YASKAWA MOTOMAN-HP20 Instructions Manual

Contents

YASKAWA MOTOMAN-HP20 Instructions Manual Manual pdf 8 page image

viii6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27 System Application7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-17.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17.2 Internal User I/O Wiring Harness and Air Line . . . . . . 7-28 Electrical Equipment Specification8.1 Position of Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29 Maintenance and Inspection9.1 Inspection Schedule(Manipulator in the Home Position: Refer to “Fig.21.”) . . . . . . . . . . 9-19.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-59.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-59.2.2 Grease Replenishment/Exchange for S-axis Speed Reducer . 9-7 Grease Replenishment (Refer to "Fig. 24 S-axisSpeed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 Grease Exchange(Refer to "Fig. 24 S-axis Speed Reducer Diagram".) . . . . . 9-89.2.3 Grease Replenishment/Exchange for L-axis Speed Reducer . 9-9 Grease Replenishment(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . . 9-9 Grease Exchange(Refer to "Fig. 25 L-axis Speed Reducer Diagram".). . . . . 9-109.2.4 Grease Replenishment/Exchange for U-axis Speed Reducer 9-11 Grease Replenishment(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-11 Grease Exchange(Refer to "Fig. 26 U-axis Speed Reducer Diagram".) . . . . 9-129.2.5 Grease Replenishment for R-axis Speed Reducer. . . . . . . . . 9-139.2.6 Grease Replenishment for B-, T-axes SpeedReducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-149.2.7 Grease Replenishment for T-axis Gear . . . . . . . . . . . . . . . . . 9-159.2.8 Grease Replenishment for R-axis Cross Roller Bearing. . . . . 9-169.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17