YASKAWA MOTOMAN-MH900 Maintenance Manual

Contents

YASKAWA MOTOMAN-MH900 Maintenance Manual Manual pdf 38 page image

4 L-Axis Fixing Jig4.2 Installation4-3180930-1CD180930-1CDMH9004.2 InstallationRefer to Table 4-1 "L-Axis Fixing Jig Parts Checklist" and Fig. 4-2 “Detailof Fixing Jig”.1. Adjust posture of the Manipulator to avoid counterweight interferencewith the fixing jig. Prepare necessary rigging equipment.2. Attach rigging equipment to support the weight of the L-Axis, U-Axis,Wrist Unit, and any tooling. Rigging equipment should have someinitial tension on it, but not so much tension that the rigging may strainagainst the motor brake.3. Remove the rubber cap and 6 hexagon socket head cap screws M12(length: 20mm) installed on the rear of the balancer.4. Insert the M36x2 thread side of the jig shaft (184020-1) into the hole atthe rear of the balancer, and screw it into the balancer rod. (Note thestud is made up of two thread sizes: M55x2 and M36x2.) In thisprocess, be sure to screw it tightly so that there is no “looseness”between the shaft and the rod.5. Screw the jig nut (184021-1) onto the stud until it almost touches therear of the balancer. Align the nut so that it is possible to thread sixbolts into the rear of the balancer. The nut should be as close to thecasting as possible, but still able to insert the six bolts.6. Install the six M12 x 45 hexagon socket head cap screws and M12conical washers through the nut and into the balancer. Tighten thebolts securely.7. Clear the Manipulator’s operating area of all personnel and avoidbeing behind the spring balancer.8. Release the L-Axis brake with the teach pendant to confirm that the L-Axis is firmly fixed by the rigging equipment and fixing jig. Do notremove the jig or rigging equipment until the motor replacement hasbeen completed.Fig. 4-2: Detail of Fixing JigTable 4-1: L-Axis Fixing Jig Parts ChecklistPart Number/Name Qty.Jig Shaft 184020-1 1Jig Nut 184021-1 1Hexagon Socket Head Cap Screw M12 X 45 6Conical Spring Washer M12 638 of 79