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M–E099XE0K2–021

1. Transportable load mass kg Transportable load mass kg Transportable load mass kg 200 0 200 0 40 0 Position D Accel 4 9 A Position 1 Accel 4 9 NS ay 180 0 1 Position Q Accel 9 8 180 0 l a Position 1 Accel 9 8 35 0 ition G 3 ind Position and Accel 4 9 469 9 S Position Accel 9 8 ne h 140 0 Position Accel 9 8 140 0 25 0 120 0 120 0 100 0 a j kg for main T7 100 0 20 f Position Accel 4 9 x cea e amA cack Position D Accel 9 8 ral 80 0 80 0 Te 15 0 60 0 60 0 Position and Accel 4 9 10 0 Position Accel 9 8 40 0 40 0 4 a Position Accel 9 8 20 0 20 0 Position and 3 Accel 4 9 00 0 4 Position 3 Accel 9 8 0 0 BSRgsese8888S PSERRBFR882 888 8828888 8 BBB Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position and To be referred as the position of center of gravity of end effector including the work as shown above Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s e Accel 4 9 or 9 8 19 16 3 Installation and Maintenance of Module Main Unit 19 Reference Number
2. Sie Sie Os Or tS SS SS Ss S mM wo N Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position D and To be referred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 15 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L RH Module clean room specification 1 Select the closest position of center of gravity of the end effector from 1 in the figure below 2 The criteria shall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 12 Module main unit horizontal mount Module Module main main unit F unit vertical wall mount mount Moment arm length L Moment arm length L
3. Position 3 Accel 9 8 Positi I I I I Q Q Q Q Q Q Q oO O o e Q oO oO N ise w N O Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position 1 and To be referred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 12 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L RH Module 1 Select the closest position of center of gravity of the end effector from 1 3 in the figure below 2 The criteria shall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 9 Module Module main main unit D unit vertical wall mount mount Module main unit Moment arm length i Moment arm length horizontal mount L L Transportable load mass kg Transportable load mass kg Transportable load mass kg 200 0 200 0 40 0 Position D Accel 4 9 Position D Accel 4 9 Position 1 Accel 9 8 at Position D Accel 9 8
4. Position 1 Accel 4 Position 3 Accel 4 Position D Accel 4 9 Position Position 3 Accel 9 Position Accel 4 9 L Position 3 Accel 9 8 Position Accel 9 am Tay Position Accel 9 8 Position D Position Accel 4 Position 2 Accel 4 9 _ Position I I L Position Position 2 Position 2 Accel Position Accel 9 8 Position 2 Accel 9 8 Q Q d d 4 a 4 d d 4 J d d 4 Q Q e e e So A iso a oO Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position and To be referred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 10 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector W and moment arm length L RS Module high performance specification 1 Select the closest position of center of gravity of the end effect
5. Position and Accel 4 9 Position Accel 9 8 Position 2 Accel 9 D ere Position 2 Accel 9 20 4 Position Position Max 80 kg for main unit o Max 80 kg for main unit of 1 2 m s maximum speed 2 m s maximum speed Position and 3 Accel Position Accel Positi Position and 3 Accel 4 9 p LPesition Accel 9 8 Q on oe oe oe Oo oO O 8 Oo Oo 89 82 8 Oo 9 oOo r O O N Oo w Moment arm length mm Moment arm length mm Moment amm length mm Horizontal mount Wall mount Vertical mount e Position D and To be referred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 13 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L RS Module clean room specification 1 Select the closest position of center of gravity of the end effector from D in the figure below 2 The criteria shall be at lower left of each g
6. Home position Mechanical stopper position 20 2 Installation and Maintenance of Module Main Unit 20 Unpacking 20 3 Handling 1 Single module main unit Use main unit body for slinging or fixing to handle or transport 2 Multi axis combination Fix the robot with ropes or fixture so that it won t move in transit Figure 20 3 Mass of a main unit RH module 1000 mm stroke RM module 950 mm stroke 20 3 Installation and Maintenance of Module Main Unit 20 Unpacking Blank Page 20 4 Installation and Maintenance of Module Main Unit 21 Installation 21 Installation Improper mounting of the module main unit may result in mechanical breakage of the equipment and or personal injuries 1 The base axis main unit of a multi axis combination must be firmly fixed to the mounting surface by the bolts and the bolt holes as specified 2 In case of a multi axis combination connect the main units firmly each other using the specified combining bracket and the bolts 3 Be fully careful not to break the robot module system by the mechanical interference and be most careful not to harm yourself When carrying a 2 axes combination robot or a combined robot with the end effector the sliders of these robots may back drive and pinch your hands in Fix the slider using a rope or etc not to move while carrying the robot Caution Do not grab motor cover connector b
7. 21 13 2 RP MSSz and RG MS Combination 1 Get the junction box ready Photo 21 13 4 2 Unfasten M5 bolts 4 places and detach the L fixture Photo 21 13 5 Photo 21 13 5 3 Change the position of the L fixture as shown in Photo 21 13 6 Photo 21 13 6 21 179 Installation and Maintenance of Module Main Unit 21 Installation 21 13 3 RX RC and RX Combination 1 Get the L fixture with a plate to fix cable support ready Photo 21 13 7 2 Unfasten M4 bolts 4 places and detach the L fixture Photo 21 13 8 3 Reverse the position of the L fixture as shown in Photo 21 13 9 and fix it In Photo 21 13 9 the palate to fix the cable support is reversed Photo 21 13 9 21 180 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 Maintenance Checking We recommend to conduct the periodical checks and replace the parts as shown in Table 22 1 to avoid an unexpected system shutdown due to the breakdown of the parts Ball screws and NSK linear guides used for the main units are equipped with a unique lubrication system which consists of K1 lubrication unit and high load grease Because of this lubrication system you do not need replenish the grease if the robot system is going to be operated in the conditions described hereunder 1 Clean environment and no contamination 2 Ambient temperature is 0 40 C and no condensation 3
8. 22 2 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 2 Periodical Check 22 2 1 Checking Timing Belt This checking is only necessary for a motor indirect mount main unit The timing belt is treated as an expendable part The manufacturer has no obligation to the timing belt beyond the warranty period Be sure to perform the periodical checks to prevent from malfunctioning of the system colliding against an obstacle and free falling of a vertical axis slider Checking timing belt 1 Turn off the power of the EXEA controller or the servo switch 2 Remove the covers of the main unit PH and PM module Motor bottom cover Remove M4 bolts on the bottom 2 places Photo 22 1 Motor end cover Remove M4 bolts on the end 4 places Photo 22 2 Top cover Remove M3 bolts on the top surface Photo 22 3 PM module 2 places PH module 4 places RH and RM module pulley cover Remove M 3 bolts on the end 4 places Photo 22 4 RS module Motor end cover Remove M3 bolts 4 places Photo 22 5 Motor side cover Remove M3 bolts on the side and the end 2 places each Photo 22 6 22 3 Installation and Maintenance of Module Main Unit 22 Maintenance Checking Photo 22 1 Photo 22 2 Photo 22 3 Photo 22 4 Photo 22 5 Photo 22 6 22 4 Installation and Maintenance of Module Main Unit 22 Maintenance Checking
9. Specifications Figure 19 13 Concept and direction of moment Example 1 Rolling moment Mrot Weight component Mrot N m W kg x Li m x 9 8 m s7 Yawing moment Myaw Acceleration component Myaw N m W kg x Li m x ai m s7 Example 2 Rolling moment Mrot Weight component MroL N m W kg x L2 m x 9 8 m s7 Pitching moment MpitcH Acceleration component MeitcH N m W kg x L2 m x a2 m s7 Pitching moment MpitcH Weight component acceleration component MpitcH N m W kg x L3 m x 9 8 a3 m s7 Acceleration a3 19 17 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Figure 19 14 Standard operation pattern Standard operation pattern defined as shown below may be carried out continuously when the load mass is in the transportable mass specified in Table 19 6 If an operation that exceeds conditions of the standard operation pattern is carried out software thermal of the EXEA controller may function In such a case lower the acceleration set in the controller Other measures such as lower the maximum speed or extend stopping time may be effective However lowering acceleration is the most effective way for the shortest cycle time Acceleration both horizontal and vertical axis 4 9 m s Speed horizontally 1 2 m s vertically 0 6 m s Cycle time 3 sec includes twice of 0 1 sec stops Horizontal strok
10. 21 35 Installation and Maintenance of Module Main Unit 21 Installation 7 Insert two plate nuts part number 7 in Photo 21 4PD to upper and lower T slots of Z axis main unit at its cable side Insert them as shown in Figure 21 14 turning stuck out sponge side up pushing the nut upward angle Photo 21 11PD and 21 12PD Figure 21 14 How to insert plate nut to T slot t Plate nut N Push upward angle Photo 21 11PD Photo 21 12PD T slot upper and lower 8 Inserta plate nut part number 3 in Photo 21 4PD to the upper T slot of X axis main unit at motor side As shown in Figure 21 14 push upward angle the nut turning stuck out sponge side up Photo 21 13PD Motor side X axis main unit 21 36 Installation and Maintenance of Module Main Unit 21 Installation 9 Insert two plate nuts part number 8 in Photo 21 4PD to upper T slot of X axis main unit at opposite to motor side This procedure is the same as 7 and 8 Photo 21 14PD 10 Attach the flexible tube guide part number 7 in Photo 21 4PD to X axis main unit Loosely attach the flex tube guide temporarily by bolts M4 x 12 4 places then set it to the position L as shown in Photo 21 15PD from the end face of motor side using an adding tape Tighten the bolts firmly Tightening torque 1 7 2 0 N m Photo 21 15PD eee side Motor side eee motor gt WA 5 E L mm Reference number Z axis st
11. Photo 21 4RX Table 21 39 Section Hexagon socket cap screw ORI Connector DO l MI X 10 4 Dols a ssnmmmamnanannnnn 2 dd OP COVET S aman E aad caaca cated Ae Fixed side End COVE olathe n Ur steal EAN A Connector box 4 Slot peg mma oman Wa ga Pe aac cil attach to X axis SB Plate Ut ssn nanan 2 oun M3 X 6 6 DOMtS sna main unit Clamp base Oaah 2 a a ee eee ee ee Cable clamp 1 M4 x 20 2 bolts MS x 10 4 bolts Junction box B attach to Y axis fv main unit L fixture with a plate to fix cable support MS x 10 4 bolts Slot plug Plate nut 2 M3 x 6 6 bolts Clamp base 8 MS x 16 2 bolts M5 x 25 2 bolts Cable clamp 5 M4 x 20 6 bolts X Y cable support M6 x 10 4 bolts C Cable support Plate nut to fix cable support M6 x 10 4 bolts M6 x 16 4 bolts Plate nut M3 x 6 2 bolts 21 103 Installation and Maintenance of Module Main Unit 21 Installation 6 Affix seals of X and Y axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection in the multi axis combination because the connector is common to all main units regardless their motor power specifications Photo 21 5RX Controller cable Controller side cs 7 Insert two plate nuts 6 to each T slot of X axis main unit Photo 21 6RX Affix the connector box D to the
12. moving side 1 Refer to 21 3 Reversing Position of Main Unit Cable 2 Refer to 21 12 Reversing Connector Box 3 Refer to 21 13 Reversing L fixture Not necessary 2 Drive the pins to Y Z combining bracket Drive a chamfered pin and a straight pin with a plastic hammer to the bracket on the locations shown in Figure 21 33 below The pins are provided with Y Z combining bracket Be careful with the orientation of the chamfered pin See lower left figure for the orientation e Be careful not to push in pins for Y axis main unit on the back when driving the pins for Z axis main unit 21 123 Installation and Maintenance of Module Main Unit 21 Installation Figure 21 33 Fix to opposite side of Z axis main unit 4 places Driving orientation of the chamfered pin Pin for Y axis main unit ORO Y a a 4 aA i Fis oS Z direction OB Wrong Straight pin Chamfered pin i is sli to be driven to be driven 4 places Y direction Pins for Z axis main unit 3 Straight pin Chamfered pin Pin for Y axis main unit x These holes are not used for this combination 3 Fix X axis main unit to the mounting base Refer to 21 4 Fixing Module Main Unit Photo 21 1RP 4 Fix X Y combining bracket to the slider of X axis main unit M6 4 bolts tightening torque 9 8 44 8N m
13. Photo 21 66PD 21 53 Installation and Maintenance of Module Main Unit 21 Installation 22 Move X axis main unit frame manually in full stroke and check twist of the flexible tube and interference with the ancillaries Take measures in Table 21 21 below if the flexible cable is twisted Table 21 21 23 24 Cause Measures Make adjustment by twisting flexible tube Flexible tube can be rotated at tube connector Adjust at both ends Disassemble the fixed side connector box Straighten the tube flexible tube to remove twist of the cables Shortening the flexible cable is effective when X axis stroke is Affected by additional cables or air 500 to 700 mm Refer to 21 8 Shortening Flexible Tube tube Addition of metal fixture XY P180CC 1 for fixing flexible tube is effective also Due to core set of flexible tube After installation of a controller connect the controller cable to it Refer to 6 3 Installation of EXEA Controller Confirm the affixed seals to the connectors in procedure 18 hereinabove Affix the seals to X and Z axis module main unit to indicate positions of Home and the mechanical stopper See Photo 21 1 After completion of Home return motion turn the power off and affix one of the seals provided with module main unit to indicate Home position Refer to 17 3 1 Home Return Operation Then move the slider manually to opposite stroke end
14. 21 Installation 21 Fix around terminal of the ground conductor green of the built in cable to the fixing screw M3 x 6 of connector box 1 on X axis main unit Photo 21 26RJ If you use the user cable 6 rope lay conductors provided with the cable support wire the ground conductor to the ground terminal of external user equipment from the fixed round terminal Photo 21 26RJ X axis main unit 22 Connect all controller cables Photo 21 27RJ Attach the end cover 3 to the fixed side connector box 1 M5 x 10 4 bolts Set the cable holders of controller cables to the end cover groove in order of Z Y and X axis Photo 21 28RJ Photo 21 27RJ Photo 21 28RJ 23 Fix Z axis built in cable to upper side of M module side of M module with the clamping parts using the small plate nuts which have been inserted to T slots in the procedure 6 M3 x 16 2 bolts Photo 21 29RJ Store the rest of Z axis built in cable to the fixed side connector box 1 Photo 21 30RJ Photo 21 29RJ Photo 21 30 RJ Z axis built in cable 21 157 Installation and Maintenance of Module Main Unit 21 Installation 24 Pass the cables through the cable supports loosely so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector boxes then secure them with the clamping parts 49 and M4 x 20 2 bolts M5 x 16 2 bolts or M5 x 25 2 bolts Pla
15. 3 Move the slider manually and inspect the timing belt visually for damage Replace the timing belt if it is damaged as described in Table 22 3 below Refer to 22 3 2 Replacement of Timing Belt 4 Attach the covers again if there is no damage on the timing belt Table 22 3 Criteria for replacing timing belt The teeth are worn off LEE The teeth are sheared Core thread got frayed The side face is fuzzed and worn off Abnormal wear The belt is partially damaged Scores caused by running on pulley flange h 3 T E Scored in lengthwise AIAN AANA The rubber of the back surface have softened and got sticky Cracks in the back surface Pressure angle is Wear on pulley teeth changed due to wear E Wear on tooth edge 22 5 Description The duck of teeth are worn off e The duck fiber is fuzzed up and texture is getting vague e The surface rubber is removed and faded to whitish Cracks in the root of teeth The edges are worn out and the thread is getting frayed The belt is partially cracked In some case it may be accompanied by scores in the other part of belt which are caused by foreign matters The belt has run on the pulley flange Softened rubber stuck to the back surface Use of an idle pulley may be the cause The back surface is sticky Stuck oil may be the cause Cracks in the back surface are parallel to the teeth due to high or low temperatur
16. Cable holder Y Z axis controller cable 7 Move the connector box to the end of motor cover and then secure the connector box and the end cover M3 x 8 6 bolts Photo 21 9 Photo 21 10 M3 x 8 Motor cover Connector box 8 Fix the built in cable to the connector box with the clamp parts 7 M4 x 20 2 bolts Place the clamp base under the cable and clamp it Photo 21 11 Photo 21 12 21 163 Installation and Maintenance of Module Main Unit 21 Installation 9 Attach the top and end motor cover of main unit Photo 21 13 Photo 21 13 mr 21 164 Installation and Maintenance of Module Main Unit 21 Installation 21 8 Shortening of Flexible Tube The flexible tube of cable support abbreviated to tube hereafter is available in two standard length which cover X axis stroke of 100 400 mm and 500 mm 800 mm respectively These two standard tubes are designed to cover all multi axis combinations A protruding dimension of the tube a of respective combinations which are shown in the figures of multi axis combination in the catalog is the factory set However it may be shortened by cutting the tube in some combinations Refer to Table 21 54 and 21 55 for the relation between allowable cut length and the dimension a In Table 21 54 allowable cutting length for respective multi axis combinations are shown and the dimensions a resulted from the
17. Cable support Assemble procedure A type 1 Fix X axis to the mounting surface referring to 21 4 Fixing Module Main Unit Photo 21 1PG ny Datum face side 2 Fix the combining bracket to the slider of X axis main unit Bolt size M8 4 bolts Tightening torque 27 4 33 3 N m Prepare a steel plate which has sufficient flatness Press it to the datum face of the slider two places and fix the combining bracket to the slider while pressing the side face of the bracket to the plate This will give better perpendicular between X and Y axes main units and will reproduce exactly same accuracy in a case of re assembly of the two main units in the future Photo 21 2PG Photo 21 3PG Datum face 2 places Combining 21 22 Installation and Maintenance of Module Main Unit 21 Installation 3 Combine the combining bracket and Y axis main unit M6 bolts 4 places tightening torque 9 8 11 75 N m Photo 21 4PG 4 Attach the cable support to the main units and connect the cables Confirm that all parts of the cable support are ready Photo 21 5PG Table 21 9 _ __ Fixed side connector box frame 1 __ Front cover A Cable support P ___ EndcoverSS SsS SSSC idSCSC dtSCSCUMS XB A op O _ Platemt O O 1 Ma6 HH Flexible tube guide Square plate nut __ Stable side connector box frame a ai M3 x 8 4 bolts C Fixed side connector Front
18. Checking 8 Apply tension to the belt and fasten the motor fixing bolts at a uniform torque PH module M5 x 4 bolts fastening torque 4 5 N m PM module M4 x 2 bolts fastening torque 3 4 N m Loosely fasten the bolts and adjust the tension We recommend to apply extra tension to the timing belt by hanging the weight T from the motor flange in the manner shown in Photo 22 17 Be aware that an excessive tension results in the motor breakage while an insufficient tension will cause a position error due to slippage of the belt Additional tension T is shown in Table 22 6 Photo 22 17 Photo 22 17 Table 22 6 Tension N Motor mass kg 100 120 60 70 9 Check if any one is in the operating area of the robot then perform a Home return by the command of the controller and define the Home position When the Home position is shifted by difference in phase of the pulleys use Home position offset function of the EXEA controller Refer to 9 3 2 Parameters for Home Return Operation Additional tension kg N 9 11 90 110 5 5 6 5 55 65 Module 10 Attach the covers 1 Bottom motor cover M4 button head bolts 2 bolts 2 End motor cover M4 thin head cap bolts 4 bolts 3 Top cover M3 button head bolts 4 bolts for PH and 2 bolts for PM module 22 12 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 3 2 2 RH a
19. Contact your local NSK Note 1 Figures 19 4 to 19 12 show the criteria of moment load for which a main unit can last out an estimated life of 10 000 km The factors to define the criteria are e Mass of end effector include mass of the work e Distance of the center of gravity of end effector from the mounting surface of slider moment arm length L that is in normal direction of the mounting surface e Acceleration e Mounting position of robot Graphs in the figures show the relation between the mass of end effector and the moment arm length L for respective combinations of specific acceleration and position of center of gravity of the end effector Refer to Figure 19 15 for acceleration set to the controller and positioning time Note 2 For multi axis combination following two factors shall be examined for a module main unit e End effector mass W load mass shall be in the specification range stated on Table 19 6 e Relation of the position of end effector and the main unit to which the end effector is attached shall be at lower left of a graph 19 7 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass and moment arm length L PM Module 1 Select the closest position of center of gravity of the end effector from 1 in the figure below 2 The criteria shall be at lower left of each graph Refer to
20. Encoder connector Secure them with two screws Attach the end cover 1 Photo 21 21RP Photo 21 20RP Photo 21 21RP Motor connector n AR Encoder connector 16 Put the Z axis built in cables through Y Z cable support via the opening in the bottom of junction box 9 Fix the end of fixed side of Y Z cable support bracket with holes to the stay plate 42 M6 x 10 4 bolts Photo 21 22RP Photo 21 22RP Z axis main unit Y axis f 4 main unit 21 130 Installation and Maintenance of Module Main Unit 21 Installation 17 Fix the other end moving side of the cable support to the moving side connector box 7 as the same procedure 16 M6 x 10 4bolts Put the cables of Z axis main unit through Edge saddle of the end cover and fix the end cover to the connector box then connect the cables of Z axis main unit and the built in cables Motor connector Snap to the end Brake connector Snap to the end Encoder connector Secure them with 2 screws Photo 21 23RP Z Z axis main unit 18 Secure the round terminal of the ground conductor green to a fixing bolt of the connector box D M3 x 6 Photo 21 24RP When you use the user cables 6 rope lay conductors provided with the cable support wire the ground conductor to the ground terminal of external user s equipment from the fixed round terminal on the connector box Photo 21 24RP X axis main unit Ground m ANNS
21. Fix the main unit to the mounting base referring to 21 4 Fixing Module Main Unit Affix the seals provided with the respective controller cable connectors to indicate X Y Z or R axis The connectors are common to all main units regardless the motor power specifications Photo 21 5 20 Main unit cable Controller cable Connect the controller cable to the main unit Photos 21 21 and 22 Motor connector and brake power connector Snap to the end Encoder connector Secure it by two setscrews Photo 21 5 21 Photo 21 5 22 Motor indirect mount module 21 17 Installation and Maintenance of Module Main Unit 21 Installation 21 5 2 2 RH and RM Motor Indirect Mount Module lt Following photos show RM module as an example However the procedures are the same for RM module gt 1 Remove the top cover of the motor cover Photo 21 5 23 Photo 21 5 23 2 Connect the controller cable Insert the cable holder to the opening in the end cover Photo 21 5 24 Photo 21 5 24 3 Fix the top cover 21 18 Installation and Maintenance of Module Main Unit 21 Installation 21 6 Installation of End Effector 21 6 1 Mounting to Slider Use specified fixing bolts in Table 21 5 When using 98H7 pin holes of R series refer to Figure 21 6 for dimensions of locating pins After mounting an end effector to the slider make sure that by moving the slider manually no in
