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instruction manual motoman-sp100x, -160, -250 - f.energy

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2. OBT1 a b 4 OBT1 Type HW9470932 A BATI Hb a HBATI 1 bH OBT1 BAT1 Ip aH BATI Internal wires for SLU axes Fig 23 Battery connection for SLU axes See procedure 7 New battery ni See procedure 4 See procedure 5 a Insertion type pin terminal male b Insertion type pin terminal female See procedure 6 Battery unit for T axis before replacement A Type HW9470917 A BAT4 b Internal wires for T axis OBT4 i4a Dy OBT4 H b a See procedure p New battery unit 9 See procedure 5 a Insertion type pin terminal male Fig 24 Banery b Insertion type pin terminal female connection for T axis a Turn the XRC main power supply off b Remove the connector base and grease tube from the union c Remove t
3. T axis motor T axis Encoder cable OBT H a e bl OBT4H BAT pl H Connector for d battery backup a Insertion type pin terminal male b Insertion type pin terminal female Battery unit for T axis HW947091 7 A Fig 32 Battery unit connection MOTOMAN ROBOTICS EUROPE Page 44 Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Notes on maintenance procedures MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 45 Created 99 08 11 Revised 99 09 24 Doc name Mrs52060 ch10 fm 10 Recommended spare parts It is recommended that the following parts and components be kept in stock as spare parts for the Motoman SP100X The spare parts list for the Motoman SP100X is shown below Product performance can not be guaranteed when using spare parts from any company other than Motoman The spare parts are ranked as follows v Rank A Expendable and frequently replaced parts V Rank B Parts for which replacement may be necessary as a result of frequent operation v Rank C Drive unit Note To replace parts in rank B or rank C contact your Motoman representative Spare Parts for the Motoman SP100X all types Rank Parts Name Type Manufacturer Qty Qty Remarks No
4. MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 17 Cable connection Created 99 07 08 Revised 00 04 04 Doc name Mrs52060 ch4 fm 4 2 Cable connection There are three cables for the power supply BC 2BC and 3BC a signal cable for detection 1BC and two power cables 2BC 3BC Connect these cables to the manipulator base connectors and the XRC 4 2 A Connection to the manipulator Before connecting the cables to the manipulator verify the numbers 1BC 2BC and 3BC on both power supply cables and the manipulator base connectors When connecting adjust the cable connector positions to the main key positions of the manipulator and insert cables in the order of 2BC 3BC and 1BC and then set the lever until hearing a click 4 2 B Connection to the XRC Connect each cable to the connector Be sure to verify the numbers on both the cable and connectors before connecting m J X1 1BC Wed S Qa X2 2BC N u 3BC for second motor cable Fig 9 Power cables MOTOMAN ROBOTICS EUROPE Page 18 Instruction manual MOTOMAN SP100X Created 99 07 08 Revised 00 04 04 Doc name Mrs52060 ch4 fm Cable connection BBC en e Key position Connector details Manipulator side Fig 10 Power connection to the manipulator MOTOMAN ROBOTICS EUROPE Instruc
5. 25 Mounting equipment 25 Incorporated wire and airduct 26 8 Motoman construction 27 Limit switch 27 Position of S axis limit switch 27 Internal connections 28 9 Maintenance and inspection 29 Inspection schedule 29 Notes on maintenance procedures 34 LJ Grease replenishment for S axis 36 LJ Grease replacement for S axis 36 LJ Grease replenishment for L axis 37 LJ Grease replacement for L axis 37 LJ Grease replenishment for U axis 38 LJ Grease replacement for U axis 38 LJ Grease replenishment for T axis 39 Grease replacement for T axis 39 Battery unit connection for S L and U axes motors 42 1 Battery unit connection for T axis motors 42 10 Recommended spare parts 45 MOTOMAN ROBOTICS EUROPE Page Instruction manual MOTOMAN SP100X Created 99 08 12 Revised 00 04 05Doc name Mrs52060TOC fm 11 Rebuilding SP100X to SP160X SP250X 47 1 Rebuild to SP160X 47 1 Rebuild to SP250X 47 Add on flywheel 47 General 47 Dismount the S axis motor 47 1 Mounting the flywheel 48 Add gear wheel and put the motor back 50 12 Parts TE 53 S axis driving unit 53 L and U axis driving unit 58 U axis link unit 61 Wrist unit 65 Shock senser unit 69 L and U axis balancer unit 71 MOTOMAN ROBOTICS EUROPE Operator s manual MOTOMAN XRC Page 1 Created 98 08 08
6. Link 5 5 Plug for air flow Ze C Link 6 Link 5 Grease inlet G1 ZS 6 Plug for air flow G nipple A PT1 8 Plug Hexagon socket head PT1 8 Link 6 Grease inlet G1 Plug Hexagon socket head PT1 8 M Link 7 Grease inlet G1 Zeg G nipple A PT1 8 Link 8 Grease inlet G1 7 Plug for air flow Link 7 G nipple A PT1 8 x2 Plug LP M5 x2 Link 8 Link 2 Bearing x2 8 Plug for air flow 2 Plug for air flow 9 Link10 KC Plug for air flow Plug Hexagon socket head M6 x2 Link 9 E Plug LP M5 x2 Link 2 Grease inlet G1 r pd Link 9 Grease inlet G nipple A MT6 x2 amp Link 11 Grease inlet G2 G nipple A PT1 8 x2 Link 1 Grease inlet G1 G nipple A PT1 8 x2 Ginipple A PT1 8 x2 4 Plug for air flow 2 Plug for air flow AR Plug LP M5 Plug Hexagon socket 6 2 Link 2 Bearing x 5 Link 4 3 Plug for air flow D Plug Hexagon socket Link 4 Grease inlet G1 head M6 x2 G nipple A PT1 8 Link 3 Bearing x2 Link 3 Grease inlet G1 Fig 31 Grease replenishment G nipple A MT6 x2 a Remove 15 plugs for air flow at the links 1 to 9 There are no plugs for air flow at the links 10 to 11 b Inject grease into 19 G1 grease inlets by using a grease gun c Reinstall plug for air flow Grease type Alvania EP grease 2 Amount of grease 6cc for the links
7. rl cj FT SES U Grease inlet reducer diagram U axis speed reducer G nipple A PT1 8 E Grease replenishment for U axis a Remove the Uo exhaust plugs b Inject grease into the U grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease 180cc 360cc for 1st supply c Move the U axis for 30 minutes to discharge the excess grease d Wipe the Ug exhaust plugs with a cloth and reinstall the plugs Grease replacement for U axis a Remove the Uo exhaust plugs b Inject grease into the U grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease approx 800cc c The grease replacement is complete when new grease appears in the Uo exhaust ports The new grease can be distinguished from the old grease by color d Move the U axis for 30 minutes to discharge the excess grease e Wipe the Uo exhaust plugs with a cloth and reinstall the plugs Note If grease is added without removing the exhaust plugs the grease will go inside the motor and may damage it It is absolutely necessary to remove the plugs If the plug is installed when the grease is being exhausted the grease will go inside the motor and may damage it MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 39 Notes on maintenance procedures Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm 9 2 E Grease replenishment replacement for T a
8. Instruction manual MOTOMAN SP100X Page 9 Created 99 07 07 Revised 99 09 24 Doc name Mrs52060 ch3 fm 3 Installation AN Note Install the safety guards according to CE marking before taking into service Failure to observe this warning may result in injury or damage Do not start the manipulator or even turn on the power before it is firmly anchored The manipulator may overturn and cause injury or damage Do not install or operate a manipulator that is damaged or lacking parts Failure to observe this caution may cause injury or damage Before turning on the power check to be sure that the shipping bolts and jigs have been removed Failure to observe this caution may result in damage to the driving parts Before the installation of the air breezer be sure that the power supply of MOTOMAN XRC is turned OFF Failure to observe this caution may result in electric shock or injury MOTOMAN ROBOTICS EUROPE Page 10 Instruction manual MOTOMAN SP100X Created 99 07 07 Revised 99 09 24 name Mrs52060 ch3 fm Safety guard installation 3 1 Safety guard installation To insure safety be sure to install safety guards according to the EC directive related to machinery They prevent unforeseen accidents with personnel and damage to equipment Responsibility for safeguarding The user of a manipulator or robot system shall ensure that safeguards are provided The means and degree of safeguarding inc
9. Doc name Mrs52060 ch3 fm AN ROBOTICS EUROPE Mounting procedures for manipula 640 8 540 ET VK Manipul tor base BELICE EU 160 160 3201 440 Laan 8 M20 Tapped Bolts A Leg 880 960 1100 1200 Yo Y 4 286 Drilled holes 4 280 Drilled holes Base A 4 M24 Tapped holes Base Bolts B d Vs yy NI Ga Manipulator base oM Base 4 M Base B Bins The surface must be level and even FL H e a T H 4 JA type anchor M24 x 315 long Bolts A 8 M20x70 Spring washer flat washer Bolts B 4 M24 x 70 SPring washer Bolts Base A and B should be equippes by user Weld these portions after installation and adjustment V10 Dimensions in mm 8 im 100 S S Fig 6 Affixing the manipulator on the floor MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 13 Location Created 99 07 07 Revised 99 09 24 Doc name Mrs52060 ch3 fm 3 3 Location When the manipulator is installed it is necessary to satisfy the undermentioned environmental conditions v 0 to 45 C Ambient temperature v 20 to 8096RH no moisture V Free from dust soot or water v Free from corrosive gases liquid or explosive gases V Free from excessive vibration less than 0 5G V Free from large electrical noise plasma v Out of the plane
