MOTOMAN-ECR3J INSTRUCTIONS€¦ · MOTOMAN-ECR3J INSTRUCTIONS TYPE: YR-ECR3J-A00 Upon receipt of...

YASKAWA

MOTOMAN-ECR3JINSTRUCTIONSTYPE: YR-ECR3J-A00

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

MOTOMAN INSTRUCTIONSMOTOMAN-ECR3J INSTRUCTIONSNXC100 INSTRUCTIONSNX100 OPERATOR’S MANUALNXC100 MAINTENANCE MANUAL

The NX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

YASKAWA MANUAL NO.

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johnsbr

Typewritten Text

Part Number: 156090-1CD Revision: 0

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• This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-HP3J.

• General items related to safety are listed in the Section 1: Safety of the NXC100 Instructions. To ensure correct and safe operation, carefully read the NXC100 Instructions 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 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 rep-resentative 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 prod-uct’s warranty.

MANDATORY

CAUTION

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Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the NXC100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

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

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 “CAUTION” and “WARNING”.

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front face of the NXC100 and on the right side of the programming pendant are pressed.When the servo power is turned OFF, the SERVO ON LED on the program-ming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

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

WARNING

TURN

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• Observe the following precautions when performing teaching opera-tions: -Always follow the predetermined operating procedure.-Ensure that you have a safe place to retreat in case of emergency.

Improper operation or unintended manipulator motion may result in injury.

• Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before:-Turing ON the robot system power.-Moving the manipulator with the programming pendant.-Running the system in the check mode.-Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-ing operation. Always press an emergency stop button immediately if there is a problem. The emergency stop button is located on the right side of the programming pendant and on the front face of the NXC100.

WARNING

Programming pendant

HOLDSTARTPLAYTEACHREMOTE

Emergencystop button

Start buttonHold button

Mode selector switch

3-2005DATETYPESER NO.

JAPAN

44A220-011ERCR-NS00-A200YASKAWA ELECTRIC CORPORATION

NJ2518-2

POWER SUPPLYAC200/220V 50/60Hz 1 1 KVA

NJ2519-2

NJ2520-216 KgApprox mass.

NXC100

BA

T

AC FUSE : F1,F2 I/O FUSE : F1,F2,F3,F4

SLOW BLOW15A / 250V 3.15A / 250V

FAST BLOW

ON (I) F1

OFF (O) F2

SOURCE

X52

X51

X31

BATTERY

FUSE

X81

ON

OFF

FU1

FU2SOURCE

NXC100

Emergency stop button

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Definition of Terms Used Often in This ManualThe MOTOMAN manipulator is the YASKAWA industrial robot product.The manipulator usually consists of the controller, the programming pendant, and supply cables.In this manual, the equipment is designated as follows:

• Perform the following inspection procedures prior to conducting manip-ulator teaching. If problems are found, repair them immediately,and be sure that all other necessary processing has been performed.-Check for problems in movement of the manipulator and servo track.-Check for damage to insulation and sheathing of external wires.

• Read and understand the Explanation of Warning Labels before operat-ing the robot system.

• For safety, operate under the proper lighting.

Equipment Manual Designation

NXC100 Controller NXC100

NXC100 Programming Pendant Programming Pendant

Cable between the Manipulator and the Controller Manipulator Cable

CAUTION

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

WARNINGDo not enterrobot work area.

WARNINGMoving partsmay causeinjury

Warning Label A:

Warning Label B:

Nameplate

MOTOMANTYPE

PAYLOAD

ORDER NO.

SERIAL NO.

MASS

DATE

YASKAWA ELECTRIC CORPORAION JAPAN

kgkg

Nameplate

Warning Label A

Warning Label B Warning Label B

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1 Product Confirmation1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . . 1-2

2 Transporting2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Using a Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22.1.2 Using a Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

3 Installation3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . 3-23.2 Mounting Procedures for Manipulator Base. . . . . . . . . 3-2

3.2.1 When the Manipulator and Mounting Fixture are Installedon a Baseplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.2 When the Manipulator is Mounted Directly on the Floorwithout the Mounting Fixture. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.3 Installation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53.4 Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

4 Wiring4.1 Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-3

4.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.2.2 Connection to the NXC100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

5 Basic Specifications5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . . 5-25.3 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . . 5-25.4 Dimensions and P-Point Maximum Envelope . . . . . . . 5-35.5 Special Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45.6 B-Axis Operating Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55.7 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

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6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.2 Wrist Flange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

7 System Application7.1 Peripheral Equipment Mount. . . . . . . . . . . . . . . . . . . . . . . 7-17.2 Internal User I/O Wiring Harness and Air Lines . . . . 7-2

8 Electrical Equipment Specification8.1 Internal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

9 Maintenance and Inspection9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . 9-5

9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-59.2.2 Grease Replenishment for S-axis Speed Reducer . . . . . . . . . .9-7

Grease Replenishment (Refer to " Fig. 22 S-axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7

9.2.3 Grease Replenishment for L-axis Speed Reducer . . . . . . . . . .9-8 Grease Replenishment (Refer to " Fig. 23 L-axis Speed

Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-89.2.4 Grease Replenishment for Speed Reducers of U- and R-axes . . .9-9

Grease Replenishment (Refer to " Fig. 24 UR-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-9

9.2.5 Grease Replenishment for Speed Reducers of B- andT-axes, and T-axis Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-10 Grease Replenishment (Refer to " Fig. 25 BT-Axis Speed

Reducer and T-axis Gear Diagram ".) . . . . . . . . . . . . . . . . .9-109.2.6 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-11

Battery Pack Connection. . . . . . . . . . . . . . . . . . . . . . . . . . .9-11

10 Recommended Spare Parts

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1.1 Contents ConfirmationHW0485047

1 Product Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.Standard delivery includes the following four items (information for the content of optional goods is given separately):

• Manipulator• NXC100• Programming pendant• Manipulator cable (2 cables, between the manipulator and NXC100)

• Confirm that the manipulator and the NXC100 have the same order num-ber. Special care must be taken when more than one manipulator is to be installed.