22. Horizontal transportable 80 mass kg Vertical transportable 20 mass kg Transportable mome nt Rolling 550 Pitching 450 Pitching 400 N m Repeatability mm 0 02 Motor power W oa y o S o 400 Ballscrewlead mm 2 40 20 equivalent Ambient temperature 0 40 C no condensation Transportable moment Maximum moment load for which a module main unit can last out an estimated life of 10 000 km when it is applied continuously in either one of rolling pitching and yawing direction 19 3 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Transportable mass of single axis moving main unit Transportable mass shown in Table 19 6 are applicable for all modules in standard and clean room specifications when it is used as a moving main unit The specification is valid when the center of gravity of the work is within 50 mm from the mounting surface of a main unit as indicated in Figure 19 1 Table 19 6 Transportable mass for single axis in moving main unit H module S module stroke mm a Wi mass stroke Imm ae mass stroke Imm Pal mass no 3 T 500 600 550 800 1000 950 Transportable mass of multi axis combination Stroke and transportable mass of respective multi axis combinations is indicated in Table 19 4 Figure 19 2 Combination code P series R series N x
23. Installation and Maintenance of Module Main Unit 21 Installation 12 Place the cables loosely in the cable support so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector boxes Then fasten the cables with the clamping parts 7 and 40 42 M4 x 20 or M5 x 16 2 bolts There are two places In the connector box place the clamp base first put the cables on it then fix them by cable clamp Photo 21 32RD 34RD Photo 21 14RD 6 4 Details of clamping cables Photo 21 33 RD Photo 21 34RD In the connector box Under the L fixture 13 Attach the top cover 2 to the connector box Pass the built in cables through an Edge saddle of the top cover Loosen the fixing bolts of the end cover and the L fixture push an edge of the top cover to the groove of the connector box then push into other side of the top cover to the connector box as shown in Photo 21 35RD Fasten the bolts to secure the end cover with the L fixture Photo 21 35RD i Fixing bolts 21 88 Installation and Maintenance of Module Main Unit 21 Installation Completion of RD HM combination Photo 21 36RD 42 Be sure to fix two connectors on the mounting base referring to 21 5 2 1 All Modules Excludes RH and RM Motor Indirect Mount Modules We recommend to fix the built in cables to the mounting base using clamping parts 40 42 as
24. NSK Robot Module System P Series Module Main Unit R Series Module Main Unit EXEA Controller User s Manual 3 Installation and Maintenance of Module Main Unit 1 Installation and Maintenance OANANINKHDN BPWN of EXEA Controller Introduction Safety Precautions System Configuration Glossary Reference Number Specifications Unpacking and Installation Wiring Startup Initial Setting Trial Running Protection and Safety Maintenance Checking Alarms Troubleshooting Appendix 2 Programming and Operation 3 Installation and Maintenance of EXEA Controller of Module Main Unit 15 Programming 19 Reference Number Specifications 16 Description of Function 20 Unpacking 17 Operation of Robot Module 21 Installation 18 Remote Control Operation 22 Maintenance Checking M E099XE0K2 021 NSK Ltd Document Number K20077 01 Limited Warranty NSK Ltd warrants its products to be free from defects in material and or workmanship which NSK Ltd is notified of in writing within which comes first one 1 year of shipment or 2400 total operation hours NSK Ltd at its option and with transportation charges prepaid by the claimant will repair or replace any product which has been proved to the satisfaction of NSK Ltd to have a defect in material and or workmanship This warranty is the sole and exclusive remedy available and under no circumstances
25. Photo 21 47PD Plate nut Opposite side to motor X axis 10 Attach the flexible tube guide part number 7 in Photo 21 37PD to X axis main unit Loosely attach the flexible tube guide temporarily by bolts M4 12 4 places then set it to the position L as shown in Photo 21 48PD from the end face of motor side using an adding tape Tighten the bolts firmly Tightening torque 1 7 2 0 N m Photo 21 48PD Motor side ee Bide ee ee Table 7 14 L mm ee Z axis stroke Z axis stroke PP 100 300mm 400 600mm XY E183DHM110 1 600 XY E183DHM111 1 1100 11 Loosely screw in the moving side connector box frame to two plate nuts part number 17 in Photo 21 37PD inserted to upper and lower T slots on the side of Z axis main unit through spacer part number 9 in Photo 21 37PD M4 x 12 4 places X axis stroke mm 100 400 500 800 Photo 21 49PD Photo 21 50PD 21 49 Installation and Maintenance of Module Main Unit 21 Installation 12 Position of moving side connector box distance between its end cover 13 and end face of Z axis main unit 44 in Photo 21 51PD must be set as shown below Z axis stroke 300 mm or under 124 mm Z axis stroke 400 600 mm 0 zero Flush with each other Pass Z axis cables through U shape opening 6 then tighten bolts M14 x 12 tightening torque 1 7 2 0 N m Photo 21 51PD 13 Loosely attach the end cov
26. Table 21 36 Section Hexagon socket cap screw es le ONNE CON DO hkk b AAS X 10 4 Bolts ne ae Tae COP COVET nnn a Ad ike Meee Mace reiterate ceed Fixed side G ENO Cover manned manasa nin A Connector box 4 Slot pag nef nnn Attach to X axis 5 Pae nU ar or a 2 M3 X 6 6 DOl mn main unit Clamp base 2 Cable clamp M4 x 20 2 bolts Spacer Connector box M5 x 10 4 bolts rein Moving side B Aan a A eI A a MS x 10 4 bolts main unit bmn dS mmm Clamp DASE Me t eee ape cede Sea aot ELE Bee DOM a ts Lae RD ll Cable hap nannies zanna ALA 20 2 bolts ne Spacer ies dO 2 X Z axis Cable SUppoT kO a M6 X 10 4 Bolts nue Support rest C Cable su ort PENNER E AENEA BE AA GE aE E T E E E EE EEEE SOOO EPIR O VOA EE AA A E ONA AE A A AE NEA EE PPS I Plate nut LOM ummm maton M3 x 6 2 bolts mma Plate nut short M6 x 10 4 bolts 21 93 Installation and Maintenance of Module Main Unit 21 Installation 6 Affix seals of X and Z axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 6RT Controller cable Controller side a 7 Insert two plate nuts to each T slot on the side of X axis main unit and attach the fixed side connector box 1 at motor
27. 3 for 750 mm stroke or over XY P170H 1 RHmodue 0 9 2 3for800 mm stroke or over XY P170S 2 Support slide 3 5 for 1200 mm stroke or over 19 23 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 6 Connector Box This connector box is to stow connectors and to secure the controller cable in operations where only one main unit is used You may operate the main unit without the connector box however be sure to clamp the controller cable so that the connectors are not pulled It is not necessary to order the connector box for multi axis combination The connector box is provided as a part of cable support t is not necessary for a main unit of a motor right or left mount main unit The connectors are stored in the motor cover This connector box cannot be used for a RS and P series main unit of which motor is mounted on its back Reference number XY P170CB 1 P170CB for R series Design serial number P180CB for P series Table 19 13 Reference number XY P180CB 1 XY P170CB 1 Applicable main unit Common for PH and PM module Common for RH and RM module 19 24 3 Installation and Maintenance of Module Main Unit Specifications 19 7 Support Slide A support unit shall be installed within the specifications shown in Figure 19 19 below even though the misalignment of the support slide is absorbed by an incorporated linea
28. 5 9N m Photo 21 38RP Then fix Y Z combining bracket with Z axis unit to the slider of Y axis M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 39RP Photo 21 38RP Photo 21 39RP 21 137 Installation and Maintenance of Module Main Unit 21 Installation 7 Attach the cable support to the main units and wire the cables The parts of the cable support are listed in Table 21 47 Confirm that all parts are ready Photo 21 40RP Section Hexagon socket cap screw Connector box MS x 10 4 bolts Top cover Fixed side End cover Connector box attach to X axis M3 x 6 6 bolts main unit en Od Junction box MS x 10 4 bolts Top cover Junction Connector M4 x 10 Set screw 2 screws _ box a attach tel Y axis E a E E M3 X 6 6 bolts a main unit Clamp base Cable clamp M4 x 20 4 bolts Spacer Connector box MS x 10 8 bolts Moving side 8 TOP CONCE hoer tetaire aae e erla liteit tetetete taal Ratatat Connector box as attach to Z axis p main unit Cable clamp M4 x 20 2 bolts Spacer X Y cable support M5 x 10 4 bolts in Aini Y Z cable Support maf smn MO X 10 12 Bolts nn D Cable support Pasi Support rest nas Nek De eT a Wt A AAA AAAARAA AA AA AY os ue 21 138 Installation and Maintenance of Module Main Unit 21 Installation 8 Affix seals of X Y and Z axis which are provided with the contro
29. Installation 21 7 7 RD HM Combination The parts required for RD HM combination are listed in Table 21 31 below Confirm that all parts are ready Table 21 31 Name Quantity Sections to be referred Xais main unit af lm Ot ARSOLIS RH200 3 Installation and Maintenance of Module Main Unit Y axis main unit XY HRSOO0 RM200 19 Reference Number and Specifications Controller mmm elm CEXEA 2 O110T100 1 Installation and Maintenance of the EXEA Controller Teaching box M EXTBOU 5 Reference Number and Specifications X Y combining bracket XY P175DHM 1 i Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications Mounting bracket ay is XY P170H 1 This bracket is not necessary when a main unit is fixed from its bottom surface Figure 21 24 Y axis main unit X Y axis cable support 21 83 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures of RD HM combination Following description is assembly procedures of A type combination The procedures for B type are fundamentally the same though combining directions of main units and cable support are different 1 Modifications of cable position of main units and orientation of connector box are required as listed in Table 21 32 Table 21 32 ee B X axis main unit Reverse cable position of main unit Not necessary Y axis main unit Rev
30. Opening t Cable inlet Connector box frame Figure 21 13 B type combination Assembly of connector box moving side and fixture plate Cable inlet Connector box frame Opening Fixture plate moving side connector box Use these tap 21 32 Installation and Maintenance of Module Main Unit 21 Installation PD MMz combination This section describes the assembly procedure of A type combination For B type combination though combining directions of main units and cable support are different from A type fundamental procedures are the same Modifications required for parts of respective combinations are listed in Table 21 13 Modify them before assembly Table 21 13 B X axis main unit Reverse cable position Z axis main unit Reverse cable position Not necessary Cable support Modification of cable support 1 Refer to 21 3 Reversing Main Unit Cable Position 2 Refer to Modification of Cable Support Assembly procedure A type 1 Fix X axis main unit PM module to the mounting base Photo 21 1PD 2 Turn over Z axis main unit Fix the combining bracket to ite mounting surface M6 bolts 4 places tightening torque 9 8 11 75 N m Fix the combining bracket to the slider of X axis main unit M6 bolts 4 places tightening torque 9 8 11 75 N m Photo 21 2PD Photo 21 3PD Combining bracket 21 33 Installation and Maintenance of Module
31. stroke n code style aa mm axis axis axis m s 130 230 250 330 350 430 450 530 550 630 750 950 RP MSSz RJ HMSz R series 19 6 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 1 3 Precautions against Use of Module Main Unit Follow the checking procedure in Figure 19 3 to use the module main units properly Figure 19 3 Checking procedure Mass of end effector position of center of gravity of end effector acceleration of module main unit When the center of gravity of end effector is within 50 mm from the center of mounting surface Load shall be within the transportable mass shown in the Tables 19 3 to 19 5 PM module Refer to Figure 19 4 PH module Refer to Figure 19 5 RS module Refer to Figure 19 6 RS module high performance specification Refer to Figure 19 7 Exceeds 50 mm RM module Refer to Figure 19 8 RH module Refer to Figure 19 9 RS module Refer to Figure 19 10 RM module clean room specification Refer to Figure 19 11 RH module clean room specification Refer to Figure 19 12 When the center of gravity of end effector is within 50 mm from the center of mounting surface of slider Load shall be within the transportable mass shown in Table 19 6 Exceeds 50 mm
32. 21 78 Installation and Maintenance of Module Main Unit 21 Installation 8 Attach the L fixture to the side of Y axis main unit M5 x 10 4 bolts Photo 21 6RD and fix the connector box 1 to the L fixture M4 x 10 4 bolts Photo 21 7RD Photo 21 6RD Photo 21 7RD 9 Pass the built in cable of Y axis through the X Y cable support Be sure to keep its direction Photo 21 8RD Fix the fixed side of cable support to the mounting surface M6 x 10 4 bolts Photo 21 9RD Tap to 4 7 holes beforehand as shown on the figure of RD MS combination of the catalogue Photo 21 8RD Photo 21 9RD Male connector 10 Pass the built in cable through an Edge saddle of the L fixture 6 then attach the L fixture to the main unit 1 M5 x 10 4 bolts Photo 21 10RD Fix the moving side of cable support to L fixture M6 x 10 4 bolts with the plate nuts 40 Photo 21 11RD Photo 21 10 RD Photo 21 11 RD 21 79 Installation and Maintenance of Module Main Unit 21 Installation 11 Pass the cable of Y axis main unit through an Edge saddle of the end cover 3 and attach the end cover to the connector box M5 x 10 4 bolts Connect the cable and built in cable Photo 21 12RD Motor connector Snap to the end Encoder connector Secure them by two screws Photo 21 12RD 12 Connect the controller cables of both axes Photo 21 13 RD 21 80 Installation and Maintenance
33. Load conditions transportable mass and moment are in the criteria as specified in 19 1 2 Specifications KI lubrication unit A unique lubrication unit originated by NSK Ltd It is made of a porous synthetic resin that contains a large amount of lubricating oil and supplies the lubrication oil for a long time l Recommende T Chapter to Checking Checking items be referred Routine checking Loose bolts connectors and cables 22 1 1 Periodical Table 22 1 Ta 2 checking Every half year Inspect timing belt for damage and looseness 22 2 1 te of Pec eae Replace built in cables or cable support 22 3 1 p TENSY Replace timing belt 22 3 2 expendable parts v iha l Approximately Thorough checking replace parts if necessary 22 4 every 5 years to be returned to the manufacturer for repair 1 Increase the frequency of inspection if your operating condition exceeds the standard operation pattern described below 2 This check is not necessary for a motor direct mount main unit Timing belt is not used Standard operation pattern Repetitive 500 mm stroke reciprocation 3 sec cycle 8 hours day 300 days year e The life expectancy of a main unit is 10 000 km in travel distance or 3 4 years under the standard operation pattern when the maximum load mass and transportable moment load are constantly applied e The fatigue life expectancy is inversely proportionate to cube of load force When the operat
34. Main Unit 21 Installation 3 Attach the cable support to the main unit and wire the cables Check if all parts listed in Table 21 14 are ready Photo 21 4PD Photo 21 4PD Table 21 14 Connector box frame fixed side Endcover 1I M3 x 8 4 bolts Patent M4 x 6 2 bots eS je Connector box frame moving side Frontcover J 1 i Flexible tube guide B i sue Plate nut E EEE Spacer ea plate moving side connector M4 x 6 2 bolts 0 Patent M4 x 12 4 bolts These are hexagon socket button head screws thao Fixture plate moving side connector box 4 Unfasten bolts 4 bolts M3x8 on the end cover of moving side connector box frame and remove it The cover has an opening for additional cables Photo 21 5PD Photo 21 6PD Connector box frame moving side 21 34 Installation and Maintenance of Module Main Unit 21 Installation 5 Assemble the fixture plate part number 10 in Photo 21 4PD and moving side connector box frame M4 x 6 2 places tightening torque 1 7 2 0 N m Use holes shown in Photo 21 7PD and 21 8PD Photo 21 7PD Photo 21 8PD Holes fix to fixture plate M4 tap hole 4 magnified Photo 21 9PD 6 Adjust exposed length L in Photo 21 10PD of cables from the moving side connector box to 200 to 220 mm using an adding tape as shown in Photo 21 10PD Photo 21 10PD
35. Maintenance of Module Main Unit 22 Maintenance Checking 3 Remove a ball screw support unit Unfasten the bolts PH M5 4 places PM M4 2places and pull out the support unit The support bearings will come off with it Photo 22 10 and Photo 22 11 Photo 22 10 Photo 22 11 Support unit of ball screw 4 Put matching marks with a marker between the motor pulley and end of motor housing and the motor pulley and the support unit housing as shown in Photo 22 12 Photo 22 12 5 Unfasten and remove the motor fixing bolts PH M5 x 4 bolts PM M4 x 2 bolts Be careful not to lose square nuts Then pull out the motor with its pulley and take off the timing belt Photo 22 12 and 22 13 Photo 22 13 Photo 22 14 Pulley of ball screw 22 10 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 6 Put respective matching marks in a line which are marked in the procedure 4 and put the new timing belt on both pulleys Photo 22 15 Photo 22 15 7 Insert the ball screw support unit which is pulled out in the procedure 3 Be sure to align its center with the center line of the ball screw Fasten the hexagon socket cap bolts at a uniform fastening torque PH module M5 x 4 bolts fastening torque 5 6 N m PM module M4 x 2 bolts fastening torque 3 4 N m Photo 22 16 22 11 Installation and Maintenance of Module Main Unit 22 Maintenance
36. Max 40 kg for mai 1 2 m s maximum Position D Accel L Position 2 Accel 9 8 Position DnD O ae a oo O O fo fo N 0 FT O O N Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position D and To be referred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 9 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L RS Module 1 Select the closest position of center of gravity of the end effector from 1 in the figure below 2 The criteria shall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 6 Module Module main main unit 4 oO 7 unit vertical Module main unit Moment arm length Moment arm length mount horizontal mount L L Transportable load mass kg Transportable load mass kg Transportable load mass kg 20 8
37. PH module PM module RH module RM module RS module Bolt size M5 Screw in depth 12 14mm 12 16mm 7 9mm Tightening torque max 33 3N m 11 7N m 33 3N m 14 7N m 2 Use of mounting brackets 1 Fix optional mounting brackets to base surface of main unit using bolts provided with the mounting bracket XY P1800 1 or XY P1700 1 Refer to Table 21 2 for fastening torque 2 Tap on the mounting base and fasten the brackets Table 21 2 RS module PH module PM module RH module RM module M8 x 20 M6 x 14 M8 x 20 M6 x 20 33 3N m 11 7N m 33 3N m 14 7N m Bolt dia x length Tightening torque 21 9 Installation and Maintenance of Module Main Unit 21 Installation Figure 21 4 RH module RM module RS module wy q gad 6 6 or less 2 2 or less wae ast e 5 Chamfered pin Chamfered pin Chamfered pin ee oO sie NITY g8h7 8 or less 10 or less _10 or less Y Y Chamfered pin details 21 10 Installation and Maintenance of Module Main Unit 21 Installation 21 5 Installation of Single Axis Make sure that all parts and units are ready Table 21 3 lt P series gt Name Quantit Reference No Reference No P TEN y AC200V spec AC 100V spec PAC 200V 9 Module main unit 1 XY HRSOOO PHOUO or XY HRSOOO PMOOO Controller cable a XY E18500 1 or 2 Controller M EXEAO O000T00 Teaching bo
38. Photo 21 2PR 21 124 Installation and Maintenance of Module Main Unit 21 Installation 5 Fix Y axis main unit to X Y combining bracket MS 4 bolts tightening torque 4 9 5 9 N m Photo 21 3RP 6 Turn Z axis main unit over and fix Y Z combining bracket to its mounting surface MS 4 bolts tightening torque4 9 5 9N m Photo 21 4RP Then fix Y Z combining bracket with Z axis main unit to the slider of Y axis M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 5RP Photo 21 4RP Photo 21 5RP 21 125 Installation and Maintenance of Module Main Unit 21 Installation 7 Attach the cable support to the main units and wire the cables The parts of the cable support are listed in Table 21 45 Confirm that all parts are ready Photo 21 6RP Table 21 45 Section Name of section Part No Name Quantity Hexagon socket cap screw Connector box MS x 10 4 bolts Top cover End cover Fixed side Connector box A attach to X axis Plate mut 9 6 C bolts main unit DOE E E E M5 x 10 9 olts er Junction Connector LC DDd COVED a is r e nanan B BOX cul Oe i ee attach to Y axis 3 Plato mut a A M3 x 6 6 bolts mm main unit Ca BS emt A leon Tost cutee acer ten te ea ree eee Cable clamp nnd M4 X 20 6 bolts ums Spacer aa Connector BOX en el en ered MO ai UAC rr asteen aten Moving side 8 TOP COVE i Ne ena a E EE E E c Connector box
39. Y axis built in cable Connector box fixed side Connector box moving side Connector box moving side Controller Controller cable Z axis Controller cable X axis Controller gt X axis RP combination RJ combination Connector box moving side Y axis Z axis built in cable Connector box moving side Y axis built in cable Z axis built in cable g Y axis built in cable Junction box Junction box Cable support Cable support a e S Connector box fixed side Connector box fixed side gt X axis Controller Controller gt X axis Controller cable Y axis Controller cable Z axis Controller cable X axis 19 21 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Table 9 10 ZI Stroke cm aa Built in cable ee Combination ao Cable support Y x se sagas zaie 115 155 ind i XY BITIGMS03000 2 XY EIZO i ae OU 100 TEE 3 ael XY E173GHM02700 1_ XY E173020 1 i ean 120 200ind Free XY E173GHM04700 2 XY E173028 1 115 155 ind i XY E173TM0S4300 2 i XY E173028 2 XY E173DMS01900 1 XY E173020 1 115 155ind i XY E
40. and attach the end cover 3 on the motor side M5 x 10 4 bolts Photo 21 8RC Figure 21 31 For A type combination For B type combination Photo 21 8RC 21 117 Installation and Maintenance of Module Main Unit 21 Installation 11 Pass the X Z built in cable through the cable support 6 Be careful direction of the built in cable See Photo 21 9RC Fix the fixed side of cable support to the mounting base M6 x 10 4 bolts Photo 21 10 Tap M6 for the bolts beforehand on the mounting base to positions indicated by 4 97 in the figure of RC MSz combination on the catalog Photo 21 9RC Photo 21 10RC Male connector 12 Pass X axis built in cable through Edge cover of the L fixture 4 and fix to the connector box 1 Photo 21 11RC Then fix the other end moving side of cable support to the connector cable with the plate nut aD M6 x 10 4 bolts Photo 21 12RC Photo 21 11RC Photo 21 12RC 13 Connect X axis main unit cables and X axis built in cables Motor connector Snap to the end Encoder connector Secure the connectors with 2 set screws Photo 21 13RC Photo 21 13RC 21 118 Installation and Maintenance of Module Main Unit 21 Installation 14 Connect Z axis main unit cables and Z axis built in cables Photo 21 14RC Motor connector Snap to the end Brake connector Snap to the end Encoder conne
41. bottom of a fold to the length specified in Table 21 54 Remove the cut off tube Photo 21 8 5 and 6 Photo 21 8 5 Photo 21 8 6 5 Insert the tube to the straight tube fitting Push in the lock piece to the straight tube fitting Photo 21 8 7 8 and 9 Photo 21 8 7 Photo 21 8 8 Straight 4 li tube fitting a y Photo 21 8 9 21 167 Installation and Maintenance of Module Main Unit 21 Installation Table 21 54 Cut off length of flexible tube unit mm Combination X axis spec Xaxis stroke 100 200 300 400 500 600 700 800 Motor straight Sedat mount 155 55 Motor indirect 185 85 mount 140 60 sae aa 200 500 30 art 300 600 r 400 345 145 Motor indirect 115 mount Z axis 85 stroke 55 Motor straight 30 mount PD MM 145 Motor indirect 115 mount T Do not cut Table 21 55 Dimension a after tube cut off unit mm Combination Xavisspec Xaxssroke 100 200 300 J 400 500 600 700 800 Motor straight 125 scum moni 130 Motor indirect Combination type A B 130 combat ype D 130 sf fos fo os ss Motor straight hie s ss os os 65 z 65 PD HM 70 Motor indirect 65 mount Z axis 70 stroke 80 Motor straight 85 mount 35 PD MM 35 Motor indirect 85 mount 35 21 168 Installation and Maintenance of Module Main Unit 21 Installation 21 9 Modification of Cable Support Modification of the cable support
42. care as a precision instrument 20 2 Unpacking When pulling out a module main unit from the container keep it in its horizontal position If you put a main unit without motor brake in vertical position the slider may fall by its own weight back drive which arises hazards to you such as your finger may be caught for injury 1 Damage and missing parts Unpack all containers and check damages on the products and missing parts 2 Check reference number Check if the reference number indicated on the affixed seal to a main unit for correspondence to your order Figure 20 1 NSK Ref No XY HRS040 PM200 Ser No 97N9 002 NSK Ltd MADE IN JAPAN 20 1 Installation and Maintenance of Module Main Unit 20 Unpacking 3 Accessory check Seals shown in Figure 20 1 are provided with the shipment The seal is to indicate the positions of the home and mechanical stopper When a slider collided with an obstacle the indication of original position of home and mechanical stopper will be referred to decide if the main unit can be operated subsequently to the collision or requires repair work Affix the seals after the first Home return operation is completed When affixing the seal turn off the power and affix the seals on both stroke ends at where it can be seen clearly Refer to 17 3 1 Home Return Operation Figure 20 2 Seals Home position Mechanical stopper