10. c Move the S axis for 30 minutes to discharge the extra grease d Wipe So exhaust port with a cloth and reinstall the plug Grease replacement for S axis a Remove the Sg exhaust plug b Inject the grease into the S grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease 1400cc c The grease replacement is complete when new grease appears in the So exhaust port The new grease can be distinguished from the old grease by color d Move the S axis for 30 minutes to discharge the extra grease e Wipe the So exhaust port with a cloth and reinstall the plug Note If grease is added without removing the exhaust plug the grease will go inside the motor and may damage it It is absolutely necessary to remove the plug If the plug is installed when the grease is being exhausted the grease will go inside the motor and may damage it MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 37 Notes on maintenance procedures Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm 9 2 C Grease replenishment replacement for L axis speed reducer Lo Grease outlet Grease inlet Hexagon socket head PT1 8 plug G nipple A PT1 8 i 8 CC L axis speed reducer Fig 26 L axis speed reducer diagram B Grease replenishment for L axis a Remove the Lo exhaust plugs b Inject grease into the L grease inlet using a gr
11. 5023 Spring TH60X150 1 5024 Pin HW9404477 1 1 5025 Cover HW9404478 1 1 5026 Socket screw M8 x 30 4 5027 Spring washer 2H 8 4 5028 Round head screw M4 x 25 2 5029 Washer MA 2 5032 Limit switch SHL Q2255 MR 1 0 1 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 71 L and U axis balancer unit Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm 12 6 L and U axis balancer unit 7011 Se de A S eh Page 72 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm MOTOMAN ROBOTICS EUROPE L and U axis balancer unit No Name DWG no Pcs 1039 S head HW9100831 1 1 2027 Larm HW9100832 1 1 7003 Case HW9100867 A 2 7010 Flange HW9404655 1 2 7011 Flange HW9200854 1 2 7012 Socket screw M8 x 25 16 7013 Spring washer 2H 8 16 7014 Rod HW9301 831 2 2 7015 Clevis HW9404620 1 2 7016 Flange HW9404619 1 2 7017 Socket screw M5 x 12 4 7018 Oiless collar HW9481226 A 4 7019 C stopper IRTW 55 4 7020 Grease nipple MT6 x 1 4 7021 Spring HW9481955 A 2 7022 Oiless collar HW9481226 A 2 7023 Oiless collar HW9482010 A 2 7024 Dust seal FD2633AO 2 7025 Socket screw M10 x 45 8 7026 Spring washer 2H 10 8 7027 Shaft HW9301416 1 4 7028 C stopper STW 45 4 7029 Socket screw M10 x 45 8 7030 Spring washer 2H 10 8 7031 Soc
12. Page 6 Instruction manual MOTOMAN SP100X Created 99 07 07 Revised 99 09 24 Doc name Mrs52060 ch1 fm Checking the serial number 1 2 Checking the serial number Check that the serial number of the manipulator corresponds to the XRC The serial number is located on a label as shown below YS MOTOMAN ROBOTICS YASNAC XRG Type ERCS System No Power Supply Peak kVA Average kVA Serial No Robot Serial No Fig l Controller and robot identification Check serial numbers Part No Date signature C Made in Sweden aa number on both robot MOTOMAN there should be same and controller THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE THE SAME ORDER NUMBER ORDER NO m mew er oe a XRC front view Fig 2 Location of order number lables b Manipulator side view MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 7 Transporting method Created 99 07 07 Revised 00 04 04 Doc name Mrs52060 ch2 fm 2 Transporting AN Note Sling applications and crane or forklift operations must be performed by authorized personnel only Failure to observe this caution may result in injury or damage
13. ZAW KH EE EH ZAN e 2 CN SS 777 T ENO Wi n za Ee me EE P La 9 2 TIN G ZN3 T im Zn F gt IMW CNO Dn D LW ZNO a i LM SXv s Ns Wegen gt LAW ZEN LM LAW H 1 2 9 ZIA vy SZ L LAW V NOB ee LAW 9 LNO EN E NOB 9N LAW Z 1NO EN LIA gt lt LAW Q INO ER LA LAW LNO T gt lt LOW EIN Zin LAW Fa Ea Lin TAW 1 EL H IW gt gt CO Hn 3 8 3 7 axg agz S Notes Headquarters Sweden Group companies France Germany Germany Great Britain Italy Netherlands Slovenia Spain Sweden Distributors Czech Republic Denmark Finland Greece Hungary Israel Norway Portugal South Africa Switzerland MOTOMAN Robotics Europe AB Box 504 SE 385 25 Torsas Sweden Tel 46 486 48800 46 486 41410 MOTOMAN Robotics SARL Rue Nungesser et Coli D2A Nantes Atlantique F 44860 Saint Aignan de Grand Lieu France Tel 33 2 40131919 Fax 33 40754147 MOTOMAN Robotec GmbH Kammerfeldstrabe 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8166 90 103 MOTOMAN Robotec GmbH Im Katzenforst 2 DE 61476 Kronberg Taunus Germany Tel 49 6173 60 77 30 Fax 49 6173 60 77 39 MOTOMAN Robotics UK Ltd 1 Swan Industrial Estate Banbury OXON OX16 8DJ England Tel 44 1295 272755 Fax 44 1295 267127 MOTOMAN Robotics Italia SRL Via Emilia 1420 16 IT 41100 Modena It
14. per Unit A 1 Grease Molywhite Yaskawa 16kg For all axes RE No 00 Electric speed reducers Corporation 2 Grease Alvania EP Showa Oil 16kg For L axis bal Grease 2 Co Ltd ancer bearing 3 Grease Multemp PS2A Kyodo Oil 2 5kg For protective Co Ltd spring 4 Battery unit HW9470932 A Yaskawa 1 1 For SLU axes Electric Corporation 5 Battery unit HW9470917 A Yaskawa 1 1 For T axis Electric Corporation B 6 S axis HW9381220 A Yaskawa 1 1 speed reducer Electric Corporation 7 L and U axes HW9381021 A Yaskawa 1 2 speed reducer Electric Corporation 8 T axis HW9381221 A Yaskawa 1 1 speed reducer Electric Corporation 9 S axis cross roller HW9381222 A Yaskawa 1 1 bearing Electric Corporation 10 L axis cross roller HW9482144 A Yaskawa 1 1 bearing Electric Corporation Page 46 Created 99 08 11 Revised 99 09 24 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Doc name Mrs52060 ch10 fm Spare Parts for the Motoman SP100X all types Rank Parts Name Type Manufacturer Qty Qty Remarks No per Unit C 11 Internal wires for HW9171627 A Yaskawa 1 1 Base connector S axis Electric leads Corporation 12 Internal wires for HW9271158 A Yaskawa 1 1 Standard U axis Electric HW9271104 A Corporation Lead terminal treatment comple tion J01 13 AC Servomotor for HW9381261 A Yaskawa 1 3 S L U axes Electric Corporation 14 AC Servomotor for HW9381363 A Yaskawa 1 1 S
15. 1 2 3 and 6 12cc for the 1st supply 12cc for the links 4 5 and 9 24cc for the 1st supply 3cc for the links 7 and 8 6cc for the 1st supply 5cc for the links 10 and 11 Note Plugs are used for air flow Do not inject excessive grease MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Notes on maintenance procedures 9 2 1 Notes for maintenance Remove the old battery unit after connecting the new one so that the encoder absolute data does not disappear B Battery unit connection for S L and U axes motors The connector for the battery unit connection is attached to the main body of the S L and U axes motors Connect the battery unit according to the following procedure a Remove the cap attached to the battery backup connector of the motor b Connect the battery unit connection cable HW9470945 A for the motor with the battery backup connector of the motor c Connect the S L and U axes battery unit HW9470932 A with the battery unit connection cable HW9470945 A for the motor Under such a condition remove the encoder connector and do the maintenance check work d Confirm all connectors connection after the maintenance check ends and remove the battery unit connection cable for the motor and the battery unit e Install the cap attached to the battery backup connector of the motor B Battery unit connectio
16. 2 3013 Bearing HR32016XJ 2 3014 B cover HW9301 405 1 2 3015 Socket screw M10 x 25 8 3016 Spring washer 2H 10 8 3017 Plug PT1 8 2 3018A Shim HW9403656 1 1 3018B Shim HW9403656 2 1 3018C Shim HW9403656 3 1 3018D Shim HW9403656 4 1 3018bE Shim HW9403656 5 1 3018F Shim HW9403656 6 1 3019 Link D HW9200825 1 1 3020 Shaft HW9403773 1 2 3021 Socket screw M6 x 35 6 3022 Spring washer 2H 6 6 3023 Oil seal AF2835EO 2 3024 Bearing 32008JR 2 3025 B cover HW9404985 1 2 3026 Plug LP M5 2 3027A Shim HW9404985 1 1 3027B Shim HW9404985 2 1 3027C Shim HW9404985 4 1 3027D Shim HW9404985 5 1 3027E Shim HW9404985 6 1 3028 Grease nipple A PT1 8 1 3029 Socket screw M6 x 20 3 3030 Spring washer 2H 6 3 3031 Socket screw M5 x 16 6 3032 Spring washer 2H 5 6 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 63 U axis link unit Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm No Name DWG no Pcs 3033 Grease nipple A PT1 8 2 3034 Plug PT1 8 1 3035 Link C HW9301769 2 1 3036 Shaft HW9301654 1 1 3037 Washer HW9404205 1 2 3038 Socket screw M10 x 25 2 3039 Spring washer 2H 10 2 3040 Oil seal AG3217A4 1 3041 Bearing HW9481646 A 1 3042 B cover HW94043961 1 1 3043 Plug LP M5 2 3044 Grease nipple A PT1 8 1 3045 Shaft HW9404484 1 1 3046 Shaft HW9404480 1 1 3047 Socket screw M12 x 60 1 3048 Spring washe
