motoman-up130,up165,up200 maintenance manual · 2018-12-11 · manual no. hw0480769 7 part number:...
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MOTOMAN-UP130,UP165,UP200MAINTENANCE MANUALTYPE : YR-UP130-A00 YR-UP165-A00 YR-UP200-A00
Procedures described in this maintenance manual should be carried out by the person who took the maintenance-relevant trainings offered by Yaskawa.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
Part Number: 170903-1CDRevision: 1
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUALMOTOMAN-UP130, -165 INSTRUCTIONSMOTOMAN-UP200 INSTRUCTIONSYASNAC XRC INSTRUCTIONSYASNAC XRC OPERATOR’S MANUALYASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.Be sure to use the appropriate manual.
MANUAL NO.
HW0480769 7
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HW0480769
Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.
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Table of Contents
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Table of Contents
1 Introduction1.1 NOTES FOR SAFE OPRERATION . . . . . . . . . . . . . . . . 1-2
1.2 Definition of Terms Used Often in This Manual. . . . . 1-4
1.3 AN EXPLANATION OF WARNING LABLES . . . . . . . 1-5
2 Notes for Maintenance2.1 Battery Pack Connection for S-, L-,
and U-Axis Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Battery Pack Connection for R-, B-,and T-Axis Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
3 Home Position Return Operation3.1 How to Return to the Home Position in the Case of
Replacing the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.1.1 How to Use the Robot Calibration (MOTOCALV EG) . . . . . . . .3-13.1.2 How to Set the Teaching Point for Home Position
Setting before Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1 Preparation before Replacement . . . . . . . . . . . . . . . . . . . . .3-1 Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2 Home Position Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2 How to Return to the Home Position in the Case of the Exhaustion of the Motor Battery of the Robot Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.1 The Method by Using the Home Position Alignment Function for Restoration at the Time of Battery Backup . . . . . .3-4
3.2.2 The Method by Using the Keys . . . . . . . . . . . . . . . . . . . . . . . . .3-4 Calibration Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
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4 L-axis Fixing Jig Operating 4.1 Fixing Jig Operating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Specific Jig Installing Posture and Installing Position . . . . . . . . 4-2
4.2 Installing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3 Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.4 Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
5 Grease Replenishment/Exchange5.1 Grease Replenishment/Exchange for
S-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . . 5-15.1.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15.1.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Grease Replenishment/Exchange for L-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35.2.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3 Grease Replenishment/Exchange for U-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55.3.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.4 Grease Replenishment/Exchange for R-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.4.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75.4.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.5 Grease Replenishment/Exchange for B-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . . 5-9
5.5.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95.5.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.6 Grease Replenishment/Exchange for T-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . 5-11
5.6.1 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-115.6.2 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.7 Grease Replenishment for Balancer Connection Part . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
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6 Disassembly and Reassembly of the Motor6.1 Disassembly and Reassembly
of the S-Axis Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Disassembly and Reassembly of the L-Axis Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.3 Disassembly and Reassembly of the U-Axis Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-9 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-9
6.4 Disassembly and Reassembly of the RBT-Axes Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12
7 Disassembly and Reassembly of the Speed Reducer7.1 Disassembly and Reassembly
of the S-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . . 7-1 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 Disassembly and Reassembly of the L-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . . 7-5 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5
7.3 Disassembly and Reassembly of the U-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . . 7-9 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9
7.4 Disassembly and the Reassemblyof the R-Axis Cyclo Speed Reducer. . . . . . . . . . . . . . . 7-12
Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12 Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12
7.5 Disassembly and Reassembly of the B-Axis RV Speed Reducer . . . . . . . . . . . . . . . . . 7-16
Reassembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-16
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7.6 Disassembly and Reassembly of the T-Axis Cycle Speed Reducer . . . . . . . . . . . . . . . 7-20
Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
8 Disassembly and Reassembly of the Wrist Unit8.1 Disassembly and Reassembly of the Wrist Unit. . . . . 8-1
Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
9 Adjustment the Tension of the RBT-Axes Belts9.1 Disassembly and Reassembly of the R-, B- and
T-Axis Timing Belts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Adjustment of the RBT-Axes Timing Belts . . . . . . . . . . 9-3
10 Battery Pack Replacement
11 Cable Wiring Remove Operation of the Cable . . . . . . . . . . . . . . . . . . . . . 11-1 Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
12 Parts List12.1 UP130, UP165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.1.1 S-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-112.1.2 S-Axis Driving Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-312.1.3 L-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-512.1.4 L-Axis Driving Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-912.1.5 U.R.B.T-Axis Link Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1112.1.6 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14
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1 Introduction
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1 Introduction
• This maintenance manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-UP130,UP165, and UP200.
• General items related to safety are listed in the Safety Manual Chapter 1: Safety. To ensure correct and safe operation, carefully read the Setup Manual before reading this manual.
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating and maintenance this product.
• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product's warranty.
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1.1 NOTES FOR SAFE OPRERATION
Read this manual carefully before executing maintenance inspection of the YASNAC XRC.In this manual, the Notes for Safe Operation are classified as "DANGER", "WARNING", "CAUTION", "MANDATORY", or "PROHIBITED".
Even items described as "CAUTION" may result in a serious accident in some situations. At any rate, be sure to follow these important items.
Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.
Always be sure to follow explicitly the items listed under this heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as "DANGER", "WARNING" and "CAUTION".
• Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
NOTE
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• Before maintenance, inspection and wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON).Failure to observe this warning may result in electric shock or injury.
• After completing the maintenance inspection, make sure where is the home position before operating the manipulator.Failure to observe this warning may cause unexpected manipulator motion, resulting in collision or injury.
• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the playback panel or programming pendant are pressed.When the servo power is turned OFF, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned OFF.Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Observe the following precautions when performing teaching operations within the working envelope of the manipulator:-Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.-View the manipulator from the front whenever possible.-Always follow the predetermined operating procedure.-Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you.-Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator's work envelope and that you are in a safe location before:-Turning on the YASNAC XRC power-Moving the manipulator with the programming pendant-Running check operations-Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.
TURN
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1.2 Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.The MOTOMAN usually consists of the manipulator, the controller, the playback panel, the programming pendant, and manipulator cables.In this manual, the equipment is designated as follows:
• Perform maintenance inspection with the specific person who has took the maintenance training course in Yaskawa.Failure to observe this may result in electric shock or injury.
• When the maintenance inspection is performed, be sure to mount the battery unit before removing the motor encoder connector.Failure to observe this caution may result in disappearance of the home position data.
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the XRC cabinet after use.
The programming pendant can be damaged if it is left the manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup Manual before operating the manipulator.
Equipment Manual Designation
YASNAC XRC Controller XRC (Robot Controller)
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
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1.3 AN EXPLANATION OF WARNING LABLES
The following warning labels are attached to the manipulator.Always follow the warning on the labels.Also, an identification label with important information is placed on the body of the manipula-tor. Prior to operating the manipulator, confirm the contents.
Note: Taking the maintenance-relevant trainings offered by Yaskawa is indispensable for replacing the L-axis motor in the balancer-equipped manipulator.
MOTOMAN-UP130, UP165, UP200
Warning label A
Warning label A
Warning label B
Warning label B
Warning label C
Warning label C
Nameplate
Warning Label A
Warning Label B
Warning Label CNameplate
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2 Notes for Maintenance
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2 Notes for Maintenance
2.1 Battery Pack Connection for S-, L-, and U-Axis Motors
• Refer to the Fig. 2-1 "S-, L- and U-Axis Battery Pack Replacement" in this chap-ter.
The connector for the battery pack connection is attached to the main body of the S-, L-, and U-axis motors. Connect the battery pack according to the following procedure.
1. Remove the cap attached to the battery backup connector of the motor.2. Connect the S-, L- and U-Axis battery pack (HW9470932-A) with the battery backup
connector. (Under such a condition, remove the encoder connector and perform the maintenance inspection.)
3. Confirm all connectors connection after the maintenance check ends, and remove the battery pack connection cable for the motor and the battery pack.
4. Install the cap attached to the battery backup connector of the motor. <The case of the battery pack installed improperty> Some of the motors for the S axis and L axis are unable to install the battery pack. (HW9470932-A) directly because that the type of the battery backup connector is differ ent. The battery pack connection cable (HW9470945-A) are necessary in this case. Connect the battery pack connection cable with the motor, then connect the battery pack with it.
2.2 Battery Pack Connection for R-, B-, and T-Axis Motors
• Refer to the Fig. 2-2 "R-, B- and T-Axis Battery Pack Connection" in this chapter.The connector (insertion-type pin terminal) for the battery backup is installed in the end point of the cable for the encoder of the R-, B-, and T-axis motors (BAT and OBT are marked).Connect the battery pack according to the following procedure.
1. Connect the battery pack (HW9470932-B) for the R-, B-, and T-axis with the battery backup connector (BAT and OBT are marked) located in the end point of the cable for the encoder. (Under such a condition, remove the encoder connector and perform the
Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.Do not remove the battery pack in the base connector.
NOTE
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maintenance inspection.)2. Confirm all connectors connection after the maintenance inspection ends, and remove
the battery pack.
Fig. 2-1 S-, L- and U-Axis Battery Pack Replacement
Fig. 2-2 R-, B- and T-Axis Battery Pack Connection
ba BAT1
0BT1a
b0BT
BAT
Connector for the battery backup
S, L, U-axis motors
Battery pack for S, L, U-axis (HW9470932-A)
Battery pack connection cable for the motor (HW9470945-A)
b 0BT4 BAT4 ab
0BT
BAT
a
R, B, T-axis motors
Encoder cable
Battery pack for R, B, T-axis (HW9470932-B)
Connector for the battery backup
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3 Home Position Return Operation
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3 Home Position Return Operation
3.1 How to Return to the Home Position in the Case of Replacing the Motor
3.1.1 How to Use the Robot Calibration (MOTOCALV EG)
The MOTOCALV EG allows the home position reset by teaching the five-point-in-five-posture. Refer to “MOTOCALV EG Operator’s Manual” (152646-1CD) for details on the operation.
3.1.2 How to Set the Teaching Point for Home Position Setting before Replacement
YASNAC-XRC holds the position data of the job program (hereinafter called the JOB) as the pulse number from the home position of each axis. Therefore, by adjusting the home position precisely, the JOB had been used before replacement can be used after replacement without correction. This section explains how to set the YASNAC-XRC.
Preparation before Replacement
• Refer to the Fig. 3-3 "Preparation before replacement (Ex.)" in this chapter.Before replacement, create the standard position (hereinafter called the checked point) for home position adjustment after replacement. The checked point must satisfy the following conditions. Create the JOB so that safety moving to the checked point from the standby position can be ensured. (Hereinafter called the checked JOB)
The position is not deviated by turning the power ON or OFF, or lowering air pressure. Do not create the position in the working part of the tool (end effecter) or the jigs (related unit including the rotary table). Using specific jigs is recommended if necessary.
In the following cases, perform calibration and set the robot geometrical position.• Change in the combination of the MOTOMAN and the control unit.
• Replacement of the motor or encoder.
• Clearing stored memory.
• Home position deviation caused by hitting the MOTOMAN against a workpiece, etc.
• Replacement, disassembly, and assembly of the main parts of the speed reducer in
performing calibration, be sure to satisfy the following conditions. Avoid applying external
force to the robot.
• Remove the hand of the wrist part and other parts.
NOTE
1
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3 Home Position Return Operation
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Use pointed jigs to create the position so that the deviation is easily found. Keep a distance as long as possible from the rotational center of the replacing axis.
Considering the moving direction of the replacing axis, create the position so that the deviation is easily found and the axis will not interfere with the jigs even if it is deviated.One of the checked point when replacing the U-axis on the UP130-A00 Spot System is shown below as an example.
• The check-point cannot be created without operating each axis. Therefore, the check-point cannot be created if the axis cannot operate for some reasons including failure. It is recommended to create the check-point for each axis under normal operating conditions.
Next, check the home position of the replacing axis. Move the replacing axis to the 0 pulse position, the home position, on the position screen, and check the position of the home position mark. If it is deviated, adjust it.An example of the U-axis of UP130-A00 is shown below.
Fig. 3-3 Preparation before replacement (Ex.)
Replacement
• Refer to the Fig. 3-4 "Replacement (Ex.)" in this chapter.The attitude cannot be hold because the motor is removed for replacement. Hold the arm using the chain block. If not, it is seriously dangerous. Replace it with due care. The example of the U-axis of UP130-A00 is shown below.
Fig. 3-4 Replacement (Ex.)Remove the motor and replace it.