43. combining bracket to its mounting surface MS 4 bolts Tightening torque 4 9 11 8 N m Photo 21 5RJ Fix Y axis bracket of Y Z axis bracket to the end face of Y axis main unit M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 6RJ Photo 21 5RJ Photo 21 6RJ 21 149 Installation and Maintenance of Module Main Unit 21 Installation 8 Fix the Z axis bracket with Z axis main unit to the bracket on the end face of Y axis main unit M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 7RJ Photo 21 7RJ F 21 150 Installation and Maintenance of Module Main Unit 21 Installation 9 Attach the cable support to the main units and wire the cables The parts required for the cable support and wiring are listed in Table 21 51 Confirm that all parts are ready before assembly Photo 21 8RJ Table 21 51 Section Quantity Hexagon socket cap bolt rt No O Connector box M5 x 10 4 bolts Fixed side Connector box attach to X axis 5 Plate nut pat nt 5h ee se M3 X 6 6 Dolts 05 mainunit dam hag naa entre nore LPS Arias SANA RO eda Oe Kes 2 Ho Cableclamp ern reed rt aee MAA O bolts o en ee Spacer Junction box long M5 x 10 4 bolts Junction box short a LU S Y Z cable support rest plate J l M8 X25 4 bolts mmm aa CSS Top CO Ver OT hit a tied Beak aM de ciastatTadeabatee deo edaedaseod acer E asl top cover SNO
44. cover Plate nut B Flexible tube guide M4 x 6 2 bolts 4 M4 x 6 2 bolts These are hexagon socket button head screw 21 23 Installation and Maintenance of Module Main Unit 21 Installation 5 Adjust the exposed length of cables at the elbow side to 200 to 220 mm If additional cables or air tubes are required put them into the flexible tube before this adjustment Photo 21 6PG 6 Fix the fixed side connector box frame to X axis main unit Insert the plate nut part number in Photo 21 5PG into the upper T slot at the motor side Facing its sponge side to the main unit turning the stuck out sponge side up insert it to T slot pushing upward angle See Figure 21 9 Figure 21 9 Inserting plate nut to T slot E Plate nut Push upward angle Photo 21 7PG Photo 21 8PG Motor side Upper T slot 21 24 Installation and Maintenance of Module Main Unit 21 Installation 7 Fix the flexible tube guide to X axis main unit Insert the square plate nut part number in Photo 21 5PG to the upper T slot on opposite side of the motor Facing sponge side to the main unit turning the stuck out sponge side up push the square plate nut upward angle into T slot See Figure 21 9 Photo 21 9PG Photo 21 10PG Opposite side of motor p A Upper T slot 8 Fix the flexible tube guide temporarily by the bolts M4 x 6 2 place
45. end M3 x 6 6 bolts Photo 21 7RT and 8RT Photo 21 7RT Photo 21 8RT 8 Attach the cable rest 47 to X axis main unit Same as the procedure 7 insert the plate nut 6 to the T slot and fix the cable rest M3 x 6 2 bolts Photo 21 9RT 21 94 Installation and Maintenance of Module Main Unit 21 Installation 9 Pass the Z axis built in cable through the cable support 6 Photo 21 10 Be careful the direction of the cable Fix the cable support at its fixed side to the connector box M6 x 10 4 bolts Photo 21 11RT Photo 21 10RT Photo 21 11RT connector 10 Fix Z axis built in cables to the moving side connector box at its base part of the connector side approximately 10 cm or more from the connector end by the clamping parts 8 and 3 45 M4 x 20 2 bolts Place the clamp base 13 first then put the cables on it and then fix them as shown in Photo 21 12RT Photo 21 12RT Photo 21 13RT O 4 11 Attach the moving side connector box to the back face of Z axis main unit MS x 10 4 screws hexagon socket pan head screw Photo 21 14RT 21 95 Installation and Maintenance of Module Main Unit 21 Installation 12 Pass the built in cable through Edge saddle of L fixture 2 and fix the L fixture to the moving side connector box Photo 15RT Then fix the cable support to the L fixture 42 using the plate nuts 49 M6 x 10 4 bolts Photo 21 16RT Photo 2
46. frame part number in Photo 21 5PG to the side of Y axis main unit so that its elbow side end is flush with the motor side end face of the main unit Pass the main unit cables through U shape opening on the bottom of the box Screw the bolts to the plate nut and tighten them to fix the connector box M4 x 6 2 places tightening torque 1 7 2 0 N m Photo 21 16PG Photo 21 17PG Motor side end face 21 26 Installation and Maintenance of Module Main Unit 21 Installation 12 The seals of X Y Z and R to identify cables are contained in the controller cable container Affix them respectively to the connectors of X and Y axis in the fixed side connector box See Photo 21 18PG Affix the seals to connectors of X and Y axis controller cables as well See Photo 21 19PG and Photo 21 20PG Photo 21 18PG Photo 21 19PG Photo 21 20PG 13 Connect the motor connector 7 and sensor connector 2 of the fixed side connector box on Y axis main unit Secure the sensor connector firmly with 2 screws Put the cables in the connector box Bend them in a large radius as possible Photo 21 21PG Loosely attach both covers Photo 21 22PG End cover of elbow side 43 M3 x 8 4 bolts End cover 4 M3 x 8 4 bolts Photo 21 21PG Photo 21 22PG 21 27 Installation and Maintenance of Module Main Unit 21 Installation 14 Then attach the front cover of moving side connector box part number 8 in Ph
47. locations shown in Figure 21 33 below The pins are provided with Y Z combining bracket Be careful with the orientation of the chamfered pin See lower left figure for the orientation Be careful not to push in pins for Y axis main unit on the back when driving the pins 21 135 Installation and Maintenance of Module Main Unit 21 Installation Figure 21 35 Fix to opposite side of Z axis main unit 4 places Driving orientation of the chamfered pin Pin for Y axis main unit ORO Y a a 4 r o ON Z direction OB Wrong Straight pin Chamfered pin i is sli to be driven to be driven 4 places Y direction Pins for Z axis main unit 3 Straight pin Chamfered pin Pin for Y axis main unit XX These holes are not used for this combination 3 Fix X axis main unit to the mounting base Refer to 21 4 Fixing Module Main Unit Photo 21 35RP 4 Fix X Y combining bracket to the slider of X axis main unit M6 4 bolts tightening torque 9 8 44 8N m Photo 21 36PR 21 136 Installation and Maintenance of Module Main Unit 21 Installation 5 Fix Y axis main unit to X Y combining bracket MS 4 bolts tightening torque 4 9 5 9 N m Photo 21 37RP 6 Turn Z axis main unit over and fix Y Z combining bracket to its mounting surface MS 4 bolts tightening torque4 9
48. to P and R Series Reference number XY E185 03 1 Controller cable Cable length 03 3m 1 For a main unit equipped without motor brake standard length available in 1 20 m long upon request 2 For a main unit equipped with motor brake Table 19 8 Item Specification Length 1 20 m available in 1 m step Diameter approximately 14 mm Bending radius 45 mm or over in inside bending radius at the fixed position Built in cable For motor and encoder 2 has power cable for motor brake as optional Safety regulation UL Subject 758 AWM Passed VW 1 Fireproofing test Figure 19 16 Cable holder Encoder connector Encoder connector Brake connector Motor brake connector Motor connector Controller side Main unit side Use XY E185010 1 for a main unit without motor brake They do no have a motor brake connector For a main unit with motor brake use XY E185O10 2 We recommend to use a connector box to prevent from pulling the connectors of main unit If you do not use the connector box use a groove of a cable holder to fix the cables Figure 19 17 Cable holder dimensions The cable holder is fixed to the controller cable Do not force to move it 19 19 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 3 Cable Support E Cable support is one of the expendable part of the robot modu
49. 1 RP and RG Combination junction Box 1 Pull off the cover in the junction box then put it into the other side Photo 21 12 1 Photo 21 12 1 Photo 21 12 2 21 175 Installation and Maintenance of Module Main Unit 21 Installation 21 12 2 RD HM Combination 1 Unfasten M3 bolts 4 place and remove the connector plate Photo 21 12 3 2 Unfasten M5 bolts 4 places and remove the end cover Photo 21 12 4 then attach it to the other side of the connector box Photo 21 12 5 Photo 21 12 4 Photo 21 12 5 3 Reverse the connector plate and secure it to the connector box Photo 21 12 6 21 176 Installation and Maintenance of Module Main Unit 21 Installation 21 12 3 Indirect Motor Mount X axis Main Unit Unfasten M5 bolts 4 places and remove the end cover Photo 21 12 7 then attach it to the other side of the connector box Photo 21 12 8 Photo 21 12 7 Photo 21 12 8 21 177 Installation and Maintenance of Module Main Unit 21 Installation 21 13 Reversing L fixture 21 13 1 RP and RT Combination 1 Get the moving side connector box ready Photo 21 13 1 Photo 21 13 1 2 Unfasten M4 bolts 4 places to detach the L fixture Photo 21 13 2 Photo 21 13 2 3 Reverse the L fixture and attach it to the connector box Photo 21 13 3 21 178 Installation and Maintenance of Module Main Unit 21 Installation
50. 1 15RT Photo 21 16RT Z axis main unit 2 Edge saddle 13 Pass the cable of Z axis main unit through Edge saddle of the end cover 11 then fix the end cover to the moving side connector box Photo 21 17RT Connect the cables of Z axis main unit and the built in cables Photo 21 18RT Motor connector Snap to the end Brake connector Snap to the end Encoder connector Secure the connectors with two screws Photo 21 17RT Photo 21 18RT Motor connector Encoder Z axis main unit connector 21 96 14 15 Installation and Maintenance of Module Main Unit 21 Installation Secure a round terminal of ground conductor green of the built in cable using a bolt M3 x 6 of connector box Photo 21 19RT When you use the user cables 6 rope lay conductors provided with the cable support wire the ground conductor to the ground terminal of external user s equipment from the fixed round terminal on the connector box Photo 21 19RT X axis main unit Ground conductor Connect both controller cables X and Z axis main unit Photo 21 20RT Attach the end cover 3 to the fixed side connector box M5 x 10 4 hexagon socket pan head screws Insert the cable holders to the groove Z axis cable first then Y axis cable next Photo 21 21RT Photo 21 20RT Photo 21 21RT 21 97 Installation and Maintenance of Module Main Unit 21 Installation 16 Loo
51. 1 57 Installation and Maintenance of Module Main Unit 21 Installation 5 Attach the cable support to the main units and wire the cables Be sure that all parts are ready Photo 21 4RG shows the parts Photo 21 4RG Moving side i Fixed side Section Hexagon socket head cap screw M5 x 10 4 bolts Connector box fixed side EEEE S AEE EEEE as EA EE VE EEE EE E EEA E AE EEA A E attach to X axis AEE St AAEE Eaire S E E EETA EEEN OR M3 x 6 6 bolts cc Sac apc it tana Clamp base Cable clamp M4 x 20 2 bolts Connector box MS x 10 9 bolts Top cover End cover Connector box B moving side attach to Y axis X Y cable support MS 6 x 10 4 bolts each C Cable support Support rest Plate nut M3 x 6 2 bolts 21 58 6 7 Installation and Maintenance of Module Main Unit 21 Installation Affix seals of X and Y axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection in multi axis combination because the connector is common to all main units regardless their motor power specifications Photo 21 5RG Controller cable Controller side S Insert the plate nuts 6 to T slots on a side of X axis main unit from opposite side of the motor Photo 21 6RG Attach the fixed side connector 1 to the main unit M3 x 6 6 bolts Photo 21 7RG Phot
52. 173DMS02600 2 XY E173020 1 RG HM RT MSz RD MS RD HM hreinna anun ouu eeeee MOOR RPI URE re ot mere oecaetc eee ark ir eee ee eee ree ee RC MSz XY E173CMO0S1500 1 XY E173020 1 l XY E173028 2 RX HM 30 100 XY E173XHM03222 1 XY E173036 1 a or sassa sen sta toner e N sis O R A RX HH 120 200 ind XY E173XHM05222 2 XY E173044 1 i B ee I5 a B l adaa 13 223 XY E173PMSS2716 1 XY E173020 1 XY E173036 2 115 155 ind i XY E173PMSS3916 2 XY E173036 1 XY E173044 2 30 100 i 25 55 10 40 XY E173PHMS2720 1 XY E173020 1 XY E173036 2 RP MSSz RP HMSz XY E173028 1 XY E173028 XY E173PHMS4720 2 X XY E173PHMS4728 2 120 200 ind Note ind Stands for indirect motor mount 6 cables out of 8 shielded cables for a main unit equipped with motor brake XY E183DL7 1 or XYE17300 L7 2 may be shared with the user signal cables However the user signal cables will be in a same rope lay conductors with the motor brake excitation cable Even though a surge suppresser is installed to the motor brake circuit noise may cause problems when the motor brake is on and off Take the following measures in such a case Install noise filters to the signal cables Provide a 24 VDC power supply for signal circuit besides the internal power supply of the EXEA controller Fixed side of the cable shield is a round terminal Connect it to the ground wir
53. 19 Connect the controller cables for X Y and Z axis Photo 21 25RP Attach the end cover to the connector box 1 M5 x 10 4 bolts Insert the cable holders of controller cables to he groove in the order of Z Y and X axis Photo 21 26RP Photo 21 25RP Photo 21 26RP 21 131 Installation and Maintenance of Module Main Unit 21 Installation 20 Pass the cables through loosely the cable supports so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector boxes then secure them with the clamping parts 4 and O M4 x 20 2 bolts M5 x 16 2 bolts or M5 x 25 2 bolts Place the clamp bases first on the connector box put the cables on it and then fasten them with the cable clamps Photo 21 27RP to 31RP Photo 21 27RP 4 Details of clam parts Photo 21 28RP Photo 21 29RP 6 In the junction box In the junction box Y Z cable support side X Y cable support side Photo 21 30RP Photo 21 31RP In the fixed side connector box In the moving side of connector box 21 132 Installation and Maintenance of Module Main Unit 21 Installation 21 Attach the top covers to each connector boxes Loosely fasten both end covers and press an edge of top cover to a groove and push in the other side of the top cover Fix both end covers Photo 21 33RP Photo 21 32RP Photo 21 33RP OS Top cov
54. 2 bolts 21 68 Installation and Maintenance of Module Main Unit 21 Installation 10 Affix seals of X and Y axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection in a multi axis combination because the connector is common to all main units regardless their motor power specifications Photo 21 5RG Controller cable Controller side S 7 Insert the plate nuts to T slots on a side of X axis main unit from opposite side of the motor Photo 21 30RG Attach the fixed side connector 1 to the main unit M3 x 6 6 bolts Photo 21 31RG Photo 21 30RG Photo 21 31RG 21 69 Installation and Maintenance of Module Main Unit 21 Installation 8 Insert the plate nuts the same as the procedure 7 to T slots on a side of Y axis main unit from opposite side of the motor Then fix the moving side connector box to the main unit Use bolt holes in the bottom as shown in Figure 21 21 to fix it Locations of the bolt holes are different by combination type Pass the cables through the opening of the connector box in its bottom Attach the inlet cover to the connector box as show in Photo 21 33RGand fix it from end side of the main unit M4 x 10 2 screws hexagon socket set crews Figure 21 21 A and C type combination B and D
55. 21 28RX 21 111 Installation and Maintenance of Module Main Unit 21 Installation 21 7 10 RC MSz Combination The parts required for RC MSz combination are listed in Table 21 40 Confirm the all parts are ready before assembly Table 21 42 Name Quantity Sections to be referred Xais main unit af mn Oe ARSOLIS RM200 B Installation and Maintenance of Module Main Unit Z axis main unit XY HRSOO0 RS100 19 Reference Number and Specifications Controller nnn ed nel M EXEA2 1 100000 L Installation and Maintenance of the EXEA Controller Teaching box M EXTBOO 5 Reference Number and Specifications X combining bracket XY P175XHM 1 Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications XY E173000 2 Figure 21 29 End cover SRS L fixture with a plate to fix cable support End cover nx X SA Slot plug Connector box moving side X Z cable support Z axis main unit X Z combining bracket 7 7 Connector box moving side Z axis The parts other than marked by asterisk are for the cable support 21 112 Orientation of chamfered pin KOY Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures of RC MSz combination Following description is the assembly procedures for A type combination However the procedures f
56. 4 Bolt 4 screws U shape opening 4 Affix the seals for X Y Z and R to the connectors The connectors are common to all modules regardless the motor power specification Be sure to affix them to avoid miss connection Photo 21 5 15 Controller cable Controller side a 21 15 Installation and Maintenance of Module Main Unit 21 Installation 5 Insert the groove of cable holder to the opening in the end cover Connect the controller cable to the main unit Photo 21 5 16 Motor connector and brake power connector Snap to the end Encoder connector Secure it by two setscrews Photo 21 5 16 6 Put connectors in the connector box Bend the cables in a large radius as possible Attach the end cover loosely to the frame body and loosen the screws of the end cover on the other side Photo 21 5 17 Photo 21 5 17 7 Then fix the top cover Insert the top cover edge to a groove of frame box then push in the other side Photo 21 5 18 Fasten all screws of the both end covers Photo 21 5 18 Photo 21 5 19 21 16 Installation and Maintenance of Module Main Unit 21 Installation 21 5 2 When not Using Connector Box 21 5 2 1 All Modules Excludes RH and RM Motor Indirect Mount Modules lt Following photos show PM module as an example However the procedures are the same for other modules except RH and RM motor indirect mount modules gt 1 2 3
57. 49 BOG S dase atoll O attach to Z axis 20 Clamp base e es iN ea sa a a a Oo main unit Cable lamp OkO hk M4 x 20 2 bolts nnn 23 XY Cable support ba M5 x 10 4 bolts cscassecnecarsniti M6 x 10 12 bolts D Cable support M3 x 6 4 bolts 21 126 Installation and Maintenance of Module Main Unit 21 Installation 8 Affix seals of X Y and Z axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 7RP Controller cable Controller side a 9 Insert two plate nuts to T slots on the side of X axis main unit Photo 21 8RP Attach the fixed side connector box 1 to the main unit M3 x 6 6 bolts Photo 21 8RP Photo 21 9RP 21 127 Installation and Maintenance of Module Main Unit 21 Installation 10 Insert two plate nuts 3 to T slots on the side of Y axis main unit and loosely attach the stay fixture 2 to Y axis main unit M3 x 6 4 bolts Photo 21 10RP Attach L fixture of the junction box to the end face of Y axis main unit M5 x 10 4 bolts Photo 21 11RP Fix the junction box to the stay Photo 21 12RP then secure the stay fixture M3 bolts Photo 21 10RP Photo 21 11RP L fixture Photo 21 12RP 11 Attach the support rests for X and Y a
58. 6RP connector side 17 Fix the other end moving side of the cable support to the moving side connector box 7 as the same procedure 16 M6 x 10 4bolts Put the cables of Z axis main unit through Edge saddle of the end cover 19 and fix the end cover to the connector box then connect the cables of Z axis main unit and the built in cables Photo 21 57RP Motor connector Snap to the end Brake connector Snap to the end Encoder connector Secure them with 2 screws Photo 21 57RP 24 Z axis main unit 21 142 Installation and Maintenance of Module Main Unit 21 Installation 18 Secure the round terminal of the ground conductor green to a fixing bolt of the connector box M3 x 6 Photo 21 58RP When you use the user cables 6 rope lay conductors provided with the cable support wire the ground conductor to the ground terminal of external user s equipment from the fixed round terminal on the connector box Photo 21 58RP X axis main unit Ground conductor 19 Connect the controller cables for X Y and Z axis Photo 21 59RP Insert the slot plugs to the slots on the front side of fixed side connector box attach the end cover 3 to the connector box 1 M5 x 10 4 bolts Insert the cable holders of controller cables to he groove in the order of Z Y and X axis Photo 21 60RP Photo 21 59RP Photo 21 60RP 21 143 Installation and Maintenance of M
59. 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 14 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L RM Module clean room specification 1 Select the closest position of center of gravity of the end effector from 1 in the figure below 2 The criteria hall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 11 Module Module main Module main unit wall mount horizontal mount L L Transport 40 main unit TD F unit vertical 1 mount Moment arm length Moment arm length able load mass kg Transportable load mass kg Transportable load mass kg 40 40 Position ition Tl AN QD Accel ition Position ition osition 1 Accel 4 9 Accel ge E ition osition Accel 4 9 Position Accel 4 9 Position D Accel Position Accel Position Accel ition Accel 4 9 Position Position Accel 9 8 Pos Position 8 Ac
60. Figure 19 13 for the concept of a moment load Figure 19 4 Module main unit Module main unit wall mount Moment arm length Module main unit vertical mount Moment arm length L L horizontal mount f Transportable load mass kg Transportable load mass kg Transportable load mass kg 40 40 8 A Position QD Accel 4 9 Position Accel 98 Position Accel 4 9 Position Accel 49 Max 20 kg for main unit of f Max 20 kg for main unit of m s maximum speed 1 2 m s maximum speed L Position Accel 4 9 0 Position Accel 4 9 Position 1 Accel 9 8 Ly Position 3 Accel 4 9 Position Accel 4 9 Position 3 Accel 9 8 Ne Accel 9 8 N Position 2 Accel 4 9 Position 1 Accel 4 9 Position 3 Accel 9 8 Position 1 Accel 9 8 Position 2 Accel 9 8 A a7 sale Er if free Position 2 Accel 9 8 Position Accel 9 8 0 600 50 50 100 200 300 Moment arm length mm 100 200 300 400 Moment arm length mm 500 100 200 300 400 500 600 Moment a
61. Fixture This is to prevent the flexible tube from leaning Clamp the flexible tube to the fixed side main unit using the fixture common for all combination Reference number XY P180CC 1 19 20 3 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 3 2 Caterpillar Type for R Series Select respectively a cable support which consists of a caterpillar and connector box boxes and built in cables Cable support reference number XY E173 PHM S 31 27 1 1 Base axis motor direct mount E173 For R series 2 Base axis motor indirect mount Number of links for secondary axis Combination style X axis main unit Number of links for base axis Y axis main unit Z axis main unit Built in cable reference number XY E173 010 1 E173 For R series 1 main unit with no motor brake Cable length 010 1m numbers in 0 1 m unit 2 main unit with motor brake Figure 19 18 RG RT combination RD combination Y axis built in cable R Y axis built in cable Connector box moving side Connector box moving side Connector box fixed side Y Z axis Y Z axis Controller Controller Controller cable Y axis roller cable X axis RC combination RX combination Z axis built in cable X axis built in cable Cable support gt l Y axis Junction box
62. H module to the mounting base Photo 21 34PD 2 Turm over Z axis main unit PM module and fix the combining bracket to its mounting surface M6 bolts 4 places tightening torque 100 120 kgf cm then secure the combing bracket firmly to the mounting face of slider of X axis main unit M8 bolts 4 places tightening torque 280 340 kgf cm Photo 21 35PD Photo 21 36PD Combining bracket 21 45 3 Installation and Maintenance of Module Main Unit 21 Installation 3 Attach the cable support to the main units Be sure that all parts of the cable supports are ready Photo 21 37PD Table 21 19 Hexagon socket head cap screw Section Connector box frame fixed side 1 Endcover CT 1 Plent O i i Frontcover 1 Connector box frame moving side 1 Front cover 1 R a ss ie u u IH Plate nut aa M3 x 8 4 bolts M4 x 6 2 bolts M4 x 12 2 bolts Spacer O c Fixture plate moving 3 ixture plate moving side connector M4 x 6 2 bolts side connector box ee M4 x 12 4 bolts 4 Unfasten bolts 4 places M3 x 8 of the end cover of the moving side connctor box frame and disassemble it this cover has opening for additional cables Photo 21 38PD Photo 21 39PD Moving side connector box frame 21 46 Installation and Maintenance of Module Main Unit 21 Instal
