for swivel eye bolt 6

4 x swivel eye bolt for type DK-250 and DK-500.

Optionally, up to 2x swivel eye bolts can be screwed in at the face plate. This depends on

the size of the face plate!

10 Electric connections

11 Welding earth transmission 1

12 Pedestal bearing 2Only installed for type DK-1000, DK-1500 and

DK-2500.

13 Jumper ring for overrun 1Only installed for type DK-1000, DK-1500 and

DK-2500.

53 2

47 8

101

2

23 669

7

1 1

3 3

344

5 58 8

99 9 910

111111

12

13 14

MRD64092EN.5.I 87

14 Overrun switch 1Only installed for type DK-1000, DK-1500 and

DK-2500.

Number Designation Number Remarks

88 MRD64092EN.5.I

12 Maintenance and Inspection

12.1 General maintenance

12.2 Handling problems

*Caution: Prior to maintenance work, make sure that the system or positioner is disconnected from the electric power. The master switch must be locked in order to prevent restarting.

General maintenance:

Inspection Interval Procedure

For vapours Check daily During operation

General condition as required Clean with a cloth or brush; remove weld spatter with a scraper

The grounding may only be carried out by trained personnel.

Annually must be greater than 10 MOhm measured with 500 V test voltage after disconnecting the motor

Shafts Every 5000 hrs. Check for play, etc. Replace if necessary.

Overhaul Every 20000 hrs. or every 5 years

Please contact MOTOMAN robotec GmbH

Handling problems

Problem Possible cause Remedy

Motor does not start Bad connection* faulty wiring*

Tighten connection* connect correctly*

Unstable connection Incorrect or faulty wiring* Check terminals L1, L2, L3 and PE, or BC cable connector*

Motor overheating Ambient temperature too high; motor / cooling fans heavily soiled; overload

Reduce the temperature to below +40°C, clean the cooling fins, reduce weight

Unusual noises Motor not correctly mounted; gear not correctly mounted;

machine vibrations

Tighten the fastening screws of the motor/gear to the required torque.


MRD64092EN.5.I 89

12.3 Lubrication and inspection schedule

Only a properly maintained positioner will give the required performance over its entire lifetime. Failure to comply with the maintenance schedule or "overgreasing" of the gears will reduce the product life drastically.

Lubrication and inspection schedule:

Interval Item Method Notes

1x after 1000 hour of operation Fastening screws Check for correct fitting and tighten with torque spanner if

necessary

Annually Industrial bronze carbon brushes

Check and replace if necessary

Not installed in type SI

4-6 years complete overhaul, based on run time and condition


90 MRD64092EN.5.I

12.4 Maintenance DK-250

Figure 2: Maintenance DK-250

Maintenance: DK-250

Item Designation Number Remarks

1 Gear basic drive (tilt axis) F2CFS-T455-141

1

2 Motor basic drive (tilt axis)SGMDH-22A2A-YR11

1

3 Drive unit gear F2CFS-T355-141

1

4 Motor drive armSGMPH-15A1A-YR11

1


1

5 4 2

3

MRD64092EN.5.I 91



Maintenance: DK-500



1

2 Motor basic drive (tilt axis)SGMDH-32A2A-YR11

1

3 Drive unit gear F2CFS-T455-141

1

4 Motor drive armSGMDH-22A2A-YR11

1


1

5 4 2

3

92 MRD64092EN.5.I



Maintenance: DK-1000



1

2 Motor basic drive (tilt axis)SGMRS-20A2A-YR11

1

3 toothed quadrant 1

4 toothed quadrantLubrication fitting DIN71412-M8x1

2

5 Drive unit gear F2CFS-C55-89

1

6 Motor drive armSGMRS-30A2A-YR11

1

7 Toothed belt800-8M-30

1


1

8 5

4 2 7

6

3

MRD64092EN.5.I 93






1


1


4 toothed quadrant Lubrication fittingl DIN7142-M8x1

2

5 Drive unit gear F2CFS-C65-89

1


1


1


1

8 5

4 2 7

6

3

94 MRD64092EN.5.I






1


1


4 toothed quadrant Lubrication fitting DIN71412-M8x1

2

5 Drive arm gearF2CFS-C65-89

1


1


1


1

8 5

4 2 7

6

3

MRD64092EN.5.I 95

12.9 General maintenance

All installed parts of the positioner requiring maintenance are listed below together with the corresponding maintenance intervals.

12.9.1 Maintenance FINE CYCLO gear

The F2C-T or F2C-C gear kit is lubricated for life with Optimol longtime PDO grease or, alternatively with Shell Alvania EP RO grease. The product life of the gear kit can be extended by inspection and relubrication in the plant after 5 years (see the documentation provided by FINE CYCLO).

12.9.2 Maintenance of the tooth segment/pinion (tilt axis)

The rack segment/pinion is lubricated once per year with OPTIMOL Longtime 2 grease, with 5 pump strokes at each of the two lubrication nipples.