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

CAUTION

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1.2 Order Number ConfirmationHW0485047

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the NXC100. The order number is located on a label as shown below.

Fig. 1 Location of Order Number Labels

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

Check that the manipulator and the NXC100 have the same order number.

Label (Enlarged View)

(a) NXC100 (Top View) (b) Manipulator (Top View)

WARNINGHAZAARDOUS VOLTAGE

system power before servicingTurn off and lock outelectric shock or burnContact may cause208/110 VAC PRESENT

WARNING

Can cause muscle strain or

proper lifting technjquesback injury. Use lifting aids

HEAVY OBJECT

when removing or replacing

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2 Transporting

• Sling 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 transportation.

The system consists of precision components, so failure to observe this caution may adversely affect performance.

• Check that the eyebolts are securely fastened before transporting the manipulator.• The mass of the manipulator is approximately 28 kg. Use a wire rope strong enough to

withstand the mass.• Attached eyebolts are designed to support the manipulator mass. Do not use them for

anything other than transporting the manipulator.• Be sure to mount the shipping bolts and brackets before transporting the manipulator.• With any transportation equipment, make sure to avoid external force on the arm or motor

unit when transporting the manipulator.

CAUTION

NOTE

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2.1 Transporting MethodHW0485047

2.1 Transporting Method

2.1.1 Using a Crane

As a rule, when uncrating the manipulator and moving it, a crane should be used. The manipulator should be lifted using a two-leg bridle sling threaded through attached eyebolts. Be sure to lift the manipulator in the posture as shown in " Fig. 2 Transporting Position ".

Fig. 2 Transporting Position

Eyebolt M8 (2 eyebolts)(Delivered with the manipulator)

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2.1 Transporting MethodHW0485047

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet as shown in " Fig. 3 Using a Forklift ". Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transportation of the manipulator must be performed slowly in order to avoid overturning or slippage.

Fig. 3 Using a Forklift

Forklift Claw Entry

Pallet

Bolt M8 (4 bolts)

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3 Installation

• Install the safeguarding.

Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the manipulator’s tool or the

workpiece held by the manipulator will not reach the wall, safeguarding, or NXC100 when the arm is fully extended.

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

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

The manipulator may overturn and cause injury or damage.

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

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

• Do not install or operate the manipulator that is damaged or lacks parts.

Failure to observe this caution may cause injury or damage.

• Before turning ON the power, check to be sure that the eyebolts explained in "2.1.1 Using a Crane" are removed.

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

WARNING

CAUTION

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3.1 Installation of SafeguardingHW0485047

3.1 Installation of Safeguarding

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

Responsibility for Safeguarding (ISO10218)The user of a manipulator or robot system shall ensure that the safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator" and " Table. 2 Endurance Torque in Operation " to construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator.A manipulator base flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities. Mount the manipulator base as described in "3.2.1 When the Manipulator and Mounting Fixture are Installed on a Baseplate" or "3.2.2 When the Manipulator is Mounted Directly on the Floor without the Mounting Fixture".

Table. 1 Maximum Repulsion Forces of the Manipulator

Horizontal rotating maximum torque(S-axis moving direction)

294 N m(30 kgf m)

Vertical rotating maximum torque(LU-axes moving direction)

627 N m(64 kgf m)

Table. 2 Endurance Torque in Operation

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

59 N m(6 kgf m)

Endurance torque in vertical operation(LU-axes moving direction)

194 N m(20 kgf m)

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3.2 Mounting Procedures for Manipulator BaseHW0485047

3.2.1 When the Manipulator and Mounting Fixture are Installed on a Baseplate

First, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommended to prepare a baseplate in 25 mm in thickness, and anchor bolts in M8 or larger size. Next, fix the manipulator base to the baseplate. The manipulator base is tapped for four mounting holes; securely fix the manipulator base to the baseplate with four hexagon socket head screws M8 (grade: A2-70) (30 mm long is recommended) and tighten the screw to a tightening torque of 20.1 N m (2.05 kgf m). Tighten the hexagon socket head cap screws and anchor bolts firmly so that they will not work loose during the operation.See "Fig. 4 Manipulator Installation Example" for the method.

Fig. 4 Manipulator Installation Example

50

150

170

50±0.2

78±0

.2

145

88±0.2

150

170

88±0

.2

Manipulator base

Hexagon socket head cap screw M8 (4 screws)Tightening torque: 20.1 N m (2.05 kgf m)

Spring washer

Washer

Manipulator base

25mmor more

Anchor bolt (M8 or larger)

Baseplate

Baseplate

12

255

50

205

6 dia. (reference hole)+0.012 0

9 dia. mounting hole (4 places)

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3.2 Mounting Procedures for Manipulator BaseHW0485047

3.2.2 When the Manipulator is Mounted Directly on the Floor without the Mounting Fixture

The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in "Table. 1 Maximum Repulsion Forces of the Manipulator". When there is a concrete thickness (floor) of 150 mm or more, the base of the manipulator can be fixed directly to the floor with M8 anchor bolts. (The concrete breaking-stress should be 250 kg/cm2 or more.)Before mounting the manipulator, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 150 mm is insufficient for mounting, even if the floor is con-crete.