2
3
A
View observed from the arrow A
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3 Home Position Return Operation
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Home Position Adjustment
After completing the replacing work, move the replaced axis to the position of the home position mark. Perform the home position alignment only for the replaced axis.(For more detailed information, refer to "YASNAC XRC INSTRUCTIONS".) Move the axis to the checked point by the checked JOB. (Care must be taken so that the axis may not interfere with the jigs in moving the axis.) Move only the replaced axis to adjust the deviation from the point created before the work for alignment.
Display the position screen (command value).The example of U-axis is shown below.
Using the above values, calculate the amount of deviation. (Subtract the command value from the present value.)
Present value - Command value = the amount of deviation U(-3067) - (-2989) = -78
Move the replaced axis to a position where it will not interfere with the jigs when it moves to the home position by stepping back of the Checked JOB. (Care must be taken so that the axis may not interfere with the jigs in moving the axis.) Move the replaced axis to the pulse position equal to the amount of deviation on the position screen.The example is shown below.
Perform the home position alignment only for the replaced axis on this position.(For more detailed information, refer to "YASNAC XRC INSTRUCTIONS".)Move the axis to the Checked point by the Checked JOB again. Check that it is in the point created before the work for completing the work. If it is deviated, repeat the adjustment procedures. Check the operation by using the JOB before replacement. When no problem is found, write the home position data (ABSO data) and the date in the label attached on the inside of the XRC.
Command value R1
S:007 Interpolation: Link Speed: 25.00%
[Command value] Instruction tool: 0 [Present value] Operation tool: 0
R1:S 3458 R1:S 3458
L 5638 L 5638
U -2989 U -3067
R 80 R 80
B -10754 B -10754
T -10 T -10
Command value R1
S:007 Interpolation: Link Speed: 25.00%
[Command value] Instruction tool: 0 [Present value] Operation tool: 0
R1:S 58 R1:S 58
L 0 L 0
U 0 U -78
R 0 R 0
B -11700 B -11700
T 0 T 0
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3-43.2 How to Return to the Home Position in the Case of the Exhaustion of the Motor Battery of the Robot Axis
3.2.1 The Method by Using the Home Position Alignment Function for Restoration at the Time of Battery Backup
This is the method for operating the software of the "Backup alarm restoration" on Programing Pendant. After moving the robot to the posture close to the home position (within 1motor rotation) by teaching operation. The multi-turn data is updated in this method.
3.2.2 The Method by Using the Keys
This is the method for writing a differential pulse between the key position and the home position at the time of the MOTOMAN shipment in the home position label attached on the inside of the YASNAC panel. When the home position disappears, move the robot to the key position, form which set mentioned above the differential pulse as the home position.
Calibration Operation
UP200
Prepare the Table 3-1 "Required Parts List" parts for performing calibration.
Table 3-1 Required Parts List UP130 and UP165
Drawing number (Product number) Name Number Remark
HW9405595-1 Pin 6 For all the axes
HW9405584-1 Jig 1 For the R-axis
MSTH6-20 Knockout pin 2 For the R-axis
HW9405597-1 Jig 1 For the T-axis
MSTH10-30 Knockout pin 2 For the T-axis
Drawing number (Product number) Name Number Remark
HW9405595-1 Pin 4 For the S-, L-, U- and R-axis
HW9405627-1 Pin 1 For the B-axis
HW9405626-1 Pin 1 For the T-axis
HW9405624-1 Jig 1 For the R-axis
MSTH6-20 Knockout pin 2 For the R-axis
HW9405625-1 Jig 1 For the T-axis
HW0404355-1 Knockout pin 2 For the T-axis
HW0480769
3 Home Position Return Operation
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1. S-axis PositioningAs shown in the Fig. 3-5 "S-axis Positioning", insert the pin (HW9405595-1) from the
hole of the pin (6 dia.) of the S head into the slot of the base part for positioning by the teach box.
Fig. 3-5 S-axis Positioning 2. L-Axis Positioning
As shown in the Fig. 3-6 "L-Axis Positioning", insert the pin (HW9405595-1) from the
hole of the pin (6 dia.) of the S head into the slot of the L-arm for positioning by the teach box.
Fig. 3-6 L-Axis Positioning
0+0018
HW9405595-1 Pin
180±0.1
0+0018
L-Arm
HW9405595-1 Pin
S head
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3. U-Axis PositioningAs shown in the Fig. 3-7 "U-Axis Positioning", insert the pin (HW9405595-1) from the
hole of the pin (6 dia.) of the L-arm into the slot of the casing for positioning by the teach box.
Fig. 3-7 U-Axis Positioning4. R-axis Positioning
(1) UP130 and UP165 As shown in the Fig. 3-8 "R-Axis Positioning", fasten the jigs (HW9405584-1) to the U-arm with two knockout pins (MSTH6-20), and insert the pin (HW9405595-1) into the slot of the wrist unit for positioning by the teach box.
(2) UP200 As shown in the Fig. 3-8 "R-Axis Positioning", fasten the jigs (HW9405624-1) to the U-arm with two knockout pins (MSTH6-20), and insert the pin (HW9405595-1) into the slot of the wrist unit for positioning by the teach box.
Fig. 3-8 R-Axis Positioning
0+0018
L-Arm
Casing
HW9405595-1 pin
MSTH6-20 two Knockout pins
U-arm Wrist unit135.5 (165)*
HW9405595-1 Pin
HW9405584-1 Jigs
40
(HW9405624-1 Jigs)**: Inside of ( ) indicates the type and dimension for UP200 model.
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5. B-Axis Positioning(1) UP130 and UP165
As shown in the Fig. 3-9 "B-Axis Positioning", insert the pin (HW9405595-1) from
the hole of the pin (6 dia.) of the B-axis speed reducer part into the slot of the wrist part for positioning by the teach box.
(2) UP200As shown in the Fig. 3-9 "B-Axis Positioning", insert the pin (HW9405627-1) from
the hole of the pin (8 dia.) of the B-axis speed reducer part into the slot of the wrist part for positioning by the teach box.
Fig. 3-9 B-Axis Positioning6. T-Axis Positioning
(1) UP130 and UP165 As shown in the Fig. 3-10 "T-Axis Positioning", fasten the jigs (HW9405597-1) with two knockout pins (MSTH10-30), and insert the pin (HW9405595-1) from the hole of the T-axis flange into the slot of the wrist part for positioning by the teach box.
(2) UP200 As shown in the Fig. 3-10 "T-Axis Positioning", fasten the jigs (HW9405625-1) with two knockout pins (HW0404355-1), and insert the pin (HW9405626-1) from the hole of the T-axis flange into the slot of the wrist part for positioning by the teach box.
Fig. 3-10 T-Axis Positioning
0+0018
0+0018
B-axisspeed reducer part
Wrist part
HW9405595-1 Pin
*: inside of ( ) indicates the types and dimension for UP200
(HW9405627-1 Pin)*
T-axis flange
Wrist part
91(1
01)*
MSTH10-30two Knockout pins (MISUMI.corp)(HW0404355-1, two Knockout pins)*
HW9405597-1 Jigs
HW9405595-1 Pin
62.5±0.02 62.5±0.02(46±0.02)* (46±0.02)*
(HW9405625-1 Jigs)*
(HW9405626-1 Pin)*
*: inside of ( ) indicates the types and dimension for UP200
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4 L-axis Fixing Jig Operating
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4 L-axis Fixing Jig Operating
4.1 Fixing Jig Operating
In the MOTOMAN-UP130 series, different from the conventional SK series, the "Linkless mechanism with the balancer" is adopted. Therefore, releasing the L-axis holding power including removing the L-axis motor or releasing the brake is seriously dangerous because it will cause a L-arm rotation different from the conventional model's rotation, depending on the edge load, wrist load posture, U-axis posture, and L-axis posture. (For outlined mechanism, refer to section 4.4 “Mechanism” in this chapter.) When releasing the L-axis holding power for L-axis motor replacement, or releasing the brake, be sure to hold the L-arm using the fixing jigs specified in this manual and following the procedures. After mount this fixing jig, be sure to release the brake and confirm the L-axis is completely fixed.
Set the L-arm in the recommended posture in Fig. 4-12 "UP130 external view"..
Fig. 4-11 L-arm Posture Range to be Avoided
Maintenance and inspection must be performed by specified personal.
Failure to observe this warning may result in electric shock or injury.
• Avoid using the fixing jigs at the angles below. The manipulator axis may move when the brake is released.UP130… -15° to +15° (-30423 to +30423 pulse)UP165, UP200… -15° to +15° (-35039 to +35039 pulse)
-15° +15°
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In this case, the tip of the flange may move by several hundred mm. If there are interfering objects around, move the rotation axis or other axes to perform the above in the posture without interference.This section explains the procedures for fixing the L-arm in the attitude shown in Fig. 4-12 "UP130 external view".
4.1.1 Specific Jig Installing Posture and Installing Position
Set the L-arm in the posture in Fig. 4-12 "UP130 external view".L-axis: -60° (-121692 pulse for UP130 and -140154 pulse for UP165 and UP200)Rotate the U-arm in the θ direction shown in Fig. 4-12 "UP130 external view" (the direction to minimize the relative angle of the L-axis and U-axis) so that the relative angle of the L-axis and U-axis can be minimized. At this time, care must be taken so that the arm including the work and hand may not interfere with the peripheral devices and the main unit of the robot. Install the specific fixing jigs in the B part (the rear of the balancer) shown in Fig. 4-12 "UP130 external view".
Fig. 4-12 UP130 external view
• If fix the axis at the above range under necessity such as the motor cannot be driven, turn the brake ON and OFF by inches to move the arm gradually when release the brake. Repeat this until the arm no longer moves.
B part
Balancer
U-arm
L-arm P pointL-arm
Edge load
L-axis motor
AA
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4.2 Installing
• Refer to the Table 4-2 "L-Axis Fixing Jigs List" and Fig. 4-13 "Detail View of Installing the Specific Jigs".
1. Remove the three rubber caps and three screws (Hexagon socket head cap screw M8 (15 screws) or M12 (18 screws) installed on the rear of the balancer.
2. Insert the M45xP1.5 screw side of the stud (Two types of screws, M55xP2 and M45xP1.5, are processed in the stud.) into the hole of the rear of the balancer, and screw them into the screw part of the rod (M45xP1.5), a component part of the balancer. At this time, screw them in tightly so that there is no "looseness" between the stud and rod.
3. Screw the nut into the stud until it touches the rear of the balancer. At this time screw it in tightly so that there is no "looseness" between the edge of the nut and the contact surface of the rear of the balancer.
4. Install the shaft HW9405579-1 with three hexagon socket head cap screws M8 (length: 40mm) or M12 (length: 40mm).
5. Tighten the three hexagon socket head cap screws M8 (length: 40 mm) or M12
(length: 40mm) equally with the tightening torque (M8: 20Nm, M12: 58Nm)
6. Release the L-axis brake to confirm that the L-axis is firmly fixed.(Prepare for the shock at the time of arm motion by releasing the brake by inches.)
• Avoid using the same hexagon socket head cap screws M8 (length: 40mm) or M12
(length: 40mm) repeatedly. Replace them with new ones.
• Use a bolt with tensile strength of 1200 N/mm2 or more for the hexagon socket head cap
screws M8 (length: 40mm) or M12 (length: 40mm).
Table 4-2 L-Axis Fixing Jigs List
Drawing number (Product number) Name Number
HW9402997-1 Plate 1
HW9402998-1 Plate 1
HW9405579-1 Shaft 1
ANE12-300 (Manufacturer: MISUMI.corp)
Total screw 2
Hexagon socket head cap screw M8 (15mm) 3
Hexagon socket head cap screw M8 (40mm) 3
Hexagon socket head cap screw M16 (40mm) 1
Hexagonal nut M12 4
HW9405580-1 Stud 1
HW9405581-1 Nut 1
NOTE
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Fig. 4-13 Detail View of Installing the Specific Jigs
• For removal procedures, check that the L-axis holding power has been restored first, and
then perform the installing procedures in inverted order. In some attitudes of the robot,
removing them may be impossible. (because of the mesh of the stud and rod) In this
case, before performing the removal work, as shown in, Fig. 4-14 "Detail View of
Removing the Specific Jigs" install the plates (HW9402997-1 and HW9402998-1), insert
the total screw with double nut (M12) installed on the edge of the plate, and screw in the
total screw while pressing the plate of the rear of the balancer so that the nut can be
moved by hand.