17. Avoid excessive vibration or shock during transporting The system consists of precision components so failure to observe this caution may adversely affect performance 2 1 Transporting method 2 1 A Using the crane As a rule when removing the manipulator from the package and moving it a crane should be used The manipulator should be lifted using 4 wire ropes threaded through attached eyebolts Be sure the manipulator is fixed with jigs before transporting lift it in the posture as shown in the figure Transporting position The weight of the MOTOMAN SP100X is approximately 1750kg the MOTOMAN SP100X 160 is 1900kg and the MOTOMAN SP100X 250 is 1965kg 4 Strand cable 4 Strand cable OOo SR A 9 L N 2 52 E SN N d S Ge N i X Eyebolt 4 M24 EX ai attached Ex e low 4 M24 xd es x n d attached s mi d Standard shipping pose Lower shipping pose J01 Fig 3 Transporting position Note Check that the eyebolts are securely fastened The weight of the manipulator is approximately 2100kg including the shipping bolts and jigs Use a wire rope strong enough to withstand the weight MOTOMAN ROBOTICS EUROPE Page 8 Instruction manual MOTOMAN SP100X Created 99 07 07
18. HW9403957 1 1 8012 Socket screw M6 x 15 2 8013 Spring washer 2H 6 2 8014 Washer M6 2 8015 Bolt MSB8 25 2 8016 Spring AWT16 65 1 8017 Stopper HW9403962 1 2 8018 Socket screw M4 x 10 2 8019 Spring washer 2H 4 2 8020 Round head screw M4 x 25 2 8021 Washer M4 2 8022 Collar HW9403961 1 2 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 57 S axis driving unit Created 00 04 04 Revised 00 04 05 name Mrs52060 ch12 fm No Name DWG no Pcs 8023 Collar HW9403959 1 2 8025 Limit switch SHL 02255 MR 1 0 1 8029 Oiless collar LFF 0806 2 8030 Socket screw M16 x 40 4 8031 Spring washer 2H 16 4 MOTOMAN ROBOTICS EUROPE Page 58 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm L and U axis driving unit 12 2 L and U axis driving unit v s 2019 39 N em 2038 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 59 Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm L and U axis driving unit No Name DWG no Pcs 1039 S head HW9100831 1 1 1100 Plug MP0625 4 2002 Motor HW9381261 A 2 2003 Socket screw M12 x 35 8 2004 Spring washer 2H 12 8 2005 Reduction gear HW9381021 A 2 2006 Socket screw M6 x 140 6 2007 Spring washer 2H 6 6 2008 Washer HW94038
19. Revised 00 03 31 Doc name GENERAL WARNING FM Safety NOTES FOR SAFE OPERATION Read this manual carefully before installation operation maintenance or inspec tion of the MOTOMAN XRC In this manual the Notes for Safe Operation are classified as WARNING or INFORMATION AN WARNING Indicates a potentially hazardous situation which if not avoided could result in minor moderate or serious injury to personnel and damage to equipment It may also be used to alert against unsafe practices To ensure safe and efficient operation at all times be sure to follow all instructions even if not designated as CAUTION and WARNING INFORMATION Always be sure to follow explicitly the items listed under this heading This manual explains the various components of the MOTOMAN XRC system and general operations Read this manual carefully and be sure to understand its contents before handling the MOTOMAN XRC General items related to safety are listed in the MOTOMAN XRC Setup Manual To ensure correct and safe operation carefully read the Setup Manual before reading this manual Some drawings in this manual are shown with the protective covers or shields removed for clarity Be sure all covers and shields are replaced before operating this product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product MOTOMAN ROBOTICS E
20. Shim HW9404548 3 1 3085D Shim HW9404548 4 1 3085E Shim HW9404548 5 1 3085F Shim HW9404548 6 1 3085G Shim HW9404548 7 1 3085H Shim HW9404548 8 1 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 65 Wrist unit Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm 12 4 Wrist unit Page 66 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm No Name DWG no Pcs 3056 Flange HW9302107 A 1 3062 U arm HW9100834 1 1 3063 Socket screw M12 x 50 10 3064 Spring washer 2H 12 10 3066 Collar HW9404482 1 1 4002 Wrist base HW9100767 1 1 4003 AC servo motor HW9381363 A 1 4007 M base HW9302444 1 1 4009 Socket screw M8 x 40 2 4010 Spring washer 2H 8 2 4011 RV reduction gear HW9381221 A 1 4012 Socket screw M14 x 85 4 4013 Washer GT SH M14 4 4014 O ring 132 1 4015 Flange HW9301425 1 1 4016 Socket screw M8 x 20 3 4017 Socket screw M12 25 6 4018 Grease nipple A PT1 8 1 4019 H set screw M6 x 10 1 4020 Shaft HW9404484 1 1 4021 Shaft HW9404480 1 1 4022 Socket screw M12 x 60 1 4023 Spring washer 2H 12 1 4024 Oil seal AG2835EO 2 4025 Bearing 32008JR 2 4026 B cover HW9404985 1 2 4027 Socket screw M5 x 16 6 4028 Spring washer 2H 5 6 4029 Plug LP M5 2 4030 Grease nipple A PT1 8 2 4031 Shaft HW9404245 1 2 4032 Socket screw M8 x 6
21. screw M12 x 70 2 3071 Spring washer 2H 12 2 3072 Bearing HR30203J 4 3073 Oil seal AG3151EO 4 3074 B cover HW9403570 1 4 3075 Socket screw M6 x 20 16 3076 Spring washer 2H 6 16 3077 Grease nipple A MT6 x 1 4 3078 Plug PT1 8 4 9001 Washer HW9405676 1 3 9002 Stopper HW9481240 A 3 9003 Socket screw M8 x 35 3 9004 Spring washer 2H 8 3 9005 Saddle CD 28 1 9006 Socket screw M5 x 12 2 9007 Spring washer 2H 5 2 9008 Clamp TAI 10 1 9009 APS bolt M5 x 12 1 9010 Insulok tie T30L 1 9011 Cover HW9404371 1 1 9012 APS bolt M6 x 12 4 9013 Plate HW9404485 1 1 9014 Socket screw M5 x 12 2 9015 Spring washer 2H 5 2 9016 Plug 62PP050BG14 8 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X 61 U axis link unit Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm 12 3 U axis link unit d 3018A 30180 i Wigs 301 e 7 miec 3018F 55 MOTOMAN ROBOTICS EUROPE Page 62 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm U axis link unit No Name DWG no Pcs 2027 Larm HW9100832 1 1 3005 Casing HW9100833 1 1 3006 Shaft HW9301 766 1 2 3007 Socket screw M10 x 30 12 3008 Spring washer 2H 10 12 3009 Shaft HW9403571 1 2 3010 Socket screw M10 x 45 8 3011 Spring washer 2H 10 8 3012 Oil seal AG4059E0
22. the home position may be lost Refer to Notes for maintenance 6 Wire harness in manipulator to be replaced at 18000H inspection Since replacement of grease of motor bearings is not possible replace bearings by necessity Life of bearing grease is approx 30000 hours Inspection schedule MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 33 Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm 1 S axis Fig 20 Inspection parts and inspection numbers Inspection parts and grease used No Grease used Inspected parts 12 13 Multemp PS2A Protective spring 16 17 18 Molywhite RE No 00 S L U and T axes speed reducers 10 19 Alvania EP Grease 2 L axis balancer and bearings The numbers in the above table correspond to the numbers in the table Inspection items MOTOMAN ROBOTICS EUROPE Page 34 Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05
23. wire al Connector for internal wire 3BC Fig 19 Location and numbers of connectors List of connector types Name Type of connector Base connector for internal wire JL05 2A24 28PC JL05 6A24 28S Optional Wrist base for internal wire JL05 2A24 28SC JL05 6A24 28P Optional MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 29 Inspection schedule Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm 9 Maintenance and inspection AN Note Before maintenance or inspection be sure to turn the main power supply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in electric shock or injury Maintenance and inspection must be performed by specified personnel Failure to observe this caution may result in electric shock or injury For disassembly or repair contact your Motoman representative Do not remove the motor and do not release the brake Failure to observe this caution may result in injury from unexpect
24. 0 8 4033 Spring washer 2H 8 8 4034 Oil seal AG3584AO 2 4035 Bearing HR32012XJ 2 4036 B cover HW9404383 1 2 4037 Socket screw M8 x 20 6 4038 Spring washer 2H 8 6 MOTOMAN ROBOTICS EUROPE Wrist unit MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 67 Created 00 04 04 Revised 00 04 05 Wrist unit Doc name Mrs52060 ch12 fm No Name DWG no Pcs 4039 Grease nipple A PT1 8 2 4040 Plug LP M5 2 4041A Shim HW9404261 1 1 4041B Shim HW9404261 2 1 4041C Shim HW9404261 3 1 4041D Shim HW9404261 4 1 4041E Shim HW9404261 5 1 4041F Shim HW9404261 6 1 4042 Plate HW9404522 1 1 4043 Plate HW9404523 1 1 4044 Plate HW9404527 1 1 4045 Gear HW9481952 A 1 4046 Washer HW9404651 1 1 4047 Shaft HW9481951 A 1 4048 Shaft HW9481950 A 1 4049 Socket screw M8 x 30 4 4050 Spring washer 2H 8 4 4051 Socket screw M6 x 100 1 4052 Spring washer 2H 6 1 4053 Pipe HW9404650 1 1 4054 Saddle CD 28 2 4055 APS bolt M5 x8 6 4056 Washer M5 6 4057 Insulok tie T50R 2 4058 Clamp TAI S10 2 4059 Union KQE10 03 2 4060 Gasket HW9481087 E 1 4060A Round head screw M3 x 12 4 4060B Nut M3 4 4061 Plug PT3 8 2 4062A Shim HW9404548 1 1 4062B Shim HW9404548 2 1 4062C Shim HW9404548 3 1 4062D Shim HW9404548 4 1 4062E Shim HW9404548 5 1 4062F Shim HW9404548 6 1 4063 Socket screw M5 x 20 4 4064 Spr