63. Installation 12 Attach the long junction box to Y axis main unit with the plate nuts 6 which are inserted to the T slots Use holes of the junction box to fix it as shown in Figure 21 39 M3 x 6 6 bolts Insert two slot plugs 7 to the Y axis motor side slots and attach the end cover 4 M5 x 10 4 bolts Photo 21 12RJ Figure 21 39 For A type combination For B type combination Photo 21 12RJ 13 Attach X axis support rest 0 to X axis main unit Insert the plate nuts G2 to T slots the same as the procedure 11 M3 x 6 2 bolts Photo 21 13RJ 21 153 Installation and Maintenance of Module Main Unit 21 Installation 14 Fix the short junction box 0 to Y Z cable support rest 1 M5 x 10 4 bolts Photo 21 14RJ 15 Put Y Z built in cable through X Y cable support 8 Be careful the direction of the built in cable Photo 21 15RJ Fix the fixed end of cable support to the fixed side connector box M6 x 10 4 bolts Photo 21 16RJ Photo 21 15RJ Photo 21 16RJ me fado mth Male 3 L fixture side connector 21 154 Installation and Maintenance of Module Main Unit 21 Installation 16 Attach the L fixture 5 to the moving side of X Y cable support with the plate nut 2 M6 x 10 4 bolts Then put Y and Z axis built in cables through Y Z cable support via Edge saddle of the L Fixture 15 Photo 21 17RJ Fix
64. PD wall mount 19 4 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Table 19 7 Transportable mass of multi module combination Module main unit Acceleratio Transportable mass kg Series Combinatio Combination xX Y Z n Y Z axis stroke mm axis axis axis m s 100 130 200 230 250 300 330 350 400 430 _450 ie series wall edith om ml RG HM RH RM a owls R DEZ res fr a peim RH RM roa rajen Combination Combinati Module main unit Acceleratio Transportable mass kg Series OM Magon vempinatien xX Y Z n Y Z axis stroke mm axis axis axis m s _ 500 530 550 600 630 700 i 750 800 950 1000 Te ee rome p fen series PD rama pone or rw om an 00s R RD HM RH RM series crus fe ae oom e e ele 19 5 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Table 19 7 Transportable mass of multi module combination Module main unit Acceleratio Transportable mass kg X Y Z n Y axis stroke mm axis axis axis m s1 250 350 450 550 130 vt z i PAEA Module main unit Series R series 230 Transportable mass kg Series Combinatio Combination x y z oo Z axis Y axis stroke mm f
65. RD MS RD HM RT MSz RX HM H RX MSSz RP HMSz RJ HMSz Cable support Main unit Cable support Cable support Cable support Cable support Main unit Cable support Main unit vote ae od Cable support Main unit NERIS Cable support Main unit aoe Main unit Main unit Main unit Cable support XY E173GMS02700 1 XY E173GHM02700 1 XY HRSO 00 RH200 XY E173DHM02000 1 XY E173TM0S3100 1 XY E173XHM03222 1 XY E173PMSS2716 1 XY HRSOD0 RH200 TX Y E173JHMS3217 1 XY HRSOCIS RM200 nnn A Y HRSOOO RH200 ae rs XY HRSOO0 RH200 nn XY HRSOCISRM200 noo BeOS eee XY HRSOCIS RM200 a oar XY HRSODO RH200 seeneenseeeseneses a ae LiL AE g an VIG JA Y HRSIOS RM400 XY E173GMS03900 2 JA Y HRSOOO RH40 XY E173GHM04700 2 XY HRSOO0 RH400 XY E173DMS02600 2 vA Y HRSOO0 RA40C XY E173DHMO03 100 2 XY HRSICIS RMOO a XY E173TM0S4300 2 AAY ee OEY s XY E173XHM05222 2 JA Y HRSIOS RM40 XY E173PMSS3916 2 XY HRSOOO0 RH400 _XY E173PHMS4720 2 _XY HRSOO0 RH400 XY E173JHMS5217 2 For B and C type combinations reverse the connector box referring to 21 12 Reversing Connector Box For A type combination this procedure is not necessary 21 160 Installation and Maintenance of Module Main Unit 21 Installation Installation procedures for fixed side connector box for an X axis motor indirect mount module 1 The parts required for the fixed side co
66. Stuttgart Phone 0711 79082 0 Leipzig Phone 0341 5631241 NSK RHP FRANCE S A FRANCE Paris Phone 1 30 57 39 39 Lyon Phone 72 15 29 00 NSK RHP NEDERLAND B V NETHERLAND Amsterdam Phone 020 6470711 NSK RHP ITALIA S p A ITALIA Milano Phone 02 995191 NSK RHP IBERICA S A SPAIN Barcelona Phone 93 575 1662 NSK RHP AUSTRALIA PTY LTD AUSTRALIA Melbourne Phone 03 9764 8302 Sydney Phone 02 9893 8322 Brisbane Phone 07 3393 1388 Adelaide Phone 08 8373 4811 Perth Phone 089 434 1311 NSK RHP BEARINGS NEW ZEALAND LTD NEW ZEALAND Auckland Phone 09 276 4992 NSK KOREA CO LTD KOREA Seoul Phone 02 3287 6001 NSK SINGAPORE PRIVATE LTD SINGAPORE Singapore Phone 2781711 NSK BEARINGS THAILAND CO LTD THAILAND Bangkok Phone 2 6412150 60 Chiang mai Phone 053 246993 4 TAIWAN NSK PRECISION CO LTD TAIWAN Taipei Phone 02 591 0656 Robot Module System P Series Module Main Unit R Series Module Main Unit EXEA Controller User s Manual Installation and Maintenance of Module Main Unit Document Number K20077 01 March 24 2000 August 3 2000 NSK Ltd 1st Edition 1st Printing 1st Edition 2nd Printing NSK 1st Edition 2nd Printing August 3 2000 Document Number K20077 01
67. T saza cell cid sata cane ENSE tt Males Junction connector Bd COVE a S O E M5 x 10 4 bolts a mumunmumannunannun B box M5 x 10 4 bolts attach to Y axis L fixture with a plate to fix l main unit cable a Bee dO Coors Fem ieee CC a FRE M3 x 6 6 bolts a mmmunmnanmanannan enue Deane Clamp dase ummm smn Svan M5 x 16 2 bolts M5 X 25 2 bolts sod lO oll Cable clamp oe cate ces cite M4 X 20 6 DOES tli a SS resem Connector box morare en eee eer ttn eee ee ee Moving side 3 a Plate nUi hO k M3 x 6 Z Dols k c Connector box 24 Pat nut miall Taea a aE ee EES attach to Z axis main unit M6 x 10 4 bolts D Cable support Plate nut to fix cable support M6 x 10 4 bolts M6 x 16 4 bolts Plate nut M3 x 6 2 bolts 21 151 Installation and Maintenance of Module Main Unit 21 Installation 10 Affix seals of X Y and Z axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 9RJ Controller cable Controller side a 11 Insert the plate nuts to two T slots on the side of X axis main unit Photo 21 9RJ Attach the fixed side connector box M3 x 6 6 bolts Photo 21 11RJ Photo 21 10RJ Photo 21 11RJ 21 152 Installation and Maintenance of Module Main Unit 21
68. T slot pushing upward angle See Figure 21 5 Figure 21 5 Inserting plate nut to T slot gt a Plate nut N Push upward angle Photo 21 5 1 Photo 21 5 2 Py Plate nut Insert the plate nut to the upper T slot of Pushing the plate nut into the upper T PH module main unit slot 21 12 Installation and Maintenance of Module Main Unit 21 Installation 3 Fix the connector box frame to the T slot M4 two bolts tightening torque 1 5 1 8 N m Pass the cables through the U shape opening in the box frame Photo 21 5 3 Fixing bolt to plate nut two bolts 4 Affix seals of X Y Z and R axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 5 4 Photo 21 5 5 Affix seals to connector shells Affix seals to all connector shells of controller cable 5 Connect the controller cable to the main unit Photo 21 5 6 Motor and brake connectors Push into the end for click sound Encoder connectors Secure them with two screws When putting connectors in the connector box bend cables in large radius as possible Photo 21 5 6 21 13 Installation and Maintenance of Module Main Unit 21 Installation 6 Insert the groove of controller ca
69. Unit 21 Installation Completion of RG HM combination Photo 21 48RG 21 74 Installation and Maintenance of Module Main Unit 21 Installation 21 7 6 RD MS Combination The parts required for RD MS combination are listed in Table 21 28 below Confirm that all parts are ready Table 21 28 Name Quantity Sections to be referred X axis main unit 1 XY HRSOOS RM200 Installation and Maintenance of Module Main Unit XY HRSOO3 RSOOO 19 Reference Number and Specifications Y axis main unit Controller M EXEA2 0110000 Installation and Maintenance of the EXEA Controller Teaching box M EXTBOO 5 Reference Number and Specifications XY P175DMS 1 Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications XY P170M 1 This bracket is not necessary when fixing a main unit from its bottom Mounting bracket Figure 21 22 L fixture X Y combining bracket End cover a moving side a jl q A ea oe i i 7 oot oe X Y cable support The parts other than marked by asterisks are for the cable support 21 75 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedure of RD MS combination Following description is the assembly procedures for A type combination However the procedures for B C and D type are fundamentally the same though the combining directions of the m
70. Vertical transportable 20 20 20 20 mass kg Transportable moment N m Rolling 70 Pitching 120 Yawing 120 Rolling 600 Pitching 450 Yawing 400 m Repeatability mm 0 01 0 02 Motor power W 400 10 or 40 10 or 40 20 20 Soba Ua anomien PO login G0 eal Ambient temperature 0 40 C no condensation Transportable moment Maximum moment load for which a module main unit can last out an estimated life of 10 000 km when it is applied continuously in either one of rolling pitching and yawing direction 19 2 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Clean room specifications Table 19 5 R series item RS module RM module 204 208 104 108 106 110 405 409 439 443 330 430 250 350 450 Stroke mm 530 630 130 230 330 430 530 630 50 750 950 1150 1350 1550 Maximum speed mms 120 0 120 600 1200 1080 40 Horizontal transportable 20 40 mass kg Vertical transportable mass kg Transportable moment N m Rolling 20 Pitching 10 Pitching 10 Rolling 60 Pitching 120 Pitching 120 m Repeatability mm 0 01 0 02 Motor power W 00 00 00 00a Ballscrewlead mm 20 10 T4020 equivalent Ambient temperature 0 40 C no condensation RH module 407 411 1200 1400 1600 1800 2000 p20 o 1200 1080 840 680 560 Item Stroke mm Maximum speed mm s
71. X main unit using the plate nuts M3 x 6 6 bolts Photo 21 7RX Photo 21 6RX Photo 21 7RX 21 104 Installation and Maintenance of Module Main Unit 21 Installation 8 Same as the procedure 7 insert two plate nuts 8 to each T slot on the side of Y axis main unit Attach the long junction box 9 to Y axis main unit using the plate nuts M3 x 6 6 bolts Use the holes of the junction box as shown in Figure 21 27 to fix the box Then insert two slot plugs 7 to the junction box at Y axis motor side fix the end cover 14 M5 x 10 4 bolts Photo 21 27 Figure 21 27 A type combination B type combination Photo 21 8RX 9 Attach the support rest 4 to X axis main unit Same as the procedure 8 insert two plate nuts 5 to each T slot and fix it M3 x 6 2 places Photo 21 9RX 21 105 Installation and Maintenance of Module Main Unit 21 Installation 12 Attach the short junction box 0 to Y Z support rest 1 M5 x 10 4 bolts Photo 21 10RX 13 Pass Y axis built in cable through the cable support Photo 21 11RX Be careful of the direction of the built in cable Fix it to the fixed side connector box 1 Photo 21 11RX Photo 21 12RX Male connector 21 106 Installation and Maintenance of Module Main Unit 21 Installation 14 Attach the other side moving side of cable support with L fixture 5 and
72. ain units and the cable support are different 1 Modifications of the cable support required for A type combination types Modify it beforehand Table 21 29 B Reversing main unit cable position I X axis main unit Not necessary Y axis main unit Not necessary Connector box moving side Not necessary 1 Refer to 21 3 Reversing Position of Main Unit Cable 2 Drive pins to Y Z axis combining bracket Drive a chamfered pin and a straight pin with a plastic hammer into the bracket on the position as shown in lower left of Figure 21 23 The pins are provided with the bracket When driving the chamfered pin be careful with its orientation See the figure at lower left e Be careful not to push in the pin for Y axis on the back of the bracket when driving the chamfered pin and the straight pin Figure 21 23 Y axis main unit fixing holes 4 places Pins for X axis main unit Driving orientation ie of the chamfered pin Pins for Y axis I F T main unit Right Pins for X axis main unit LI Wrong Y direction Straight pin Chamfered pin Straight pin chamfered pin Fixing holes to X axis slider to be driven to be driven 4 places X direction Pins for Y axis main unit a N17 gt Pin for X axis main unit These holes are not used for RD MS combi
73. an marked by asterisk are for the cable support 21 55 Installation and Maintenance of Module Main Unit 21 Installation RG MS combination assemble procedures Following descriptions are the assembly procedures of A type However the procedures for B C and D are fundamentally the same though combining directions of main units and cable support are different 1 Modifications of parts required for respective combination types are listed in Table 21 23 below Position change of cable outlet of main unit and cable support are required for some multi axis combination Modify them before assembly No modification is required for A type combination Table 21 23 X axis main unit Not necessary f Reverse of cable Y axis main unit amen outlet position Connector box moving side Connector box fixed side Not necessary 1 Refer to 21 3 Reversing Main Unit Cable Position 2 Refer to 21 12 Reversing Connector Box 3_ Refer to 21 12 3 Reversing L fixture 2 Fix X axis main unit to mounting base Photo 21 1RG Photo 21 1RG 3 Fix X Y combining bracket to the slider of X axis main unit M6 bolts 4 places tightening torque 9 8 11 8 N m Photo 21 2RG 21 56 Installation and Maintenance of Module Main Unit 21 Installation 4 Fix Y axis main unit to the combining bracket MS bolts 4 places tightening torque 4 9 5 9 N m Photo 21 3RG 2
74. at where the slider makes contact with mechanical stopper and affix the other seal to indicate location of the mechanical stopper Indication of mechanical stopper position will be referred for possibility of subsequent use of main unit when it collided to obstacles including the mechanical stopper Refer to 14 Troubleshooting 21 54 Installation and Maintenance of Module Main Unit 21 Installation 21 7 4 RG MS Combination Required parts are listed in Table 21 22 below Confirm that all parts are ready Table 21 22 Name Quantity Sections to be referred X axis main Ud nel A HRSODS RM200 3 Installation and Maintenance of Module Main Unit Y axis main unit XY HRS0O3 RSHO04 19 Reference Number and Specifications entre pa aeae ice eet oO wand LE Installation and Maintenance of the EXEA Controller Teaching box M EXTBOO 5 Reference Number and Specifications ae XY P175GMS 1 Ke 7 Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications X Y combining bracket Mounting bracket is not necessary when a main unit is fixed to the mounting base from its bottom surface Figure 21 19 Top cover End cover Connector box moving side Support rest Plate nut Plate nut Top cover Connector box fixed side Cable holder controller cable a Slot plug End cover X axis main unit Y axis main unit The parts other th
75. axis stroke is Affected by additional cables or air 500 to 700 mm Refer to 21 8 Shortening Flexible Tube tube Addition of metal fixture XY P180CC 1 for fixing flexible tube is effective also Due to core set of flexible tube After installation of a controller connect the controller cable to it Refer to 6 3 Installation of EXEA Controller Confirm the affixed seals to the connectors in procedure 18 hereinabove Affix the seals to X and Z axis main units to indicate positions of Home and the mechanical stopper See Photo 21 1 After completion of Home return motion turn the power off and affix one of the seals provided with module main unit to indicate Home position Refer to 17 3 1 Home Return Operation Then move the slider manually to opposite stroke end at where the slider makes contact with mechanical stopper and affix the other seal to indicate location of the mechanical stopper Indication of mechanical stopper position will be referred for possibility of subsequent use of main unit when it collided to obstacles including the mechanical stopper Refer to 14 Troubleshooting 21 42 Installation and Maintenance of Module Main Unit 21 Installation 21 7 3 PD HM Combination Exclusive for Wall Mount Table 21 17 shows required parts and units for the combination Check if all parts are ready Table 21 17 Name X axis main unit Z axis main unit C
76. ble holder to an opening in the end cover Loosely attach the end cover to the box frame then loosen the screws of the end cover on the other end Photo 21 5 7 Photo 21 5 8 End cover Leave the bolts loosely Insert groove of cable holder in the opening in the end cover 7 Fix the front cover to the box frame Hock lower edge of front cover to a lower groove of the box frame Photo 21 5 9 Push into upper edge of front cover to box frame Fasten both end covers Photo 21 5 9 Front cover Photo 21 5 10 Hook lower edge of front cover to lower groove of box frame Push front cover into box frame by both thumbs Photo 21 5 11 Tighten all bolts of end covers 8 Connect the controller cable to the EXEA controller Confirm the affixed seals described in the procedure 4 for correct connection 21 14 Installation and Maintenance of Module Main Unit 21 Installation 21 5 1 2 R Series lt RH and RM modules motor direct mount gt 1 Fix a main unit to the mounting base Refer to 21 4 Fixing Module Main Unit 2 Remove an end cover and top cover Photo 21 5 12 Photo 21 5 12 Top cover Mere cover 3 Insert two plate nuts to the T slots on a main unit cable side from opposite end of the motor Fix the connector box to the main unit by four screws M3 x 10 Put the cable to U shape opening in the box frame Photo 21 5 14 Photo 21 5 13 Photo 21 5 1
77. ble support Photo 21 28PD M3 tap hole 20 Insert cable holders part number 48 49 in Photo 21 4PD of controller cable to the slot of end cover part number 2 in Photo 21 4PD to where an idle holder is previously inserted Insert Z axis cable holder 8 first then X axis cable holder 9 Photo 21 29PD Idle holder End cover 21 40 Installation and Maintenance of Module Main Unit 21 Installation 21 Loosely attach both end covers Photo 21 30PD Fit the front cover part number 4 in Photo 21 31PD into the connector box frame Hook its edge on lower grooves of the box frame and push it in by both thumbs as shown in Photo 21 32PD Fix both end covers firmly Tightening torque 0 6 0 8 N m Photo 21 30PD Photo 21 31PD Photo 21 32PD Installation of D HM combination is completed Photo 21 33PD 21 41 Installation and Maintenance of Module Main Unit 21 Installation 22 Move X axis manually in full stroke and check twist of the flexible tube and interference with the ancillaries Take measures in Table 21 16 below if the flexible tube is twisted Table 21 16 23 24 Cause Measures Make adjustment by twisting flexible tube Flexible tube can be rotated at tube connector Adjust at both ends Disassemble the fixed side connector box Straighten the tube flexible tube to remove twist of the cables Shortening the flexible cable is effective when X
78. bs Photo 21 31PG Photo 21 32PG g _ Front cover 19 Tighten the bolts of the covers on both ends 8 bolts in total tightening torque 0 6 0 8 N m Photo 21 33PG Photo 21 34PG 21 29 Installation and Maintenance of Module Main Unit 21 Installation Completion of PG HM Combination Photo 21 35PG 20 Move X axis manually to both stroke ends Check for twist of the flexible tube and interference with ancillaries If the flexible tube is twisted during the motion take measures listed in Table 21 11 for the adjustment Table 21 11 No Cause Measures 1 Flexible tube is inclined Adjust position of the moving side connector box Make adjustment by twisting the flexible tube on both ends Flexible tube can be rotated at tube connectors on both ends 3 The cables are twisted in flexible Disassemble fixed side connector box Straighten the flexible tube tube to remove twist of the cables Shortening the flexible cable is effective when X axis stroke is 500 to 800 mm stroke Refer to 21 8 Shortening Flexible Tube Addition of a metal fixture XY P180CC 1 for fixing flexible tube is effective as well 2 Dueto core set of flexible tube 4 Affected by additional cables 21 After installation of the controller refer to 6 3 Installation of EXEA Controller connect the controller cables to the controller Check for affixed seal of each part described in the proce
79. ce the clamp bases first on the connector box put the cables on it then fasten them with the cable clamps Photo 21 31RJ 35RJ Photo 21 31RJ O98 D WW Details of cable clamp Photo 21 32RJ Photo 21 33RJ Inside of the junction box Moving side connector box Motor side of Y axis main unit Under L fixture Photo 21 34R Photo 21 35RJ anr N Inside of the junction box Inside of the fixed side connector box ya x 21 158 Installation and Maintenance of Module Main Unit 21 Installation 25 Attach the top covers to each connector boxes Loosely fasten both end covers and press an edge of top cover to a groove and push in the other side of the top cover Photo 21 36RJ Fix both end covers Photo 21 37RJ Photo 21 36RJ Photo 21 37RJ X axis main unit OS End cover fixing bolts Completion of RJ HMSz combination Photo 21 38RJ 21 159 Installation and Maintenance of Module Main Unit 21 Installation 21 7 14 Use of Motor Indirect Mount Module for X Axis Main Unit This section describes the way of how to use a motor indirect mount module for an X axis main unit for respective combination styles types The table below shows the difference in the parts to be used for motor indirect mount X axis main unit from the motor indirect mount main unit Table 21 52 Combination Parts Refeisnee number Motor straight mount Motor indirect mount RG MS RG HM
80. ctor Secure them with 2 set screws Photo 21 14RC 15 Insert the plate nut 4 to T slots from the slider side of Z axis main unit and fix the connector box 0 to Z axis main unit M3 x 6 2 bolts Photo 21 15RC Put the connectors connected at the procedure 14 into the connector box on the side of Z axis main unit and fix it to the connector box Photo 21 16C Photo 21 15RC Photo 21 16RC Built in cable 16 Fix Z axis built in cable to the upper side of Z axis main unit with the clamping parts 3 45 and the small plate nuts 42 which have been inserted at the procedure 5 M3 x 16 4 bolts Photo 21 17RC Photo 21 17RC lee 21 119 Installation and Maintenance of Module Main Unit 21 Installation 17 Loosely store the cables in the cable support so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector box then secure them with the clamping parts D D 45 and 48 2 M4 x 20 2 bolts M5 x 16 2 bolts or M5 x 25 2 bolts Place the clamp bases first on the connector box put the cables on it and then fasten them with the cable clamps Photo 21 18RC to 20RC Photo 21 18RC OB OUD Inside the connector box Photo 21 19RC Photo 21 20RC Connector box Connector box under L fixture Y axis motor side 18 Attach the top covers of the connector boxes Unfasten the screws of end covers loosely hook an edge of the top cove
81. dure 12 22 Affix seals provided with a main unit to indicate the Home and mechanical stopper position Firstly after completion of Home return motion refer to 17 3 1 Home Return Operation turn off the power and affix the seal onto a side of a main unit to indicate Home position Then move the slider manually to the other end of stroke keeping turn power off until slider contacts the mechanical stopper then affix another seal to indicate position of the mechanical stopper lt See Photo 20 1 gt Indication of the position of mechanical stopper will be referred in the future whether a main unit can be used subsequently if it collided to obstacles including the mechanical stopper Refer to 14 Troubleshooting 21 30 Installation and Maintenance of Module Main Unit 21 Installation 21 7 2 Installation of PD MMz Combination Exclusive to Wall Mount Type Confirm that all parts and units listed in Table 21 12 are ready Table 21 12 Name Quantity Sections to be referred 1 Xais main unit af led OY ARSC PMO 3 Installation and Maintenance of Module Main Unit Z axis main unit XY HRSOOD PM102 19 Reference Number and Specifications Controller cn eee EXEAT O00000 1 Installation and Maintenance of the EXEA Controller Teaching box M EXTBOO 5 Reference Number and Specifications Combining bracket JI XY P185DMM 1 X axis controller cable X Zaxis controller cabl
82. e May be caused by improper pulley material or existence of fine particles Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 3 Periodical Replacement of Expendable Parts 22 3 1 Replacement of Cable Support The cable support is an expendable part We recommend to replace it periodically to avoid system failure due to a sheared cable 22 3 1 1 P Series Table 22 4 Cable Support Set of cables with connectors and flexible tube No Reference Applicable multi axis Contents number combination 1 XY E183100 1 KAM camp nation Motor Encoder cable one each X axis stroke is 400 mm or less PG HM combination 2 XY E183101 1 Kasis strokes 200m ORES Motor Encoder cable one each PD HM and PD MM Motor Encoder cable one each XY E183110 1 ination X axis stroke is 4 SNEEN EANO AS NITORE SR A user signal cable doubles as a brake cable mm or less PD HM and PD MM Motor Encoder cable one each XY E183111 1 ination X axis stroke i i i De a a as S00 A user signal cable doubles as a brake cable mm or less Procedure for replacement 1 2 3 4 5 Turn of f main and control power of the EXEA controller Remove the flexible tube Detach the connector box end cover of flexible tube side Remove the nut fixing the flexible tube Put the nut and the connectors through the end cover Affix the seals to respective connectors on both sides of cable