Rubber cap
Hexagon socket head cap screws M8x15 (3 screws)(or Hexagon socket head cap screw M12x18 (3 screws))
Hexagon socket head cap screws M8x40 (3 screws)(or Hexagon socket head cap screw M12x40 (3 screws))
Nut (HW9405581-1)
Stud (HW9405580-1)
Shaft (HW9405579-1)
Rod
Case
When installing the jigs
Before installing the jigsM55xP2
M4.5xP1.5
NOTE
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4.3 Removing
• Refer to Fig. 4-14 "Detail View of Removing the Specific Jigs".1. Remove the shaft (HW9405579-1) and nut (HW9405581-1) installed on the stud.
When the nut is hard to remove, after installing the plate (HW9402997-1) on the stud (HW9405580-1) and installing the plate (HW9402998-1) in the case, screw the total screw until the nut loosens.
2. Remove the stud from the rear of the balancer.3. Remove the stud, plate (HW9402997-1) installed on the case, plate (HW9402998-1),
and total screw.
Fig. 4-14 Detail View of Removing the Specific Jigs
Rubber cap
Hexagon socket head cap screw M8x15 (3 screws)(or Hexagon socket head cap screw M12x18 (3 screws))
Hexagon socket head cap screw M8x40 (3 screws)(or Hexagon socket head cap screw M12x40 (3 screws))
Nut (HW9405581-1)
Stud (HW9405580-1)
Plate (HW9402997-1)
Hexagonal nut M12 (4 nuts)
2-ANE 12-300 *MISUMI.corp*
Plate (HW9402998-1)
Rod
Case
M55xP2
M45xP1.5
When installing the jigs
Before installing the jigs
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4.4 Mechanism
• Refer to Fig. 4-15 "The L-Arm Rotating Direction".
The L-arm rotating direction depends on the extent of the torque Tb generated by the balancer, and the load torque TL generated around the L-axis. The torque Tb generated by the balancer is always generated toward the directions where the L-arm becomes 0° from the posture vertical against the ground, and its extent varies depending on the L-axis angle. The load torque TL generated around the L-axis works around the center of the L-axis rotation, and its direction and extent vary depending on the edge load, postures of the wrist, the U-arm, and the L-arm. When no load is applied to the edge, for the L-arm rotating direction, 3 patterns are assumed as described in the Fig. 4-15 "The L-Arm Rotating Direction".It is quite difficult to accurately compare the extent of the torque works around the L-axis and the extent of the torque generated by the balancer on the actual work site. Although the loaded torque direction generated around the L-axis could be identified in the conventional series, the rotational direction cannot be identified in this unit; therefore, handling this unit in the same way as the conventional series is seriously dangerous, as the L-arm may rotate in a direction that the operator does not expect.
Fig. 4-15 The L-Arm Rotating Direction
Posture in which the L-arm operates in the clockwise direction
Posture in which the L-arm does not operate
Posture in which the L-arm operates in the counterclockwise direction
75° 55°
65°
60°
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5 Grease Replenishment/Exchange
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5 Grease Replenishment/Exchange
5.1 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear
• Refer to the Fig. 5-16 "S-Axis Speed Reducer and Gear Diagram".
Fig. 5-16 S-Axis Speed Reducer and Gear Diagram
5.1.1 Grease Replenishment
1. Remove the So exhaust plug.
2. Inject grease into the Si grease inlet using a grease gun.
3. Move the S-Axis for a few minutes to discharge the excess grease.4. Reinstall the So exhaust plug. (Spread the modifier silicon caulk on the screw of the
plug.)
If grease is added without removing the exhaust plug, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the plug.
Grease type: Molywhite RE No.00Amount of grease: 530cc(1060cc for 1st supply)
So: Grease exhaustHexagon socket head (PT 1/8) plug
Si: Grease inletGrease zerk (A-PT 1/4)
S-axis speed reducer
NOTE
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5.1.2 Grease Exchange
1. Remove the So exhaust plug.2. Inject grease into the Si grease inlet using a grease gun.3. The grease replacement is complete when new grease appears in the So exhaust port.
The new grease can be distinguished from the old grease by color.
4. Move the S-Axis for a few minutes to discharge the excess grease.5. Wipe the So exhaust port with a cloth and reinstall the plug. (Spread the modifier
silicon caulk on the screw of the plug.)
Grease type: Molywhite RE No.00Amount of grease: 3650cc
If the plug is installed when grease is being exhausted, grease will go inside the motor and may damage it.
NOTE
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5 Grease Replenishment/Exchange
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5.2 Grease Replenishment/Exchange for L-Axis Speed Reducer
• Refer to the Fig. 5-17 "L-Axis Speed Reducer Diagram".
Fig. 5-17 L-Axis Speed Reducer Diagram
5.2.1 Grease Replenishment
1. Make the L-Arm vertical for ground.2. Remove the Lo exhaust plugs.
3. Inject grease into the Li grease inlet using a grease gun.
4. Move the L-Axis for a few minutes to discharge the excess grease.5. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plug, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease: 400cc
(800cc for 1st supply)
L-axis speed reducer Lo: Grease exhaustHexagon socket head (PT 1/8) plug
Li: Grease inletGrease Zerk (A-PT 1/8)
NOTE
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5.2.2 Grease Exchange
1. Make the L-Arm vertical for ground.2. Remove the Lo exhaust plugs.
3. Inject grease into the Li grease inlets using a grease gun.
4. The grease replacement is complete when new grease appears in the Lo exhaust ports. (The new grease can be distinguished from the old grease by color.)
5. Move the L-Axis for a few minutes to discharge the excess grease.6. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Li: approx. 2000cc
NOTE
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5.3 Grease Replenishment/Exchange for U-Axis Speed Reducer
• Refer to the Fig. 5-18 "U-Axis Speed Reducer Diagram".
Fig. 5-18 U-Axis Speed Reducer Diagram
5.3.1 Grease Replenishment
1. Make the U-Arm horizontal for ground.2. Remove the Uo exhaust plugs.
3. Inject grease into the Ui grease inlet using a grease gun.
4. Move the U-Axis for a few minutes to discharge the excess grease.5. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Ui: 250cc
(500cc for 1st supply)
Uo: Grease exhaustHexagon socket head (PT1/8)plug
U-axis speed reducer
Ui: Grease inletGrease zerk (A-PT1/8)
NOTE
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5.3.2 Grease Exchange
1. Make the U-Arm horizontal for ground.2. Remove the Uo exhaust plugs.
3. Inject grease into the Ui grease inlet using a grease gun.
4. The grease replacement is complete when new grease appears in the Uo exhaust ports. (The new grease can be distinguished from the old grease by color.)
5. Move the U-Axis for a few minutes to discharge the excess grease.6. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Ui: approx. 1650cc
If the plug is installed when grease is being exhausted, grease will go inside the motor and may damage it.
NOTE
NOTE
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5.4 Grease Replenishment/Exchange for R-Axis Speed Reducer
• Refer to the Fig. 5-19 "R-Axis Speed Reducer Diagram".
Fig. 5-19 R-Axis Speed Reducer Diagram
5.4.1 Grease Replenishment
1. Remove the Ro exhaust plugs.
2. Remove the Ri plug: PT1/8 and install the grease zerk (A-PT1/8) and inject grease into the Ri grease inlet using a grease gun.
UP130 and UP165
UP200
3. Move the R-Axis for a few minutes to discharge the excess grease.4. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Ri: 28cc
(56cc for 1st supply)
Grease type: Molywhite RE No.00Amount of grease for Ri: approx. 40cc
(80cc for 1st supply)
R-axis speed reducer
Ro: Grease exhaustHexagon socket head (PT1/8) plug
Ri: Grease inletHexagon socket head (PT1/8)plug
NOTE
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5.4.2 Grease Exchange
1. Remove the Ro exhaust plugs.
2. Remove the Ri plug: PT1/8 and install the grease zerk (A-PT1/8) and inject grease into the Ri grease inlet using a grease gun.
UP130 and UP165
UP200
3. The grease replacement is complete when new grease appears in the Ro exhaust ports. (The new grease can be distinguished from the old grease by color.)
4. Move the R-Axis for a few minutes to discharge the excess grease.5. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Ri: 140cc
Grease type: Molywhite RE No.00Amount of grease for Ri: 210cc
NOTE
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5.5 Grease Replenishment/Exchange for B-Axis Speed Reducer and Gear
• Refer to the Fig. 5-20 "B-Axis Speed Reducer and Gear Diagram".
Fig. 5-20 B-Axis Speed Reducer and Gear Diagram
5.5.1 Grease Replenishment
1. Remove the Bo exhaust plugs.
2. Inject grease into the Bi grease inlet using a grease gun. UP130 and UP165
UP200
3. Move the B-Axis for a few minutes to discharge the excess grease.4. Wipe the Bo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Bi: 200cc
(400cc for 1st supply)
Grease type: Molywhite RE No.00Amount of grease for Bi: 260cc
(520cc for 1st supply)
Bo: Grease exhaustHexagon socket head (PT1/8) plug
B-axis speed reducerBi: Grease inlet
Grease zerk (A-MT6) (1 zerk)
NOTE
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5.5.2 Grease Exchange
1. Remove the Bo exhaust plugs.
2. Inject grease into the Bi grease inlet using a grease gun. UP130 and UP165
UP200
3. The grease replacement is complete when new grease appears in the Bo exhaust ports. (The new grease can be distinguished from the old grease by color.)
4. Move the B-Axis for a few minutes to discharge the excess grease.5. Wipe the Bo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go outsidethe grease box and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Bi: approx. 900cc
Grease type: Molywhite RE No.00Amount of grease for Bi: approx. 1300cc
NOTE
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5.6 Grease Replenishment/Exchange for T-Axis Speed Reducer and Gear
• Refer to the Fig. 5-21 "T-Axis Speed Reducer And Gear Diagram".
Fig. 5-21 T-Axis Speed Reducer And Gear Diagram
5.6.1 Grease Replenishment
1. Remove the To exhaust plugs.
2. Inject grease into the Ti grease inlet using a grease gun. UP130 and UP165
UP200
3. Move the T-Axis for a few minutes to discharge the excess grease.4. Wipe the To exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Ti: 200cc
(400cc for 1st supply)
Grease type: Molywhite RE No.00Amount of grease for Ti: 260cc
(520cc for 1st supply)
T-axis speed reducer
To: Grease exhaustHexagon socket head (M6) plug
Ti: Grease inlet Grease zerk (A-MT6) (1 zerk)
NOTE
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5.6.2 Grease Exchange
1. Remove the To exhaust plugs.
2. Inject grease into the Ti grease inlet using a grease gun. UP130 and UP165
UP200
3. The grease replacement is completed when new grease appears from the To exhaust port. (The new grease is distinguished from the old grease by color.)
4. Move the T-Axis for a few minutes to discharge the excess grease.5. Wipe the To exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier
silicon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease for Ti: 900cc
Grease type: Molywhite RE No.00Amount of grease for Ti: 1300cc
NOTE
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5.7 Grease Replenishment for Balancer Connection Part
• Refer to the Fig. 5-22 "Balancer Connection Part".
Fig. 5-22 Balancer Connection Part
1. Remove the air exhaust plugs of connection and . (Refer to Fig. 5-22 "Balancer Connection Part".)
2. Inject grease into Vc grease inlets of connection and using a grease gun.
.
3. Reinstall the plugs of connection and . (Spread the modifier silicon caulk on the screw of the plug.)
Grease type: Alvania EP Grease 2Amount of grease: 5cc (10cc for 1st supply)
Grease is not exhausted from the exhaust ports and . Do not inject excessive grease into the gear grease inlet.
Air exhaust
Connection Vc: Grease inlet
Air exhaustHexagon socket head plug (PT1/8)
ConnectionNeedle bearingConnection
2 Tapper roller bearings
Connection Vc: Grease inletGrease zerk (A-PT1/8) (2 zerks)
1 2
1 2
NOTE 1 2
1 2
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6 Disassembly and Reassembly of the Motor
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6 Disassembly and Reassembly of the Motor
6.1 Disassembly and Reassembly of the S-Axis Motor
• Refer to Fig.6-23 (a) Disassembly and Reassembly of the S-Axis Motor and Fig.6 (x) Disassembly and Reassembly of the S-Axis Motor.
Disassembly
1. Turn OFF the robot controller.2. Connect the backup battery. (Refer to chapter 2 "Notes for Maintenance" in this book.)