25. 00 18000 36000 Speci Service H H H H H fied see com Cycle Cycle Cycle person pany 9 Connectors in v Manual Check for loose v v v S head connectors 10 L axis v Grease Supply grease v v balancer gun Check for loose Visual nut and shaft 11 S axis limit v Screw Check for stain v v switch dog driver damage and wrench looseness multi Tighten and check meter the dog move ment 12 Wire harness v Visual Check for conduc v v in manipulator Multi tion between the SLU axes meter main connecter of leads T axis base and interme leads diate connector with manually shaking the wire Check for wear of protective spring v Replace v 13 Wire harness v Visual Check conduction v v in manipulator Multi between termi T axis leads meter nals Check for wear of protective spring apply grease v Replace v 14 Link v Visual Move L and U v v Manual axes back and forth up and down to check for loose ness of gearing Supply grease 15 Battery unit in v Screw Replace the bat v v manipulator driver tery unit when the battery alarm occurs or the manipulator drove for 36000H 16 S axis speed v Grease Checkfor malfunc v v reducer gun tion Replace if necessary Supply grease 5000H cycle Replace grease 9000H cycle MOTOMAN ROBOTICS EUROPE Page 32 Instruction manual MOTOMAN SP100X Created 99 08 10 R
26. 1300 Fig 13 Dimensions and working range MOTOMAN ROBOTICS EUROPE Page 22 Instruction manual MOTOMAN SP100X Created 99 07 08 Revised 00 04 05 name Mrs52060 ch5 fm Alterable working envelope of S 5 5 Alterable working envelope of S axis mechanical stopper The working envelopes of S axis can be altered according to the operating condi tions as shown in the table S axis working envelope It alteration is necessary contact your MOTOMAN representative in advance S axis working envelope Item Standard S axis 180 Standard working envelope 150 120 90 60 30 Allowable wrist load MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 23 Created 99 07 08 Revised 00 04 05 Doc name Mrs52060 ch6 fm 6 Allowable load for wrist axis and wrist flange 6 1 Allowable wrist load The allowable wrist load for the MOTOMAN SP100X is 100kg for the MOTOMAN SP100X 160 it s 160kg and for the MOTOMAN SP100X 250 it s 250kg including the weight of the mount gripper The following conditions should be observed V The total inertia GD2 4 of T axis should be 40 kgm or less V The eccentricity of load center measured from T axis flange rotation center is in the range shown in the figure Allowable range of mounting dimensions T axis uu rotation center SP100X 160 T axis flange Pan center 100 200 300 200 200 100 Fig
27. 14 Allowable range of mounting dimensions SP100X T axis flange rotation center 300 200 100 2 5100 200 300 aen SP100X 250 T axis flange rotation center MOTOMAN ROBOTICS EUROPE Page 24 Instruction manual MOTOMAN SP100X Created 99 07 08 Revised 00 04 05 Doc name Mrs52060 ch6 fm Wrist flange 6 2 Wrist flange The wrist flange dimensions are shown in the figure Wrist flange In order to see the tram marks it is recommended that the attachment be mounted inside the fitting Fitting depth of inside and outside fittings must be 8 mm or less 6 M10xP1 5 Tapped hole Depth 16 ee HUE depth 8mm 63 DIA 16055 DIA lt a Fitting depth 8mm 2 010 0 Depth 8 Fig 15 Wrist flange Note Wash off anti corrosive paint solid color on the wrist flange surface with thinner or light oil before mounting the tools MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 25 Mounting equipment Created 99 07 09 Revised 00 04 05 Doc name Mrs52060 ch7 fm 7 System application 7 1 Mounting equipment When peripheral equipment is attached to U axis the following conditions should be observed 4 M8xP1 25 150 Fig 16 Clamp and tapped holes Table Constraint for attaching Cable processing and valve load Nets SP100X 100kg max including wrist load SP100X 160 160kg max including wrist load SP100X 250
28. 250kg max including wrist load MOTOMAN ROBOTICS EUROPE Page 26 Instruction manual MOTOMAN SP100X Created 99 07 09 Revised 00 04 05 name Mrs52060 ch7 fm Incorporated wire and airduct 7 2 Incorporated wire and airduct Wires and an air line are incorporated into the manipulator for user application There are 23 wires and 2 air duct rating The allowable current for wires must be 2 0A or below for each wire The total current value for pins 1 to 23 must be 44A or below The maximum pressure for the air duct is 490 kPa 5kgf cm and its inside diameter is 6 5 mm Cable connector provided on U axis is type JL05 2A24 28SC with cap Mating plug type is JL05 6A24 28P Air B outlet PT3 8 a Air A outlet PT3 8 with bull plug with bull plug View Detailed drawing of Air A outlet PT3 8 I 2 connector pin no with bull plug Cable connector provided on S axis 4 is type JLO5 2A24 28PC with cap Mating plug type is JL05 6A24 28S 7 Pins used Air B outlet PT3 8 View B with bull plug AAA Acc cic n5 23 Internal wires 0 75mm 23 wires Fig 17 Incorporated wire and airduct The same pin number 1 23 of two connectors is connec
29. 6 4 1069 Spring washer 2H 6 4 1070 C base HW9302445 A 1 1073 Union PH8 01 2 1074 Clamp TM3S25 2 1075 Screw M6 x 12 2 1076 Insulok tie T30L 3 1080 Saddle CD 28 1 1081 Socket screw M6 x 12 1 1082 Spring washer 2H 6 1 1083 Union KQE8 02 2 1084 Plug PT3 8 2 1085 Grease nipple A PT1 4 2 1089 bolt M24 4 1090 Tube NB 0860 1 3 1091 Plug PT1 8 1 1092 Union POC8 01 1 1094 Saddle CD 42 2 1095 Socket screw M5 x 20 4 1096 Washer M5 4 Page 56 Doc name Mrs52060 ch12 fm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 S axis driving unit No Name DWG no Pcs 1097 Plate HW9403595 1 2 1098 Screw M4 x 12 4 1099 Insulok tie T120S 2 1101 Fan cover A 30F 1 1101A Fan HW9480687 A 1 1102 Round head screw M3 x 45 4 1102A Nut M3 4 1103 Washer M3 4 1106 Spacer HW9404759 1 8 1107 Plate HW9404760 1 8 1111 Insulok tie T30L 1 1112 Clamp TAI S10 1 1113 APS bolt M5 x 12 1 1115 Spring washer 2H 5 4 1116 APS bolt M6 x 12 4 1117 Socket screw M5 x 12 2 1118 Spring washer 2H 5 2 1119 Union KQE10 03 2 8002 Case HW9100750 1 1 8003 Stopper HW9403955 1 1 8004 Bearing TLAW3038Z 1 8005 Shaft HW9403956 1 1 8006 Socket screw M6 x 25 1 8007 Spring washer 2H 6 1 8008 Dog HW9403958 1 1 8009 Socket screw M6 x 30 2 8010 Spring washer 2H 6 2 8011 Plate
30. 70 1 6 2009 Socket screw M6 x 140 6 2010 Washer GT SH M5 6 2011 O ring G270 2 2012 Gear HW9481362 A 2 2013 Shaft HW9481343 A 2 2014 Shaft HW9381068 A 2 2015 Bolt HW9481363 A 2 2016 Spring washer 2H 6 2 2017 C type clip STW 12 2 2018 M base HW9200827 1 2 2019 Socket screw M12 x 70 32 2020 Spring washer 2H 12 32 2021 Oil seal Y507212 5 2 2022 O ring G40 2 2023 Air breezer EZ0094 AO 2 2024 Union TSH6 01M 2 2025 Tube UB 0640 0 1C 2 2026 Plug PT1 8 5 2027 L arm HW9100832 1 1 2028 Socket screw M10 x 45 18 2029 Spring washer 2H 10 18 2030 Grease nipple A PT1 8 3 2031 Oil seal VB 265 280 7 2 2032 Link B HW9200772 1 1 2033 Socket screw M10 x 60 18 2034 Spring washer 2H 10 18 2035 Shaft HW9301 309 1 1 2036 Cross roller bearing HW9482144 A 1 2037 O ring GS310 1 MOTOMAN ROBOTICS EUROPE Page 60 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm L and U axis driving unit No Name DWG no Pcs 2038 O ring G145 1 2039 O ring G90 1 2040 Socket screw M14 x 50 15 2041 Washer GT SH M14 15 2042 B cover HW9301736 1 1 2043 Socket screw M8 x 25 12 2044 Spring washer 2H 8 12 2045 Socket screw M10 x 45 1 2046 Spring washer 2H 10 1 3033 Grease nipple A PT1 8 2 3066 Collar HW9404482 1 2 3067 Link A HW9100794 1 1 3068 Shaft HW9403572 1 2 3069 Shaft HW9403574 1 2 3070 Socket
31. Doc name Mrs52060 ch9 fm Notes on maintenance procedures 9 2 Notes on maintenance procedures 9 2 A Battery unit replacement If a battery alarm occurs in the XRC replace the battery according to the following D Ns procedure V o i Battery d connector Battery unit for SLU axes HW9470932 A Base Fig 21 Battery location side view Battery unit for T axis HW947091 7 B Z _ M5 Screw de Fig 22 Battery location top view MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 35 Notes on maintenance procedures Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm See procedure 7 See procedure 6 Battery unit for SLU axes before replacement
32. G RI d Id Z VIVO C END d lt Me 1 29 59 LENS iva 190 Ly 193 r t 12 E AO 9 id L AQ EIN L 61 Tact i VAS 7 KIND sxv s pioz s td Iva E zz Viva q id t vivd ZINJ d 92 rivo T O Nps J VEVIVG 7 FINO m NOS On 9x9 o8l Lovo MW d uva ivg ILBO 180 OMX OVNSVA uva 290 ee MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Mrs52060 Internal fm Doc name 00 04 05 ised 99 07 12 Rev 74 Page Created