83. e 1 XY El E A ORE EE Cable suppo xX 19 Reference Number and Specifications Mounting eee a La BG TTI 1 6 signal cables are available for user cables Hoever there might be some noise problems Refer to 19 3 Cable Support 2 This is not necessary when fixing X axis from its bottom 3 Motor back mount module cannot be used as a Z axis main unit 4 This bracket cannot be used for a motor back mount module Figure 21 11 Controll bl oniroter cable Gable holder 2 Side cover 2 Front cover i orn 2 Idle holder 2 Side cover P 2 Connector box moving side ey cahnediorten 2 Flexible tube fixed side 2 Fixture plate moving side l connector box P gt 69 N Motor cover of IS 2 Flexible tube guide att 2 Plate nut 1 Mounting bracket Module main unit Z axis Combining bracket Fixing X axis 4 bolts M8 x 22 tightening torque 33 3 N m Fixing Z axis 4 bolts M6 x 20 tightening torque 11 7 N m 1 Parts indicated by 1 are not necessary in some configuration 2 Parts indicated by 2 are for cable support 21 31 Installation and Maintenance of Module Main Unit 21 Installation Figure 21 12 A type combination Assemble of connector box moving side and fixture plate Use these tap holes Fixture plate moving side connector box
84. e 500 mm 0 66 sec one way Stops for 0 1 Vertical stroke 150mm 0 37sec one way Stops for 0 1 One axis continuous operation is possible if stopping time meets the following conditions Single horizontal main unit 1 65 sec or more stopping time for a cyclic motion of 500 mm stroke Single vertical main unit 0 7 sec or more stopping time for a cyclic motion of 150 mm stroke Figure 19 15 Stroke Moving time exclude settling time QQG OT OTT Me tb So Ss be ds ab Stak a Slack aa 0 00 0 03 0 06 0 15 0 27 Sb Salads eh ede as ah eh eke SD ad ae obs AD he Et EAAS oa AS EEA E A TEE yee Dope bs sh ele ees Ee 5 Me a l H Accelerati 3 3m Acceleration 4 9m s EKLS TEET GLS EAE ES LE EO e e a E E EE E E a a E E E i 1 ha EE aa 42 5 TS Acceleration 9 8m s 1 10 1 20 1 30 1 40 1 50 1 60 Stroke mm 19 18 3 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 2 Controller Cable Common
85. e Robot Module System power consumption Install noise filter in the primary AC power line as a measure for Electro Magnetic Compatibility Directive A circuit breaker must be installed to the primary AC power line of Robot Module System Ground earthing must be provided to EXEA controller Wiring inside of EXEA controller is simply internal wirings and the grounding wire is not distinguished by color as the protective grounding conductive Secure the controller cables and motor cables firmly so that those cables do not break or have loose contact Surround the machine to which the Robot Module System is incorporated with safety fence to prevent any personnel from entering its moving range Unit Limitation Units of Robot Module System which conform to EC Directives are limited to the following reference number only 1 EXEA controller Reference No M FEXEAOQ OOOOTOO t T Indicates conformity with the Directive 2 Teaching box Reference No M EXTB 04 However all robot module main units are compatible with the EC Directives If you require to build the Robot Module System that complies to the EC Directives the EXEA controller and the Teaching box must be compatible with the EC Directives Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 Reference Number Specifications 19 1 Module Main Unit 19 1 1 Reference Number Reference number exam
86. e eg moment Nm Motor power W 19 1 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 1 2 Specifications Standard specifications Table 19 3 P series Item PM module PH module 200 212 100 102 200 212 100 102 Stroke mm 100 200 300 400 500 600 700 800 Maximum speed mm s 1200 6o ro 600 Horizontal transportable 20 40 40 80 mass kg Vertical transportable 25 mass kg Transportable moment N m Repeatability mm 0 02 0 02 Motor power W 100 200 Ball screw lead mm 10 Ambient temperature 0 40 C no condensation Rolling 19 Pitching 25 Yawing 22 Rolling 113 Pitching 97 Yawing 66 Table 19 4 R series RS module C eo oo wo 20 138 142 100 200 300 400 500 600 Stroke mm Maximum speed mm s Horizontal transportable mass kg Vertical transportable 20 20 mass kg a An moment Rolling 24 Pitching 10 Yawing 10 Rolling 32 Pitching 24 Yawing 24 m Repeatability mm 0 01 Motor power W 100 200 Ball screw lead mm 10 Ambient temperature 0 40 C no condensation RM module RH module Item 200 204 234 238 134 239 200 204 202 206 102 207 208 1242 1243 405 409 439 443 1208 1210 1211 405 409 407 411 1800 2000 Maximum speed mm s 1200 eoo 1200 1080 840 1200 600 Fe ee Horizontal transportable mass kg
87. e from its bottom surface Figure 21 20 Top cover End cover X Y cable support Connector box moving side E A Support rest Inlet cover i Plate nut Plate nut Top cover Connector box fixed side Cable holder controller cable X Y combining bracket X axis main unit The parts other than marked by asterisk are for the cable support 21 65 Installation and Maintenance of Module Main Unit 21 Installation RG HM combination assemble procedures Following descriptions are the assembly procedures for A type combination However the procedures for B C and D type combinations are fundamentally the same though combining directions of the main units and the cable support are different Table 21 26 ee D X axis main unit Not necessary Reverse of cable Reverse of cable outlet position outlet position Not necessary Not necessary Reverse of connector box 1 Refer to 21 3 Reversing Main Unit Cable Position Y axis main unit Not necessary Not necessary Connector box fixed side Connector box moving side Not necessary 2 Refer to 21 12 Reversing Connector Box 1 Required modifications of parts for respective combination types are listed in Table 21 26 below Position change of cable outlet of main unit and cable support are required in some multi axis combinations Modify them before assembly 2 Fix X axis mai
88. e with rubber to the groove where the blind plug was inserted before Bend the cable into a large radius as possible to minimize force to be applied to the cable outlet of the motor cover Put the blind plug to the groove on the other side Photo 21 3 5 Photo 21 3 6 Bend cables in a large radius as possible 4 Fix the motor end cover Be careful not to pinch the cables in the cover Photo 21 3 7 Photo 21 3 8 21 5 Installation and Maintenance of Module Main Unit 21 Installation 21 3 2 Motor Back Mount Module Though PM module is used for the following photos the procedures are the same for PH modules 1 Remove the motor cover M4 x 6 Hexagon socket button head screw 2 screws Photo 21 3 9 Photo 21 3 10 Cable outlet 2 Reverse the cable position Photo 21 3 11 12 Put bound part of cable with rubber to the opening of the motor cover Refer to Photo 21 3 13 Be careful not to apply excessive bending force to the cable outlet Fix the motor cover 2 screws M4 x 6 Photo 21 3 11 Photo 21 3 12 ay Photo 21 3 13 Openin n Bound part of cable with rubber 21 6 Installation and Maintenance of Module Main Unit 21 Installation 21 3 3 RS Module 1 Remove the motor end cover Unfasten 4 screws M3 x 6 slotted flat head screw Photo 21 3 15 2 Unfasten the screws 4 screws total M3 x 6 slotted pan head screw on the side and end of the moto
89. ectives EC Machinery Directive 89 392 as amended 94 368 and 93 44 EC Low Voltage Directive 73 23 as amended 93 68 The customer has to take appropriate measures to its machine to conform to Electro Magnetic Compatibility Directive The Robot Module must not put into service until the machinery into which it to be incorporated has been declared in conformity with the provisions of EC Directives Our declaration becomes invalid if technical or operational modifications are introduced without the consent of Mechatronics Technology Department of NSK Ltd Remaining Hazards Following notes should be observed for your safety EXEA controller shall be put into the enclosure conforming to relevant European standard in terms of fire protection and electrical shock protection The protection grade of the enclosure must be IP 54 or better EXEA controller shall not be exposed to water or oil Just after the power is turned on and off there will be the hazardous voltage on the parts of EXEA controller such as the power input terminal motor connector and connector for an external regenerative dump resistor Put covers on those parts to protect from touching when operating the machine or doing maintenance work Furthermore provide appropriate protection from disconnecting the motor connector accidentally An isolation transformer must be used to prevent electrical shock The isolation transformer must have enough capacity for th
90. eferred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or 9 8 Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s 19 11 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L RM Module 1 Select the closest position of center of gravity of the end effector from 1 3 in the figure below 2 The criteria shall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 8 Module Module main main unit D J unit vertical Module main unit Moment arm length re Moment arm length mount horizontal mount L L Transportable load mass kg Transportable load mass 40 40 40 Position Accel 4 9 Position Position Position Position Accel Accel 9 8 Position Position 3 Accel H Position Accel W Position D Accel Position Accel 4 sition 3 Accel Positio Position 2 Accel 9 8 Position Accel
91. em malfunction collision to an obstacle and free falling of slider of a vertical axis main unit Table 22 5 number 1 XY P189BH 1 Tsubakimoto Chain Co Ltd e 285P3M15 PH module motor back mount 2 XY P189BM 1 Tsubakimoto Chain Co Ltd e 225P3M10 PM module motor back mount RM module motor right left mount 3 XY P179BM 1 Mitsuboshi Belt Co Ltd e B150S5M425 RH module motor right left mount speed reduction ratio 1 1 4 Xy P179BH 1 Mitsuboshi Belt Co Ltd B15085M475 RH module motor right left mount speed reduction ratio 1 2 5 XY P179BS 1 Mitsuboshi Belt Co Ltd e B100S3M246 RS module 100W XY P179BS 2 Mitsuboshi Belt Co Ltd e B100S3M255 RS module 200W O 22 8 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 3 2 1 PH and PM Module Replacement procedure 1 Turn off the power of the EXEA controller and remove the covers 1 Bottom motor cover M4 button head bolts 2 bolts Photo 22 7 2 End motor cover M4 thin head cap bolts 4 bolts Photo 22 8 3 Top cover M3 button head bolts 4 bolts for PH and 2 bolts for PM module Photo 22 9 Photo 22 7 Photo 22 8 Photo 22 9 2 Turn on the controller power and execute a Home return Be sure that no one is in the operating area of robot before turning on the power Turn off the power Be careful not to move the slider in procedures thereafter 22 9 Installation and
92. er fixing bolts Completion of RP MSSz combination Photo 21 34RP 21 133 Installation and Maintenance of Module Main Unit 21 Installation 21 7 12 RP HMSz Combination The parts required for RP HMSZ combination are listed in Table 21 46 Confirm that all parts are ready Table 21 46 Name Quantity Sections to be referred 1 XY HRSOO0 RH200 X axis main unit Installation and Maintenance of Module Main Unit 7 axis main unit oa ie XY HRSOQO RSIQO 19 Reference Number and Specifications Controller cn ee ef VEEXEAS 02 1077100 1 Installation and Maintenance of the EXEA Controller Teaching box M EXTBOO 5 Reference Number and Specifications A and C type aes XY P175GHM 1 l Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications Z axis built in cable J d EXY E1730 a Mounting bracket XY P170H 1 This is not required when X axis main unit is fixed from its back surface directly Figure 21 34 End cover _ _End cover Top cover Top cover my we Soh Saas 4 f iH We 6 ea Connector box moving side Y Z cable support RAY K e Junction box j lt h Plate nut Top cover Support rest Cable holder controller cable Connector box fixed side Plate nut X Y combining bracket Y Z combining bracket X axis main unit Z axis main unit The part
93. er of flexible tube reverse the tube position to the other side of the connector box so that the flexible tube is at a slot side as shown in Figure 21 44 Figure 21 44 Reverse the flexible tube position Slot i a i N eee 2 This process is required only for XY E183GHM100 1 X axis stroke 400 mm or less Unscrew M4 screws on back side of the attaching plate of flexible tube guide and change the guide position as shown in Figure 21 45 then fix it M4 slotted flat head screw tightening torque 1 67 1 96 N m Figure 21 45 Changing position of the flexible tube guide Flush with main unit end face D type of PG HM combination 2 Remove M3 bolts on the four corners of end cover and detach it Attach it to the other end of the connector frame shorter one as shown in Figure 21 46 Tightening torque 0 59 0 78 N m Figure 21 46 Reverse the end cover position connector frame 21 170 Installation and Maintenance of Module Main Unit 21 Installation 4 B type of PD HM and PD MM combinations 1 Remove M3 bolts on corners of end cover of flexible tube reverse the tube position to the other side of the connector box so that the flexible tube is at a slot side as shown in Figure 21 47 M3 bolt Tightening torque 0 59 0 78 N m Figure 21 47 Reverse the flexible tube position Slot 2 This procedure is requi
94. er to moving side connector box frame Loosen bolts of the other end cover 3 M3 x 8 4 places Photo 21 52PD 14 Connect the cables of main unit and cable support There are three connectors motor power sensor and brake power connectors Secure the sensor connector by tightening two screws Photo 21 53PD Photo 21 54PD 21 50 Installation and Maintenance of Module Main Unit 21 Installation 15 Hook the edge of the front cover 6 to lower groove of moving side connector box frame and push it in by both thumbs Photo 21 55PD Photo 21 56PD p a 16 Secure the end covers of moving side connector box by bolts Bolt size M3 x 8 tightening torque 0 6 0 8 N m Photo 21 57PD 17 Fix the fixed side connector box frame part number in Photo 21 37PD to X axis main unit using the plate nut part number 3 in Photo 21 37PD inserted to T slot in the procedure 8 hereinabove Bolt size M4 x 6 2 places tightening torque 1 7 2 0 N m Pass the cables of X axis through U shape opening of the connector box Flush the right side face of connector box with the end face of the main unit motor side Photo 21 58PD Motor side end face of X axis main unit 21 51 Installation and Maintenance of Module Main Unit 21 Installation 18 Affix the seals provided with the controller cable to identify the connectors for reference in multi axis combination Seals for X Y Z a
95. erse cable position of main unit Not necessary Connector box moving side Reversing connector box 7 Refer to 21 3 Reversing Position of Main Unit Cable 2 Refer to 21 12 Reversing Connector Box 2 Fix X axis main unit to the mounting base Refer to 21 4 Fixing Main Unit Photo 21 19RD 3 Turn Y axis main unit over and fix the X Y axis combining bracket to its bottom surface M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 20RD 21 84 Installation and Maintenance of Module Main Unit 21 Installation 4 Fix Y axis main unit with the combining bracket to the slider of X axis main unit M8 4 bolts tightening torque 27 5 33 3 N m Photo 21 21RD 5 Attach the cable support to the main units and wire the cables The parts of the cable support are listed in Table 21 33 Confirm that all parts are ready Photo 21 22RD Section M3 x 6 4 bolts O70 7111 5148 gl 1 aaa EED gt PD cS A eT UT ET Dee Ree nee ene ESTE moving side M4 x 10 4 bolts A Fix to Y axis main unit X Y axis cable support M6 x 10 4 bolts es ae Plate UNE id buiedlindaaeledva eea a AME X TO Ebol cect Clamp base l rt PAATE 0 AA EATA SA AAAA AEA APEERE AAAA AII SOENEN AAA EANES AEAN ANNEANNE SA PEeUpRO Cable clamp M4 x 20 2 bolts Spacer 21 85 Installation and Maintenance of Module Main Unit 21 Installation 6 Affix seals of X and Y axes wh
96. ews een ee Te OTO f O fj MA NO E Doli jnn gt d TOP COVEI Sine ae e PPR SP nmr en rm End cover L fixture with a plate to fix cable support Moving side M5 x 10 4 bolts A Connector box p77 attach to X axis pee Sa 2 k Oka al M4 x 20 2 bolts mmm fz SO E S EEEE OEN COEN S rae E E fae el cael EEC ee i B Cornac bos beet it nut ml ELAR Wes eee eee ee Ree Attach to Z axis foe ee Ciamp base A EIEEE PA IL AEI AREI I EEE ITA E ENANA BELLIES ES AS E LENEE EI SES LENE EINS AEE ELET EET EEEE AEEA 9 Cable dan kfk l M3 x 16 8 bolts ne 45 10 X Z cable support kO h M6 x 10 4 bolts M6 x 16 4 bolts _ D Plate nut to fix cable support 2 Ls SUC ee C Cable support 8 oD CADIS CaP ceed Lann MA X 20 2 bolts enna 20 21 116 8 10 Installation and Maintenance of Module Main Unit 21 Installation Affix seals of X and Z axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 7RC Controller cable Controller side Fix the connector box 1 to X axis main unit with the plate nuts inserted to T slots at the procedure 8 Use the holes in the connector box as shown in Figure 21 31 below M3 x 6 6 bolts Then insert two slot plugs
97. ferent 1 Modifications of the main units and L fixture listed in Table 21 40 are required for B type combination No modification is required for A type Table 21 38 B X axis main unit Reversing position of main unit cable Y axis main unit Reversing position of main unit cable Connector box fixed side Not necessary Junction box Reversing L fixture 1 Refer to 21 3 Reversing Position of main unit cable 2 Refer to 21 13 Reversing L fixture 2 Fix the X axis main unit to the mounting base Refer to 21 4 Fixing Module Main Unit Photo 21 IRX Photo 21 1RX 3 Fix the X Y combining bracket to the slider of X axis main unit At the same time fix Y Z support rest 11 as shown in Photo 21 2RX M8 button head screw 4 places an accessory of the cable support tightening torque 27 5 33 3 N m Photo 21 2RX 21 101 Installation and Maintenance of Module Main Unit 21 Installation 4 Fix the X Y combining bracket to the slider of Y axis main unit RX HH combination M8 4 bolts tightening torque 27 5 33 3 N m RX HM combination M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 3RX 21 102 Installation and Maintenance of Module Main Unit 21 Installation 5 Attach the cable support to the module main units and wire the cables The parts of the cable supports are listed in Table 21 39 Confirm that all parts are ready beforehand
98. glasses Be careful not to pinch your fingers in a rung or a links of the cable support Take a great care not to damage the cables inside Procedures of shortening a cable support 1 Open or take off rung of links to be removed and a rung in front and behind of removing portion Put a flat screwdriver in a clearance at the side of a rung then pry a rung off a cable support both sides Photo 21 11 1 Photo 21 11 2 AT 2 Take offa link at both ends of the cable support to be removed Put a flat screwdriver in a clearance between two adjacent links and turn the screwdriver approximately 90 Photo 21 11 3 Photo 21 11 4 21 173 Installation and Maintenance of Module Main Unit 21 Installation 3 Connect the links Insert the pin of link to the pin hole of other one and push in the other side of the links Photo 21 11 5 4 Connect the links on both sides Do not fold the cables in the cable support Push the cables into the connector box then snap the rungs to close Photo 21 11 5 Photo 21 11 6 A SL To connector box r To connector box Move the main units for full stroke to check any disturbance after the cable has been shortened It leads to reduction of stroke or breakage of the cable support if the cable support is shortened too much 21 174 Installation and Maintenance of Module Main Unit 21 Installation 21 12 Reversing Connector Box 21 12
99. head screw M3 x 3 screws on the side Counter sunk screw M3 x 4 screws on the side 3 Motor end cover Counter sunk screw M3 x 4 screws 22 17 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 4 Overhaul We recommend to overhaul periodically to prevent from the system failure due to the wear and or deterioration Recommended overhaul period 5 years Way of overhaul Return to the manufacturer 22 5 Warranty Coverage 22 5 1 Warranty Period The warranty is effective for one year from the delivery of the product or 2400 working hours whichever comes first 22 5 2 Limit of Warranty The warranty shall be given to the products which NSK have manufactured and shipped to users NSK Ltd will repair or replace any products which have been proved to the satisfaction of NSK Ltd to have a defect in material and or workmanship Repair cost will be charged to a user after the warranty period stated above has expired 22 5 3 Immunity NSK Ltd shall not be liable for any circumstances described below Failure of a unit or system due to installation or operation not in accordance with the instruction manual specified by the supplier Failure of a unit or system induced by improper handling operation modification and careless handling by a user Failure by modification and or repair without manufacturer s consent Damages caused by natural disas
100. htening torque 11 7 N m 1 Parts indicated by 1 are not necessary for some configuration 2 Parts indicated by 2 are parts of cable support 21 43 Installation and Maintenance of Module Main Unit 21 Installation Figure 21 16 A type combination Assemble of connector box moving side and fixture plate Use these tap holes Fixture plate moving side connector box 4 Opening Cable inlet Connector box frame Figure 21 17 B type combination Assembly of connector box moving side and fixture plate Cable inlet Connector box frame Opening Fixture plate moving side connector box Use these tap holes 21 44 Installation and Maintenance of Module Main Unit 21 Installation PD HMz combination Description hereafter are assemble procedure of A type combination For B type though the orientation of main units and cable support are diferent from A type fundamental procedures are the same Table 21 18 below shows modification requirements of main unit prior to assembly for respective combination types Table 21 18 B X axis main unit Reverse cable position Z axis main unit Reverse cable position Not necessary Cable support Modification of cable support 1 Refer to 21 3 Reversing Main Unit Cable Position 2 Refer to Modification of Cable Support Assembly Process A type 1 Fix X axis main unit P
101. ich are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 23RD Controller cable Controller side 7 Inset two palate nuts to T slots of Y axis main unit from the opposite side of the motor Photo 21 24RD Then attach the connector box of moving side 1 to the main unit M3 x 6 4 bolts Photo 21 25RD Photo 21 24RD Photo 21 25RD 8 Pass the built in Y axis cable through the support unit 8 Be careful for direction of the cable Photo 21 26RD Fix the fixed side of the cable support to the mounting base M6 x 10 4 bolts Photo 21 27RD Photo 21 26RD Photo 21 27RD Male connector 21 86 Installation and Maintenance of Module Main Unit 21 Installation 9 Attach L fixture 3 to the connector box of moving side 1 M5 x 10 4 bolts Photo 21 28RD Fix the moving side of cable support to the L fixture 3 M6 x 10 4 bolts and plate nuts Photo 21 29RD Photo 21 28RD Photo 21 29RD 10 Connect the cables of Y axis main unit and the built in cables Photo 21 30RD Motor connector Snap to the end Encoder connector Secure by two screws Photo 21 30RD 11 Connect the controller cables to both X and Y axes main units Photo 21 31RD 21 87
102. ide connector box and push the front cover in Photo 21 22PD Photo 21 23PD E 16 Fix the both end covers to the connector box M3 x 8 tightening torque 0 6 0 8 N m Photo 21 24PD 17 Flush the right end surface of the connector box Part number 1 in Photo 21 4PD with the end face of X axis main unit motor side Tighten the bolts to fix the connector box to the plate nut part number 3 which are inserted to T slot in process 8 2 places M4 x 6 tightening torque 1 7 2 0 N m Pass the cables of X axis through U shape opening beforehand Photo 21 25PD X axis end face motor side 21 39 Installation and Maintenance of Module Main Unit 21 Installation 18 Affix the seals provided with the controller cable to identify the connectors for reference in multi axis combination Seals for X Y Z and R axes are provided Affix them to corresponding cables For the controller cable affix seals both for X and Z axes Photo 21 26PD Photo 21 27PD Jw Affix the seals Affix the seals 19 Connect X and Z axes connectors of the cable support and controller cable at the fixed side connector box The round terminal of earth wiring green of cable support must be connected to M3 tap hole adjacent to M4 bolts Tightening torque 1 6 1 8 N m This fixed round ground terminal must be connected to the ground wiring of user s equipment when the user cable 6 cores are to be added to the ca
103. ing conditions are 80 of above examples the expected life will be 20 000 km in travel distance or 4 9 years under the standard operation pattern Example In case of a G HM type combination with 400 mm Y axis stroke the transportable mass is 10 kg when the acceleration is set to 4 9 m s However when the Y axis slider is operating closely to X axis main unit the moment load of X axis main unit is less than a half of the allowable moment load and consequently the average moment load will be approximately 80 of the allowable transportable moment load This will give a 20 000 km approximate travel distance This estimation varies according to the operating pattern 22 1 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 1 Routine Checking 22 1 1 Checking of Bolts and Cables To prevent from an accident due to loose bolts perform following checking listed in the table below Be sure to turn the main and control power of the controller off before the checking Table 22 2 Check point Description Bolts for fixing main unit Bolts for securing the end effector e Check for a loose bolts by tightening them e Replace a built in cable or flexible tube if it has serious crack or Cables breakage e Check for loose bolts by tightening them Refer to 21 4 Fixing Module Main Unit and 21 6 Installation of End Effector for the tightening torque of the bolts