3. Remove the MS connector (encoder, power) connected to the S-axis motor .
4. Remove the hexagon socket head cap screws , and remove the S-axis motor
from the gear unit with the tapped holes on the motor flanged surface. At this time,
be careful not to scratch the oil seal in the gear unit .
5. Remove the hexagon socket head cap screws to remove the shaft and the key
.
Reassembly
1. Mount the key on the S-axis motor . (The key is attached to the S-axis motor
.)
2. Apply sealing bond (ThreeBond 1206C) between the S-axis motor flanged surface
and the shaft , and mount the S-axis motor and the shaft .
3. Tighten the hexagon socket head cap screws (apply LOCTITE 242 to the screw parts) with the tightening torque shown in Table 6-3 "The Comparison Table for Parts".
4. Apply sealing bond (ThreeBond 1206C) between the S-axis motor flanged surface
and the gear unit . Being careful not to scratch the oil seal in the gear unit , mount
the S-axis motor on the gear unit .
5. Tighten the hexagon socket head cap screws with the tightening torque shown in Table 6-3 "The Comparison Table for Parts".
6. Mount the MS connector (encoder, power) of the internal cable on the S-axis motor .
7. Supply grease (Molywhite RE No.00) from the grease supply part.
8. Remove the backup battery.
9. Turn ON the robot controller.
Refer to chapter 2 "Notes for Maintenance",chapter 3 "Home Position Return Operation", Table 4 "L-axis Fixing Jig Operating" and chapter 5 "Grease Replenishment/Exchange", and chapter 9 "Adjustment the Tension of the RBT-Axes Belts" in this manual.
NOTE
1
2 1
5
5
6 3
4
4 1 4
1
1
3 1 3
6
1
5 5
1 5
2
1
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Table 6-3 The Comparison Table for Parts
No Name Number Notes
S-axis Motor HW9381382-A 1
Hexagon Socket Head Cap Screws M12x40 Conical Spring Washer 2H-12
4 each Tightening torque 84N•m
Shaft HW9381446-A 1
Key 1
Gear Unit 1
Hexagon Socket Head Cap ScrewsM10x110 Conical Spring Washer 2H-10
1 each Tightening torque 82N•m
1
2
3
4
5
6
6-2
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Fig. 6-23 (a) Disassembly and Reassembly of the S-Axis Motor
6-3
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Fig. 6 (x) Disassembly and Reassembly of the S-Axis Motor
6
5
4
3
2
1 the part to apply the sealing
6-4
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6.2 Disassembly and Reassembly of the L-Axis Motor
• Refer to Fig.6-25 (a) Disassembly and Reassembly of the L-Axis Motor and Fig.6-25 (b) Disassembly and Reassembly of the L-Axis Motor (UP130).
Disassembly
1. Turn OFF the robot controller, fasten the balancer, and drain grease.2. Connect the backup battery. (Refer to chapter 2 "Notes for Maintenance".)
3. Remove the MS connector (encoder, power) connected to the L-axis motor .
4. Remove the hexagon socket head cap screws , and remove the L-axis motor
from the motor base with the tapped holes on the L-axis motor flanged surface. At this time, be careful not to scratch the oil seal in the motor base.
5. Remove the hexagon socket head cap screws , and remove the shaft , the key
, the pipe , the gear and the shaft .
Reassembly
1. Mount the key on the L-axis motor . (The key is attached to the L-axis motor
.)
2. Apply sealing bond (ThreeBond 1206C) between the L-axis motor flanged surface
and the shaft , and mount the L-axis motor , the shaft , the pipe , the gear
and the shaft .
3. Tighten the hexagon socket head cap screws (apply LOCTITE 242 to the screw parts) with the tightening torque shown in the Table 6-4 "The Comparison Table for Parts".
4. Apply sealing bond (ThreeBond 1206C) between the L-axis motor flanged surface and the motor base. Being careful not to scratch the oil seal in the motor base, mount
the L-axis motor on the motor base.
5. Tighten the hexagon socket head cap screws with the tightening torque shown in the Table 6-4 "The Comparison Table for Parts".
6. Mount the MS connector (encoder, power) of the internal cable on the L-axis motor .
7. Remove the backup battery.
8. Supply grease (Molywhite RE No.00).
9. Turn ON the robot controller.
• Execute disassembly and reassembly of the L-axis motor after mounting the L-axis fixing jig on the balancer. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L-axis motor brake.
Failure to observe this leads unexpected L-arm rotation at the moment when the L-axis motor is removed and it may result in damage to machinery or death or serious injury.
• Refer to chapter 4 "L-axis Fixing Jig Operating" in this book about how to fix the balancer.
1
2 1
1
8 3
4 5 6 7
4 1 4
1
1
3 1 3 5
6 7
8
1
1
2
1
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Table 6-4 The Comparison Table for Parts
No. NameNumber
Notes
L-axis Motor HW9381261-AL-axis Motor HW9381536-A
11
For UP130 and UP165For UP200
Hexagon Socket Head Cap Screws M12x35 Conical Spring Washer 2H-12
4 each
Tightening Torque84N•m
Shaft HW9482306-BShaft HW9482306-EShaft HW9482339-A
111
For UP130For UP165For UP200
Key 1
Pipe HW9405134-1•Retaining Ring ISTW-15 1 For UP130
Gear HW9482308-AGear HW9482358-A
11
For UP130For UP165 and UP200
Shaft HW9481343-A 1
Hexagon Socket Head Cap Screws M8x115 Conical Spring Washer 2H-8Hexagon Socket Head Cap Screws HW9482316-C Conical Spring Washer ISTW12Hexagon Socket Head Cap Screws HW9482506-A Conical Spring Washer ISTW12
1 each1 each1 each
Tightening Torque for UP130 :40N•m Tightening Torque for UP165 :40N•m Tightening Torque for UP200 :68N•m
1
2
3
4
5
6
7
8
6-6
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Fig. 6-25 (a) Disassembly and Reassembly of the L-Axis Motor
6-7
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Fig.6-25 (b) Disassembly and Reassembly of the L-Axis Motor (UP130)
Fig. 6-25 (c) Disassembly and Reassembly of the L-Axis Motor (UP165 and UP200)
The part to apply the sealing bond
8
7
6 5
4
3
2
1
8
6
7
34
2 1
6-8
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6.3 Disassembly and Reassembly of the U-Axis Motor
• Refer to "Fig. 6-26 (a) Disassembly and Reassembly of the U-Axis Motor " and "Fig. 6-26 (b) Disassembly and Reassembly of the U-Axis Motor ".
Disassembly
1. Turn OFF the robot controller, drain grease, and connect the backup battery.
2. Remove the MS connector (encoder, power) connected to the U-axis motor .(Refer to chapter " 2 Notes for Maintenance " in this manual).
3. Before removing the U-axis motor , hold the U-arm not to rotate by chain block etc.
4. Remove the hexagon socket head cap screws , and remove the U-axis motor
from the casing with the tapped holes on the U-axis motor flanged surface. At this time, be careful not to scratch the oil seal in the casing.
5. Remove the retaining ring and the bolt to remove the shaft , the gear , the
shaft and the key .
Reassembly
1. Mount the key on the U-axis motor . (The key is attached to the U-axis motor
.)
2. Apply sealing bond (ThreeBond 1206C) between the U-axis motor flanged surface
and the shaft , and mount the U-axis motor, the shaft , the gear and the shaft
.
3. Mount the shaft , the gear and the retaining ring , after tightening the bolt (apply LOCTITE242 to the screw parts) with the tightening torque shown in the Table 6-5 "The Comparison Table for Parts".
4. Apply sealing bond (ThreeBond 1206C) between the U-axis motor flanged surface and the casing. Being careful not to scratch the oil seal in the gear unit, mount the U-
axis motor on the casing.
5. Tighten the hexagon socket head cap screws with the tightening torque shown in the Table 6-5 "The Comparison Table for Parts".
6. Mount the MS connector (encoder, power) of the internal cable on the U-axis motor .
7. Remove the backup battery.
8. Supply grease (Molywhite RE No.00).
9. Turn ON the robot controller.
Table 6-5 The Comparison Table for Parts
No. NameNumber
Notes
U-axis Motor HW9381261-A 1
Hexagon Socket Head Cap Screws M12x40 Conical Spring Washers 2H-12
4 each
Tightening Torque 84N•m
Shaft HW9482306-C 1
Gear HW9482318-AGear HW9482451-A
11
For UP130For UP165 and UP200
Shaft HW9481343-A 1
1
1
2 1
1
7 8 3 4
7 6
6 1 6
1
1
3 3 4
5
5 4 7 8
1
1
2
1
1
2
3
4
5
6-9
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Fig. 6-26 (a) Disassembly and Reassembly of the U-Axis Motor
Key 1
Retaining Ring ISTW-12 1
Bolt HW9482316-A 1 Tightening Torque 40N•m
Table 6-5 The Comparison Table for Parts
No. NameNumber
Notes
6
7
8
6-10
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Fig. 6-26 (b) Disassembly and Reassembly of the U-Axis Motor
8
7
6
5
4
3
2
1
The part to apply the sealing bond
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6.4 Disassembly and Reassembly of the RBT-Axes Motors
• Refer to Fig.6-27 (a "Disassembly and Reassembly of the RBT-axes Motors" and Fig.6-27 (b "Disassembly and Reassembly of the RBT-Axes Motors".
Disassembly
1. Turn OFF the robot controller.
2. Remove the GT-SA bolts • to remove the covers • and the gaskets •
.
3. Connect the backup battery to the connector on the upper part of the casing . (Refer to chapter 2 "Notes for Maintenance" in this manual.)
4. Remove the RBT-axis motor’s connectors connected to the internal cable.
5. Remove the hexagon socket head cap screws , and remove the RBT-axis motors
from the casing with the notch on the casing .
6. Remove the hexagon socket head cap screws to remove the keys , the pulleys
and B covers .
Reassembly
1. Mount the key on the RBT-axis motors . (The key is attached to the RBT-axis
motors .)
2. Mount the pulleys and the B covers on the RBT axis motors and tighten the
hexagon socket head cap screws (apply LOCTITE 242 to the screw parts) with the tightening torque shown in the Table 6-6 "The Comparison Table for Parts".
3. Apply sealing bond (ThreeBond 1206C) between the RBT-axis motors and the
casing , and mount the RBT-axis motors on the casing .
4. Adjust the tension of the belt, and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 6-6 "The Comparison Table for Parts". (Refer to the chapter 9 "Adjustment the Tension of the RBT-Axes Belts" in this manual.
5. Connect the connector connected to the internal cable to the connector on the upper part of casing. Remove the backup battery.
6. Mount the covers • and the gaskets • , and tighten them with the GT-SA
bolts • .7. Turn ON the robot controller.
12 13 10 8 11
9
7
1
2
1 7 7
6 3
4 5
4 1 4
1
4 5 1
6
1
7 1 7
2
8 10 9 11
12 13
6-12
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Table 6-6 The Comparison Table for Parts
No. Name Number Notes
RBT-axis Motors : R-axis HW9380938-A : B•T-axis HW9381368-A
12
Hexagon Socket Head Cap Screws M6x30 Conical Spring Washer 2H-6(B•T-axis) Collar HW9404231-1
4 each x 3
4x3
Tightening Torque 10.0 N•m
Key 3
Pulley HW9482275-APulley HW9482450-APulley HW9482275-A
321
For UP130, 200 (RBT-Axes)For UP165 (RB-Axes)For UP165 (T-Axis)
B Cover HW9405163-1 3
Hexagon Socket Head Cap Screw M6x20 Conical Spring Washer 2H-6
1 each x 3 Tightening Torque 16.5 N•m
Casing HW9100889-1 1
Cover HW9302176-1 1
Gasket HW9381484-A 1
Cover HW9405439-1 1
Gasket HW9482427-A 1
GT-SA Bolts M6x15 4 Tightening Torque 10 N•m
GT-SA Bolts M6x15 7 Tightening Torque 10 N•m
1
2
3
4
5
6
7
8
9
10
11
12
13
6-13
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Fig. 6-27 (a) Disassembly and Reassembly of the RBT-axes Motors
6-14
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Fig.6-27 (b) Disassembly and Reassembly of the RBT-Axes Motors
A
View observed from the arrow A (a scale of measurement 1 : 8)
The part to apply the sealing bond
121110
R-axis motor
T-axis motor
B-axis motor
29
8
7
6
54
3
1
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7 Disassembly and Reassembly of the Speed Reducer
• Refer to Fig.7-28(a "Disassembly and Reassembly of the S-Axis Speed Reducer" and Fig.7-28(b "Disassembly and Reassembly of the S-Axis Speed Reducer" in this chapter.