Fig. 5 Direct Mounting on the Floor

• In case of interference with the spot-faced hole of the base, secure the bolt by placing a washer WSSS14-8-5 (by MISUMI Corp.) or the like.

Anchor bolts M8 (4 places)

Concrete floor

45mmor more

150mmor more

NOTE

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3.3 Installation MethodHW0485047

3.3 Installation Method

The MOTOMAN-ECR3J is a floor-mounted type.

3.4 Location

When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions:

• Ambient temperature: +20° to +35°C (ambient temperature)• Humidity: 20 to 80%RH (no moisture, at constant temperature)• Free from water• Free from corrosive gases or liquids, or explosive gases• Free from excessive impact or vibration (vibration acceleration: 4.9 m/s2 [0.5 G] or less)• Free from large electrical noise (plasma)• The flatness for installation is 0.5 mm or less.

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4 Wiring

• Ground resistance must be 100 Ω or less.

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

• Before wiring, make sure to turn the primary power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)

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

• Wiring must be performed by authorized or certified personnel.

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

• Do not cover the cable or allow it to tangle. Keep the cable as straight as possible.

Failure to observe this caution may result in preventing heat of the cable from being dis-charged.

WARNING

CAUTION

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4.1 GroundingHW0485047

4.1 Grounding

Follow the local regulations and electrical installation standards for grounding. The recom-mended grounding wire size is 5.5 mm2 at minimum. For grounding, connect the ground wire directly to the manipulator as shown in "Fig. 6 Grounding Method.".

Fig. 6 Grounding Method

• Do not use this line in common with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.

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

NOTE

AA

Section A-A

Bolt M6 (for grounding)Delivered with the manipulator

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4.2 Manipulator Cable ConnectionHW0485047

4.2 Manipulator Cable Connection

There are two manipulator cables; an encoder cable for (1BC) and power cable (2BC). (See "Fig. 7 Manipulator Cables (1BC and 2BC).".) Connect these cables respectively to the connectors at the manipulator connector base and the NXC100. Refer to "Fig. 8 (a) Manipulator Cable Connectors (Manipulator Side)" and "Fig. 8 (b) Manipulator Cable Connectors (NXC100 Side)".

4.2.1 Connection to the Manipulator

Before connecting the manipulator cables to the manipulator, verify the numbers on both the cables and the connectors of manipulator connector base. Connect 2BC first, and then 1BC. Insert the cables and lower each lever until it clicks.

4.2.2 Connection to the NXC100

Before connecting the manipulator cables to the NXC100, verify the numbers on both the cables and the NXC100 connectors. Connect 2BC first to the connector X21 of NXC100, then 1BC to the connector X11 of NXC100. When connecting, insert the connector until it clicks.

• Do not cover the cable with heat insulating material, and avoid multiple cabling.

CAUTION

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Fig. 7 Manipulator Cables (1BC and 2BC)

2BC

1BC

1BC

2BC

NXC100

NXC100

Manipulator

Manipulator

Encoder Cable 1BC

Power Cable 2BC

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Fig. 8 (a) Manipulator Cable Connectors (Manipulator Side)

Fig. 8 (b) Manipulator Cable Connectors (NXC100 Side)

Connector details(Manipulator side)

PPESP PPESP

X21

X64-X63

X12

X72 X11 FAN3

X21

X11

Connector details(NXC100 side)

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5.1 Basic SpecificationsHW0485047

5 Basic Specifications

5.1 Basic Specifications

*1 SI units are used in this table. However, gravitational unit is used in ( ).*2 Conformed to ISO9283*3 Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment of inertia.

Table. 3 Basic Specifications*1

Item Model

MOTOMAN-ECR3J

YR-ECR3J-A00

Configuration Vertically Articulated

Degree of Freedom 6

Payload 3 kg

Repeatability*2 ±0.03 mm

Range of Motion

S-axis (turning) ±160°

L-axis (lower arm) +90°, -85°

U-axis (upper arm) +260°, -105°

R-axis (wrist roll) ±170°

B-axis (wrist pitch/yaw) ±120°

T-axis (wrist twist) ±360°

MaximumSpeed

S-axis 3.49 rad/s, 200°/s

L-axis 2.23 rad/s, 128°/s

U-axis 3.32 rad/s, 190°/s

R-axis 3.67 rad/s, 210°/s

B-axis 3.67 rad/s, 210°/s

T-axis 5.93 rad/s, 340°/s

AllowableMoment*3

R-axis 7.35 N m (0.75 kgf m)

B-axis 7.35 N m (0.75 kgf m)

T-axis 2.94 N m (0.3 kgf m)

AllowableInertia

(GD2/4)*3

R-axis 0.4 kg m2

B-axis 0.4 kg m2

T-axis 0.12 kg m2

Approx. Mass 28 kg

AmbientConditions

Temperature +20 to +35°C

Humidity 20 to 80% RH (at constant temperature)

Vibration Acceleration Less than 4.9 m/s2 (0.5G)

Others

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

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

Power Requirements 0.5 kVA

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5.2 Part Names and Working AxesHW0485047

5.2 Part Names and Working Axes

Fig. 9 Part Names and Working Axes

5.3 Manipulator Base Dimensions

Fig. 10 Manipulator Base Dimensions

S+ S−

L− L+

U+

U−

B+R+

T−

T+

B−R−

Base

Upper arm(U-arm)

Wrist

Lower arm(L-arm)

Rotary head(S-head)

50

255

205

A

9 dia. mounting hole (4 places)

6 dia. hole (reference hole)+0.012 0

View A

50

150

170

50 ± 0.2

78 ±

0.2

145

88 ± 0.2

150

170

88 ±

0.2

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5.4 Dimensions and P-Point Maximum EnvelopeHW0485047

5.4 Dimensions and P-Point Maximum Envelope

Fig. 11 (a) Dimensions and P-Point Maximum Envelope

R104

68 68

101 101

487 48744 45

260235

183

42

276

249

71

381

420

13374

389

337

57

532

583

822

90

0

270

188

229

372

7930

531

40

189

180

21

219

1580

85

659

0

290

260 474

R188

R532

50±0.2

95

Refer to " 5.5 Special Interference Area" for details.(*2) Shows the LU-axes working envelope within the range of S-axis motion: -160 to 125 or 125 to 160 .(*1) Shows the LU-axes working envelope within the range of S-axis motion: -40 to 40 .