33. MOTOMAN XRC INSTRUCTION MANUAL MOTOMAN SP100X 160 250 Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference A subsidiary of YASKAWA Electric Corporation UV MOTOMAN ROBOTICS EUROPE MANUAL NO MRS52060 MOTOMAN ROBOTICS EUROPE Y EI Reference list Operator s manual basic programming MOTOMAN XRC Maintenance manual Revision 990813 First release of this manual Revision 990924 Version SP100X 160 and SP100X 250 is added Revision 000405 Spare part list is added according to YEC rev 1 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page Created 99 08 12 Revised 00 04 05Doc name Mrs52060TOC fm MMC JUI 5 Checking package contents 5 Checking the serial number 6 2 Transporting e 7 Transporting method 7 Shipping bolts and jigs 8 3 Installation NEEN 9 Safety guard installation 10 Mounting procedures for manipulator baseplate 10 Location 13 4e VAINO 15 Grounding 16 Cable connection 17 5 Basic specifications 19 Basic specifications 19 Part names and working axes 20 Baseplate dimensions 20 Dimensions and working range 21 Alterable working envelope of S axis mechanical stopper 22 6 Allowable load for wrist axis and wrist flange 23 Allowable wrist load 23 Wrist flange 24 7 System application
34. N ROBOTICS EUROPE Page 40 Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Notes on maintenance procedures 9 2 F Grease replenishment for S axis cross roller bearing Sc Grease inlet G nipple A PT1 4 S axis cross roller bearing S 8 mma Fig 29 S axis cross roller bearing a Inject grease into the Sc grease inlet using a grease gun Refer to the figure S axis cross roller bearing Grease type Alvania EP grease 2 Amount of grease 100cc 9 2 G Grease replenishment L axis cross roller bearing Lc Grease inlet amp nipple A PT1 8 L axis cross roller bearing Lc Grease inlet amp nipple A PT1 8 Plug for air flow Fig 30 L axis cross Hexagon socket head PT1 8 roller bearing a Remove the plugs for air flow b Inject grease into Lc grease inlet by using a grease gun Grease type Alvania EP grease 2 Amount of grease 60cc c Reinstall the plug Note Plug are used for air flow Do not inject excessive grease MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 41 Notes on maintenance procedures Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm 9 2 H Grease replenishment for link parts
35. Revised 00 04 04 name Mrs52060 ch2 fm Shipping bolts and jigs Attached eyebolts are designed to support the manipulator weight Do not use them for anything other than transporting the manipulator Mount the shipping bolts and jigs for transporting the manipulator Avoid exerting force on the arm or motor unit when transporting use caution when using transporting equipment other than a crane or forklift as injury may occur 2 2 Shipping bolts and jigs The manipulator is provided with shipping bolts and jigs at points A B C D E and F see figure Shipping bolts and jigs V The jigs are painted yellow VY Number of screws bolts and nuts are For standard lifting position A 4x M6 hexagon headed screws B C 4x M12 nuts and studs D 2x M12 hexagon socket head cap screws For compact lifting position A 4x M6 hexagon headed screws B C 4x M12 nuts and studs D 2x M12 hexagon socket head cap screws E F 8 x M12 hexagon socket head cap screws D Z D f lt C Su AMET s B A x T d a Standard shipping pose Lower shipping pose J01 Fig 4 Shipping bolts and jigs Note Before turning on the power check to be sure that the shipping bolts and jigs have been removed These shipping bolts and jigs must be stored for future use in the event of moving or carrying the robot MOTOMAN ROBOTICS EUROPE
36. S EUROPE Operator s manual MOTOMAN XRC Page 3 Created 98 08 08 Revised 00 03 31 Doc name GENERAL WARNING FM Definition of terms used often in this manual The MOTOMAN manipulator is the YASKAWA industrial robot product The manipulator usually consists of the controller the playback panel the programming pendant and supply cables In this manual the equipment is designated as follows Equipment Manual designation MOTOMAN XRC Controller XRC MOTOMAN XRC Playback panel P Panel MOTOMAN XRC Programming pendant P Pendant Start panel for machinery operation in PLAY mode Start panel Key operation Descriptions of the programming pendant and playback panel keys buttons and displays are shown as follows Equipment Manual designation Programming Character keys The keys which have characters printed on them are pendant denoted with ex ENTER Symbol keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis keys Axis keys and Number keys are generic names Number keys for the keys for axis operation and number input Keys pressed When two keys are to be pressed simultaneously simultaneously the keys are shown with a sign between them ex SHIFT COORD Displays The menu displayed in the programming pendant is denoted with i
37. South Africa Tel 27 11 4943604 Fax 27 11 4942320 Messer SAG Langweisenstrasse 12 CH 8108 Dallikon Switzerland Tel 41 18471717 Fax 41 18442432 MOTOMAN ROBOTICS EUROPE AB a subsidiary of YASKAWA Electric Corporation
38. UROPE Page 2 Operator s manual MOTOMAN XRC Created 98 08 08 Revised 00 03 31 Doc name GENERAL WARNING FM The equipment is manufactured in conformity with the EC Machinery directive the EMC directive as well as the LVD directive The equipment is intended to be incorporated into machinery or assembled with other machinery to constitute machinery covered by this directive and must not be put into service until the machinery into which it is to be incorporated has been declared in conformity with the provisions of EC s Machinery EMC and LVD Directive Information how to connect to the MOTOMAN XRC is described in the XRC Service Manual MOTOMAN is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids your product s warranty MOTOMAN may modify this model without notice when necessary due to product improvements modifications or changes in specifica tions If such modification is made the manual will also be revised see revision information If your copy of the manual is damaged or lost contact a MOTOMAN representative to order a new copy The representatives are listed on the back cover Be sure to tell the representative the manual number listed on the front cover MOTOMAN is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids your product s warranty MOTOMAN ROBOTIC
39. aly Tel 39 059 280496 Fax 39 059 280602 MOTOMAN benelux B V Zinkstraat 70 NL 4823 AC Breda Netherlands Tel 3 1 76 5424278 Fax 3 1 76 5429246 RISTRO d o o Lepovce 23 SI 1310 Ribnica Slovenia Tel 386 61 861113 Fax 386 61 861227 MOTOMAN Robotics Espa a S A Avenida Marina 56 Parcela 90 ES 08830 St Boi de Llobregat Barcelona Spain Tel 34 93 6303478 Fax 34 93 6543459 MOTOMAN Mecatron Robotic Systems AB Box 4004 SE 390 04 Kalmar Sweden Tel 46 480 444600 Fax 46 444699 MGM Spol s r o Trebizsk ho 1870 CZ 39002 Tabor Czech Republic Tel 420 361 254571 Fax 420 361 256038 Robia A S Hjulmagervej 4 DK 7100 Vejle Denmark Tel 45 79428000 Fax 45 79428001 Robia Suomi OY Messinkikatu 2 FI 20380 Turku Finland Tel 358 22145600 Fax 358 22145660 Kouvalias Industrial Robots 25 El Venizelou Ave GR 17671 Kallithea Greece Tel 30 1 9589243 6 Fax 30 1 9567289 REHM Hegeszt stechnika Kft T pi szele Jaszber nyi ut 4 H 2766 Hungary Tel 36 30 9510065 Fax 36 1 2562012 KNT Engineering Ltd 9 Hapalmach Street IL Kfar Azar 55905 Israel Tel 972 35351945 Fax 972 03535943 ROBIA ASA Industriveien 1 NO 3300 Hokksund Norway Tel 47 32252820 Fax 47 32252840 Electro Arco S A Rua Vice Almirante Azevedo Coutinho 4 Venda Nova PT 2700 Amadora Portugal Tel 351 21 4968160 Fax 351 21 4990319 Robotic Systems S A PTY Ltd P O Box 90741 ZA Bertsham 2013
40. blems Service Perform the following inspection procedures prior to conducting robot teaching If problems are found repair them immediately and be sure that all other necessary processing has been performed v Check for problems in robot movement v Check for damages to insulation and sheathing of external wires Always return the programming pendant to the hook after use The programming pendant can be damaged if it is left in the robots work area on the floor or near fixtures Spare parts MOTOMAN warranty is only valid if original spare parts are used MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 5 Checking package contents Created 99 07 07 Revised 99 09 24 name Mrs52060 ch1 fm Motoman SP100X 160 250 This manual covers SP100X YR SP100 J01 SP100X 160 YR SP100 J11 SP100X 250 YR SP100 J21 1 Receiving A Note Confirm that the manipulator and the XRC have the same serial number Special care must be taken when more than one manipulator is to be installed If the numbers do not match manipulators may not perform as expected and cause injury or damage 1 1 Checking package contents When the package arrives check the contents for the following standard items Any additional options ordered should be checked as well V Manipulator Robot arm v XRC robot controller V Programming pendant V Motor cable v Signal cable MOTOMAN ROBOTICS EUROPE