12.9.3 Maintenance of SKF Groove ball bearing

The groove ball bearing from SKF has a lifetime grease packing and requires no maintenance. Please contact SKF for further details about re-lubrication and calculating the groove ball bearing's service life.

12.9.4 Maintenance of the ifm safety sensor (GG712S)

If operated properly, maintenance and repair are not required.

The device may be repaired only by the manufacturer.

Dispose of the device in an environmentally friendly manner according to the valid national regulations.

(refer to the ifm documentation).

12.9.5 Maintenance Yaskawa Motor

If operated properly, maintenance and repair are not required.

12.9.6 Maintenance toothed belt

The toothed belts require no maintenance. For checking and setting the toothed belts' tension, see Chapter „ 12.10. Checking and adjusting the toothed belt tension.“. However, there is a risk that the very easy to put together toothed belts are bent or folded too

96 MRD64092EN.5.I

tightly. This can result in damage to the inserts and weakening of their load transfer capability. We recommend that the toothed belts are protected during storage from excessive temperature influences and high humidity, as well as UV irradiation (in this connection see Dokumentation von Firma WALTHER FLENDER GmbH).

12.9.7 Maintenance slip ring

The friction paths should be lubricated every 100,000 revolutions or semi-yearly with "Top Pin" contact oil (See Morgen Rekofa GmbH documentation).

12.9.8 Maintenance of slip ring from the Schleifring company.

Unless otherwise indicated in the data sheet from the manufacturer (Schleifring), inspection and maintenance work must be performed after 14.5 x 106 rotations or every 5 years respectively, whichever is reached first. No maintenance is required between the intervals given. The equipment must be sent to the manufacturer for maintenance. If you wish to perform simple maintenance jobs on the equipment yourself, please consult the manufacturer, Schleifring, first (see documentation from Schleifring).

12.9.9 Maintenance welding earth transmission

1 x weekly visual inspection with:

remove abrasion residue.

if applicable: if damages are visible, the welding earth transmission must be replaced.

MRD64092EN.5.I 97

12.10 Checking and adjusting the toothed belt tension.

The deflection of toothed belt d must be between 3 and 6 mm. For example, this is measured with a test load of Fp=12 N for a 4.5 kW motor.

In both cases the side length s (distance between the centres of the toothed belts) is approximately 250 mm. If wear can be detected in the toothed belt (e.g., abrasion, cracks, etc., the belt must be replaced and the correct tension adjusted.

Deflection d = s / 50 (mm)

with test load of Fp in [N]

Side length s in mm

s = distance of axis

98 MRD64092EN.5.I

12.10.1 Tightening the toothed belt

1.) To adjust the toothed belt the 4 fastening screws (A) must be unscrewed and the lock nut (C) loosened.

2.) To increase the tension of the toothed belt, turn the adjusting screw (B) clockwise.

3.) To reduce the tension of the toothed belt, turn the adjusting screw (B) in the counterclockwise direction.

4.) When the correct belt tension has been set, the adjusting screw (B) must be tightened with the lock nut (C).

5.) Then the 4 fastening screws (A) must be tightened with a torque of 120 Nm.

Screw (A)

Screw (C)

Screw (B)

Screw (C)

Toothed belt

MRD64092EN.5.I 99

13 Replacement parts and consumables

It is recommended to keep a stock of special replacement and wearing parts for the positioner. You will find a list of the most commonly used parts below.

If you require replacement and wearing parts, please make sure you have the following data ready:

Type of the positioner

Order number, e.g. 30025000

The part number of the part to be replaced

Part name

Number

13.1 Replacement parts and consumables DK-250

NOTE

Use replacement and wearing parts from the product range of MOTOMAN robotec GmbH to

ensure longer product life of the replacement and wearing parts of the positioner.

CAUTION

Use of alternative replacement and wearing parts must be agreed upon with MOTOMAN robotec GmbH.

Non-compliance with this rule may void the warranty/guarantee and the CE conformity.

Replacement parts and consumables: DK-250

Designation NumberNumb

erReplacement part

Wearing part Remarks

Gear basic drive (tilt axis) F2CFS-T455-141

110326 1 X

100 MRD64092EN.5.I


Motor basic drive (tilt axis)SGMDH-22A2A-YR11

112246 1 X


110302 1 X

Motor drive armSGMPH-15A1A-YR11

112245 1 X

Welding earth transmission 1 X

Bronze carbonM195 without radius

104988 1 X

Battery at the crossbox cables 107562 1 X

Auxiliary tool for delineation pin 118573 1 X Option

Jumper ringDKE tilt axis

129536 1 X

Delineation systemPin DKE K axis (base axis)

129557 1 X Option

Delineation systemPin DKE D axis (drive unit)

129558 1 X Option



erReplacement part



110307 1 X

Motor basic drive (tilt axis)SGMDH-32A2A-YR11

112247 1 X


110326 1 X

Motor drive armSGMDH-22A2A-YR11

112246 1 X

Welding earth transmission 127407 1 X

Bronze carbonM195 without radius

104988 1 X


Auxiliary tool for delineation pin 118573 1 X Option

Delineation systemClock DKE 32/22 K axis (base axis)