P-point maximumenvelope

P-point

(*2)(*1)

6010

5

55

160

160

90

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5.5 Special Interference AreaHW0485047

5.5 Special Interference Area

Fig. 11 (b) Special Interference Area (LU interference)

LU-axes cannnot work in this area when S-axis is in the shaded area in the above figure.

LU-axes cannnot work in this area when S-axis is in the shaded area in the above figure.

LU-axes working envelope within the range of S-axis motion: -40 to 40 .

LU-axes working envelope within the range of S-axis motion: -160 to 125 or 125 to 160 .

40

40

125

125

35

35

158

183

219

420

21

189249

71

0

0

13374

389

337 0

0

5-4

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5.6 B-Axis Operating RangeHW0485047

5.6 B-Axis Operating Range

" Fig. 12 B-axis Operating Range " shows the operating range of the B-axis maintaining a constant angle to the center of U-axis.

Fig. 12 B-axis Operating Range

5.7 Alterable Operating Range

The operating range of S-axis can be altered according to the operating conditions as shown in "Table. 4 S-Axis Operating Range". If alteration is necessary, contact your Yaskawa representative in advance.

Table. 4 S-Axis Operating Range

Item Specifications

S-AxisOperatingRange

±160° (standard)±120°±90°±60°±25°

If readjustment (alteration of the S-axis operating range) is necessary, contact your Yaskawa representative.

U-axis rotation center

B-axis rotation center

Wrist

U-axis rotation center

S-axis rotation center

120

120

NOTE

5-5

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6.1 Allowable Wrist LoadHW0485047

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load is up to 3 kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in " Table. 5 Allowable Moment and Inertia ". Contact your Yaskawa representative for further information or assistance.

*1 ( ): Gravitational unit

When the volume load is small, refer to the moment arm rating shown in " Fig. 13 Moment Arm Rating ".The allowable inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only load inertia, or load moment is small and inertia is large. Also, when the load is combined as a force but a mass, contact your Yaskawa representative.

Fig. 13 Moment Arm Rating

Table. 5 Allowable Moment and Inertia

Axis Moment N•m (kgf•m)*1 Inertia kg•m2

R-axisB-axisT-axis

7.35 (0.75)7.35 (0.75)2.94 (0.3)

0.40.40.12

TL (mm)

3kg100

200

1.5kg

300200100

200

100

TL (mm)

BL (mm)

P-point

B-axis rotation center

R-, T-axis rotation center

6-1

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6.2 Wrist FlangeHW0485047

6.2 Wrist Flange

The wrist flange dimensions are shown in " Fig. 14 Wrist Flange ". It is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.

Fig. 14 Wrist Flange

20 d

ia.+0

.013

0

40 d

ia. 0 -0

.016

PCD 31.5

5 (fitting depth)

5 (fitting depth)

Tapped hole M5 (4 places)(Depth: 9) (Pitch: 0.8)

5 dia. hole(Depth: 7)

+0.012 0

Units: mm

45

6-2

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7.1 Peripheral Equipment MountHW0485047

7 System Application

7.1 Peripheral Equipment Mount

The peripheral equipment mount is on the upper arm for easier installation of the user’s system application as shown in " Fig. 15 Installing Peripheral Equipment Mounts ".

Fig. 15 Installing Peripheral Equipment Mounts

80

3718

Units: mm

Tapped hole M8 (3 places)(Pitch: 1.25) (Depth: 16)

7-1

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7.2 Internal User I/O Wiring Harness and Air LinesHW0485047

7.2 Internal User I/O Wiring Harness and Air Lines

Internal user I/O wiring harness (0.2 mm2 x 10 wires) and four air lines are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 16 Connectors for Internal User I/O Wiring Harness and Air Lines ". The connector pins (1 to 10) are assigned as shown in " Fig. 16 Connectors for Internal User I/O Wiring Harness and Air Lines ". Wiring must be performed by users, following the conditions below:

• The allowable current for cables: 2.5 A or less for each cable • The maximum pressure for the air line: 490 kPa (5 kgf/cm2) or less

(the inside diameter: 2.5 mm)

Fig. 16 Connectors for Internal User I/O Wiring Harness and Air Lines

The pins of two connectors with the same number (1 to 10) are connected by a 0.2 mm2 lead wire.

1211

210

1

3

4

11

8

127

6

9

5

910

678

345

12

Connector for internal user I/O wiring harness:�HR10A-10R-12P(73) (pin connector)Prepare socket connector:�HR10A-10P-12S(77) *HIROSE*

4 Exhaust ports:Tapped hole M5 with pipe plug

Connector for internal user I/O wiring harness:�HR10A-10R-12S(71) (socket connector)Prepare pin connector:�HR10A-10P-12P(74) *HIROSE*

Suctioning port for inside air�of the robot (dia. 34mm)�(prepare air duct [inside dia. 34mm]�for suctioning inside air of the robot)

Details of the Connector Pin Numbers

Internal user I/O wiring harness: 0.2 mm2, 10 wires

Pins Used

4 Air inlets:Tapped hole M5 with pipe plug

Key

A

B

View B

View A

3BC

2BC

1BC

7-2

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8.1 Internal Connections

8-1

HW0485047

HW0485047

8 Electrical Equipment Specification


High reliability connectors which can be easily put on and removed are used with each connector part. For the numbers, types, and locations of connectors, see " Fig. 17 Location Connectors " and " Table. 6 List of Connector Types ". Diagrams for internal connections of the manipulator are shown in " Fig. 19 (a) Internal Connection Diagram " and " Fig. 19 (b) Internal Connection Diagram ".