41. ckage See to that the holes match with the motor flange r Fixthe motor package together by means of the two bolts MOTOMAN ROBOTICS EUROPE Page 50 Instruction manual MOTOMAN SP100X Created 99 08 31 Revised 99 09 23 name Mrs52060 ch11 fm Add on flywheel Rubber sealing Put sealing compound here Second part of distance Flywheel First part of the distance O ring Servo motor Flywheel package completed E Add gear wheel and put the motor back S Add on the new gear wheel package t Thighten the new longer bolt in the center of the gear wheel MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 51 Add on flywheel Created 99 08 31 Revised 99 09 23 name Mrs52060 ch11 fm v Add sealing compound on the flange of the chassis w Don t forget to put sealing compound on the motor bolts as well The bolts goes right through the chassis x Put the motor back It may be a little bit tricky to get the gears in mesh Turn the motor slightly forth and back to get in mesh y Thighten the four motor bolts torque 214 5 Nm Size of bolts is M12x70 Longer bolts must not be used otherwise they will interfer with the reduction gear underneath z Put the power and signal cables back Note After the S axis motor and the gear wheel has been put apart the encoder data may have changed Always confirm set O p
42. ease gun Grease type Molywhite RE No 00 Amount of grease L 180cc 360cc for 1st supply c Move the L axis for 30 minutes to discharge the excess grease d Wipe the Lo exhaust plugs with a cloth and reinstall the plugs Spread the Modifier silicon Caulk on the screw of the plug Grease replacement for L axis a Remove the Lo exhaust plugs b Inject grease into the L grease inlets using a grease gun Grease type Molywhite RE No 00 Amount of grease approx 800cc c The grease replacement is complete when new grease appears in the Lo exhaust ports The new grease can be distinguished from the old grease by color d Move the L axis for 30 minutes to discharge the excess grease e Wipe the Lo exhaust plugs with a cloth and reinstall the plugs Note If grease is added without removing the exhaust plug the grease will go inside the motor and may damage it It is absolutely necessary to remove the plug If the plug is installed when the grease is being exhausted the grease will go inside the motor and may damage it MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Notes on maintenance procedures Fig 27 U axis speed 9 2 D Grease replenishment replacement for U axis speed reducer of Uo Grease outlet 9 Hexagon socket head PT1 8 plug E
43. ed turning of the manipulator s arm The battery unit must be connected before removing detection connector when maintenance and inspection Failure to observe this caution may result in the loss of home position data 9 1 Inspection schedule Proper inspections are essential not only to assure that the mechanism will be able to function for a long period but also to prevent malfunctions and assure safe operation Inspection intervals are displayed in six levels Conduct periodical inspections according to the inspection schedule in the table Inspection items In the table Inspection items the inspection items are classified into three types of operation operations which can be performed by personnel authorized by the user operations which can be performed by personnel being trained and opera tions which can be performed by service company personnel Only specified personnel are to do inspection work Page 30 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Inspection schedule Note The inspection interval must be based on the servo power supply on time Since the inspection schedule for MOTOMAN SP100X is made under the condition that the frequency of operation of each axis is averaged it is recommended to make inspection in half of the mentioned interval for the axis with higher frequency operations For sake of safe operations and
44. evised 00 04 05 Doc name Mrs52060 ch9 fm Inspection schedule Inspection items Items Schedule Method Operation Inspection charge Daily 1000 5000 9000 18000 36000 Speci Service H H H H H fied see com Cycle Cycle Cycle person pany 17 L and U axes v Grease Check for malfunc v v speed gun tion Replace if reducer necessary Supply grease 5000H cycle Replace grease 9000H cycle 18 T axis speed v Grease Checkfor malfunc v v reducer gun tion Replace if necessary Supply grease 5000H cycle Replace grease 9000H cycle 19 Bearings v Grease Supply grease v v gun Replace grease 2 20 Motor cooling v Visual Check for malfunc v v fan tion and damage 21 Overhaul v v 1 Inspection no correspond to the numbers in the figure Inspection parts and inspection numbers 2 For S axis cross roller bearing suppry grease every 5000H but in 1 year 3 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor This can cause a motor breakdown Contact your Motoman representative 4 For the grease refer to the table Inspection parts and grease used 5 When checking for conduction with multimeter connect the battery to BAT and OBT of connectors on the motor side for each axis and then remove connectors on detecter side for each axis from the motor Otherwise
45. for installation is 0 5 mm or less MOTOMAN ROBOTICS EUROPE Page 14 Instruction manual MOTOMAN SP100X Created 99 07 07 Revised 99 09 24 Doc name Mrs52060 ch3 fm Location MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 15 Created 99 07 08 Revised 00 04 04 Doc name Mrs52060 ch4 fm 4 Wiring AN Note Ground resistance must be 100 or less Failure to observe this warning may result in fire or electric shock Before wiring make sure to turn the primary power supply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in fire or electric shock Wiring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric shock MOTOMAN ROBOTICS EUROPE Page 16 Instruction manual MOTOMAN SP100X Created 99 07 08 Revised 00 04 04 name Mrs52060 ch4 fm Grounding 4 1 Grounding Follow local regulations for grounding line size Note Do not use this line in common with other ground lines or grounding electrodes for other electric power motor power welding devices etc Where metal ducts metallic conduits or distributing racks are used for cable laying ground in accordance with Electric Equipment Technical Standards Fig 7 a Grounding method 8 Bolt for grounding Provided at factory Fig 8 b Grounding method YASNAC XRC
46. g axes 5 2 Part names and working axes U Upper U arm Wrist flange Lower L arm Connector base Rotary S head Fig 11 Part namnes and working axes e 754 379 375 350 fa oN 540 Q gt Fig 12 Baseplate 8 222 hole 640 dimensions mm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 21 Dimensions and working range Created 99 07 08 Revised 00 04 05 Doc name Mrs52060 ch5 fm 5 4 Dimensions and working range all types SP100X SP100X 160 and SP100X 250 Vertical motion sphere Vertical motion sphere A 1821 411750 co 11429 1180 N 796 Point T 580 N wenn 2 S Z9 range N amp Y Y Y 0 A 82 9 345 1175 Y Yo E Y Y N 4 1341 P 1430 Y ov P t gt gt 0 847 1230 1540 3142 3229 1600
47. he battery unit mounting screw on the support d Remove the plastic tape insulation tape protecting the connection part of the battery unit in the manipulator e Connect the new battery f Remove the old battery g Protect the connection part of the battery unit in the manipulator with plastic tape insulation tape h Mount the battery unit with the screw connect the grease tube to the union and then mount the connector base Note Remove the old battery unit after connecting the new one so that the encoder absolute data does not disappear Do not pinch the cable when the base connector is installed MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Notes on maintenance procedures 9 2 B Grease replenishment replacement for S axis speed reducer So Grease outlet SN Hexagon socket head PT1 8 plug jf SI S Grease inlet INL G nipple A PT1 4 S axis speed reducer ay ae SCH seet Fig 25 S axis speed reducer diagram Grease replenishment for S axis a Remove the So exhaust plug b Inject the grease into the S grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease 300cc 600cc for 1st supply
48. hifting of the manip ulator or the mounting fixture The thickness of the common base is 50 mm or more and a size of the anchor bolt is M24 or larger are recommended Place the robot by fastening the plate with the eight M24 mm anchor bolts The plate is tapped for M24 70mm length bolts Tighten the bolts and anchor bolts securely so that they will not work loose during operation For robot baseplate mounting see the figure Mounting the manipulator baseplate 8xM20 Hexagon socket head cap bolts Manipulator base Common base Out of plane 0 5 mm or less CH Fig 5 Mounting the Manipulator base manipulator baseplate Anchor bolt M24 or more Common base 3 2 B When the manipulator is mounted directly on the floor The floor should be strong enough to support the manipulator Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in the table Maximum repulsion forces of the manipulator As a rough standard when there is a concrete thickness floor of 200 mm or more the base of the manipulator can be fixed directly to the floor with M20 anchor bolts Before mounting the manipulator however check that the floor is level and that all cracks etc are repaired Any thickness less than 200 mm is insufficient for mounting even if the floor is concrete MOTOM Instruction manual MOTOMAN SP100X Created 99 07 07 Revised 99 09 24 Page 12