7.1 Disassembly and Reassembly of the S-Axis RV Speed Reducer
Disassembly
1. Turn OFF the robot controller and drain grease.
2. Remove the hexagon socket head cap screws • , and remove the shaft and
the gear unit with the tapped holes.
3. Remove the hexagon socket head cap screws to remove the upper part from the S head of the robot.
4. Remove the hexagon socket head cap screws to remove the RV speed reducer
from the base .
5. Remove the tube connected to the straight union .
6. Remove the straight union from the RV speed reducer .
7. Remove the hexagon socket head cap screws , and remove the shaft and O-ring
with the tapped holes.
Reassembly
1. Mount the straight union on the RV speed reducer .
2. Mount O-ring on the shaft , apply sealing bond (ThreeBond 1206C) between the
RV speed reducer and the shaft , and tighten the hexagon socket head cap
screws with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".
3. Connect the tube to the straight union .
4. Apply sealing bond (ThreeBond 1206C) between the RV speed reducer and the
base , and tighten the hexagon socket head cap screws (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".
Refer to chapter 3 "Home Position Return Operation", chapter 4 "L-axis Fixing Jig Operating" and chapter 5 "Grease Replenishment/Exchange" in this book.
NOTE
11 2 12
3
4
5 1
13
10 9
9 1
7 6
8
9 1
8 6
1 6
7
10 9
1
13 5
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5. Mount the upper part from the S head of the robot on (3), and tighten the hexagon
socket head cap screws with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".
6. Apply sealing bond (ThreeBond 1206C) between (4) and the gear unit , and tighten
the hexagon socket head cap screws (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".
7. Mount the shaft on the RV speed reducer , and tighten the hexagon socket head
cap screws (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".
8. Turn ON the robot controller.
Table 7-7 The Comparison Table for Parts
Number
Name
The number of the parts
Notes
RV Speed Reducer HW9381388-A 1
Hexagon Socket Head Cap Screws M8x90Spring Washers 2H-8
8 each Tightening Torque 24.5N•m
Gear Unit HW9171471-A 1
Hexagon Socket Head Cap Screws M12x55Spring Washers 2H-12
17 each Tightening Torque 142N•m
Hexagon Socket Head Cap Screws M18x150Spring Washers 2H-18
9 each Tightening Torque 475N•m
Shaft HW9302385-1 1
Hexagon Socket Head Cap Screws M6x20Spring Washers 2H-6
4 each Tightening Torque 10N•m
O-ring G135 1
Straight union KQS10-01S 1
Tube NB-1075-1,1. 1
Hexagon Socket Head Cap Screws M5x16Spring Washers 2H-5
4 each Tightening Torque 6N•m
Shaft HW9302524-1 1
Base HW9100888-1 1
4
3
2
12 1
11
1
2
3
4
5
6
7
8
9
10
11
12
13
7-2
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Fig. 7-28(a Disassembly and Reassembly of the S-Axis Speed Reducer
7-3
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Fig.7-28(b Disassembly and Reassembly of the S-Axis Speed Reducer
13
12
11
10
98
7
65
43
2
1
The part to apply the sealing bond
S-head
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7.2 Disassembly and Reassembly of the L-Axis RV Speed Reducer
• Refer to Fig.7-29(a "Disassembly and Reassembly of the L-Axis Speed Reducer" and Fig.7- 29 (b "Disassembly and Reassembly of the L-Axis Speed Reducer" in this chapter.
Disassembly
1. Turn OFF the robot controller, and fix the balancer.
2. Remove the L-axis motor . (Refer to section 6.2 “Disassembly and Reassembly of the L-Axis Motor”.)
3. Hold the L arm not to rotate by the chain block etc. before removing the RV speed
reducer .
4. Remove the hexagon socket head cap screws to remove the motor base and
the oil seal from the RV speed reducer .
5. Remove the hexagon socket head cap screws • • to remove the RV speed
reducer and O-ring from the S head .
Reassembly
1. Mount the O-ring on the RV speed reducer .
2. Apply sealing bond (ThreeBond 1206C) between (1) and the S head , and tighten
the hexagon socket head cap screws • • with the tightening torque shown in the Table 7-8 "The Comparison Table for Parts".
3. Mount the motor base on the RV speed reducer , and tighten the hexagon
socket head cap screws with the tightening torque shown in the Table 7-8 "The Comparison Table for Parts".
4. Mount the L-axis motor . (Refer to section 6.2 “Disassembly and Reassembly of the L-Axis Motor”.)
5. Turn ON the robot controller.
• Execute disassembly and reassembly of the L-axis motor after mounting the L-axis fixing jig on the balancer. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L-axis motor brake.
Failure to observe this leads unexpected L-arm rotation at the moment when the L-axis motor is removed and it may result in damage to machinery or death or serious injury.
• Refer to chapter 4 "L-axis Fixing Jig Operating" about the way to fasten the balancer.
10
1
4 2
5 1
8 7 3
1 6 9
6 1
9
3 7 8
2 1
3
10
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Table 7-8 The Comparison Table for Parts
Number
Name
The number of the parts
Notes
RV Speed Reducer HW9381442-ARV Speed Reducer HW9381442-B
11
For UP130For UP165 and UP200
Motor Base HW9200895-1 1
Hexagon Socket Head Cap Screws M12x65Spring Washers 2H-12
2 each Tightening Torque 142N•m
Hexagon Socket Head Cap Screws M12x80Spring Washers 2H-12
22 each Tightening Torque 142N•m
Oil Seal Y507212.5 1
O-ring G300 1
Hexagon Socket Head Cap Screws M16x65Spring Washers 2H-16
6 each Tightening Torque 348N•m
Hexagon Socket Head Cap Screws M12x55Spring Washers 2H-12
18 each Tightening Torque 142N•m
S head HW9100894-1 1
L-axis motor 1
1
2
3
4
5
6
7
8
9
10
7-6
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Fig. 7-29(a Disassembly and Reassembly of the L-Axis Speed Reducer
7-7
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Fig.7- 29 (b Disassembly and Reassembly of the L-Axis Speed Reducer
View observed from the arrow A(1:2)
A
10
4
33
8 7
6
5
41
32
The part to apply the sealing bond
L-arm
7-8
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7.3 Disassembly and Reassembly of the U-Axis RV Speed Reducer
• Refer to Fig.7-30(a "Disassembly and Reassembly of the U-Axis Speed Reducer"Disassembly and Fig.7- 30 (b "Disassembly and Reassembly of the U-Axis Speed Reducer" in this chapter.
Disassembly
1. Turn OFF the robot controller.
2. Hold the U-arm unit not to fall by the chain block etc before removing the U-axis
motor .(Refer to section 6.3 “Disassembly and Reassembly of the U-Axis Motor”.)
3. Remove the U-axis motor .
4. Remove the hexagon socket head cap screws • to remove the U-arm unit from the body of the machine.
5. Remove the hexagon socket head cap screws to remove the RV speed reducer
and the O-ring from the U-arm unit .
6. Remove the O-ring from the RV speed reducer .
Reassembly
1. Mount the O-ring to the RV speed reducer .
2. Mount 1. on the U-arm unit , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-9 "The Comparison Table for Parts".
3. Apply sealing bond (ThreeBond 1206C) between the RV speed reducer and the
L-arm on the body, and tighten the hexagon socket head cap screws • with the tightening torque shown in Table 7-9 "The Comparison Table for Parts".
4. Mount the U-axis motor .(Refer to section 6.3 “Disassembly and Reassembly of the U-Axis Motor”)
5. Turn ON the robot controller.
Table 7-9 The Comparison Table for Parts
No. Name Number Notes
RV Speed Reducer HW9381465-ARV Speed Reducer HW9381465-C
11
For UP130For UP165 and UP200
Hexagon Socket Head Cap Screws M16x50Spring Washers 2H-16
6 each Tightening Torque 348N•m
Hexagon Socket Head Cap Screws M10x35Conical spring washers 2H-10
18 each Tightening Torque 82N•m
U-arm Unit 1
O-ring 1
U-axis Motor 1
Hexagon Socket Head Cap Screws M12x55Spring Washers 2H-12
16 each Tightening Torque 142N•m
4
6
6
2 3 4
7 1
5 4
5 1
5 1
4 7
1
2 3
6
1
2
3
4
5
6
7
7-9
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Fig. 7-30(a Disassembly and Reassembly of the U-Axis Speed Reducer
7-10
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Fig.7- 30 (b Disassembly and Reassembly of the U-Axis Speed Reducer
7
6
5
4
3
2
1
The part to apply the sealing bond
L-arm
7-11
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7.4 Disassembly and the Reassembly of the R-Axis Cyclo Speed Reducer
• Refer to Fig.7-31(a "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer", Fig.7- 31 (b "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer" and Fig.7- 31 (c "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer" in this chapter.
Disassembly
1. Turn OFF the robot controller.
2. Remove the hexagon socket head cap screws and the pin , and use the tapped
holes to remove the wrist unit from the cyclo speed reducer .
3. Remove the hexagon socket head cap screws , and use the tapped holes to remove
the cyclo speed reducer from the U-arm .
Reassembly
1. Apply sealing bond (ThreeBond 1206C) between the U-arm and the cycle speed
reducer , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-10 "The Comparison Table for Parts".
2. Mount the wrist unit on the cycle speed reducer with the hexagon socket head
cap screws temporarily, and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-10 "The Comparison Table for Parts" after
putting the pin .3. Turn ON the robot controller.
Table 7-10 The Comparison Table for Parts
No. Name Number Notes
Cyclo Speed Reducer HW9381399-ACyclo Speed Reducer HW9381260-A
11
For UP130 and UP165For UP200
Hexagon Socket Head Cap Screws M8x95Spring Washers 2H-8Hexagon Socket Head Cap Screws M12x115Spring Washers 2H-12Washer HW9302581-1
16 each
12 each
Tightening Torque for UP130: 40N•mTightening Torque for UP165 and UP200: 142N•m
Hexagon Socket Head Cap Screws M12x35Spring Washers 2H-12
8 each Tightening Torque 142N•m
Pin MSTM8-20 1
Wrist Base HW9100890-1Wrist Base HW9100955-1
11
For UP130 and UP165For UP200
U-arm 1
3 4
5 1
2
1 6
6
1 2
5 1
3 3
4
1
2
3
4
5
6
7-12
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Fig. 7-31(a Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer
7-13
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Fig.7- 31 (b Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer
7-14
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Fig.7- 31 (c Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer
The part to apply the sealing bond
6 54
321
7-15
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7.5 Disassembly and Reassembly of the B-Axis RV Speed Reducer
1. Turn OFF the robot controller.
2. Remove the hexagon socket head cap screws to remove the cover .
3. Remove the hexagon socket head cap screws • • • , use the tapped holes
to remove the RV speed reducer , the shims , the gear and the bearing all
together from the wrist .
4. Remove the hexagon socket head cap screws to remove the shims , the gear
and the bearing from the RV speed reducer . (Use the tapped holes in
removing the gear .)
Reassembly
1. Mount the bearing , the shims and the gear on the RV speed reducer ,
and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts".
2. Apply sealing bond (ThreeBond 1208D) between the RV speed reducer and the
wrist , and tighten the hexagon socket head cap screws • • • (Apply
ThreeBond 1208D only to the screw part of .) with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts".
3. Mount the wrist and the cover on the RV speed reducer , and tighten the
hexagon socket head cap screws with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts".