Fig. 17 Location Connectors

Table. 6 List of Connector Types

Name Type of Connector

Connector for internal user I/O wiring harness on connector base

HR10A-10R-12P(73)(HR10A-10P-12S(77): Optional)

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

HR10A-10R-12S(71)(HR10A-10P-12P(74): Optional)

U-armConnector for internal user I/O wiring harness

Connector baseConnector for internal user I/O wiring harness

34/50

8.1 Internal ConnectionsHW0485047

HW0485047

No.9CN

10CN-1

11CN-1No.11CN

No.10CN

9CN-1

12CN-1

No.12CN

+5V10V1FG1

OBT1BAT1

DATA+1DATA-1

PG B-axis0V5

BAT5

+5V5OBT5

FG5-2

-3-4

-2

-3OBTBAT

DATA+6

DATA-5DATA+5

PG T-axis

FG60V6

BAT6OBT6+5V6

-3-2

-3-4

BATOBT

-2 DATA-6

S-axisPG-2

33CN-1No.33CN

-3-2

-4-3

34CN-1

PG L-axis

PGU-axis

PG R-axis

P

P

P

P

AT2

BT

V2G2

BT25V2

AT3BT3

ATBTG3V35V3

AT

ATA+3ATA-3

ATA+2ATA-2

+5V4OBT4BAT4

BATOBTFG40V4

DATA+4DATA-4

PR

KP

P

BATNo.34CN OBT

1819

17BAT10BAT1

BAT20BAT2

BAT110BAT111

BAT0BT

0BT23 0BAT12

35/50

8-2

Fig. 19 (a) Internal Connection Diagram

0BAT5BAT5

P

P

P+5V10V1FG1

OBT1BAT1

DATA+1DATA-1-2

1CN-1No.1CN

-3-2

-4-3

2CN-1

No.2CN

P

P

P

B

O

0F

O+

-3-2

-3-2

-4

BO

BOF0+

5CN-1

-3-4

-2

-3-2

B

DD

DD

-4

-2-3

7CN-1

8CN-1

-3No.8CN

-2

No.7CN

P

P

P

P

P

P

P

P

P

P

No.5CN

No.6CN

6CN-1

No.4CN

4CN-1

No.3CN3CN-1

21

31

2728

3029

23

2524

22

26

20

1

5

34

2

8

12

9

1110

76

16

131415

DC

/DC

13

24

32

PG5V4

PG5V6

PG0V5

PG0V6PG5V5

PG0V1

PG0V3

PG0V2PG5V2

PG5V1

PG0V4PG5V3

0BAT4BAT4

BAT22

BAT210BT

1

0BTBAT

BAT78

56

BAT BAT124

34

7

56

8

0V+24V

0V

FG1

+24V

SPG+1SPG-1

2

CN1-1

1BC(10X4)

CN1-3

CN1-4CN1-5

CN1-2

CN1-9CN1-10

0BAT22

0BAT21

SPG+2SPG-2

FG3

SPG+3SPG-3

FG4

SPG+4SPG-4

SPG+6

SPG-5SPG+5

CN3-3

CN3-2

CN3-6

CN3-1

CN2-6CN2-7

CN2-8

CN2-1CN2-2

CN2-3

CN1-6CN1-7

CN1-8

FG6CN3-8

SPG-6CN3-7

12

6

1353

1

46

52

NXC100

747

2

848

3

949

41

5010

11

42

1BC(10X4)

43

3233

3534

7636

51

EE


HW0485047

HW0485047

1211

-12-11

SM

YB

SM

YB

T-axis

B-axis

3BC

-4-3-2

-8-7-6-5

-10-9

32

4

87

9

65

10

1 3BC-1

-axis

-axis

SM R-axis

S-axisMU1

BA1ME1MW1MV1

BB1

SM

YB

MU5

BA5ME5MW5MV5

MU6MV6

ME6BA6

MW6

BB5

BB6

YB

FOR SPARE(X)

6CN-1-4-3

-2

5CN-1-2

36/50

8-3

Fig. 19 (b) Internal Connection Diagram

3BC-1-2-3

12 P

P

P

P

P

P

C5

MU1

BA1ME1MW1MV1

BB1 No.14CN

14CN-1-4-3

-2

13CN-1-2

No.13CN

L

U

SMMU2

BA2ME2MW2MV2

SM

BA4

MU4

MW4ME4

MV4

YB

ME3BA3

MU3

MW3MV3

-3-4

-2

20CN-1

19CN-1

BB3

No.19CN

BB2 YB

-4-3-2

16CN-1

15CN-1

-4-3-2

18CN-1

17CN-1

-2

No.16CN

No.18CN

-2

No.17CN

No.15CN

No.24CN

-4-3-2

21CN-1

22CN-1

-2

-4-3

-2

23CN-1

24CN-1

-2

No.23CN

No.21CN

No.20CN

No.22CN

-2 BB4

E

E

Base

No.36CN

4

65

91011

87

12

3

3BC

-4-5-6

-8-9-10

-7

-12-11

2BC(6X6)