104. ing base Tap to 4 09 holes on the mounting base as shown in the figure of RC MSz combination on the Robot Module catalog M8 4 bolts tightening torque 27 5 33 3 N m 4 Fix the slider of X axis main unit to X combining bracket Photo 21 1RC M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 1RC 5 Insert the plate nuts 6 and 2 to T slots on X axis main unit from opposite side of the motor as shown in Photo 21 2RC Insert the plate nut first then 4 small plate nuts 2 to each T slot Photo 21 2RC Photo 21 2RC 6 Turn Z axis main unit over and fix Z axis bracket of X Z combining bracket to the mounting surface of Z axis main unit M5 4 bolts tightening torque 4 9 5 9 N m Photo 21 3RC Attach X axis bracket of X Z combining bracket to an end face of X axis main unit M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 4RC Photo 21 3RC Photo 21 4 RC 21 114 Installation and Maintenance of Module Main Unit 21 Installation 7 Fix Z axis main unit to X axis bracket using Z axis bracket M6 4 bolts tightening torque 9 8 11 8 N m Photo 31 5RC Photo 21 5RC 21 115 Installation and Maintenance of Module Main Unit 21 Installation 8 Attach the cable support to the main units and wire the cables The parts of cable support are listed in Table 21 42 Confirm that all parts are ready Photo 21 6RC Table 21 42 Section Hexagon socket cap scr
105. ing of user s equipment through an M3 screw of the connector box 19 22 3 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications 19 4 Combining Bracket The bracket is used to combine the main units into a multi axis combination The bracket for R series uses the locating pins to link itself together the main units This makes remounting main units highly accurate Reference number XY P175 GH M 1 P175 for R series Design serial number P185 for P series Module main unit secondary axis Combination type Module main unit base axis Table 19 11 Series Applicable combination Mass kg XY P185GHM 1 3 3 P PD HM XY P185DHM 1 0 7 XY P185DMM 1 0 5 RG MS RP MSSz X Y axis XY P175GMS 1 16 RG HM RP HMSz XY axis XY P175GHM 1 36 0 4 RD MS RP HMSz YZ axis ue R 1 6 RX HM RC MSz X axis XY P175XHM 1 1 4 RJ HMSz XY axis 4 0 RT MS XY P175TMS 1 1 1 RC MS RJ HMSz YZ axis XY P175CMS 1 0 9 The bracket for mirror image type combination is available XY P 1005 2 19 5 Mounting Bracket This is to fix the main unit from front side Reference number XY P170H 1 P170 for R series Design serial number P180 for P series Module main unit code Table 19 12 Reference number Applicable main unit Mass kg Quantity axis XY P180M 1 2 XY P180H 1 PH module 09 2 XY P170S 4_ RSmodue 09 2 XY P170M 1 RM module 2
106. ion Combination 21 7 3 PD HMz 21 7 6 RD MS 21 7 11 RP MSSz Combination Combination Combination 21 7 7 RD HM 21 7 12 RP HMSz Combination Combination 21 7 8 RT MSz 21 7 13 RJ HMSz Combination Combination 21 7 14 X axis Motor Indirect Mount Module poster area Motwedoe F 21 5 Single Axis 21 6 Installation of End Effector 912 Installation and Maintenance of Module Main Unit 21 Installation 21 1 Dimensional Check for Motion Range Specified stroke of a main unit is between home position and just before the end of stroke There is approximately 15 mm 10 mm for RS module allowance to the dead end at both sides Add 20 mm 15 mm for RS module or more allowance to the end of specified stroke or the motion range of robot system for the floor plan so that the robot does not interfere with the ancillaries 21 2 Required Space for Maintenance We recommend to allow an open space for maintenance work If the space is not wide enough you may need to dismount a main unit for maintenance work Single axis Clear upper side of the main unit and the area shown in Figure 21 2 Multi axis combination The area shown in Figure 21 2 is required for motion range and each axis end Figure 21 2 Required space for maintenance Unit mm M
107. is required for all combinations other than A type of PG HM and PD HM combinations The modification is simply reversing position of the flexible tube Follow the procedures described hereafter to change position of the flexible tube 1 B type of PG HM combination 1 Unscrew M3 bolts at corners of end cover of the connector box reverse the tube position to the other side of the connector box so that the flexible tube is at the slot side as shown in Figure 21 41 Figure 21 41 Reverse the flexible tube position Slot Tak Yy eee 2 Unscrew M3 bolts on the four corners of end cover and detach the cover Attach it to the other end of the connector frame shorter one as sown in Figure 21 42 Tightening torque 0 59 0 78 N m Figure 21 42 Reverse the end cover position connector frame 3 This procedure is required only for XY E183GHM100 1 X axis stroke 400 mm or less Loosen screws on back side of the attaching plate of flexible tube guide and change the guide position as shown in Figure 21 43 then fix it M4 slotted flat head screw tightening torque 1 67 1 96 N m Figure 21 43 Changing position of the flexible tube guide M4 slotted flat head screw Flush with main unit end face 21 169 Installation and Maintenance of Module Main Unit 21 Installation 2 C type of PG HM combination 1 Remove M3 bolts on the corner of end cov
108. lation 5 Assemble a fixture plate part number 0 and moving side connector box M4 x 6 2 places fastening torque 1 7 2 0 Nm Use holes shown in Photo 21 40PD and 21 41PD Photo 21 40PD Photo 21 41PD Holes fix to fixture plate M4 tap hole Photo 21 42PD 6 Adjust exposed length L in Photo 21 43PD of cables from the moving side connector box to 200 to 220 mm using an adding tape as shown in Photo 21 43PD Photo 21 43PD 21 47 Installation and Maintenance of Module Main Unit 21 Installation 7 Insert two plate nuts part number 7 in Photo 21 37PD to upper and lower T slots of Z axis main unit at its cable side Insert them as shown in Figure 21 18 turning stuck out sponge side up pushing the nut upward angle Photo 21 44PD and 7 61 Figure 21 18 How to insert plate nut to T slot Plate nut N Push upward angle Sponge Photo 21 44PD Photo 21 45PD T slot upper and lower of Z axis main unit 8 Inserta plate nut part number 3 in Photo 21 37PD to the upper T slot of X axis main unit on motor side As shown in Figure 21 18 push upward angle the nut turning stuck out sponge side up Photo 21 46PD 21 48 Installation and Maintenance of Module Main Unit 21 Installation 9 Insert two plate nuts part number 8 in Photo 21 37PD to upper T slot of X axis main unit at opposite to motor side This procedure is the same as 7 and 8
109. le support are different 1 Modifications of position of the main unit cable and orientation of L fixture of the cable support are required as listed in Table 21 35 Modify them before assembly Table 21 35 X axis main unit Reversing cable position of main unit Y axis main unit Reversing cable position of main unit Connector box fixed side Not necessary Connector box moving side Reversing L fixture of cable support 1 Refer to 21 3 Reversing Position of Main Unit Cable 2 Refer to 21 13 Reversing L Fixture 2 Fix the X axis main unit to the mounting base referring to 21 4 Fixing Module Main Unit Photo 21 1RT 3 Fix the X Z combining bracket to the slider of X axis main unit M6 4 bolts tightening torque 9 8 5 9 N m Photo 21 2RT 21 91 Installation and Maintenance of Module Main Unit 21 Installation 4 Sturn the Z axis main unit over and attach the bracket plate to its mounting surface MS 4 bolts tightening torque 4 9 5 9 N m Photo 21 3RT Then fix the both brackets each other M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 86RT Photo 21 3RT Photo 21 4RT 21 92 Installation and Maintenance of Module Main Unit 21 Installation 5 Attach the cable support to the main units and wire the cables The parts of the cable support are listed in Table 21 36 Confirm that all parts are ready Photo 21 5RT
110. le system We recommend to replace it after 5 millions cycles to avoid unexpected system shutdown due to a broken cable 19 3 1 Flexible Tube Type for P Series This is a set of a flexible tube and built in cables You may add another cables user cables and air tubes in diameter of 96 mm or less Reference number XY E183 GHM 100 1 Serial number Cable support TEER X axis stroke Combination type and odule 0 100 400mm 1 500 800mm GHM PG combination X axis PH module Y axis PM module Number of user cable 2 DHM PD combination X axis PH PM module De ONG aio Crem x6 Gables Z axis PM module Number of axes for built in cables Table 19 9 Ref Cross section eletence eng Number of user area available for number Combination X axis stroke Internal cable A XY signal cables additional cables mm E183GHM100 1 100 400 Motori Encoder 0 198 E183GHM101 1 PG HM 500 800 E183DHM110 1 PD HM PD MM 100 400 Motor Encoder power Ose abies 160 E183DHM111 1 PD HM PD MM 500 800 cable for motor brake Refer to on the next page Recommendation of additional cable and air tubes Robot cable in diameter of 7 8 mm and it has flexural strength and it is anti vibration characteristics Urethane tube 4 6 mm in diameter do not use nylon tube Cable Air tube Flexibility that is easily bent to approximately R30 is required for the additional cables and air tubes 19 3 1 1 Flexible Tube
111. ller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 41RP Controller cable Controller side a 9 Insert two plate nuts 6 to T slots on the side of X axis main unit Photo 21 42RP Attach the fixed side connector box 1 to the main unit M3 x 6 6 bolts Photo 21 42RP Photo 21 43RP 21 139 Installation and Maintenance of Module Main Unit 21 Installation 10 Insert two plate nuts 3 to T slots on the side of Y axis main unit attach the junction box Use holes shown in Figure 21 36 to fix the junction box Photo 21 44RP Put the cables of main unit through the opening in the bottom of the junction box then put the opening plug plastic 2 on to plug the opening and secure it from the end M4 x 10 2 bolts Photo 21 45RP Figure 21 36 For A and C type combination For B and D type combination Photo 21 44RP Photo 21 45RP 11 Attach the support rests of X and Y axis main unit X axis 5 L shape bracket Y axis 26 plastic Insert the plate nuts to T slots then attach the support rests respectively M3 x 6 2 bolts Photo 21 46RP Photo 21 47RP 21 140 Installation and Maintenance of Module Main Unit 21 Installation 12 Attach the
112. motor back mount module Figure 21 8 2 Flexible tube Tightening torque M4 1 7 2 0 Nem M3 0 6 0 8 Nem 2 gt 6 aE RO C4 Outlet additional cable Module main unit SP 2 Connector box fixed side Controller cable Combining bracket Fixing to X axis slider M8 x 22 4 bolts tightening torque 33 3 N m Fixing to Y axis main unit M6 x 20 4 bolts tightening torque 11 7 N m 1 Parts indicated by 1 may not be necessary in some configuration 2 Parts indicated by 2 are the part of cable support 21 21 Installation and Maintenance of Module Main Unit 21 Installation PG HM combination Following descriptions are the assembly procedure for A type combination However the procedures for B C and D combinations are fundamentally the same though the combining directions of main units and cable support are different Required modifications of parts are listed in Table 21 8 below for respective combination types Modify them before assembly No modification is required for A type Table 21 8 Modification requirement COA ee E e aD Reverse the cable outlet Reverse the cable Reverse the cable Not necessary ey Not necessary outlet Modification of cable support Refer to 21 3 Reversing Main Unit Cable Position 2 Refer to 21 9 Modification of Cable Support PH main unit Not necessary PM main unit
113. moving side connector box 17 to the back of Z axis main unit M5 x 10 4 bolts Photo 21 48RP 13 Put the built in cables for Y and Z axis through X Y cable support 3 Be careful the direction of the built in cables See Photo 21 49RP Fix the cable support to the fixed side connector box M6 x 10 4 bolts Photo 21 50RP Photo 21 49RP Photo 21 50RP Male connector side 14 Fix the other end moving side of the cable support to the junction box Detach covers a and blocks b from the end of moving side of the cable support Photo 21 51RP Put the cables and the cable support through an opening in the junction box then attach the covers a and the blocks b to the cable support Fix the blocks b to the junction box M5 x 10 4 bolts Photo 21 52RP Photo 21 51RP 21 141 Installation and Maintenance of Module Main Unit 21 Installation 15 Connect the cables of Y axis main unit and built in cables Two connectors Photo 21 53RP Motor connector Snap to the end Encoder connector Secure with two bolts Attach the end cover 4D M5 x 10 4 bolts Photo 21 54RP Photo 21 53RP Photo 21 54RP Motor connector Encoder connector 16 Put the Z axis built in cables through Y Z cable support 4 Photo 21 55RP Fix the fixed side of Y Z cable support bracket with holes to the junction box 9 M6 x 10 4 bolts Photo 21 36RP Photo 21 55RP Photo 21 5
114. n it then clamp them with the cable clamp 7 Photo 21 20RG 6 Details of clamping cables Photo 21 21RG Photo 21 22RG Connector fixed side Connector box moving side 15 Fix the top covers to respective connector boxes Loosen the bolts of both end covers hook the edge of top cover to a groove on the side of connector box as shown in Photo 21 23RG and push the other side edge to other groove Fasten both end covers Photo 21 24RG Photo 21 23RG Photo 21 24RG OS Bolts for end cover 21 63 Installation and Maintenance of Module Main Unit 21 Installation Completion of RG MS combination Photo 21 25RG 21 64 Installation and Maintenance of Module Main Unit 21 Installation 21 7 5 RG HM Combination Required parts are listed in Table 21 25 below Confirm that the all parts are ready Table 21 25 Name Quantity Sections to be referred X axis main unit j i XYHRSCICIO RH200 8 Installation and Maintenance of Module Main Unit Y axis main unit XY HRSOOS RM200 19 Reference Number and Specifications Installation and Maintenance of the EXEA Controller 5 Reference Number and Specifications Installation and Maintenance of Module Main Unit XY E173GHM02700 1 19 Reference Number and Specifications Mounting bracket iS XY P170H 1 Mounting bracket is not necessary when a main unit is fixed to the mounting bas
115. n unit to mounting base Photo 21 26RG Photo 21 26RG 3 Fix the X Y combining bracket to the slider of X axis main unit M8 bolts 4 places tightening torque 27 5 33 3 N m Photo 21 27RG 21 66 Installation and Maintenance of Module Main Unit 21 Installation 4 Fix Y axis main unit to the combining bracket M6 bolts 4 places tightening torque 9 8 11 8 N m Photo 21 28RG 21 67 Installation and Maintenance of Module Main Unit 21 Installation 5 Attach the cable support to the main units and wire the cables Be sure that all parts are ready Photo 21 29RG shows the parts for the cable support Photo 21 29RG Table 21 24 Section Quanity Hexagon socket head cap screw KASA SDA l Te OMMECOL a oO O s S EN ERAS 10 G Bolts D Connector box 5 A fixed side UKAS Ei DEENEN EENEN ENEI E EEPE BECC EENE EE OENE BEELINE EEATT EEEE AEEA ATEAN M3 x 6 6 bolts TEACH tO XK AXIS E E E E A anag Clamp base Cable clamp M4 x 20 2 bolts Spacer Connector box MS x 10 4 bolts End cover a eeto ox G2 linet cover S10 set screws 2 screws o g Plate nut M3 x 6 6 bolts attach to Y axis rere ve gt demain bert met sh Sea eee SIER ON Lanai TG fata oo E Sao E SNE ee aoa Clamp baser eSa a aa a ches a a a a A Pee A Cable clamp nenene M4 20 4 bolts nn Spacer X Y cable support M5 6 x 10 4 bolts each C Cable support M3 x6
116. nance of Module Main Unit XY HRS0O5 RM200 19 Reference Number and Specifications Controller M EXEA2 0110000 ma t bi Toe XY P175XHH 1 Y axis main unit J Installation and Maintenance of the EXEA Controller 5 Reference Number and Specifications X Y combining bracket XY P175XHM 1 Installation and Maintenance of Module Main Unit XY E173XHM03222 1 19 Reference Number and Specifications Mounting bracket aia XY P170H 1 This bracket is not required when the X axis main unit is fixed from its bottom surface directly The reference numbers in brackets are for the parts of HM combination Figure 21 26 End cover Top cover long Junction box long L fixture with a plate to fix cable support Plate nut al si Lefixture X Y cable support Y Z cable support Junction box short Y axis main unit Plate nut Top cover Connector box fixed side Cable holder Controller cable Y Z support rest Plate nut Support rest L shape The parts other than marked by an asterisk are for the cable support 21 100 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures of RX HH HM combination Following description is the assembly procedures for A type However the procedures for B type are fundamentally the same though combining directions of main units and the support unit are dif
117. nation 21 76 Installation and Maintenance of Module Main Unit 21 Installation 3 Fix the X axis main unit to the mounting base referring to 21 4 Fixing Module Main Unit Photo 21 1RD 4 Tur the main unit over and attach the X Y combining bracket MS 4 bolts tightening torque 4 9 5 9 N m Photo 21 2RD Photo 21 2RD 5 Fix the Y axis main unit with the combining bracket to the slider of the X axis main unit M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 3RD 21 77 Installation and Maintenance of Module Main Unit 21 Installation 6 Fix the cable support to the main units The required parts are listed in Table 21 30 Confirm that all parts are ready Photo 21 4RD Section Hexagon socket cap screw Connector box M4 x 10 4 bolts Top cover MS x 10 4 bolts M4 x 10 4 bolts L fixture to fix the connector box MS x 10 4 bolts MS x 10 4 bolts Connector box moving side Fix to Y axis main unit End cover X Y axis cable support M6 x 10 4 bolts Cable support 7 Affix seals of X and Y axes which are provided with the controller cable to respective cable connectors We recommend to affix the seals to the connectors to avoid miss connection because the connector is common to all main units regardless their motor power specifications Photo 21 5RD Controller cable Controller side v
118. nd R axes are provided Affix them to corresponding cables For the controller cable affix seals both for X and Z axes Photo 21 59PD Photo 21 60PD Jw Affix the seals Affix the seals 19 Connect X and Z axes connectors of the cable support and controller cable at the fixed side connector box The round terminal of earth wiring green of cable support must be connected to M3 tap hole adjacent to M4 bolts Tightening torque 0 6 0 8 N m This round ground terminal must be connected to the ground wiring of user s equipment when the user cable 6 rope lay conductors are added to the cable support Photo 21 61PD M3 tap hole M4 x6 20 Insert cable holders 48 49 in Photo 21 37PD of controller cable to the slot of end cover part number 2 in Photo 21 37PD to where an idle holder is previously inserted Insert Z axis cable holder 8 first then X axis cable holder 9 next Photo 21 62PD Idle holder End cover 21 52 Installation and Maintenance of Module Main Unit 21 Installation 21 Loosely attach both end covers Photo 21 63PD Fit the front cover part number 4 in Photo 21 37PD into the connector box frame Hook its edge on lower grooves of the box frame and push it in by both thumbs as shown in Photo 21 65PD Fix both end covers firmly Tightening torque 0 6 0 8 N m Photo 21 63PD Photo 21 64PD Photo 21 65PD Installation of PD HMz combination is completed
119. nd RM Module Replacing procedure 1 Turn off the power of the EXEA controller and remove covers shown below 1 Pulley end cover M3 counter sunk screws 4 screws Photo 22 18 2 Motor top cover M3 counter sunk screws 3 screws 2 screws on top and one screw on end face Photo 22 19 Photo 22 18 Photo 22 19 2 Be sure that anyone is in operating area of the robot then turn on the power of the controller perform a Home return then turn off the controller power Be careful not to move the slider until the procedure 6 3 Put matching marks on the motor pulley and ball screw pulley with a marker as shown in Photo 22 20 Photo 22 20 Mark 4 Unscrew the motor fixing bolts M5 x 4 bolts Be careful not to lose disassembled bolts and keys Pull out the motor with the pulley and take off the timing belt Photo 22 21 22 22 Photo 22 21 Photo 22 22 ys M5 bolts Keys Timing belt 22 13 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 5 Put the new timing belt on both pulleys aligning the marks on pulleys which are put on in the procedure 3 as shown in Photo 22 23 Photo 22 23 Mark 6 Tighten the motor fixing bolts M5 x 4 bolts tightening torque 4 5 N m while applying tension to the belt Slightly loosen the motor fixing bolts and adjust the tension We recommend the way of applying the tension to the belt as described below 1 Wind a wire aro
120. nnector box are listed in Table 21 53 Confirm that the parts are ready Photo 21 1 Table 21 53 Section Quantity Hexagon socket cap screw Connector b DOX ee L M5 X 10 2 bolts nnn Q HOP COVER a eee Q End cover aLa M3 X 8 G bolts Clamp base M4 gt x 20 C bolts 2 Detach the top and end motor cover of main unit Photo 21 2 Photo 21 2 Motor end cover Motor top cover 21 161 Installation and Maintenance of Module Main Unit 21 Installation 3 Insert the plate nuts to T slots on a side of X axis main unit Photo 21 3 Attach the connector box 1 temporally to the main unit near the motor cover Photo 21 4 Photo 21 3 Photo 21 4 4 Put the built in cable through X Y cable support or X Z cable support Photo 21 5 Be careful the direction of the built in cable Fix the fixed side of the cable support to the connector box 1 Photo 21 6 Photo 21 5 Photo 21 6 Male connector side 5 Connect the connectors of the controller cable and main unit cable Motor connector Snap to the end Encoder connector Secure with 2 screws Photo 21 7 21 162 Installation and Maintenance of Module Main Unit 21 Installation 6 Open Edge saddle of the end cover 3 put through the Y Z axis controller cable then insert the cable holder to the end cover Fix the end cover 3 to the connector box M5 x 10 2 bolts Photo 21 8 Edge saddle
121. o 21 6RG Photo 21 7RG 21 59 Installation and Maintenance of Module Main Unit 21 Installation 8 Insert the plate nuts the same as the procedure 7 to T slots on a side of Y axis main unit from opposite side of the motor Fix the stay fixture 2 to the plate nuts temporally M3 x 6 4 bolts Photo 21 8RG Then fix L fixture of moving side connector box to the end surface of Y axis main unit M5 x 10 4 bolts Photo 21 9RG Fix the connector box Q to the stay Photo 21 10RG and secure the stay fixture to the plate nuts M3 bolts Photo 21 8RG Photo 21 9RG Y axis motor side L fixture Photo 21 10RG 9 Attach the support rest 8 of cable support to the X axis main unit Insert the plate nuts to T slots the same as the procedure 7 and fix the support rest 8 M3 x 6 2 bolts Photo 21 11RG 21 60 Installation and Maintenance of Module Main Unit 21 Installation 10 Pass the Y axis built in cable through the cable support 7 Be careful the direction of the cable Photo 21 12RG Fix the cable to the connector box 1 M6 x 10 4 bolts Photo 21 13RG Photo 21 12RG Photo 21 13RG Male connector 11 Fix the moving side of cable support to the moving side connector box 9 1 Unfasten the side bolts of each side of cable support and remove covers a and blocks b from the cable support temporally both sides of the cable support Photo 21 14RG 2 Pa
122. odule Main Unit 21 Installation 20 Put the cables through the cable supports loosely so that they don t get a jerk Set a large bending radius to the cables as much as possible then secure them with the clamping parts 8 44 46 and 2 to the connector box M4 x 20 2 bolts M5 x 16 2 bolts or M5 x 25 2 bolts Place the clamp bases first on the connector box put the cables on it then fasten them with the cable clamps Photo 21 61RP to 65RP Photo 21 61RP Details of clam parts Photo 21 62RP Photo 21 63RP In the junction box In the junction box Y Z cable support side X Y cable support side Photo 21 64RP Photo 21 65RP In the fixed side connector box In the moving side of connector box 21 144 Installation and Maintenance of Module Main Unit 21 Installation 21 Attach the top covers to each connector boxes Loosely fasten both end covers and press an edge of top cover to a groove and push in the other side of the top cover Fix both end covers Photo 21 67RP Photo 21 66RP Photo 21 67RP X axis main unit S Top cover fixing bolts Completion of RP HMSz combination Photo 21 68RP 21 145 Installation and Maintenance of Module Main Unit 21 Installation 21 7 13 RJ HMSz Combination The parts required for RJ HMSz combination are listed in Table 21 49 below Confirm that all parts are ready Table 21 49 Name Quantity Sections to be refe