4. Turn ON the robot controller.
Table 7-11 The Comparison Table for Parts
No. Name Number Notes
RV Speed Reducer HW9380961-ARV Speed Reducer HW9381453-A
11
For UP130 and UP165For UP200
Cover HW0300889-1Cover HW9302370-1
11
For UP130 and UP165For UP200
Hexagon Socket Head Cap Screws M6x25Spring Washers 2H-6Hexagon Socket Head Cap Screws M6x12Spring Washers 2H-6
4 each
6 each
Tightening Torque for UP130 and UP165: 10 N•mTightening Torque for UP200: 10 N•m
Hexagon Socket Head Cap Screws M8x85Spring Washers 2H-8Hexagon Socket Head Cap Screws M14x115Spring Washers 2H-14
2 each
6 each
Tightening Torque for UP130 and UP165: 40 N•mTightening Torque for UP200: 226N•m
Hexagon Socket Head Cap Screws M8x90Spring Washers2H-8
4 each Tightening Torque 40 N•m
Hexagon Socket Head Cap Screws M8x40Spring Washers 2H-8Hexagon Socket Head Cap Screws M12x60Spring Washers 2H-12
14 each
10 each
Tightening Torque for UP130 and UP165: 40 N•mTightening Torque for UP200: 142 N•m
3 2
4 5 6 12
1 8 9 11
10
7 8
9 11 1
9
11 8 9 1
7
1
10 4 5 6 12
4
10 2 1
3
1
2
3
4
5
6
7-16
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Hexagon Socket Head Cap Screws M6x16Spring Washers 2H-6
4 each Tightening Torque 16.5 N•m
Shim HW9403624-1 1
Gear HW9380983-A 1
Wrist HW9100896-1Wrist HW9100954-1
11
For UP130 and UP165For UP200
Bearing 6908•Retaining ring C-type 51040 1 each
Hexagon Socket Head Cap Screws M8x20Spring Washers 2H-8Hexagon Socket Head Cap Screws M8x20Spring Washers 2H-8
16 each
14 each
Tightening Torque for UP130 and UP165: 40 N•mTightening Torque for UP200: 40 N•m
Table 7-11 The Comparison Table for Parts
No. Name Number Notes
7
8
9
10
11
12
7-17
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Fig. 7-32(a Disassembly and Reassembly of the B-Axis RV Speed Reducer
7-18
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7 Disassembly and Reassembly of the Speed Reducer
170903-1CD
Fig.7- 32 (b Disassembly and Reassembly of the B-Axis RV Speed Reducer
The part to apply the sealing bond
11
10
98
7
6
54 3
2
1
12
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7 Disassembly and Reassembly of the Speed Reducer
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7.6 Disassembly and Reassembly of the T-Axis Cycle Speed Reducer
Disassembly
1. Turn OFF the robot controller.
2. Remove the hexagon socket head cap screws to remove the flange .
3. Remove the hexagon socket head cap screws , remove the cycle speed reducer
, the gear , the shims and the washer all together from the wrist with the tapped holes.
4. Remove the hexagon socket head cap screws to remove the gear , the shims
and the washer from the cycle speed reducer .
Reassembly
1. Mount the gear , the shim and the washer on the cycle speed reducer ,
and tighten the hexagon socket head cap screws (Apply LOCTITE 242 to the screw parts.) with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts".
2. Apply sealing bond (ThreeBond 1208D) between the cyclo speed reducer and the
wrist , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts". (For UP200, Apply sealing bond (ThreeBond 1208D) to the screw part of 2 screws which are indicated with "" and shown in " Fig. 7- 33 (c) Disassembly and Reassembly of the T-Axis
Cycle Speed Reducer (UP200) " out of 8 hexagon socket head cap screws , and tighten them with the tightening torque shown in Table 7-12 "The Comparison Table for Parts".)
3. Apply sealing bond (ThreeBond 1208D) between the cyclo speed reducer and the
flange , and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts"
4. Turn ON the robot controller.
Table 7-12 The Comparison Table for Parts
No. Name Number Notes
Cyclo Speed Reducer HW0389042-ACyclo Speed Reducer HW0389041-A
For UP130 and UP165For UP200
Hexagon Socket Head Cap Screws M8x15Conical spring washers 2H-8Hexagon Socket Head Cap Screws M8x20Conical spring washers 2H-8
14 each
16 each
Tightening Torque for UP130 and UP165: 40 N•mTightening Torque for UP200:40 N•m
Flange HW9302056-1Flange HW9302372-1
11
For UP130 and UP165For UP200
Hexagon Socket Head Cap Screws M14x40GT-SH Washers M14Hexagon Socket Head Cap Screws M14x40GT-SH Washers M14
4 each
8 each
Tightening Torque for UP130 and UP165: 226 N•mTightening Torque for UP200: 226 N•m
Gear HW9380985-AGear HW9381049-A
11
For UP130 For UP165 and UP200
2 3
4
1 5 6 8 9
7 5
6 8 1
5 6 8 1
7
1
9 4
4
1
3 2
1
2
3
4
5
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7 Disassembly and Reassembly of the Speed Reducer
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Shims HW9403620-1 to5 1
Hexagon Socket Head Cap Screws M5x16Conical spring washers 2H-5
1 each Tightening Torque 10 N•m
Washer HW9403619-1 1
Wrist HW9100896-1Wrist HW9100954-1
11
For UP130 and UP165For UP200
Table 7-12 The Comparison Table for Parts
No. Name Number Notes
6
7
8
9
7-21
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Fig. 7-33(a Disassembly and Reassembly of the T-Axis Cycle Speed Reducer
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7 Disassembly and Reassembly of the Speed Reducer
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Fig.7- 33 (b Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP130,UP165)
Fig.7- 33 (c Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP200)
9 87
65
4
3
2
1
The part to apply the sealing bond
4
7-23
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8 Disassembly and Reassembly of the Wrist Unit
170903-1CD
8 Disassembly and Reassembly of the Wrist Unit
8.1 Disassembly and Reassembly of the Wrist Unit
Disassembly
1. Turn OFF the robot controller.
2. Remove the hexagon socket head cap screws , remove the wrist unit from the
cycle speed reducer with the tapped holes on the wrist base part .
Reassembly
1. Mount the wrist unit on the cyclo speed reducer with the hexagon socket head
cap screws temporarily, and tighten the hexagon socket head cap screws with the tightening torque shown in the Table 8-13 "The Comparison Table for Parts".
2. Turn ON the robot controller.
Table 8-13 The Comparison Table for Parts
No. Name Number Notes
Wrist Unit HW9171451-AWrist Unit HW9171451-BWrist Unit HW9171561-A
111
For UP130For UP165For UP200
Wrist Base HW9100890-1Wrist Base HW9100955-1
11
For UP130 and UP165For UP200
Hexagon Socket Head Cap Screw M12x35 Spring Washer 2H-12Hexagon Socket Head Cap Screw M12x35 Spring Washer 2H-12
8 each
12 each
Tightening Torque for UP130 and UP165 : 142 N•mTightening Torque for UP200 : 142 N•m
Cyclo Speed Reducer HW9381399-ACyclo Speed Reducer HW9381260-A
11
UP130 and UP165UP200
3 1
4 2
1 4
3 3
1
2
3
4
8-1
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170903-1CD
Fig. 8-34 Disassembly and Reassembly of the Wrist Unit
2 3 14
8-2
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9 Adjustment the Tension of the RBT-Axes Belts
170903-1CD
9 Adjustment the Tension of the RBT-Axes Belts
• Refer to Fig. 9-35 "Timing Belt Adjustment" in this chapter.
9.1 Disassembly and Reassembly of the R-, B- and T-Axis Timing Belts
Disassembly
1. Turn OFF the robot controller, and drain grease.
2. Remove the GT-SA bolts and remove the cover and gasket .
3. Remove the T-axis motor and remove the T-axis timing belt . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)
4. Remove the B-axis motor and remove the B-axis timing belt . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)
5. Remove the R-axis motor and remove the R-axis timing belt . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)
Reassembly
1. Mount the R-axis timing belt and mount the R-axis motor . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)
2. Mount the B-axis timing belt and mount the B-axis motor . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)
3. Mount the T-axis timing belt and mount the T-axis motor . (Refer to section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)
Refer to chapter 3 "Home Position Return Operation", and chapter 6 "Disassembly and Reassembly of the Motor" in this manual.
NOTE
9 7 8
6 3
5 2
4 1
1 4
2 5
3 6
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9 Adjustment the Tension of the RBT-Axes Belts
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Fig. 9-35 Timing Belt Adjustment
Table 9-14 The Comparison Table for Parts
NO. Name Number Notes
R-Axis Timing Belt 200S8M976R-Axis Timing Belt 200S8M960
11
For UP130 and UP200UP165
B-Axis Timing Belt 200S8M800 1
T-Axis Timing Belt 200S8M656 1
R-Axis Motor 1
B-Axis Motor 1
T-Axis Motor 1
Cover 1
Gasket HW9302176-1 1
GT-SA Bolt M6 x 15 7 Tightening Torque: 10 N•m
1
2
3
4
5
6
7
8
9
9 7 8
1
4
36 5
2
L-arm
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9.2 Adjustment of the RBT-Axes Timing Belts
Inspect the tension of the timing belt due to opening the cover of the belt tension inspection part as shown above.
1. Remove the hexagon socket head cap screws (M16 x 15)(4 screws) • the spring washers 2H-6, and remove the cover (HW9405164-1) • the gasket (HW9482310-A).
2. Loosen the hexagon socket head cap screws which are installed in the motor, and tighten the hexagon socket head cap screws with the tightening torque shown in the section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors” after adjustment the tension of the timing belt by the tension meter to fall within the tension shown in the Table 9-15 "Tension of the timing belts".
Table 9-15 Tension of the timing belts
Tension
R-Axis 219 - 290N (22.3 - 29.6 kgf)
B-Axis 219 - 290N (22.3 - 29.6 kgf)
T-Axis 219 - 290N (22.3 - 29.6 kgf)
Belt tension inspection part
9-3
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10 Battery Pack Replacement
170903-1CD
10Battery Pack Replacement
• Refer to Fig.10-36(a "Battery Location (Back View)", Fig.10- 36(b "Battery Loca-tion (Top View)", Fig.10- 36(c "Battery Connection for SLU-Axis", Fig.10- 36(d "Battery Connection for RBT-Axis" in this chapter
The battery packs are attached in the two positions indicated in Fig.10-36(a "Battery Location (Back View)" and Fig.10- 36(b "Battery Location (Top View)".If a battery alarm occurs in the XRC, replace the battery packs according to the following procedure:
Fig. 10-36(a Battery Location (Back View)
Fig.10- 36(b Battery Location (Top View)
3BC2BC1BC
Manipulator base
Battery pack Connector base
Pan head screw with washer M5 (8 washers)
Pan head screw with washer M5 (8 washers)
Battery pack forSLU-axes(HW9470932-A)
Battery pack for RBT-axes(HW9470932-B)
10-1
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10 Battery Pack Replacement
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Fig.10- 36(c Battery Connection for SLU-Axis
Fig.10- 36(d Battery Connection for RBT-Axis
1. Turn the XRC main power supply off.2. Remove the plate of the connector base to replace the battery unit.3. Remove the mounting screw which mounted on the plate of battery unit.4. Remove the plastic tape (insulation tape) protecting the connection part of the battery
pack in the manipulator.5. Connect the new battery unit.6. Remove the old battery unit.
7. Protect the connection part of the battery pack in the manipulator with plastic tape (insulation tape).
8. Mount the battery unit with the screw, and then mount the connector base.
Remove the old battery pack after connecting the new one so that the encoder absolutedate does not disappear.
Do not pinch the cable when the base connector is installed.
ab 0BT1
BAT1
0BT1BAT1a
ba
bBAT10BT1
b
a0BT1
BAT1
a: Insertion-type pin terminal(Male)b: Insertion-type pin terminal(Female)
See Procedure 6
See Procedure 7
See Procedure 4See Procedure 5
Internal wires for SLU-axes
Battery pack for SLU-axes before replacement
New battery pack
a
b
b
a
0BT4ba BAT4
BAT4a0BT4b
0BT4
BAT4
BAT40BT4
See Procedure 6
Internal wires for RBT-axes
See Procedure 7
See Procedure 4
Battery pack for RBT-axes before replacement
New battery packSee Procedure 5a: Insertion-type pin terminal(Male)b: Insertion-type pin terminal(Female)
NOTE
NOTE
10-2
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11 Cable Wiring
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11 Cable Wiring
Remove Operation of the Cable
Remove the encoder cable connectors, after connecting new battery pack not to loose the encoder absolute data.
Work Procedure
1 Undo the four hexagon socket head cap screws (M6x12), and remove the cover (HW9200891-1) beside the L-arm.
2 Remove the screws of the upper side of the model GP holder (BGP-48) to remove the flexible tube.
3 Remove the seven hexagon socket head cap screws (M6x16) to remove the cover (HW9302176-1) and the gasket (HW9381484-1).
NOTE
Cover
BGP-48
CoverGasket
Hexagon socket head cap screw
11-1
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11 Cable Wiring
170903-1CD
4 Remove the four (M6x16) and two (M6x12) hexagon socket head cap screws to remove the cover (HW9405439-1), the gasket (HW9482427-A) and the cover (HW9405310-1).
5 Remove the two pan head screws with washers (M4x10) to remove the connector (JL05-2A-24-28S), and pull the air tube out of the union.