BA1

BB1ME1ME2

BA2

E

MU1

MW1 MV1

MU2MV2MW2

MU3MV3

MU4

MW3

MW4 MU5MV5

MV4

CN1-1

CN1-5

CN1-3CN1-4

CN1-2

CN2-1

CN2-5CN2-4CN2-3CN2-2

CN2-6

CN3-4CN3-5

CN4-2CN4-1

CN3-6

CN4-5

CN4-3CN4-4

MU6

MW6 ME3ME4

MV6

BA3ME6

BA5BA6

BA4BB4

ME5

CN5-1

CN5-3

CN5-5CN5-4

CN5-2

CN6-2CN6-1

CN6-3

CN6-6

CN6-4CN6-5

CN5-6

MW5CN4-6

D5

B4

E5A4

A1

B1B2

A3A2

B3

C1C2

D1D2

C3

E1D3

E2

2BC(6X6)

A5

B6

D4C4

A6

C6

E6D6

E4

PE

E3

3

3No.35CN

9.1 Inspection ScheduleHW0485047

9 Maintenance and Inspection

9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are classified into six levels. Conduct periodical inspections according to the inspection schedule in " Table. 7 Inspection Items ".In " Table. 7 Inspection Items ", the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized of the user, operations which can be performed by personnel being trained, and operations which can be performed by service company personnel. Only specified personnel are to do the inspection work.

• Before maintenance or inspection, be sure to turn the main power sup-ply 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.

• 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 or release the brake.

Failure to observe this caution may result in injury from unexpected turning of the manipu-lator’s arm.

• The battery pack must be connected before removing detection connec-tor when maintenance and inspection.

Failure to observe this caution may result in the loss of home position data.

WARNING

CAUTION

9-1

HW0485047 37/50


• The inspection interval must be based on the servo power supply ON time.

Table. 7 Inspection Items

Items*4

Schedule

Method Operation

Inspection Charge

Daily1000

HCycle

6000H

Cycle

12000H

Cycle

18000H

24000H

Specified Person Licensee Service

Company

Working area and whole exte-rior of manipula-tor

Visual

Clean the working area if dust, spatter or grease is present.Check for damage and exterior cracks.

LU-axis joint VisualCheck for grease leakage.

Manipulator basemounting bolts

WrenchTighten loose bolts. Replace if necessary.

Cover mounting screws

Phillips screw-driver, wrench

Tighten loose bolts. Replace if necessary.

Connector base Manual Check for loose con-nectors.

LURBT-axistiming belts Manual

Check for belt tension and wear.

Wire harness in manipulator

Visual, multimeter

Check for conduc-tion between the main connector of connector base and intermediate connec-tor with manually shaking the wire. Check for wear of protective spring.*1

Replace.*2

Battery pack in manipulator Multimeter

Replace the battery pack when the bat-tery alarm occurs or the manipulator drove for 24000H.

S-axis speed reducer

Grease gun

Check for malfunc-tion. (Replace if nec-essary.) Supply grease *3 (6000H cycle). See Par.9.2.2.

LU-axis speed reducer

Grease gun

Check for malfunc-tion. (Replace if nec-essary.) Supply grease *3 (6000H cycle). See Par.9.2.3 and 9.2.4.

NOTE

9-2

HW0485047 38/50


*1 When checking for conduction with multimeter, connect the battery pack to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to " 9.2.6 Notes for Maintenance ".)

*2 Internal cables to be replaced at 18000H inspection.*3 For the grease, refer to " Table. 8 Inspection Parts and Grease Used ".*4 Inspection No. correspond to the numbers in " Fig. 20 Inspection Parts and Inspection Numbers ".

R-axis speed reducer

Grease gun


BT-axis speed reducer and T-axis gear

Grease gun


Overhaul

Table. 7 Inspection Items

Items*4

Schedule

Method Operation

Inspection Charge

Daily1000

HCycle

6000H

Cycle

12000H

Cycle

18000H

24000H

Specified Person Licensee Service

Company

11

12

13

9-3

HW0485047 39/50


Fig. 20 Inspection Parts and Inspection Numbers

The numbers in the above table correspond to the numbers in " Table. 7 Inspection Items ".

Table. 8 Inspection Parts and Grease Used

No. Grease Used Inspected Parts

Harmonic Grease SK-1A S-, L-, U-, R-, B- and T-axis speed reducers,T-axis gear

3BC

2BC

1BC

6

7

5

8

6

3

92

2

6

6 12

1211

10

10

12,9 10 11, ,

9-4

HW0485047 40/50

9.2 Notes on Maintenance ProceduresHW0485047

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

The battery packs are installed in the two positions indicated in " Fig. 21 (a) Battery Pack Location ".

• Battery Pack Type: HW0470360-C

If the battery alarm occurs in the NXC100, replace the battery pack in accordance with the following procedure:

Fig. 21 (a) Battery Pack Location

Fig. 21 (b) Battery Pack Connection

Connector base fixing screw

Connector base

Battery packtied with INSULOK-tie (T50R)

3BC

2BC

1BC

Circuit board

See Replacement Step 5.

Connector

See Replacement Step 4.

New battery pack

Battery pack before replacement

9-5

HW0485047 41/50


1. Turn the NXC100 main power supply OFF.2. Remove the connector base fixing screws and pull out the connector base.3. Remove the INSULOK-tie that ties the battery pack.4. Connect the new battery pack to an unconnected connector.5. Remove the old battery pack.

6. Tie the new battery pack with INSULOK-tie, and reinstall the connector base.

Connect the new battery pack before removing the old one so that the encoder absolute data do not disappear.