123. of Module Main Unit 21 Installation 13 Store the cables loosely in the cable support so that they don t get a jerk Set a large bending radius to the cables as much as possible then fasten them with the clamping parts 8 and 4D 3 to the connector box M4 x 20 and M5 x 16 2 bolts each Place the clamp base to the connector box first put the cables on it then fix them Photo 21 14RD 16RD Photo 21 14RD Details of cable clamp Photo 21 15RD Photo 21 17RD a M4 x 20 Inside of the connector box Under the L fixture 14 Attach the top cover 2 to the connector box Pass the built in cables through an Edge saddle of the top cover Loosen the fixing bolts of the end cover and the L fixture push an edge of the top cover to the groove of the connector box then push into other side of the top cover to the connector box as shown in Photo 21 35RD Fasten the bolts to secure the end cover with the L fixture Photo 21 17RD Fixing bolt 21 81 Installation and Maintenance of Module Main Unit 21 Installation Completion of RD MS combination Photo 21 18RD The two connectors on the mounting base shall be fixed referring to 21 5 2 1 All Modules Excludes RH and RM Motor Indirect Mount We recommend to fix the built in cables to the mounting base by the clamping parts 11 43 with M4 x 20 bolts 2 bolts 21 82 Installation and Maintenance of Module Main Unit 21
124. ontroller Teaching box Combining bracket Quantity 1 Z axis controller cable fod X Cable suppo TES oer N O 1 Reference number XY HRSOOD P HOOO _ Installation and Maintenance of Module Main Unit XY HRSOOO PM102 M EXEAQO OO000000 M EXTBOO XY P185DHM 1 X axis controller cable 1 IX XY El XY P180H 1 2 Sections to be referred 19 Reference Number and Specifications Installation and Maintenance of the EXEA Controller 5 Reference Number and Specifications Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications 6 signal cables are available for user cables However there might be some noise problems Refer to 19 3 Cable Support 2 3 4 Figure 21 15 Controller cable SS 2 Idle holder 2 Side cover i 2 Connector box fixed side Cable holder 2 Front cover Module main unit Z axis Combining bracket 2 Side cover This is not necessary when fixing X axis from its bottom Motor back mount module cannot be used as a Z axis main unit This bracket cannot be used for a motor back mount module A 2 Connector box moving side 2 Flexible tube 2 Fixture plate moving side connector box 1 Mounting bracket Fixing X axis 4 bolts M8 x 22 tightening torque 33 3 N m Fixing Z axis 4 bolts M6 x 20 tig
125. or B type is fundamentally the same though assembly direction of main unit and the cable supports are different 1 Modifications of the main unit and L fixture required for respective types are listed in Table 21 41 Modify then before assembly Table 21 41 B X axis main unit Reverse outlet position of main unit cable Z axis main unit Reverse outlet position of main unit cable Connector box moving side Reverse L fixture 1 Refer to 21 3 Reversing Position of Main Unit Cable 2 Refer to 21 13 Reversing L fixture 2 Drive the pins to the X axis bracket part of X Z combining bracket The X Z combining bracket consists of X axis bracket and Z axis bracket Drive a chamfered pin and a straight pin to X axis bracket to the locations shown in Figure 21 30 using a plastic hammer The pins are provided with X Z combining bracket e Be careful with orientation of the chamfered pin See a lower left figure for correct orientation e Do not push in the locating pins for Y axis main unit on the back of the bracket when driving the pins Figure 21 30 X axis bracket Chamfered pin Y direction Straight pin Pin for Z axis main unit Right Pin for Y axis main unit These holes are not used for RC MSz combination 21 113 Installation and Maintenance of Module Main Unit 21 Installation 3 Fix X combining bracket to the mount
126. or from 1 3 in the figure below 2 The criteria shall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 7 Module Module main main unit TD unit vertical as 24 ll t t Module main unit Moment arm length REPS Moment arm length ae horizontal mount L L Transportable load mass kg Transportable load mass i Transportable load mass kg 20 20 Position 1 Accel 4 9 sition 3 Accel 4 9 Position 3 Accel 4 9 LA A Position 2 Accel 4 9 sition 3 Accel 9 8 Position Q Accel 4 Position 3 Accel 4 sition 1 Accel 9 8 Position 1 Accel 9 8 Position 3 Accel 9 8 Position 3 Accel 9 Position N Position Accel 9 Accel 4 9 Position D Position 2 Accel 4 9 Accel 4 9 osition Position 2 Accel 9 Position Accel o 2 2 s Q Q N ise Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position D and To be r
127. oto 21 5PG Hook the edge of front cover to the slot of the connector box frame in the position 45 in Photo 21 23PG and push the cover in by both thumbs See Photo 21 24PG Photo 21 23PG Photo 21 24PG 15 Secure the covers on both ends Tightening torque 0 6 0 8 N m End cover of elbow side M3 x 8 4 bolts End cover 6 M3 x 8 4 bolts Photo 21 26PG 16 Connect X and Y axis cables in the fixed side connector box attached to X axis main unit Connect Y axis connectors Secure the sensor connector 7 with 2 screws Then connect X axis connectors as enlarged in Photo 21 28PG Connection procedures are the same as Y axis Photo 21 27PG Photo 21 28PG Cable holder 21 28 Installation and Maintenance of Module Main Unit 21 Installation 17 Insert the cable holders of X and Y axis controller cables to the opening in the end cover with blind plug See Photo 21 29PG Insert the Y axis cable holder 8 to the opening first then X axis cable holder 49 next See Photo 21 30PG for the cable holder Then screw down the end cover M3 x 8 bolts 4 places Leave the bolts loose Do same for the end cover on cable support side 0 Photo 21 29PG Photo 21 30PG Idle holder A End cover k 18 Attach the front cover part number in Photo 21 5PG to the connector box frame Hook edge of front cover to the slot of box frame in position and push the upper side of the cover by both thum
128. otor direct mount module e Inside check Motor e Wiring check Connector box e Wiring check A person may get in the area e Check inside e Wiring check e Replace timing belt e Wiring check _ Replace timing belt 21 3 Installation and Maintenance of Module Main Unit 21 Installation 21 3 Reversing Main Unit Cable Position Cable position can be changed for motor direct mount motor back mount and RS module main units It requires to reverse the cable position of the main units for the following combinations prior to their installation 1 G HM combination e B type PH and PM module e C type PH module e D type PM module 2 D HM and D MM combination e A type Z axis module e B type X axis module 21 3 1 Motor Direct Mount Module This section describes the procedure to reverse position of the cables All procedures hereunder are common to PH PM RH and RM modules though PH module is shown as an example in the following photographs 1 Unfasten the bolts on end surface of main unit Remove the motor end cover Photo 21 3 2 Motor end cover 2 Remove the cables and a blind plug from the motor end cover See Photo 21 3 4 Photo 21 3 3 Photo 21 3 4 oe Blind plug pi Blind plug I A Installation and Maintenance of Module Main Unit 21 Installation 3 Put bound part of cabl
129. over 41 M5 x 10 4 bolts Photo 21 40RG Photo 21 39RG Photo 21 40RG f Motor connector Encoder e connector 13 Connect the controller cables of both axes Photo 21 41RG Insert the slot plug to the slot Fix the end cover 3 to the connector box 1 M5 x 10 4 bolts Insert the cable holders to the groove in the order of Y and X axis controller cables Photo 21 42RG Photo 21 41RG Photo 21 42RG 21 72 Installation and Maintenance of Module Main Unit 21 Installation 14 Place the cables loosely in the cable support so that a full stroke operation does not jerk the cables Set a large bending radius to the cables as much as possible when fix them to the connector boxes Then fasten them with the clamping parts 8 and 44 6 2 places put the clamp base 6 under the cables set the cables on it and clamp them with the cable clamp 7 Photo 21 43RG 6 Details of clamping cables Photo 21 44RG Photo 21 45RG Connector box fixed side Connector box moving side 15 Fix the top covers to respective connector boxes Loosen the bolts of both end covers hook the edge of top cover to a groove on the side of connector box as shown in Photo 21 46RG and push the other side edge to other groove Fasten both end covers Photo 21 47RG Photo 21 46RG Photo 21 47RG OS Bolts for end cover 21 73 Installation and Maintenance of Module Main
130. ox or cables when carrying a main unit Refer to relevant sections in Figure 21 1 for the assembly procedures of your combination 21 1 Installation and Maintenance of Module Main Unit 21 Installation Figure 21 1 Installation procedure Single axis P series 2 axes combination R series 2 axes combination 21 1 Dimensional Check for Motion Range 4 21 2 Required Space for Maintenance 4 21 3 Reversing Main Unit Cable Position 21 8 Shortening of Flexible Tube 21 11 Shortening of Cable Support It requires to reduce projection of flexible tube This procedure requires to reduce projection of a cable support Refer to tables of required modifications for respective multi axis combinations 21 9 Modification of Cable Support 21 12 Reversing Connector Box This procedure is requires for B C and D type of PG HM combination B type for PD O0 combination 4 21 10 Adding Tap Holes to a Module Main Unit 21 13 Reversing L Fixture This procedure is required for PD HMz or PD MMz combination if the Z axis stroke is 300 mm or over 21 4 Fixing Module Main Unit Installation i Combination of P Series Combination of R Series 21 7 1 PG HM 21 7 4 RG MS 21 7 9 RX HH HM Combination Combination Combination 21 7 2 PD MMz 21 7 5 RG HM 21 7 10 RC MSz Combination Combinat
131. ple XY HRS 030 RH 2 00 1 NSK robot module 7 Description code 2 Stroke cm Example 030 300 mm 6 Ball screw lead cm 1 10mm 2 20mm 4 40 mm 3 Specification code standard specification C clean room specification Available to R series onl 5 Module type Capacity classifi atiori in each series cross section area of main unit 4 Series H Main unit carrying heavy load P P series M Main unit carrying medium load R R series S Main unit carrying light load Table 19 1 Description code 00 for fo2 fos fos fos fos for fos fos fio fi fia 13 4 15 High performance module Examples Description code 05 Maximum speed is reduced to 1 2 Motor brake is not incorporated Motor is mounted to right side indirect mount As the maximum speed is reduced to one half of standard specification equivalent ball screw lead in Motor conversion table shall be 20 mm if the ball screw lead number is 4 40 mm in 6 Description code 00 The maximum speed is standard Direct motor mount main unit and no motor brake is equipped High performance module is equipped with a higher power motor and has higher transportable moment as shown in Table 19 2 below Table 19 2 RM module RS module 15 normal 32 47 high performance 00 15 normal 32 47 high performance eis specification eee specification 200 ao MERE 200 Transportable px Sare a r a a a prerergt
132. r ball bushing Slide unit Support unit Reference number XY P177S 030 2 Reference number XY P177BGHM 1 Stroke cm Example 030 300mm Figure 19 19 Stroke 400 mm or less Stroke 500 mm or less Y stroke 475 Y stroke Motion range X stroke 200 X stroke 400 Slide unit XY P177xxx 2 Support bracket XY P177BGHM 1 Mounting bracket Mounting bracket XY P170H 1 XY P170S 2 Note The mounting surface and the assembled accuracy shall clear the specifications Table 19 14 X axis Stroke mm Maximum speed mm s Repeatability mm Transportable mass max kg 40 35 for Y axis of 950 mm Y stroke 19 25 19 Reference Number Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Blank Page 19 26 Installation and Maintenance of Module Main Unit 20 Unpacking 20 Unpacking 20 1 Transportation and Storage Do not give shocks to the module main unit during transportation Store the module main unit indoors in a clean environment and not to expose to wind rain or direct sunlight Caution The robot modules are not provided any special measures against environmental problems for transportation and storage Problems may arise or the service life may be reduced unless it is handled great
133. r cover See Photo 21 3 16 Photo 21 3 16 3 Remove the bottom motor cover in the same manner of procedure 2 Put the bound part with rubber in the opening at the other end See Photo 21 3 17 Be careful not to apply excessive bending force to the cable outlet Fasten the motor cover 2 screws M4 x 6 Photo 21 3 17 Opening in Bound part with end cover rubber 21 7 Installation and Maintenance of Module Main Unit 21 Installation 5 Fasten all covers See Photo 21 3 18 Photo 21 3 18 21 8 Installation and Maintenance of Module Main Unit 21 Installation 21 4 Fixing Module Main Unit The following two ways of mounting method are available For the both ways flatness of mounting base shall be 0 1 mm or less and the surface shall be free of interfering protrusions Adjust the flatness of mounting base using shims when there exists clearance between module surface and mounting base around mounting holes 1 Fix a module main unit directly to mounting surface with tap holes on its bottom Drill holes through the mounting base and fix a module main unit from its rear side See Figure 21 3 For the R series modules 98 H7 holes on its bottom may be used for locating pins to secure position of a main unit Refer to Figure 21 4 for specifications of the locating pins Figure 21 3 Module main unit j Mounting base Hexagon socket cap screw Table 21 1
134. r to a groove on the connector box and push the other side in Photo 21 21RC then secure the end covers Photo 21 21RC Photo 21 22RC 21 120 Installation and Maintenance of Module Main Unit 21 Installation Completion of RC MZz combination Photo 21 23RC Be sure to fix two connectors on the mounting base referring to 21 5 2 1 All Modules Excludes RH and RM Motor Indirect Mount Modules We recommend to fix the built in cables to the mounting base using clamping parts 8 2 as well M4 x 20 2 bolts 21 121 Installation and Maintenance of Module Main Unit 21 Installation 21 7 11 RP MSSz Combination The parts required for RP MSSz combination are listed in Table 21 43 Confirm that all parts are ready before assembly Table 21 43 Name X axis main unit Reference number XY HRSOO5 RM200 Sections to be referred Installation and Maintenance of Module Main Unit 7 axis main unit oa ie XY HRSOQO RSIQO 19 Reference Number and Specifications Controller apee CEEA 2100000 1 Installation and Maintenance of the EXEA Controller Teaching box M EXTBOO 5 Reference Number and Specifications A and C type aes XY P175GMS 1 l Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications Zaxis built in cable YU EXY E1730 2 aa Mounting bracket XY P170H 1 This is not required when X axis main
135. raph Refer to Figure 19 13 for the concept of a moment load Figure 19 10 i Module Module main s main unit D F unit vertical Module main unit Moment arm length ije wal moui Moment arm length mount horizontal mount L L Transportable load mass kg Transportable load mass kg Transportable load mass kg 20 Position D Accel 4 Position Accel 4 L Position Position Accel 4 9 sition 3 Accel 9 8 A Position Accel 9 Position Position D Accel 9 ition D Position 1 sition 1 Accel 9 8 Position 2 Accel 4 9 Position Position Accel 4 9 Position Accel 4 9 Position Accel 4 9 DE R N 4 Beg hes 7 Position Position 2 Accel 9 8 2 4 4 2 4 4 4 2 S a 4 d 2 2 iS 2 S S S S S S S S od loe loe t N Moment arm length mm Moment arm length mm Moment arm length mm Horizontal mount Wall mount Vertical mount e Position D and To be referred as the position of center of gravity of end effector including the work as shown above e Accel 4 9 or
136. red only for XY E183DHM110 1 X axis stroke 400 mm or less Loosen screws on back side of the attaching plate of flexible tube guide and change the guide position as shown in Figure 21 48 then fix it M4 slotted flat head screw tightening torque 1 67 1 96 N m Figure 21 48 Changing position of the flexible tube guide M4 slotted flat head screw Flush with main unit end face 21 171 Installation and Maintenance of Module Main Unit 21 Installation 21 10 Adding Tap Holes to a Module Main Unit Standard stroke of Z axis in PD HM and PD MM combinations are 100 and 200 mm Therefore it requires to add tap holes to the Z axis main unit of 300 mm or more stroke to attach the combining bracket The tap holes are provided with a main unit of 200 mm or less stroke beforehand Tap onto four countersink on the bottom surface of PM main unit 100 x 130 4 M6 x 1 0 pitch 9 12 mm deep pilot drill depth 22 mm or less 21 172 Installation and Maintenance of Module Main Unit 21 Installation 21 11 Shortening of Cable Support A standard cable support can be used for several multi axis combinations in terms of stroke You may shorten dimensions of cable support projection a and b which are shown in the figures of multi axis combination in the catalogue Take appropriate safety measures when shortening the cable support e g wearing groves and
137. respective main units Select a built in cable referring to Selection table of R series cable in the catalog Replacement procedures 1 2 3 4 5 6 7 8 Turn off the main and control power of the EXEA controller Remove an end cover of respective connector boxes and pull out the top cover Detach the cable clamps and cable holders disconnect all connectors of the built in cable and pull out it from the cable support Affix the seals of X Y Z and R to the connectors of new built in cable respectively Connect the cable to the controller cable Install the built in cable to the cable support in reversed order of procedure 3 and connect it to the main units Fix it to the connector box with the cable clamp and the cable holders Attach the top and end cover of respective connector boxes in reversed order of procedure 2 Move the main units respectively and check for jerking of cable in the cable support Turn on the main and control power of the EXEA controller Execute a home return operation if it rises a home return alarm 22 7 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 3 2 Replacement of Timing Belt This section is only applicable for a motor indirect mount main unit The timing belt is treated as a expendable part NSK Ltd is not liable to its damage when it is out of the warranty We recommend to replace it periodically to avoid the syst
138. rm length mm Horizontal mount Wall mount Vertical mount e Position D and To be referred as the position of center of gravity of end effector including the work as shown above Accel is abbreviation for acceleration A solid line is for 4 9 m s and a dotted line represents for 9 8 m s e Accel 4 9 or 9 8 19 8 Installation and Maintenance of Module Main Unit 19 Reference Number Specifications Relation between end effector mass W and moment arm length L PH Module 1 Select the closest position of center of gravity of the end effector from 1 3 in the figure below 2 The criteria shall be at lower left of each graph Refer to Figure 19 13 for the concept of a moment load Figure 19 5 Module Module main main unit 4 oO 7 unit vertical Module maim unit Moment arm length ae Moment arm length mount horizontal mount L L Transportable load mass kg Transportable load mass kg Transportable load mass kg 80 0 80 0 25 0 sitio I Position and 3 Accel 4 sitio N Position D Accel 9 Position Accel sitio Position 2 Accel N Position Accel 9 Position D Accel 4 Position 2 Accel 4 i sitio
139. roke Z axis stroke of cable support 100 300mm 400 600mm XY E183DHM110 1 600 XY E183DHM111 1 1050 11 Loosely screw in the moving side connector box frame to two plate nuts part number 17 in Photo 21 4PD inserted to upper and lower T slots on the side of Z axis main unit through spacer part number 9 in Photo 21 4PD M4 x 12 4 places Table 21 15 X axis stroke mm 100 400 500 800 Photo 21 16PD Photo 21 17PD 21 37 Installation and Maintenance of Module Main Unit 21 Installation 12 Position of moving side connector box distance between its end cover 13 and end face of Z axis main unit 44 in Photo 21 18PD must be set as below Z axis stroke 300 mm or under 124 mm Z axis stroke 400 600 mm 0 zero Flush with each other Pass Z axis cables through U shape opening 6 then tighten bolts M14 x 12 tightening torque 1 7 2 0 N m Photo 21 18PD 13 Loosely attach the end cover to moving side connector box frame Loosen bolts of the other end cover 3 M3 x 8 4 places Photo 21 19PD 14 Connect the cables of main unit and cable support There are three connectors motor power sensor and brake power connectors Secure the sensor connector by tightening two screws Photo 21 20PD Photo 21 21PD 21 38 Installation and Maintenance of Module Main Unit 21 Installation 15 Apply the edge of front cover to the slot of moving s
140. rred i i X so E Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications TXY HRS0QO0 RSIQO _ M EXEA3 1110100 1 Installation and Maintenance of the EXEA Controller M EXTBOO 5 Reference Number and Specifications sen RY PUTS Mn _ XY P17SCMS 1 _ XY El Installation and Maintenance of Module Main Unit af XY EI XY P170H 1 Z axis main unit Controller Toachingbex il A T combining Bracket 2 combining bracket Controller cable fa Controller cabled Serre Wants 19 Reference Number and Specifications cable cable Mounting bracket s This bracket is not necessary when X axis main unit is fixed from its bottom directly Figure 21 37 Top cover long End cover Junction box long L fixture with a plate to fix cable support ON Tag N N ee m lt L fixture X Y cable support Y axis main unit Plate nut Top co Connector box fixed side Cable holder Controller cable Support rest X Y cable support Plate nut Support rest L shape Z axis main unit End cover Y Z combining bracket Plate nut Connector box moving side The parts other than marked by asterisk are for cable support 21 146 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures for RJ HMSz combination Following description i
141. s Adjust the guide position using an adding tape to L dimension from the end of motor side of main unit then tighten the bolts firmly Tightening torque 1 7 2 0 N m L dimensions are shown in Table 21 10 below Photo 21 11PG Photo 21 12PG Table 21 10 X axis stroke mm 100 400 500 800 Cable support reference number XY E183GHM100 1 XY E183GHM101 1 9 Set the fixed side connector box frame to the motor side of main unit so that its side opposite to the cable outlet is flush with the end face of main unit Pass the main unit cables through U shape opening on the bottom of the box frame Tighten the bolts to fix the connector box frame M4 x 6 2 places tightening torque 1 7 2 0 N m Photo 21 13PG U shape opening Motor side end face of X axis main unit Fixed side connector box frame 21 25 Installation and Maintenance of Module Main Unit 21 Installation 10 Same as X axis main unit insert the plate nut to fix the fixed side connector box frame part number in Photo 21 5PG to the T slot 40 on the side of Y axis main unit as shown in Photo 21 14PG Facing its sponge side to the main unit turning the stuck out sponge side down insert it into T slot pushing downward angle as shown in Figure 21 10 Figure 21 10 Push downward angle ri Plate nut Photo 21 15PG eos Side of Y axis main unit 12 Set the moving side connector box
142. s other than marked by asterisk are for cable support 21 134 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures of RP HMSz combination Following description is the assembly procedures of A type However the procedures for B C and D types are fundamentally the same though combining directions of main units and cable support are different Modifications of main units connector box and L fixture are required for some combination types Modify them before assembly 1 The required modifications are listed in Table 21 47 for respective combination types No modification is required for A type Table 21 47 Ooa B C O D X axis main unit Not necessary Reverse outlet position of main unit cable RE f f Reverse outlet position Reverse outlet position Y axis main unit Not necessary 3 etp l Not necessary P of main unit cable of main unit cable Connector box fixed side Junction box Not necessar Reverse connector box Not necessar y y Connector box 4 A Not necessary Reverse L fixture Not necessary Reverse L fixture moving side 1 Refer to 21 3 Reversing Position of Main Unit Cable Not necessary 2 Refer to 21 12 Reversing Connector Box 3 Refer to 21 13 Reversing L fixture 2 Drive the pins to Y Z combining bracket Drive a chamfered pin and a straight pin with a plastic hammer to the bracket on the
143. s the assembly procedures for A type combination However the procedures for B type are fundamentally the same though the combining direction of the main units and cable support are different Modifications of main units and L fixture are required 1 The required modifications are listed in Table 21 50 for respective combination types Table 21 50 p eaaa B X axis main unit Reverse position of cable outlet Y axis main unit Reverse position of cable outlet Z axis main unit Reverse position of cable outlet Connector box fixed side Junction box Connector box moving side Not necessary Not necessary Not necessary 1 Refer to 21 3 Reversing Position of Main Unit Cable 2 Refer to 21 13 Reversing L Fixture Not necessary Reverse L fixture 2 Drive pins to Y Z combining bracket Drive a chamfered pin and a straight pin to the combining bracket to the locations shown in Figure 21 38 using a plastic hammer etc 2 Drive the pins to the Y axis bracket part of Y Z combining bracket The Y Z combining bracket consists of Y axis bracket and Z axis bracket Drive a chamfered pin and a straight pin to Y axis bracket to the locations shown in Figure 21 38 using a plastic hammer The pins are provided with Y Z combining bracket Be careful with driving orientation of the chamfered pin See lower left of the figure for correct orientation Do not pu