6 Remove the hexagon socket head cap screws (M6x16) to remove the ground wire for the JL connector.
7 Verify that the R-, B- and T-axis motors connect with the battery for backup. Then remove the connector on the motor side of the relay adopter in the casing.
8 Verify that the U-axis motor connects with the battery for backup. Then remove the U-axis cable.
Cover
Union (2)
JL Connector
U-Axis connector
11-2
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11 Cable Wiring
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9 Remove the support (HW9302140-1) from the casing.
10 Take out the lead wire from the casing.
11 Verify that the S- and L-axis motors connect with the battery for backup. Then remove the S- and L-axis motor connector.
12 Remove the cover (HW9381532-1). Remove the two hexagon socket head cap screws (M6x20) to remove the plate (HW9405448-1) from the support (HW9302335-1).
13 Remove the four cross recessed APS bolts (M6x12) to remove the connector base (HW9302338-A).
14 Remove the S-axis speed reducer grease hose and the air tube from the union.
Cover
Hexagon socket head cap Screw
Plate
11-3
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11 Cable Wiring
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15 Remove the ground wire of the S-axis base. (There are two points to remove.)
16 Remove the housings (1BC, 2BC and 3BC).
17 Remove the two pan head screws with washers (M4x16) to remove the 4BC connector mounted on the base.
18 Remove the two hexagon socket head cap screws (M5x12) to remove the saddle (FCD-51).
Ground wire
Housing
Nut M4HW9481087-EGasket
2-pan head screw with washer M4X16
Detail view of installing JL connector
11-4
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11 Cable Wiring
170903-1CD
Reassembly
19 Remove the insert pin terminals of the battery and the S-axis LS lead wire.
20 Extract the cable.
1 Insert the cable.
2 Mount the saddle (FCD-51) with the hexagon socket head cap screws (M5x12).
Direction of extraction
Direction of insertion
11-5
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11 Cable Wiring
170903-1CD
3 Mount the 4BC connector on the base with the two pan head screws with washers (M4x16).
4 Mount the insert pin terminals on the battery and the S-axis LS lead wire.
5 Mount the housing (1BC, 2BC and 3BC).
6 Mount the ground wire of the S-axis base. (There are two places to mount.)
7 Mount the grease hose and the air tube of the S-axis speed reducer on the union.
8 Mount the connector base (HW9302338-A) with the four cross recessed APS bolts (M6x12).
2-Pan head screw with washer M4 (16washers) Nut M4
HW9481087-EGasket
Detail view of installing JL connector
Housing
Ground wire
11-6
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11 Cable Wiring
170903-1CD
9 Mount the plate (HW9405448-1) on the support (HW9302335-1) with the two hexagon socket head cap screws (M6x20), and then mount the cover (HW9381532-1).
10 Mount the S- and L-axis motor connector, and remove the S- and L-axis battery for backup.
11 Insert the lead wire into the casing.
12 Mount the support (HW9302140-1) with the four hexagon socket head cap screws (M6x20, applying the sealing bond).
Cover
Hexagon socket head cap Screw
Plate
11-7
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11 Cable Wiring
170903-1CD
13 Mount the connector on the motor side of the relay adopter in the casing. Then mount the U-axis motor cable on the U-axis motor, and remove the battery for the U-, R-, B- and T-axis for backup.
14 Mount the ground wire attached to the casing with the hexagon socket head cap screw (M6x16).
15 Mount the JL connector (JL05-2A-24-28S) with the two pan head screws with washers (M4x10), and mount the air tube.
16 Mount the cover (HW9405439-1), the cover (HW9405310-1) and the gasket (HW9482427-A) with the four (M6x16) and two (M6x12) hexagon socket head cap screws.
17 Mount the cover (HW9302176-1) and the gasket (HW9381484-1) with the seven hexagon socket head cap screws (M6x16).
Union (2)
JL Connector
Cover
CoverGasket
Hexagon socket head cap screw
11-8
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11 Cable Wiring
170903-1CD
18 Mount the flexible tube on the lower side of the model GP holder, and fasten the upper side of the model GP holder with the screws.
19 Mount the L-arm cover (HW9200892-1) with the hexagon socket head cap screws.
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12 Parts List
170903-1CD
12Parts List
12.1 UP130, UP165
12.1.1 S-Axis Driving Unit(1)
1027
10281024
1026
1025
10341035
1033
1006
1005
10121011
1001
10141013
1003
1016
1015
1004
1022
1023
1021
306210451046
1020
1019
12-1
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
1001 HW9100888-1 Base 1
1003 HW9381388-A Speed reducer 1
1004 AS568-281 O ring 1
1005 HW9302345-1 Shaft 1
1006 G135 O ring 1
1007 TC9011513 Oil seal 1
1008 VC801057 Oil seal 1
1009 AR-110 Clip 1
1010 6817ZZ Bearing 1
1011 M6×20 Socket screw 4
1012 2H-6 Conical spring washer
4
1013 KQS10-01S Union 1
1014 NB-1075-1 Tube 1
1015 M18×150 Socket screw 9
1016 2H-18 Conical spring washer
9
1017 M8×90 Socket screw 8
1018 2H-8 Conical spring washer
8
1019 HW9100894-1 S head 1
1020 M30×50 Socket screw 1
1021 HW9405032-1 Bolt 1
1022 M12×55 Socket screw 17
1023 2H-12 Conical spring washer
17
1024 HW9404486-1 Shaft 1
1025 LFF-3025 Oiless 1
1026 HW9404863-1 Stopper 1
1027 M8×40 Socket screw 1
1028 2H-8 Conical spring washer
1
1029 S130 O ring 1
1030 HW9302346-1 Shaft 1
1031 M5×20 Socket screw 4
1032 2H-5 Conical spring washer
4
1033 HW9470892-A Leads 1
1034 M5×20 Socket screw 2
1035 2H-5 Conical spring washer
2
1036 HW9302335-1 Support 1
1037 M5×16 Socket screw 4
1038 2H-5 Conical spring washer
4
1039 SGMDH-45A2B-YR12
Motor 1
1040 M12×40 Socket screw 4
1041 2H-12 Conical spring washer
4
1042 HW9381446-A Shaft 1
1043 M10×110 Socket screw 1
1044 2H-10 Conical spring washer
1
1045 M6×8 Socket screw 1
1046 2H-6 Conical spring washer
1
12-2
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12 Parts List
170903-1CD
12.1.2 S-Axis Driving Unit(2)
1039
1040
1041
1042
2028
2026
20282031
20331044
1043
2030
20252029
2027
2026
2025
2022
20242023
2013
2014
2012
2015
2016
201720182019
2020
2021
2017
2001
2003
2004
2002
2005
2006
20082007
2032
1018
1017
2009
2011
20101029
1031
1032
1036
1037
1038
1030
1008
1010
1009
1007
1019
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
1019 HW9100894-1 S head 1
2001 HW9381475-A Gear 1
2002 HW9405052-1 B stopper 1
2003 M5×16 Socket screw 6
2004 2H-5 Conical spring washer
6
2005 HW9481231-A Bearing 1
2006 HW9405049-1 B stopper 1
2007 M5×16 Socket screw 6
2008 2H-5 Conical spring washer
6
2009 HW9302141-1 Flange 1
2010 M5×16 Socket screw 4
2011 2H-5 Conical spring washer
4
2012 HW9405048-1 Housing 1
2013 M5×16 Socket screw 7
2014 2H-5 Conical spring washer
7
2015 G85 O ring 1
2016 HW9405304 Shim 1
2017 HR33206J Bearing 2
2018 M8×25 Socket screw 8
2019 2H-8 Conical spring washer
8
2020 HW9405047-1 Shaft 1
2021 HW9381476-A Gear 1
2022 HW9405051-1 Cover 1
2023 M5×16 Socket screw 7
2024 2H-5 Conical spring washer
7
2025 ISTW-35 Stopper 2
2026 6207ZZ Bearing 2
2027 HW9381477-A Gear 1
2028 IRTW-72 Stopper 2
2029 CIMR35-1 Shim 2
2030 Y507212.5 Oil seal 1
2031 M12×20 Socket screw 1
2032 HW9100893-1 Gear case 1
2033 PT1/8 Plug 1
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12 Parts List
170903-1CD
12.1.3 L-Axis Driving Unit(1)
3025
3027
3028
3029
30233022
302130203051
30543053
3052
30553061
30503046
3049
30473048
3035 3034
3033
30363037
30313032
3030
30493046
3050
30513054
3053
3052
30473048
1019
30163024
3019
3018
30073006
3019
3005
3004 3062
30083014
30153013
3012
3001
30103011
3009 30033002
UP130 (UP160: Next page)
3017
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12 Parts List
170903-1CD
UP165
3001
3010
3011
3002
3003
3015
3014
3009
3013
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
1019 HW9100894-1 S head 1
3001 SGMGH-44A2A-YR12
Motor 1
3002 M12×35 Socket screw 4
3003 2H-12 Conical spring washer
4
3004 HW9200895-1 M base 1
3005 EZ0094-AO Air breezer 1
3006 POC6-01M Union 1
3007 UB-0640-0.1C Tube 1
3008 Y507212.5 Oil seal 1
3009 HW9482308-A(UP130)HW9482358-A(UP165)
Gear 1
3010 HW9482306-B(UP130)HW9482306-E(UP165)
Shaft 1
3011 HW9481343-A Shaft 1
3012 HW9405134-1 Pipe 1
3013 ISTW-15(UP130)ISTW-12(UP165)
Stopper 1
3014 M8×115(UP130)HW9482316-C(UP165)
Socket screw 1
3015 2H-8(UP130)2H-12(UP165)
Conical spring washer
1
3016 HW9381442-A(UP130)HW9381442-B(UP165)
Speed reducer 1
3017 M12×80 Socket screw 22
3018 M12×65 Socket screw 2
3019 2H-12 Conical spring washer
24
3020 M12×55 Socket screw 18
3021 GT-SH-12 Washer 18
3022 M16×65 Socket screw 6
3023 GT-SH-16 Washer 6
3024 G300 O ring 1
3025 HW9100895-1 L arm 1
3027 HW9200891-1 Cover 1
3028 M6×12 APS bolt 4
3029 A-PT1/8 G nipple 1
3030 HW9405162-1 Shaft 1
3031 M12×90 Socket screw 6
3032 2H-12 Conical spring washer
6
3033 6218ZZ Bearing 1
3034 STW-90 C stopper 1
3035 HW9405161-1 Cover 1
3036 M8×20 Socket screw 4
3037 2H-8 Conical spring washer
4
3038 HW9302054-1 Shaft 1
3039 M12×50 Socket screw 12
12-7
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
3040 2H-12 Conical spring washer
12
3041 NA6912 Bearing 1
3042 AR-85 C stopper 1
3043 WR60 C stopper 1
3044 SB75×95×5 Oil seal 1
3045 SB60×78×9 Oil seal 1
3046 HW9405055-1 Shaft 2
3047 M10×55 Socket screw 18
3048 2H-10 Conical spring washer
18
3049 KE901107 Oil seal 2
3050 HR32916J Bearing 2
3051 HW9405056-1 B cover 2
3052 A-PT1/8 G nipple 2
3053 M8×25 Socket screw 8
3054 2H-8 Conical spring washer
8
3055 HW9405195-1 Shim 1
3056 HW9405195-2 Shim 2
3057 HW9405195-3 Shim 1
3058 HW9405195-4 Shim 1
3059 HW9405195-5 Shim 1
3060 HW9405195-6 Shim 1
3061 HW9405195-7 Shim 1
3062 PT1/8 Plug 2
12-8
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12 Parts List
170903-1CD
12.1.4 L-Axis Driving Unit(2)
3080
30773076
3075
3074
3068
3067
3072
3073
30713070
3066
30703071
30693065
3064
3063
30453043
30413042
3044
3038
30403039
30783079
3025
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
3025 HW9100895-1 L arm 1
3063 HW9405057-1 Clevis 1
3064 A-PT1/8 G nipple 1
3065 PT1/8 Plug 2
3066 HW9200892-1 Frange 1
3067 HW9302126-1 Rod 1
3068 M8 Set screw with a ball
1
3069 FD3187AO Dust seal 1
3070 SOB-607440 Oiless 2
3071 IRTW-75 C stopper 2
3072 HW9482271-A Coil spring 1
3073 HW9482270-A Coil spring 1
3074 HW9482269-A Coil spring 1
3075 HW9301853-1 Flange 1
3076 HW9100909-1 Case 1
3077 M8×35 Socket screw 3
3078 M8×20 Socket screw 8
3079 2H-8 Conical spring washer
8
3080 EZ2228A0 Cap 1
12-10
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12 Parts List
170903-1CD
12.1.5 U.R.B.T-Axis Link Unit
4024
4024
40794080
40814019AA
40204022
40194021
4076
40794080
4081
4075
4022
4023 40204021
40794080
40813025
40684067
40434042
4041
40444045
40694070
4001
4005 4094
4088
4089
4096
4095
40994098
4096
40784077
4082
40934092
4091
4084
4006
4085
40874086
40034004 4002
4013
4012
40254026
40204014
40184057
4015 40584017
4016
41014103
41024055
4056
40334032
4031
4028 4065
4100
4035
4034 40374036
40304029
40634061
4062
40534052
40644066
4051
40224021
40744020
4019
40494050
4047
4048
40094010
40834090
4008
40114007
40594060
4054 4071
40734072
4046 4027
12-11
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
3025 HW9100895-1 L arm 14001 6919DDU Bearing 14002 HW9405058-1 B cover 14003 M5×12 Socket screw 34004 2H-5 Conical spring
washer3
4005 WR95 S stopper 14006 HW9302143-1 Shaft 14007 6914DDU Bearing 14008 HW9381448-A Pulley 14009 M5×16 Socket screw 34010 2H-5 Conical spring
washer3
4011 ISTW-70 Stopper 14012 HW9381449-A Shaft 14013 HW9302142-A Shaft 14014 6204DDU Bearing 14015 HW9381447-A
(UP130)HW9381559-A(UP165)
Pulley 1
4016 M5×16 Socket screw 34017 2H-5 Conical spring
washer3
4018 HW9482276-A Pulley 14019 HW9482275-A
(UP130)HW9482450-A(UP165)
Pulley 2
4019AA HW9482275-A Pulley 14020 HW9402163-1 B cover 44021 M6×20 Socket screw 34022 2H-6 Conical spring
washer3
4023 SGMGH-13A2A-YR22
Motor 1
4024 SGMGH-13A2A-YR12
Motor 2
4025 M6×25 Socket screw 14026 2H-6 Conical spring
washer1
4027 HW9100889-1(UP130)HW9100889-2(UP165)
Casing 1
4028 HW9405482-1 Flange 14029 M6×12 Socket screw 74030 2H-6 Conical spring
washer7
4031 HW9482447-A Oil seal 14032 HW9405481-1 Collar 14033 ISTW-72 Stopper 14034 HW9405439-1 Cover 14035 HW9482427-A Gasket 14036 M6×12 Socket screw 44037 2H-6 Conical spring
washer4
4041 A-PT/1/8 G nipple 14042 HW9405165-1 Cover 14043 G45 O ring 14044 M6×20 Socket screw 44045 2H-6 Conical spring
washer4
4046 PT1/8 Plug 24047 HW9302176-1 Cover 14048 HW9381484-A Gasket 14049 M6×15 Socket screw 74050 2H-6 Conical spring
washer7
4051 SGMGH-44A2A-YR12
Motor 1
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12 Parts List
170903-1CD
No. DWG No. Name Pcs.