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

NOTE

NOTE

9-6

HW0485047 42/50


9.2.2 Grease Replenishment for S-axis Speed Reducer

Fig. 22 S-axis Speed Reducer Diagram

Grease Replenishment (Refer to " Fig. 22 S-axis Speed Reducer Diagram ".)1. Remove the hexagon socket head plug PT1/8 on the So exhaust port.

2. Remove the hexagon socket head plug PT1/8 on the Si grease inlet.3. Install the grease zerk PT1/8 to the Si grease inlet. (The grease zerk PT1/8 is delivered

with the manipulator.)4. Inject the grease into the Si grease inlet using a grease gun.

5. Remove the grease zerk on the Si grease inlet and reinstall the hexagon socket head plug PT1/8. Tighten the plug to a tightening torque of 4.9 N·m (0.5 kgf·m). Apply Three Bond 1206C on the thread part of the plug.

6. Reinstall the hexagon socket head plug PT1/8 on the So exhaust port. Apply Three Bond 1206C on the thread part of the plug.

Injecting grease with the plug on increases inner pressure and may cause damage. Never fail to remove the plug before the grease injection.

Grease type: Harmonic Grease SK-1AAmount of grease: 10 cc

The So exhaust port is used for air flow. Do not inject excessive grease into the Si grease inlet.

S-axis speed reducer

So: Exhaust portHexagon socket head plug PT1/8

Si: Grease inletHexagon socket head plug PT1/8

NOTE

NOTE

9-7

HW0485047 43/50


9.2.3 Grease Replenishment for L-axis Speed Reducer

Fig. 23 L-axis Speed Reducer Diagram

Grease Replenishment (Refer to " Fig. 23 L-axis Speed Reducer Diagram ".)1. Remove the plug on the Lo exhaust port.

2. Remove the hexagon socket head cap screw M6×6 on the Li grease inlet.3. Install the grease zerk A-MT6×1 to the Li grease inlet. (The grease zerk A-MT6×1 is

delivered with the manipulator.)4. Inject the grease into the Li grease inlet using a grease gun.

5. Remove the grease zerk on the Li grease inlet and reinstall the hexagon socket head cap screw M6×6. Tighten the screw to a tightening torque of 8.3 N·m (0.85 kgf·m). Apply Three Bond 1206C on the thread part of the screw.

6. Reinstall the plug on the Lo exhaust port. Apply Three Bond 1206C on the thread part of the plug.


Grease type: Harmonic Grease SK-1AAmount of grease: 15 cc

The Lo exhaust port is used for air flow. Do not inject excessive grease into the Li grease inlet.

Lo: Exhaust portPlug

Cover

Li: Grease inletHexagon socket head cap screw M6×6

L-axis speed reducer

NOTE

NOTE

9-8

HW0485047 44/50


9.2.4 Grease Replenishment for Speed Reducers of U- and R-axes

Fig. 24 UR-Axis Speed Reducer Diagram

Grease Replenishment (Refer to " Fig. 24 UR-Axis Speed Reducer Diagram ".)

1. Uninstall the cover to remove the plug on the Uo/Ro exhaust port.

2. Remove the hexagon socket head cap screw M6×6 on the Ui/Ri grease inlet.3. Install the grease zerk A-MT6×1 to the Ui/Ri grease inlet. (The grease zerk A-MT6×1 is

delivered with the manipulator.)4. Inject the grease into the Ui/Ri grease inlet using a grease gun.

5. Remove the grease zerk on the Ui/Ri grease inlet and reinstall the hexagon socket head cap screw M6×6. Tighten the screw to a tightening torque of 8.3 N·m (0.85 kgf·m). Apply Three Bond 1206C on the thread part of the screw.

6. Reinstall the plug on the Uo/Ro exhaust port. Apply Three Bond 1206C on the thread part of the plug.

If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.

Grease type: Harmonic Grease SK-1AAmount of grease: 10 cc (Ui) 10 cc (Ri)

The Uo/Ro exhaust port is used for air flow. Do not inject excessive grease into the Ui/Ri grease inlet.

Ro: Exhaust portPlugR-axis speed reducer

Cover

Ri: Grease inletHexagon socket head capscrew M6×6

Cover

Uo: Exhaust portPlug

Li: Grease inletHexagon socket headcap screw M6×6

U-axis speed reducer

NOTE

NOTE

9-9

HW0485047 45/50


9.2.5 Grease Replenishment for Speed Reducers of B- and T-axes, and T-axis Gear

Fig. 25 BT-Axis Speed Reducer and T-axis Gear Diagram

Grease Replenishment (Refer to " Fig. 25 BT-Axis Speed Reducer and T-axis Gear Diagram ".)

1. Uninstall the cover to remove the plug on the Bo/To exhaust port.

2. Remove the hexagon socket head cap screw M6×6 on the Bi/Ti grease inlet.3. Install the grease zerk A-MT6×1 to the Bi/Ti grease inlet. (The grease zerk A-MT6×1 is

delivered with the manipulator.)4. Inject the grease into the Bi/Ti grease inlet using a grease gun.

5. Remove the grease zerk on the Bi/Ti grease inlet and reinstall the hexagon socket head cap screw M6×6. Tighten the screw to a tightening torque of 8.3 N·m (0.85 kgf·m). Apply Three Bond 1206C on the thread part of the screw.

6. Reinstall the plug on the Bo/To exhaust port. Apply Three Bond 1206C on the thread part of the plug.


Grease type: Harmonic Grease SK-1AAmount of grease: 10 cc (Bi) 5 cc (Ti)

The Bo/To exhaust port is used for air flow. Do not inject excessive grease into the Bi/Ti grease inlet.