144. s to the groove in the end cover in order of Y and X axis Photo 21 20 Photo 21 19RX Photo 21 20RX F 21 109 Installation and Maintenance of Module Main Unit 21 Installation 18 Loosely store the cables in the cable support so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector boxes then fasten them with the clamping parts and 49 M4 x 20 or M5 x 16 2 bolts each Place the clamp base first put the cables on it then fix them by the clamp Photo 21RX 25RX Photo 21 21RX Details of the clamp in the box Photo 21 22RX Photo 21 23RX In the moving side connector box Moving side of connector box Y axis motor side under L fixture Photo 21 24RX Photo 21 25RX In the junction box In the fixed side connector box 21 110 Installation and Maintenance of Module Main Unit 21 Installation 20 Fix the top and bottom covers of both connector boxes Loosen the bolts of both sides end covers hook the edge of the top bottom cover to a groove of a connector box then push in the other side of the top bottom cover Photo 21 26RX Then retighten the screws for the end covers Photo 21 27RX Pass the built in cable through Edge saddle beforehand when attaching the short top cover 2 Photo 21 26RX Photo 21 27RX X axis main unit OS Bolts to fix an end cover Completion of RX HH HM combination Photo
145. secure the cable to the connector box connect all connectors Assemble the flexible tube in reverse order of the procedures described above The seals for X Y Z or R axis to identify a cable are provided with the cable support Move respective main units manually in full stroke and check for twisting flexible tube and interference between the ancillaries Turn on the main and control power of the EXEA controller 22 6 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 3 1 2 R Series Table 22 4 Built in cable Cables with connectors No Reference number Contents XY E173020 1 Motor Encoder cable one each XY E173028 1 Motor Encoder cable one each XY E173036 1 Motor Encoder cable one each XY E173044 1 Motor Encoder cable one each XY E173052 1 Motor Encoder cable one each Motor Encoder cable one each OIR wWl y gt N XY E173020 2 eu A user signal cable doubles as a brake cable Motor Encoder cable one each XY E173028 2 A user signal cable doubles as a brake cable Motor Encoder cable one each XY E1 2 gt R qe A user signal cable doubles as a brake cable Motor Encoder cable one each XY E173044 2 gt i A user signal cable doubles as a brake cable Motor Encoder cable one each XY E1 2 2 Hia A user signal cable doubles as a brake cable Built in cable differs according to the multi axis combination and stroke of
146. sely store the cables in the cable support so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector boxes then fasten them with the clamping parts 8 and 41 43 M4 x 20 and M5 x 16 2 bolts each Place the clamp base first put the cables on it and then fix them by the clamp Photo 21 22RT 24RT Photo 21 22RT 3 Details of the clamp in the box Photo 21 23RT Photo 21 24RT man a n TEE Inside of fixed side of connector box Under the L fixture 17 Fix the top and bottom covers of both connector boxes Loosen the bolts of both sides of end covers hook the edge of the top bottom cover to a groove of connector box then push in the other side of the top bottom cover Photo 21 25RT Then retighten the screws for the end covers Photo 21 25RT Photo 21 26RT X axis main unit A Ra Bolts to fix an end cover 21 98 Installation and Maintenance of Module Main Unit 21 Installation Completion of RT HMz combination Photo 21 27RT 21 99 Installation and Maintenance of Module Main Unit 21 Installation 21 7 9 RX HH HM combination The parts required for RX HH HM combination are listed in Table 21 37 below Check that all parts are ready Table 21 37 Name Quantity Sections to be referred 1 XY HRSOOO RH200 X axis main units i XV_HRSLIDIO_RH200 Installation and Mainte
147. sh in the locating pins for Y axis main unit on the back of the bracket when driving the pins 21 147 Orientation of chamfered pin KO Installation and Maintenance of Module Main Unit 21 Installation Figure 21 38 Y axis bracket 3 4 Chamfered pin driven Chamfered pin Ye Y direction Straight pin Z direction Straight pin driven Poa Pin for Y axis main unit These holes are not used for RC MSz combination Fix X axis main unit to the mounting base Refer to 21 4 Fixing Module Main Unit Photo 21 1RJ Photo 21 1RJ Fix X Y combining bracket to the slider of X axis main unit with the support rest for Y Z cable support part number 1 in Table 21 51on the next page as shown in Photo 21 2 RJ M8 hexagon socket button head screws 4 places provided with the support unit Photo 21 2RJ 21 148 Installation and Maintenance of Module Main Unit 21 Installation 5 Fix Y axis main unit to the combining bracket M6 4 bolts tightening torque 9 8 11 8 N m Photo 21 3RJ 6 Insert the plate nut 8 and to each T slot on the side of Y axis main unit Insert the plate Nut 8 first then 4 4 nuts for each T slot Refer to Table 21 51 for the part numbers Photo 21 4RJ 7 Turn Z axis main unit over and attach Z axis bracket of Y Z
148. shall NSK Ltd be liable for any consequential damages loss of profits and or personal injury as a result of claim arising under this limited warranty NSK Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 2000 by NSK Ltd Tokyo Japan All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from NSK Ltd NSK Ltd reserves the right to make changes to any products herein to improve reliability function or design without prior notice and without any obligation NSK Ltd does not assume any liability arising out of the application or use of any product described herein neither does it convey any licence under its present patent nor the rights of others Patents issued and patents pending Robot Module System EC Directives Conformity NSK Ltd declares that Robot Module System conforms to EC Directive CE Marking However please note that the following conditions are added for conformity to the EC directive EC Declaration of Incorporation NSK Ltd declares that the Robot Module System is a machine component which is to be incorporated into the machine EC Declaration of Incorporation The Robot Module System must not be operated until it is incorporated to the machine The Robot Module System as the machine component conforms with following EC Dir
149. shortened tube length are shown in Table 21 55 Take appropriate safety measures when cutting the tube e g wearing groves and glasses Take a great care not to damage the cables inside Do not cut the tube at the end of moving side elbow side The moving side of the tube is assembled as shown in Figure 21 40 as the shipping set The end of tube does not touch an inside face of the elbow so that the tube is not damaged due to repetitive motions of the robot If you disassemble this side accidentally assemble it referring to Figure 21 40 Figure 21 40 Flexible tube assembly moving side elbow side 2mm or less Do not push the Position of lock piece tube to the end Second and third fold from the end Flexible tube 21 165 Installation and Maintenance of Module Main Unit 21 Installation Cutting procedure 1 Remove the tube from a straight fitting of the fixed side connector box and cut the tube to desired length Photo 21 8 1 Photo 21 8 1 Flexible tube Fixed side connector box 2 Puta screwdriver into a slot of lock piece and pry the lock piece to detach from the straight tube fitting Photo 21 8 2 and 3 Photo 21 8 2 Photo 21 8 3 Lock piece 3 Pull out the tube from the straight tube fitting Photo 21 8 4 Photo 21 8 4 Straight tube fitting 21 166 Installation and Maintenance of Module Main Unit 21 Installation 4 Cut the tube at the
150. ss the cable support and the cables through an opening of the connector box then fix the covers a and the blocks b to the cable support and fix the block to the connector box by the bolts M5 2 bolts each side Photo 21 15RG Photo 21 14RG 21 61 Installation and Maintenance of Module Main Unit 21 Installation 12 Pass the cables of Y axis main unit through the opening in the bottom of connector box Q and connect to the built in cables 2 connectors Motor connectors Snap to the end Encoder connectors Secure them by 2 setscrews Photo 21 16RG Then fix the end cover 41 M5 x 10 4 bolts Photo 21 17RG Photo 21 16RG Photo 21 17RG Motor connector Encoder connector 13 Connect the controller cables of both axes Photo 21 18RG Insert the slot plug 4 to the slot Fix the end cover 3 to the connector box 1 M5 x 10 4 bolts Insert the cable holder to the groove in the order of Y and X axis controller cables Photo 21 18RG Photo 21 18RG Photo 21 19RG 21 62 Installation and Maintenance of Module Main Unit 21 Installation 14 Set the cables loosely in the cable support so that they don t get a jerk Set a large bending radius to the cables as much as possible in the connector boxes Then clamp the cables to the connector boxes with the clamping parts 8 and 4 6 2 places put the clamp base 6 on the connector box first put the cables o
151. ter or uncontrollable circumstances by the supplier Designated parts as expendable Fuse of the EXEA controller cable cable support and timing belt NSK Ltd warrants for its products and under no circumstances is not liable for any consequential damages loss of profits and or injury of personal as a result of claim arising under this limited warranty 22 5 4 Service Charge The price of the product does not include the engineering service charges incurred after the shipment Service fee according to the supplier s standard will be charged for field service even in the warranty period 22 18 World wide Manufacturing and Marketing Organization NSK Ltd INTERNATIONAL DIVISION JAPAN Tokyo Phone 03 3779 7120 NSK CORPORATION U S A Ann Arbor Phone 313 761 9500 Precision Products Business Unit U S A Chicago Phone 630 924 8000 Los Angeles Phone 562 926 3578 Ann Arbor Phone 761 761 9500 NSKeRHP CANADA INC CANADA Toront Phone 905 890 0740 Montreal Phone 514 633 1240 Vancouver Phone 800 663 5445 NSK RODAMIENTOS MEXICANA S A DE C V MEXICO Mexico City Phone 5 301 2741 5 301 3115 NSK DO BRASIL INDUSTRIA E COMERCIO DE ROLAMENTOS LTDA BRASIL Sao Paulo Phone 001 269 4700 Porto Alegre Phone 051 222 1324 Belo Horizonte Phone 031 224 2508 NSK RHP UK LTD ENGLAND Ruddington Phone 0115 936 6600 NSK RHP DEUTSCHLAND G m b H GERMANY Dusseldorf Phone 02102 4810
152. terference in ancillaries exists Clearance between the ancillaries and the robot on both stroke end shall be more than 20 mm 12mm for RS module Table 21 5 PH module PM module RH module RM module RS module Bolt diameter M6 Screw in depth 12 16mm 12 16mm 6 8mm R AR 33 3N m 11 7Nm 33 3N m 14 7N m 11 7N m g g toq 340kgfcm 120kgfcm 340kgfcm 150kgfcm 120kgfcm Figure 21 6 RH module RM module RS module 6 6 or less 116 0 05 Chamfered pin Chamfered pin Chamfered pin 10 or less 10 or less 8 or less 8h7 y Me Work Chamfered pin details VLE N Y 21 19 Installation and Maintenance of Module Main Unit 21 Installation 21 6 2 Mounting Effector to End Face of Main Unit This way of mounting effector is only applicable to R series Use tap holes on the end face opposite to motor side for mounting For both ends for S module Use the bolts listed in Table 21 6 When using 98H7 pin holes for locating pins refer to Figure 21 7 for dimensions and positions of the pin Refer to following sections for maximum transportable mass Single axis operation Table 19 6 Transportable mass for single axis in moving main unit Multi axis combination Table 19 7 Transportable mass of multi axis combination You cannot not use the bolts listed in Table 21 6 to fix a main unit Refer to 21 4 Fi
153. the fixed side of Y Z cable support to the short junction box 0 M6 x 10 4 bolts Photo 21 18RJ then fix L fixture 5 to the short junction box Photo 21 19 Photo 21 17RJ Photo 21 18RJ Photo 21 19RJ 17 Put Y axis built in cable through Edge saddle of L fixture 6 then fix the L fixture to the long junction box Q Photo 21 20RJ Then fix the moving side of Y Z cable support to the I fixture with 2 plate nuts M6 x 16 4 bolts Photo 21 21RJ Photo 21 20RJ Photo 21 21RJ 21 155 Installation and Maintenance of Module Main Unit 21 Installation 18 Connect Y axis built in cable to the cables of main unit Motor connector Snap to the end Encoder connector Secure them with two screws Photo 21 22RJ Photo 21 22RJ 19 Connect Z axis built in cable to the cables of main unit Motor connector Snap to the end Brake connector Snap to the end Encoder connector Secure with two screws Photo 21 23RJ Photo 21 23RJ 20 Insert the plate nut 3 to T slot of Z axis main unit on the slider side of Y axis main unit Photo 21 24RJ and attach the junction box to Z axis main unit M3 x 6 2 bolts When attaching the junction box push the connectors which have connected at the procedure 19 into the junction box as shown in Photo 21 25RJ Photo 21 24RJ Photo 21 25RJ A de Built in cable 21 156 Installation and Maintenance of Module Main Unit
154. the side of ball screw and motor pulleys with a marker as shown in Photo 22 28 Photo 22 28 4 Unscrew the motor fixing bolt 100W M4 x 2 bolts 200W M5 x 4 bolts Be careful not to lose the removed bolts and keys Pull out the motor with the pulley on and take off the timing belt Photo 22 29 Photo 22 29 5 Put on the new timing belt to the pulleys while aligning the matching marks on the ball screw and motor pulleys which are marked in the procedure 3 as shown in Photo 22 30 Photo 22 30 22 16 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 6 Tighten the motor fixing bolts while applying tension to the belt 100W M4 x 2 bolts tightening torque 2 4 3 N m 200W MS x 4 bolts tightening torque 4 5 N m Slightly loosen the motor fixing bolts and adjust the tension We recommend the way of applying the tension to the belt as described hereunder 1 Wind a wire around the motor flange 2 Pull the wire with a spring balance 3 Apply a constant tension at as shown in Table 22 7 Be aware that an excessive tension results in the motor breakage while an insufficient tension will cause a position error due to slippage of the belt Photo 22 31 Tension Table 22 7 Tension to the belt Motor power Tension N 7 Restore the covers to original positions 1 Pulley cover Pan head screw M3 x 2 screws 2 Top and bottom motor cover Pan
155. two plate nuts 2 M6 x 10 4 bolts Then put the Y Z built in cables in the Y Z cable support via Edge saddle of L fixture 45 Photo 21 13RX Then attach the fixed side of Y Z cable support to the shorter junction box 10 M6 x 10 4 bolts Photo 21 14RX Fix the L fixture 5 to the short junction box Photo 21 15RX Photo 21 13RX Photo 21 14RX Photo 21 15RX 21 107 Installation and Maintenance of Module Main Unit 21 Installation 15 Pass the Y axis built in cable through Edge saddle of L fixture 6 then fix the L fixture to the connector box Photo 21 16RX Then fix the moving side other end of cable support to L fixture with two plate nuts 82 M6 x 16 4 bolts Photo 21 17RX Photo 21 16RX Photo 21 17RX Note The plate provided with the L fixture 6 is set to RX HM combination at the factory For RX HH combination change the setting as shown in Figure 21 28 below Figure 21 28 16 Connect the Y axis built in cables to the cables of Y axis main unit 2 connectors Motor connector Snap to the end Encoder connector Secure the connectors with 2 set screws Photo21 18RX Photo 21 18RX 21 108 Installation and Maintenance of Module Main Unit 21 Installation 17 Connect both controller cables Photo 21 19RX Attach the end cover 3 to the fixed side connector box M5 x 10 4 bolts Put the respective cable holder
156. type combination Photo 21 32RG Photo 21 33RG A 9 Fix the support rest 8 to the X axis main unit Insert the plate nuts as the same way as the procedure 7 and secure it by M3 x 6 bolts two bolts Photo 21 34RG 21 70 Installation and Maintenance of Module Main Unit 21 Installation 10 Pass the Y axis built in cable through the cable support 7 Be careful the direction of the cable Photo 21 35RG Fix the cable to the connector box 1 M6 x 10 4 bolts Photo 21 36RG Photo 21 35RG Photo 21 36RG connector side 11 Fix the moving side of cable support to the connector box of moving side 1 Unfasten side bolts of each side of cable support and remove covers a and blocks b from the cable support temporally both sides of the cable support Photo 21 37RG 2 Put the cable support and the cables through an opening of the connector box then fix the covers a and the blocks b to the cable support and fix the block to the connector box by the bolts M5 2 bolts each side Photo 21 38RG Photo 21 37RG Photo 21 38RG 21 71 Installation and Maintenance of Module Main Unit 21 Installation 12 Pass the cables of Y axis main unit through the opening in the bottom of connector box and connect to the built in cables 2 connectors Photo 21 39RG Motor connectors Snap to the end Encoder connectors Secure them by 2 setscrews Then fix the end c
157. und the motor flange 2 Pull the wire with a spring balance 3 Apply a constant tension of 210 240 N to the belt Be aware that an excessive tension results in the motor breakage while an insufficient tension will cause a position error due to slippage of the belt Photo 22 24 Tension 7 Restore the covers to the original positions 1 Pulley end cover M3 counter sunk screws 4 screws 2 Motor top cover M3 counter sunk screws 3 screws 2 screws on top and one screw on end face 22 14 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 22 3 2 3 RS Module Replacing procedure 1 Turn of the controller power and remove the covers shown below 1 Motor end cover Remove M3 counter sunk head screws 4 screws Photo 22 25 2 Top and bottom motor cover Remove M3 pan head screws 3 screws on the side and M3 counter sunk head screws 3 screws on the end Lay down the cables in the opposite to the pulley Photo 22 26 3 Pulley cover Unscrew M3 pan head screws 2 screws Photo 22 27 Photo 22 25 Photo 22 26 Photo 22 27 2 Check if anyone is in the operating area of the robot Turn on the power of the controller and perform a Home return Then turn off the power again Be careful not to move the slider until the procedure 6 22 15 Installation and Maintenance of Module Main Unit 22 Maintenance Checking 3 Put matching mark on
158. unit is fixed from its back surface directly Figure 21 32 Top cover End cover Connector box moving side Plate nut F Support rest Top cover Plate nut Cable holder controller cable Connector box fixed side X Y combining bracket Y Z combining bracket X axis main unit Z axis main unit The parts other than marked by asterisk are for cable support 21 122 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures of RP MSSz combination Following description is the assembly procedures of A type However the procedures for B C and D types are fundamentally the same though combining directions of the main units and the cable support are different Modifications of the main units the connector box and L fixture are required for some combination types Modify them before assembly 1 The required modifications are listed in Table 21 44 for respective combination types No modification is required for A type Table 21 44 OA O e e e D X axis main unit Not necessary Reverse outlet position of main unit cable Not necessary Y axis main unit Reverse outlet position of main unit cable Connector box fixed side Reverse connector box Junction box Not necessar Not necessar y Reverse L fixture 4 Connector box x Not necessary Reverse L fixture Not necessary Reverse L fixture
159. well M4 x 20 2 bolts 21 89 Installation and Maintenance of Module Main Unit 21 Installation 21 7 8 RT MSz Combination The parts required for RT MSz combination are listed in Table 21 34 below Table 21 34 Name Quantity Sections to be referred i i Installation and Maintenance of Module Main Unit 19 Reference Number and Specifications Installation and Maintenance of the EXEA Controller 5 Reference Number and Specifications Teaching box XZ Combining bracket L c r oe EITSIMS I e Te Controller cable ft AT EL8SOO 1 Controller cable fd LX Installation and Maintenance of Module Main Unit Cable support 19 Reference Number and Specifications cable fd dx Mounting bracket _ XY P170M 1 The parts other than marked asterisk are for the support unit Figure 21 25 End cover Z axis main unit P Connector box moving side Bottom cover L fixture 4 v X Z axis combining bracket X Z axis cable support The parts other than marked by asterisk are for the support unit 21 90 Installation and Maintenance of Module Main Unit 21 Installation Assembly procedures of PT MSz combination Following description is the assembly procedures of A type combination However the procedures of B type are fundamentally the same though the combining direction of main units and the cab
160. x M EXTB03 M EXTB04 Mounting bracket XY P180H 1 or XY P180M 1 3 Connector box XY P180CB 1 Not applicable to motor back mount module Table 21 4 lt R series gt Name Quantit Referenca No Reference No bee ee Pan y AC200V spec AC 100V spec p A DN 9 XY HRSOOO RHOOO or XY HRSOOO RMOOO eat Ets Module main unit 1 or XY HRSOOO RSOOO Controller cable XY E185O10 1 or 2 Controller M EXEAD OO00T00 Teaching box M EXTB04 Mounting bracket XY P170H 1 or XY P170M 1 or XY P170S 1 Connector box XY P170CB 1 Not necessary for motor back mount assembly Note Numbers substituted by O in a reference number varies with stroke specifications and module main unit 1 Refer to 5 Reference Number Specifications for EXEA controller 2 Refer to 19 Reference Number Specifications for main unit and controller cable 3 This bracket is not required when the main unit is fixed from its bottom directly 21 11 Installation and Maintenance of Module Main Unit 21 Installation 21 5 1 When Using Connector Box 21 5 1 1 P Series lt PH and PM modules motor direct mount gt 1 2 Fix the main unit to the mounting base as described in 21 4 Fixing Module Main Unit Insert a plate nut into a T slot of main unit at cable outlet side Use upper T slot for PH module and lower for PM module Face a sponge side of the plate nut to the main unit turning stuck out sponge side up insert it to
161. xing Module Main Unit to fix the main unit Table 21 6 RH module RM module RS module Bolt diameter M5 Screw in depth 8 10mm 340kgf cm 150kgf cm 60kgf cm Figure 21 7 RH module RM module 6 6 or less 2 2 or less 154 0 05 103 0 05 Chamfered pin Chamfered pin 10 or less 10 or less am 8h7 Y Y Y Work Chamfered pin details Mfg This dimension differs from the conventional H module 21 20 Installation and Maintenance of Module Main Unit 21 Installation 21 7 Installation of Multi axis Combination 21 7 1 PG HM Combination Required parts and units for PG HM combination are listed in Table 21 7 Confirm that all parts are ready Table 21 7 Name Quantity Sections to be referred X axis main unit 1 S3 XY HRSOOD P HOOO Installation and Maintenance of Module Main Unit XY HRSOO00 PMO00 M EXEA0 O0O000000 Teaching box M EXTBOO Y axis main unit 19 Reference Number and Specifications Controller x Installation and Maintenance of the EXEA Controller 5 Reference Number and Specifications XY P185GHM 2 Installation and Maintenance of Module Main Unit eee see 19 Reference Number and Specifications Cable support fd XY PIS3GHMLOC Mounting bracket XY P180H 1 1 Mounting bracket is not necessary when fixing main unit from its bottom 2 These parts cannot be used in a
162. xis main unit X axis 5 L shape bracket Y axis 26 plastic Insert the plate nuts to T slots on the slider side of X and Y axis main unit then attach the support rests respectively M3 x 6 2 bolts Photo 21 13RP Photo 21 14RP 21 128 Installation and Maintenance of Module Main Unit 21 Installation 12 Attach the moving side connector box 17 to the back of Z axis main unit M5 x 10 4 bolts Photo 21 15RP 13 Put the built in cables for Y and Z axis through X Y cable support Be careful the direction of the built in cables See Photo 21 16RP Fix the cable support to the fixed side connector box M6 x 10 4 bolts Photo 21 17RP Photo 21 16RP Photo 21 17RP Male connector side 14 Fix the other end moving side of the cable support to the junction box 9 Detach covers a and blocks b temporally from the end of moving side of the cable support Photo 21 18RP Put the cables and the cable support through an opening in the junction box then attach the covers a and the blocks b to the cable support again Fix the blocks b to the junction box M5 x 10 4 bolts Photo 21 19RP Photo 21 18RP 21 129 Installation and Maintenance of Module Main Unit 21 Installation 15 Put the cables of Y axis main unit through an opening in the bottom of junction box and connect them to the built in cables two connectors Photo 21 20 Motor connector Snap to the end

M–E099XE0K2–021

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M–E099XE0K2–021