4052 M12×40 Socket screw 44053 2H-12 Conical spring
washer4
4054 HW9381465-A(UP130)HW9381465-C(UP165)
Speed reducer 1
4055 HW9405164-1 Cover 14056 HW9482310-A Gasket 14057 M6×15 Socket screw 44058 2H-6 Conical spring
washer4
4059 M12×55 Socket screw 164060 2H-12 Conical spring
washer16
4061 HW9482316-A Bolt 14062 2H-12 Conical spring
washer1
4063 HW9482318-A(UP130)HW9482451-A(UP165)
Gear 1
4064 HW9481343-A Shaft 14065 ISTW-12 C stopper 14066 HW9482306-C Shaft 14067 M10×35 Socket screw 184068 2H-10 Conical spring
washer18
4069 M16×50 Socket screw 64070 2H-16 Conical spring
washer6
4071 G270 O ring 14072 POC6-01M Union 24073 UB-0640-0.1C Tube 14074 200S8M976
(UP130)200S8M960(UP165)
Timing belt 1
4075 200S8M800 Timing belt 14076 200S8M656 Timing belt 14077 M12×40 Socket screw 124078 2H-12 Conical spring
washer12
4079 M6×25 Socket screw 124080 2H-6 Conical spring
washer12
4081 HW9404231 Washer 34082 HW9200894-1 U arm 14083 6904LLU*NS7* Bearing 14084 6811LLU Bearing 14085 HW9482283-A Shaft 14086 M4×14 Socket screw 44087 2H-4 Conical spring
washer4
4088 6914DDU Bearing 14089 ISTW-70 C stopper 14090 51020 C stopper 14091 HW9482282-A Shaft 14092 M4×14 Socket screw 64093 2H-4 Conical spring
washer6
4094 G185 O ring 14095 HW9381399-A Speed reducer 14096 PT1/8 Plug 24098 M8×95 Socket screw 164099 2H-8 Conical spring
washer16
4100 MSTM8-20 Pin 14101 HW9405310-1 Cover 14102 M6×12 Socket screw 24103 2H-6 Conical spring
washer2
12-13
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12 Parts List
170903-1CD
12.1.6 Wrist Unit
5010
5011
5082
50795012
50905081
5009
5011
5006
50375036
5114~51165033
50355034
5047
5042
5046
50455043
50485045
50445011
5008
5110~51135040
50955096
50945011
5007
5038
5041
5053
50525097
50025003
5001
5095
5096
5094
5004
50505029
50315032
5030
5027
50285026
5025
5117~5121
50215019
50145015 5013
50205021
5018
5016
50175023
5024
5022
50745075
50775076
50565057 5062
50585051
5061
5055
5106~5109
5054
5051
5039
5064
50595063
5068
50705069 5066
50725073
50675065
50715102~5105
5051
5087 5052
50615050
50515098~5101
508350845086
5085
50925091
50885005
5093
5089
5090
12-14
HW0480769107 of 111
12 Parts List
170903-1CD
No. DWG No. Name Pcs.
5001 HW9100890-1 Wrist base 1
5002 M12×35 Socket screw 8
5003 2H-12 Conical spring washer
8
5004 MSTM8-20 Pin 1
5005 HW9100896-1 Wrist 1
5006 HW9380961-A Speed reducer 1
5007 M8×20 Socket screw 16
5008 M8×40 Socket screw 14
5009 M8×90 Socket screw 4
5010 M8×85 Socket screw 2
5011 2H-8 Conical spring washer
36
5012 ARP568-263 O ring 1
5013 HW9482260-A Shaft 1
5014 M4×12 Socket screw 4
5015 2H-4 Conical spring washer
4
5016 HW9302055-A Shaft 1
5017 HW9481234-A Bearing 1
5018 HW9403607-1 B cover 1
5019 M4×20 Socket screw 4
5020 M4×10 Socket screw 4
5021 2H-4 Conical spring washer
8
5022 HW9301424-1 Housing 1
5023 HW9405445-1 B nut 1
5024 M4×6 H set screw 1
5025 G70 O ring 1
5026 AC2651FO Oil seal 1
5027 6810 Bearing 1
5028 WR50 Clip 1
5029 AC1030FO Oil seal 1
5030 HW9380982-A Gear 1
5031 M4×12 Socket screw 6
5032 2H-4 Conical spring washer
6
5033 HW9380983-A Gear 1
5034 M6×16 Socket screw 4
5035 2H-6 Conical spring washer
4
5036 6908 Bearing 1
5037 51040 C stopper 1
5038 HW9380984-A Gear 1
5039 HW9380986-A Gear 1
5040 HW9481236-A Bearing 1
5041 HW9403609-1 Housing 1
5042 HW9403610-1 B cover 1
5043 M4×8 Socket screw 4
5044 M4×16 Socket screw 4
5045 2H-4 Conical spring washer
8
5046 HW9405444-1 B nut 1
5047 M4×6 H set screw 1
5048 HW9405097-1 Cover 1
5049 M4×16 Socket screw 4
5050 G110 O ring 1
5051 HR32004XJ Bearing 4
5052 6911 Bearing 1
12-15
HW0480769108 of 111
12 Parts List
170903-1CD
No. DWG No. Name Pcs.
5053 AE3290E3 Oil seal 1
5054 S60 O ring 1
5055 HW9403618-1 Housing 1
5056 M6×16 Socket screw 5
5057 2H-6 Conical spring washer
5
5058 HW9380987-A Gear 1
5059 HW9380988-A Gear 1
5060 HW9380989-A Gear 1
5061 HW9405443-1 B nut 2
5062 M5×7 Set screw with a ball
4
5063 HW9481235-A Bearing 1
5064 HW9405442-1 Shaft 1
5065 HW9403615-1 Washer 1
5066 M8×40 Socket screw 1
5067 2H-8 Conical spring washer
1
5068 HW9403616-1 B cover 1
5069 M4×10 Socket screw 4
5070 2H-4 Conical spring washer
4
5071 HW9403617-1 Housing 1
5072 M6×16 Socket screw 3
5073 2H-6 Conical spring washer
3
5074 HW9200900-1 Cover 1
5075 A-MT×1 G nipple 1
5076 M5×14 Socket screw 8
5077 M5 Washer 8
5079 HW9301409-1 Cover 1
5080 M6×25 Socket screw 4
5081 2H-6 Conical spring washer
4
5082 PT1/8 Plug 1
5083 HW9380985-A(UP130)HW9381049-A(UP165)
Gear 1
5084 HW9403619-1 Washer 1
5085 M5×12 Socket screw 1
5086 2H-5 Conical spring washer
1
5087 HW9380986-A(UP130)HW9381048-A(UP165)
Gear 1
5088 HW9381400-A Speed reducer 1
5089 M14×40 Socket screw 4
5090 GT-SH-M14 washer 4
5091 HW9302056-1 Flange 1
5092 M5×8 H set screw 1
5093 M8×15 Socket screw 14
5094 HW9481237-A Stopper 2
5095 M8×15 Socket screw 4
5096 2H-8 Conical spring washer
4
5097 EZ5036AO Cap 2
5098 HW9403620-1 Shim 1
5099 HW9403620-2 Shim 1
12-16
HW0480769109 of 111
12 Parts List
170903-1CD
No. DWG No. Name Pcs.
5100 HW9403620-6 Shim 1
5101 HW9403620-7 Shim 1
5102 HW9403621-1 Shim 1
5103 HW9403621-2 Shim 1
5104 HW9303621-5 Shim 1
5105 HW9303621-6 Shim 1
5106 HW9303622-1 Shim 1
5107 HW9303622-2 Shim 1
5108 HW9303622-4 Shim 1
5109 HW9303622-6 Shim 1
5110 HW9303623-1 Shim 1
5111 HW9303623-2 Shim 1
5112 HW9303623-4 Shim 1
5113 HW9303623-5 Shim 1
5114 HW9303624-1 Shim 1
5115 HW9303624-2 Shim 1
5116 HW9303624-3 Shim 1
5117 HW9303625-1 Shim 1
5118 HW9303625-2 Shim 1
5119 HW9303625-4 Shim 1
5120 HW9303625-5 Shim 1
5121 HW9303625-6 Shim 1
12-17
HW0480769110 of 111
MOTOMAN-UP130, UP165, UP200 MAINTENANCE MANUAL
HEAD OFFICE2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, JapanPhone +81-93-645-7703 Fax +81-93-645-7802
100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA America Inc. (Motoman Robotics Division)
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, SwedenPhone +46-480-417-800 Fax +46-480-417-999
YASKAWA Nordic AB
Yaskawastrasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Europe GmbH Robotics Divsion )
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, KoreaPhone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Korea Co., Ltd
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Singapore) PTE Ltd.
No7 Yongchang North Road, Beijing E&T Development Area China 100176Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA SHOUGANG ROBOT Co. Ltd.
#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, IndiaFax +91-124-475-8542Phone +91-124-475-8500
YASKAWA India Private Ltd. (Robotics Division)
YASKAWA Electric (China) Co., Ltd.22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone +86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA Electric (Thailand) Co., Ltd.252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,Rachadaphisek Road Huaykwang, Bangkok 10320, ThailandPhone +66-2693-2200 Fax +66-2693-4200
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanFax +886-2-8913-1513Phone +886-2-8913-1333
YASKAWA Electric Taiwan Corporation
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia
Fax +62-21-2982-6741Phone +62-21-2982-6470
PT. YASKAWA Electric Indonesia
7HW0480769MANUAL NO.
Specifications are subject to change without noticefor ongoing product modifications and improvements.
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