49. ing washer 2H 8 4 4065 APS bolt M5 x 12 4 Page 68 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm No Name DWG no Pcs 6088 Air hose TU1065BU 6089 Air hose TU1065B MOTOMAN ROBOTICS EUROPE Wrist unit MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 69 Shock senser unit Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm 12 5 Shock senser unit Page 70 Doc name Mrs52060 ch12 fm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Shock senser unit No Name DWG no Pcs 1039 S head HW9100831 1 3035 Link C HW9301 769 2 1 3037 Washer HW9404205 1 2 3040 Oil seal AG3217A4 1 5002 base block HW9100825 1 1 5003 Socket screw M24 x 60 2 5004 Socket screw M12 x 60 1 5005 Spring washer 2H 12 1 5006 Pin MSTM12 60 2 5007 Shaft HW9301 654 1 1 5008 Washer HW9404205 1 3 5009 Socket screw M10 x 25 3 5010 Spring washer 2H 10 3 5011 Bearing HW9481646 A 2 5012 B cover HW9404361 1 2 5013 Socket screw M6 x 20 6 5014 Spring washer 2H 6 6 5015 Oil seal AG3217A4 2 5016 Plug LP M5 2 5017 Shaft HW9404476 1 1 5018 Shaft HW9404479 1 1 5019 Link HW9100835 1 1 5020 Grease nipple A PT1 8 2 5021 Socket screw M10 x 50 1 5022 Spring washer 2H 10 1
50. ket screw M8 x 15 8 7032 Spring washer 2H 8 8 7033 Magic screw M6 x8 2 MOTOMAN ROBOTICS EUROPE 73 Instruction manual MOTOMAN SP100X Page Mrs52060 Internal fm Doc name 00 04 05 ised 99 07 12 Rev Created CY 3 l Se M S p i T2771 jsva IST 151 T d uu 3 Wr wI 017181 WIS wi mr Tet im wTS IT T 201 ToT 191 Hi 181 n wr wl im 2 Js n i x EEN WIS WI H igi WTS iv E ad t o ZK 9 IND d TW SHINS ed a 9 8N3 zu E N 9 GNO d 20 25 25822 9NI 19 Jam EECH 197 225 9 Ig cv Nig pet 8 N5 10 d lt lt i8 291 21 18 103 t aT SZNO LONIX vd Di 18722787 Ce Ce Gi ig iei IIe Iva 1902 9537 5N5 i OMY A 353 011857 353 T MENSA S id AQ g id 9 10 22 90 I 19 sz Caon SiXv L AST AOT E DAG 227 909 t108 90 vs GA i 180 Ig 180 y Id lve iva 9 vIvd idi 3 VIVd 25 c Id S3 VIVd 7 9 14 moe ERC grvivd 22 CHE rviva 9 NOC ON e EEN d CH mS vive 18e AW IER 1807 Lee e viva Aug UE 23 I D 93 t t Told S AO d AO KEN i id Sixv n 78 AGt CENO Et 180 d iva 9 vIvd vivd ZEN id 3 TVlva ETvlvd END Iv 180 za t T 253 7 G END fe AO 9 id Z NO P CNO L iL E i Z AS ZN3 aon SXxv 1 63 i 180 id LI0G 90 v
51. life of MOTOMAN SP100X it is recommended to replace the following parts at the secondary inspection 18000H Speed reducer S L U and T axes Cross roller bearings S and U axes Oil seals L U and T axes motors Inspection items Items Schedule Method Operation Inspection charge Daily 1000 5000 9000 18000 36000 Speci Service H H H H H fied see com Cycle Cycle Cycle person pany Tram mark v Visual Check tram mark W v v accordance and damage at the home position External lead Visual Check for dam v v v age and deteriora tion of leads Working area Visual Clean the work v v v and area if dust or manipulator spatter is present Check for dam age and outside cracks LU axes v Visual Check for grease v v v motor leakage 3 Baseplate v Spanner Tighten loose v v v mounting Wrench bolts Replace if bolts necessary Cover mount v Screw Tighten loose v v v ing screws driver bolts Replace if Wrench necessary Base connec v Manual Check for loose v v v tors connectors LU axes v Manual Check for loose v v v connectors connectors MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 31 Inspection schedule Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm Inspection items Items Schedule Method Operation Inspection charge Daily 1000 5000 90
52. luding any redundancies shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application Example of safetyguardings are barriers interlock barriers perimeter guarding awareness barriers and aware ness signals 3 2 Mounting procedures for manipulator baseplate The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the robot and withstand repulsion forces during acceleration and deceleration Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator During installation if out of the plane is not right the manipulator shape may change and its functional ability may be compromised Out of the plane for instal lation must be kept at 0 5 mm or less Mount the baseplate in either of the follow ing ways 3 2 a or 3 2 b Table Maximum repulsion forces of the manipulator for SP100X Horizontal rotating maximum torque 34500 Nm S axis moving direction 8520 kgfm Vertical rotating maximum torque 52500 Nm L U axes moving direction 5360 kgfm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 11 Mounting procedures for manipula Created 99 07 07 Revised 99 09 24 Doc name Mrs52060 ch3 fm 3 2 A When the manipulator and mounting fixture are installed on a common flat steel plate The common base should be rugged and durable to prevent s
53. n for T axis motors The connector insertion type pin terminal for the battery backup is installed in the end point of the cable for the encoder of the T axis motors BAT and OBT are marked Connect the battery unit according to the following procedure a Connect battery unit HW9470917 A for the T axis with the the battery backup connector BAT and OBT are marked located in the end point of the cable for the encoder Under such a condition remove the encoder connector and do the maintenance check work b Confirm all connectors connection after the maintenance check ends and remove the battery unit Note Do not remove the battery unit in the base connector MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 43 Notes on maintenance procedures Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch9 fm S L U axes Connector for the battery backup S L U axes motors 1 OBT1H o OBT Ha BAT b w Battery unit connection cable for the motor HW9470945 A Battery unit for S L U axes HW9470932 A
54. osition of the encoder before taking robot into service MOTOMAN ROBOTICS EUROPE Page 52 Instruction manual MOTOMAN SP100X Created 99 08 31 Revised 99 09 23 Doc name Mrs52060 ch1 1 fm Add on flywheel MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 53 S axis driving unit Created 00 04 04 Revised 00 04 05 name Mrs52060 ch12 fm 12 Parts list 12 1 S axis driving unit 1068 1964 1945 4 ch pna 1065 e CA 1082 9 1046 Lye ENE Toss 1057 SS ite 1063 Sg d ws CN 1 1058 9 E 1065 i LA AS 1064 00 19 AH K KEX j 106 up 1060 1056 jw 1061 1060 d 1062 8 1066 i O 1042 4 Page 54 Doc name Mrs52060 ch12 fm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 S axis driving unit No Name DWG no Pcs 1006 AC servo motor HW9381261 A 1 1007 Support HW9301983 A 1 1012 Socket screw M8 x 16 2 1013 Spring washer 2H 8 2 1014 Shaft HW9381068 A 1 1015 Shaft HW9481343 A 1 1016 Gear HW9481878 A 1 1017 Bolt HW9481363 A 1 1018 Spring washer 2H 8 1 1019 C stopper STW 12 1 1020 Socket screw M12 x 35 4 1021 Spring washer 2H 12 4 1022 M base HW9200826 1 1 1023 O ring ARP568 276 1 1024 Socket screw M12 x 115 24 1025 Spring wa
55. r 2H 12 1 3049 Oil seal AG2835EO 2 3050 Bearing 32008JR 2 3051 B cover HW9404985 1 2 3052 Socket screw M5 x 16 6 3053 Spring washer 2H 5 6 3054 Plug LP M5 1 3055 Grease nipple A PT1 8 2 3056 Shaft HW9302106 A 1 3057 Frange HW9302107 A 2 3058 Socket screw 8 x 20 8 3059 Spring washer 2H 8 8 3060 Cover HW9404483 1 2 3060A Cover HW9404892 1 1 3061 APS bolt M5 x 10 6 3062 U arm HW9100834 1 1 3063 Socket screw M12 x 50 10 3064 Spring washer 2H 12 10 3065 Pin MSTH6 30 1 3066 Collar HW9404482 1 1 3067 Link A HW9100794 1 1 3068 Shaft HW9403572 1 2 3069 Shaft HW9403574 1 2 3070 Socket screw M12 x 70 2 Page 64 Instruction manual MOTOMAN SP100X Created 00 04 04 Revised 00 04 05 Doc name Mrs52060 ch12 fm MOTOMAN ROBOTICS EUROPE U axis link unit No Name DWG no Pcs 3071 Spring washer 2H 12 2 3072 Bearing HR30208J 4 3073 Oil seal AG3151EO 4 3074 B cover HW9403570 1 4 3075 Socket screw M6 x 20 16 3076 Spring washer 2H 6 16 3077 Grease nipple A MT6 x 1 4 3078 Plug PT1 8 4 3079A Shim HW9403657 1 1 3079B Shim HW9403657 2 1 3079C Shim HW9403657 3 1 3079D Shim HW9403657 4 1 3079E Shim HW9403657 5 1 3079F Shim HW9403657 6 1 3079G Shim HW9403657 7 1 3080 Saddle CD 28 1 3081 APS bolt M5x8 4 3082 Washer M5 4 3083 Clamp TAI S10 2 3084 Insulok tie T50R 2 3085A Shim HW9404548 1 1 3085B Shim HW9404548 2 1 3085C