140864 1 X Option

Delineation systemPin DKE D axis (drive unit)

129558 1 X Option



erReplacement part


MRD64092EN.5.I 101





erReplacement part



119836 1 X

Motor basic drive (tilt axis)SGMRS-20A2A-YR11

112319 1 X

Drive unit gear F2CFS-C55-89

110370 1 X

Motor drive armSGMRS-30A2A-YR11

112304 1 X

Toothed belt800-8M-30

110861 1 X


Safety sensor 139160 2 X

Carbon tipHS9381711

127349 1 X


Auxiliary tool for delineation pin 118573 1 X

DelineationPin/sensor holder

141094 1 X

DelineationCounterpart for face plate

141092 1 X

Jumper ring for overrun tilt axis 141430 2 X

Toothed wheel standstill monitoring 127591 2 X

Switch cam range limitation 240° 127571 1 X

Self-aligning ball bearing1217

110370 2 X X

Groove ball bearing6312-2RSR

110562 1 X X

Lubrication terminalLubrication fitting DIN71412-M8x1

130089 2 X



erReplacement part



110323 1 X


112304 1 X


110371 1 X

102 MRD64092EN.5.I



112296 1 X


110849 1 X



Carbon tipHS9381711

127349 1 X




141094 1 X


141092 1 X




110521 2 X X


130089 2 X



erReplacement part



110357 1 X


112296 1 X


110371 1 X


112296 1 X


110849 1 X



Carbon tipHS9381711

127349 1 X




141094 1 X



erReplacement part


MRD64092EN.5.I 103


141092 1 X




110521 2 X X


130089 2 X



erReplacement part


104 MRD64092EN.5.I

MRD64092EN.5.I 105

Notes

MOTOMAN offices and representatives near you

YASKAWA Electric CorporationJP 2-1, Kurosaki-shiroishi

Yahatanishi-ku Kitakyushu -shi 806-0004+093-645-8801

MOTOMAN Gruppe A MOTOMAN robotec GmbH Wien

+43-1-707-9324-15CZ MOTOMAN robotec s.r.o.

Prag +420-251-618-430D MOTOMAN robotec GmbHAller-

shausen +49-8166-90-0 MOTO-MAN robotec GmbHFrankfurt +49-6196-77725-025

DK MOTOMAN Robotics Europe AB LØsning +45-7022-2477

E MOTOMAN Robotics Iberica S.L. Barcelona +34-93-6303478

F MOTOMAN Robotics S.A. Nantes +33-2-40131919

FIN MOTOMAN Robotics Finland Oy Turku +358-403000600

GB MOTOMAN Robotics UK Ltd Banbury +44-1295-272755

I MOTOMAN Robotics Italia SRL-Modena +39-059-280496Turin +39-011-9005833

NL MOTOMAN benelux B.V. Breda +31-76-5302305

P MOTOMAN Robotics Iberica S.L. Aveiro +351-234-943 900

SE MOTOMAN Robotics Europe AB Kalmar +46-480-417800 MOTOMAN Robotics Europe AB Torsas +46-480-417800

SI MOTOMAN robotic d.o.o.Ribnica +386-1-8372-410RISTRO d.o.o.Ribnica +386-1-8372-410

DistributorsBG Kammarton Bulgaria Ltd.

Sofia +359-02-926-6060CH Messer Eutectic Castolin Switzerland S.A.

Dällikon +41-44-847-17-17CZ Hadyna International spol s.r.o.

Ostrava-Marianske Hory +420-596-622-636Sp-Tech s.r.o. Nymburk +420-325-515105

H Fiexman Robotics KftBudapest +36-30-9510065Rehm Hegesztéstechnika KftBudapest +36-53-380-078

IL KNT Engineering Ltd Beit Shemesh +972-2-9905882Uniweid Ltd.Yavne +972-8-9328080

N Optimove ASLierstranda +47-32240600

PL Integrator RHC Sp. z.o.o.Torun +48-56-6519710

RUSWeber ComechanicsTorun +7-495-105-8887

TR Teknodrom RobotikOtomasyon San. Tic. Ltd. ptiGebze/Kocaeli +90-262-678-88-18

ZA Robotic Systems SA PTY Ltd Johannesburg +27-11-6083182

Zentrale / HeadquarterMOTOMAN robotec GmbHKammerfeldstraße 1D-85391 Allershausen, DeutschlandTelefon / Fon 0049-8166-90-0Telefax / Fax 0049-8166-90-103

Schulung & Vertriebsbüro Frankfurt/ Training centre and sales office FrankfurtMOTOMAN robotec GmbHHauptstraße 185D-65760 EschbornTelefon /Fon 0049-6196-777 25-0Telefax / Fax 0049-6196-777 25-39

e-Mail: [email protected]

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

www.motoman.de

mailto:[email protected]

http://www.motoman.de

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