T-axis speed reducerTo: Exhaust portPlug

Bo: Exhaust portPlug

B-axis speed reducer

Cover Bi: Grease inletHexagon socket head cap screw M6×6

Ti: Grease inletHexagon socket headcap screw M6×6

NOTE

NOTE

9-10

HW0485047 46/50


9.2.6 Notes for Maintenance

Battery Pack Connection The connectors (crimped contact-pin) for the battery backup are installed at the end point of the motors (marked as BAT and OBT). Connect the battery pack according to the following procedure.

1. Connect the battery packs (HW9470932-A) with the battery backup connectors located at the end point of the cables for the encoder. (Under this condition, remove the encoder connector and carry out the maintenance checks).

2. After the maintenance check, verify that all the connectors are connected and remove the battery pack.

Fig. 26 Encoder Connector

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

BAT40BT4b

aa

b0BTBAT

BAT40BT4b

aa

bBAT

0BT

Battery backup connector

Encoder

Motor

Motor cable, etc.

Power connectorWire harnessin manipulator

Encoder connector

CAUTION label

Connection

CA

UTIO

N

Connect battery to encoder

to save the data before rem

oving conector.

CAUTION label (Enlarged view)

Battery pack (HW9470932-A)

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

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

9-11

HW0485047 47/50

HW0485047

10 Recommended Spare Parts

It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-HP3J. The spare parts list for the MOTOMAN-HP3J is shown below. Check the serial number and contact your Yaskawa representative for preparing lead wires for internal wiring, etc.Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows:

• Rank A: Expendable and frequently replaced parts• Rank B: Parts for which replacement may be necessary as a result of frequent operation• Rank C: Drive unit

To replace parts in Rank B or Rank C, be sure to contact your Yaskawa representative.

Table. 9 Spare Parts for the MOTOMAN-HP3J

Rank PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

A 1 Grease Harmonic Grease SK-1A

Harmonic DriveSystems Inc. 2.5 kg -

A 2 Battery Pack

HW0470360-C Yaskawa ElectricCorporation 1 1

HW9470932-A Yaskawa ElectricCorporation 1 1

A 3 Liquid Gasket Three Bond 1206C Three Bond Co.,Ltd. - -

B 4 L-axis Timing Belt 060S3M255 Mitsuboshi Belt-ing Limited 1 1

B 5 U-axis Timing Belt 060S3M318 Mitsuboshi Belt-ing Limited 1 1

B 6 R-axis Timing Belt 060S3M207 Mitsuboshi Belt-ing Limited 1 1

B 7 B-axis Timing Belt 060S3M276 Mitsuboshi Belt-ing Limited 1 1

B 8 T-axis Timing Belt 060S3M312 Mitsuboshi Belt-ing Limited 1 1

B 9 S-axisSpeed Reducer HW0385336-A Yaskawa Electric

Corporation 1 1

B 10 L-axisSpeed Reducer HW0385337-A Yaskawa Electric

Corporation 1 1

NOTE

10-1

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B 11 U-axisSpeed Reducer HW0385338-A Yaskawa Electric

Corporation 1 1

B 12 R-axisSpeed Reducer HW0385323-A Yaskawa Electric

Corporation 1 1

B 13 B-axisSpeed Reducer HW0385324-A Yaskawa Electric

Corporation 1 1

B 14 T-axisSpeed Reducer HW0385325-A Yaskawa Electric

Corporation 1 1

B 15 T-axis GearHW0385403-A Yaskawa Electric

Corporation 1 1HW9381786-A

B 16 AC Servomotor for S-, L-, U-axes

HW0388024-ASGMAH-A8A2A-YR2*

Yaskawa ElectricCorporation 1 3

With brake and lead terminal treatment

C 17 AC Servomotor for R-, B-, T-axes

HW0388025-ASGMAH-A3A2A-YR2*

Yaskawa ElectricCorporation 1 3

With brake and lead terminal treatment

C 18 Wire Harness in Manipulator HW0173957-A Yaskawa Electric

Corporation 1 1


Corporation 1 1


Corporation 1 1

Table. 9 Spare Parts for the MOTOMAN-HP3J

Rank PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

10-2

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MOTOMAN-ECR3JINSTRUCTIONS

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, JapanPhone +81-93-645-7745 Fax +81-93-645-7746MOTOMAN INC. HEADQUARTERS805 Liberty Lane, West Carrollton, OH 45449, U.S.A.Phone +1-937-847-6200 Fax +1-937-847-6277MOTOMAN ROBOTICS EUROPE ABFranska Vagen 10, Box 4004, SE-390 04 Kalmar, SwedenPhone +46-480-417800 Fax +46-480-417999MOTOMAN ROBOTEC GmbHKammerfeld strasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100 Fax +49-8166-90-103YASKAWA ELECTRIC KOREA CORPORATION1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, KoreaPhone +82-53-382-7844 Fax +82-53-382-7845YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741Phone +65-6282-3003 Fax +65-6289-3003YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, MalaysiaPhone +60-3614-08919 Fax +60-3614-08929YASKAWA ELECTRIC (THAILAND) CO., LTD.252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, ThailandPhone +66-2-693-2200Fax +66-2-693-4200SHOUGANG MOTOMAN ROBOT CO., LTD.No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, ChinaPhone +86-10-6788-0541 Fax +86-10-6788-0542MOTOMAN MOTHERSON ROBOTICS LTD.910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, IndiaPhone +91-124-414-8514 Fax +91-124-414-8016

YASKAWA

YASKAWA ELECTRIC CORPORATION

Specifications are subject to change without noticefor ongoing product modifications and improvements. Printed in Japan June 2008 08-06C

HW0485047MANUAL NO.

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