HW0480368(UP20M).pdf.pdfHW0480368(UP20M).pdfpdf,HW

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详细说明：HW0480368(UP20M).pdfpdf,HW0480368(UP20M).pdfNOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC In this manual the notes for safe Operation are classified as WarniNG, CAUtION “ MANDATORY”,or“PROH|BTED”. WARNING Indicates a potentially hazardous situation which, if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which, if not avoided CAUTION could result in minor or moderate injury to personnel and dam- age to equipment it may also be used to alert against unsafe MANDATORY heading Always be sure to follow explicitly the items listed under this N PROHIBITED Must never be performed Even items described as "CAUTION may result in a serious accident in some situations At any rate, be sure to follow these important items NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as"CaUtIoN"and"WARNING WARNING Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the playback panel or program ming pendant are pressed. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function Emergency Stop Button Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power oN. Injury may result from unintentional or unexpected manipulator motion TURN Release of Emergency Stop Always set the Teach Lock before entering the robot work envelope to teach a job. Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel observe the following precautions when performing teaching operations within the working envelope of the manipulator View the manipulator from the front whenever possible. Always follow the predetermined operating procedure. Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury Confirm that no persons are present in the manipulators work envelope and that you are in a safe location before: Turning on the YASNAC XRC power Moving the manipulator with the programming pendant Running check operations Performing automatic operations Injury may result if anyone enters the working envelope of the manipulator during opera- tion. Always press an emergency stop button immediately if there are problems The emergency stop button is located on the right side of both the YASNAC XRc play back panel and programming pendant A CAUTION Perform the following inspection procedures prior to conducting manip ulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. -Check for problems in manipulator movement. Check for damage to insulation and sheathing of external wires. Always return the programming pendant to the hook on the XRc cabinet after use The programming pendant can be damaged if it is left in the manipulator's work area, on the floor or near fixtures Read and understand the Explanation of the Alarm Display in the Setup Manual before operating the manipulator: 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 pen dant, and supply cables In this manual, the equipment is designated as follows Equipment Manual designation YASNAC XRC Controller XRC YASNAC XRC Playback Panel Playback Pane YASNAC XRC Programming Pendant Programming Pendant AN EXPLANATION OF WARNING LABELS The following warning labels are attached to the manipulator Always follow the warnings on the labels Also, an identification label with important information is placed on the body of the manipula tor. Prior to operating the manipulator, confirm the contents MOTOMAN ◇ WARNING|「◆WARN|NG YLOAD MASS oRD三RNO DATE 凵凵凵凵凵 SERIAL NO ,TRIC CORPORATION JAPA Moving parts may Do not enter cause InJury robot work area 1 Receiving 1.1 Checking Package Contents 1.2 Checking the Order Number 2 Transporting 2.1 Transporting Method 2.1.1 Using the Crane 2-1 2.1.2 Using the Forklift 22 2.2 Shipping bolts and Jigs 2-2 3 Installation 3. 1 Safety Guard Installation 3-2 3.2 Mounting Procedures for Manipulator Baseplate..3-2 3.2.1 When the Manipulator and Mounting Fixture are Installed on a common flat steel Plate 3-3 3.2.2 When the Manipulator is Mounted directly on the Floor 3.3 Types of Mounting.................3-5 3.3.1 S-Axis Working range 3-5 3.3.2 Affixing the Manipulator Base 3-5 3.3.3 Precautions to Prevent the Manipulator from Falling 3-5 3.4 After Installation 3-6 3.5 IP(International Protection for Main Part of the Manipulator 3- 3. 6 Location 3-7 ng 4.1 Grounding ■ 4-1 42 Cable connection 4-2 4.2.1 Connection to the Manipulator 4-2 42.2 Connection to the xrc 4-2 5 Basic specifications 5. 1 Basic Specifications 5.2 Part Names and Working Axes 5.3 Baseplate dimensions 5-2 5.4 Dimensions and Working range 5-3 5.5 B-Axis Working range ,,,,5-4 5.6 Alterable Working Range 6 Allowable Load for Wrist Axis and Wrist Flange 61 Allowable wrist load ...6-1 6.2 Wrist Flange 6-2 7 System Application 7.1 Mounting equipment 7-1 7.2 Incorporated Wire and airduct 7-2 8 Motoman Construction 8.1 Position of s-axis limit switch 8-1 82 Internal connections .8-2 9 Maintenance and Inspection 9.1 Inspection Schedule 9-1 9.2 Notes on maintenance procedures 9-5 9.2.1 Battery Unit Replacement 9-5 9.2.2 Grease Replenishment/ Replacement for S-Axis Speed Reducer and gea 9-7 Grease Replenishment (Refer to"Fig. 25 S-AXiS Speed Reducer and gear diagram 9-7 Grease Replacement(Refer to"Fig. 25 S-Axis Speed Reducer and Gear Diagram". 9-8 9.2.3 Grease Replenishment/Replacement for L-Axis Speed Reducer 9-8 Grease Replenishment(Refer to"Fig 26 L-Axis Speed Reducer Diagram".) 9-8 Grease Replacement(Refer to"Fig 26 L-AXis Speed Reducer Diagram".) 99 9.2.4 Grease Replenishment/ Replacement for U-AXis Speed Reducer .9-10 Grease Replenishment( Refer to"Fig 28 U-Axis Speed Reducer Diagram ".) 9-10 Grease Replacement( Refer to"Fig. 28 U-Axis Speed Reducer Diagram " 9.2.5 Grease Replenishment for R-Axis Speed Reducer 9-11 Grease Replenishment(Refer to"Fig. 29 R-AXis Speed Reducer Diagram ". ,,,,,,,,.9-12 9.2.6 Grease Replenishment for B-and T-Axis speed Reducers and B-Axis Gear .,,,,9-12 9.2.7 Grease Replenishment for T-Axis Gear(Refer to"Fig. 31 T-AXis Gear Diagram".) 9-13 9.2.8 Grease Replenishment for R-Axis Taper Roller Bearing(Refer to Fig. 32 R-AXis T apered Roller Bearing Diagram".) 9-14 9.29 Notes for maintenance 9-15 Battery Unit Connection for S-and L-axes motors 9-15 Battery Unit connection for U-, R B-, and T-Axes Motors. 9-15 ■ Wrist axes 9-17 10 Recommended Spare Parts X

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