56. sher 2H 12 24 1026 RV reduction gear HW9381220 A 1 1027 Socket screw M16 x 140 6 1028 Spring washer 2H 16 6 1029 Socket screw M14 x 65 18 1030 Washer M14 18 1031 Base plate HW9301 763 1 1 1032 Socket screw M10 x 40 2 1033 Spring washer 2H 10 2 1034 Cross roller bearing HW9381222 A 1 1035 B cover HW9301 768 1 1 1036 Socket screw M12 x 80 16 1037 Spring washer 2H 12 16 1038 Base HW9100830 1 1 1039 S head HW9100831 1 1 1040 Socket screw M12 x 100 16 1041 Spring washer 2H 12 16 1042 Cover HW9404291 1 2 1043 APS bolt M6 x 12 12 1044 Cover HW9301 767 1 1 1045 Socket screw M6 x 25 5 1046 Spring washer 2H 6 5 1047 Stopper HW9481239 A 2 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 55 S axis driving unit Created 00 04 04 Revised 00 04 05 name Mrs52060 ch12 fm No Name DWG no Pcs 1048 Socket screw M8 x 25 4 1049 Spring washer 2H 8 4 1050 Union KQE8 03 1 1051 Socket screw M24 x 40 1 1052 Cover HW9380618 A 1 1053 Plate HW9404525 1 1 1054 Socket screw M8 x 16 2 1055 Spring washer 2H 8 2 1056 Plate HW9302489 1 1 1057 Plate HW9302489 2 1 1059 Saddle CD 42 2 1060 Socket screw M5 x 16 4 1061 Spring Washer 2H 5 4 1062 Washer M5 4 1063 Plate HW9403595 1 4 1064 Socket screw M4 x 16 8 1065 Spring washer 2H 4 8 1066 Insulok tie T50L 4 1067 Plate HW9404647 1 2 1068 Socket screw M6 x 1
57. talic characters ex JOB Playback panel Buttons Playback panel buttons are enclosed in brackets ex TEACH on the playback panel Page 4 gt MOTOMAN ROBOTICS EUROPE Operator s manual MOTOMAN XRC Created 98 08 08 Revised 00 04 05 Doc name GENERAL WARNING FM Description of the operation procedure In the explanation of the operation procedure the expression Select means that the cursor is moved to the object item and the SELECT key is pressed Teaching Before operating the robot check that the servo power is turned off when the emergency stop buttons on the playback panel or program ming pendant are pressed Injury or damage to machinery may result if the emergency stop circuit cannot stop the robot during emergency The MOTOMAN XRC should not be used if the emergency stop buttons do not function Always set the Teach Lock before entering the robot work envelope to teach a job Operator injury can occure if other person reset safety and restart robot in PLAY mode Confirm that no persons are present in the robot work envelope and that you are in a safe location before v Turning on the MOTOMAN XRC power Y Moving the robot with the programming pendant v Running check operations Performing automatic operations Injury may result if anyone enters the working envelope of the robot during opera tion Always press an emergency stop button immediately if there are pro
58. tandard T axis Electric HW9371104 A Corporation Lead terminal treatment comple tion J01 15 Motor cooling fan HW9370631 D Yaskawa 1 1 Electric Corporation MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 47 Add on flywheel Created 99 08 31 Revised 99 09 23 name Mrs52060 ch11 fm 11 Rebuilding SP100X to SP160X SP250X B Rebuild to SP160X a Add on counterweight No 1 Motoman P N No Xxxxxxx b Change parameters to SP100X J11 B Rebuild to SP250X a Add on counterweight No 1 Motoman P N No Xxxxxxx b Add on counterweight No 2 Motoman P N No 357077 c Add on S axis flywheel kit Motoman P N No Xxxxxxx d Change parameters to SP100X J21 e Confirm S axis encoder data 11 1 Add on flywheel E General Check all necessary parts Check all necessary tools dynamometric wrench Use sealing compound type LOCTITE Master Gasket 574 E Dismount the S axis motor a Put robot in position like the picture to get access to the S axis motor b Disconnect the XRC controller from the power supply c Remove signal and power connections d Undo the four bolts fixing the motor to the chassie Remove power and signal cables Remove the four bolts S axis motor MOTOMAN ROBOTICS EUROPE Page 48 Instruction manual MOTOMAN SP100X Created 99 08 31 Revised 99 09 23 name Mrs52060 ch11 fm Add on flywheel e Use two M6x40 bolts to press
59. ted in the lead line of single 0 5mm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 27 Limit switch Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch8 fm 8 Motoman construction 8 1 Limit switch Limit switch of S axis limit the working envelope of its axis electrically by adjusting the position of dog with the limit switch function For mechanical limit mechanical stopper see chapter Alterable working enve lope of S axis mechanical stopper With the limit switch ON the power supply of the manipulator is turned OFF and the manipulator makes an emergency stop For releasing overrun status refer to Operator s manual Note When the alteration of working envelope is necessary contact your MOTOMAN representatives since modification of position of dog installation and mechanical stopper and value of soft limit should be made for the alteration 8 2 Position of S axis limit switch LJ S axis overrun limit switch Fig 18 Location of limit switch MOTOMAN ROBOTICS EUROPE Page 28 Instruction manual MOTOMAN SP100X Created 99 08 10 Revised 00 04 05 Doc name Mrs52060 ch8 fm Internal connections 8 3 Internal connections High reliability connectors which can be easily removed are used with each connector part For the number and location of connectors see the figure Location and numbers of connectors and the table List of connector types Connector for internal
60. the motor apart from the S axis chassis Other wise it may be difficult to lift the motor up due to the sealing compound Extra bolt M6x40 for separation Chassie after motor is removed f Put eyebolts in the threaded holes on the top of the motor and use some sort of lifting device to remove the motor from chassis g Put the motor on a workbench h Remove the clips blocking the gear wheel i Remove the bolt holding the gear wheel j Take away all grease using a piece of cloth Don t use any solvent E Mounting the flywheel k Add sealing compound to the flange of the servo motor MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SP100X Page 49 Add on flywheel Created 99 08 31 Revised 99 09 23 name Mrs52060 ch11 fm 1 Mount the first part of the distance to the motor flange See to that the holes match the motor flange m Put the O ring in the groove which is turned against the motor flange n Put the flywheel onto the motor shaft It may be necessary to adjust the key by using a rubber mallet o Mount the rubber sealing in the second part of the distance flywheel cover It may be necessary to use a rubber mallet to get it in place Sealing to be in line with the flange p Put sealing compound to the second part of the distance No grease or oil should be added to the flywheel area q Put the second part of the distance on top of the pa
61. tion manual MOTOMAN SP100X Page 19 Created 99 07 08 Revised 00 04 05 Doc name Mrs52060 ch5 fm Basic specifications 5 Basic specifications 5 1 Basic specifications Table Basic specifications Item Model SP100X SP100X 160 SP100X 250 Operation mode Vertically articulated Degree of freedom 4 Payload 100 kg 160 kg 250 kg Repetitive positioning accuracy 0 5 mm S axis turning X180 Motion L axis lower arm 90 45 range U axis upper arm 10 90 T axis wrist twist 350 S axis 2 44 rad s 140 s 1 48 rad s 85 s 1 31 rad s 75 s Maximum L axis 1 83 rad s 105 s 1 66 rad s 95 s 1 04 rad s 60 5 speed U axis 1 83 rad s 105 s 1 66 rad s 95 s 1 04 rad s 60 5 T axis 4 19 rad s 240 s 3 40 rad s 144 s 2 88 rad s 165 s T axis allowable inertia 002 4 40 kgm Mass 1750 kg 1900 kg 1965 kg Temperature 0 to 45 C Humidity 20 to 80 RH non condensing Vibration Less than 0 5G ae Others Free from corrosive gasses or liquids or explosive gasses tions Clean and dry Free from excessive electrical noise plasma Power capacity 6 5 kVA 1 Sl units used in this table 2 Conformed ISO9283 However gravitational unit is used in MOTOMAN ROBOTICS EUROPE Page 20 Instruction manual MOTOMAN SP100X Created 99 07 08 Revised 00 04 05 Doc name Mrs52060 ch5 fm Part names and workin
62. xis speed reducer and gear Grease inlet Gnipple A PT1 8 H T axis Or Speed reducer To Grease outlet GE Hexagon socket EM FU head M6 plug Fig 28 T axis speed reducer and gear diagram E Grease replenishment for T axis a Remove the To exhaust plugs b Inject grease into the T grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease 50cc 100cc for 1st supply c Move the T axis for 30 minutes to discharge the excess grease d Wipe the To exhaust plugs with a cloth and reinstall the plugs Grease replacement for T axis a Remove the exhaust plugs b Inject grease into the T grease inlet using a grease gun Grease type Molywhite RE No 00 Amount of grease approx 250cc c The grease replacement is completed when new grease appears from the To exhaust port The new grease is distinguished from the old grease by color d Move the T axis for 30 minutes to discharge the excess grease e Wipe the To exhaust plugs with a cloth and reinstall the plugs Note If grease is added without removing the exhaust plugs the grease will go inside the motor and may damage it It is absolutely necessary to remove the plugs If the plug is installed when the grease is being exhausted the grease will go inside the motor and may damage it MOTOMA

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