YASKAWA Ms80w Bedienungsanleitung

MANUAL NO.

HW1480497

Part Number: 159328-1CD

Revision: 1

MOTOMAN-MS80W

INSTRUCTIONS

TYPE: YR-MS0080W-A00 (STANDARD SPECIFICATION)

TYPE: YR-MS0080W-A01

(WITH LIMIT SWITCHES FOR SLU-AXES SPECIFICATION)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-MS80W INSTRUCTIONS

DX100 INSTRUCTIONS

DX100 OPERATOR’S MANUAL

DX100 MAINTENANCE MANUAL

The DX100 Operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

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MANDATORY

• This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-MS80W for the application to

the actual operation and for proper maintenance and inspection. It

describes on safety and handling, details on specifications,

necessary items on maintenance and inspection, to explain

operating instructions and maintenance procedures. Be sure to

read and understand this instruction manual thoroughly before

installing and operating the manipulator.

• General items related to safety are listed in Chapter 1: Safety of the

DX100 Instructions. To ensure correct and safe operation, carefully

read the DX100 instructions before reading this manual.

CAUTION

• 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.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in

specifications. If such modification is made, the manual number will

also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA

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.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your

product’s warranty.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or

inspection of the MOTOMAN-MS80W.

In this manual, the Notes for Safe Operation are classified as

“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in

some situations. At any rate, be sure to follow these important items.

WARNING

Indicates a potentially hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

CAUTION

Indicates a potentially hazardous

situation which, if not avoided, could

result in minor or moderate injury to

personnel and damage to equipment.

It may also be used to alert against

unsafe practices.

MANDATORY

Always be sure to follow explicitly the

items listed under this heading.

PROHIBITED

Must never be performed.

NOTE

To ensure safe and efficient operation at all times, be sure

to follow all instructions, even if not designated as

“CAUTION” and “WARNING”.

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WARNING

• Before operating the manipulator, check that servo power is turned

off when the emergency stop buttons on the front door of the DX100

and programming pendant are pressed.

When the servo power is turned OFF, the SERVO ON LED on the

programming pendant is 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.

Figure 1: 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 ON the servo power.

Injury may result from unintentional or unexpected manipulator motion.

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the

manipulator:

- View the manipulator from the front whenever possible.

- Always follow the predetermined operating procedure.

- Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

- 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 P-point maximum

envelope of the manipulator and that you are in a safe location

before:

- Turning ON the DX100 power.

- Moving the manipulator with the programming pendant.

- Running check operations.

- Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the

manipulator during operation. Always press an emergency stop button

immediately if there is a problem.

The emergency stop button is located on the right of front door of the

DX100 and the programming pendant.

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Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the

programming pendant and supply cables.

In this manual, the equipment is designated as follows:

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator 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 DX100

cabinet after use.

The programming pendant can be damaged if it is left in the P-point

maximum envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the

DX100 instructions before operating the manipulator.

Equipment Manual Designation

DX100 controller DX100

DX100 programming pendant Programming pendant

Cable between the manipulator and the

controller

Manipulator cable

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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 manipulator. Prior to operating the manipulator, confirm the

contents.

Figure 2: Warning Label Locations

Nameplate

WARNING Label B

WARNING Label A

WARNING

Do not enter

robot

work area.

WARNING

Moving parts

may cause

injury

Warning Label A

Warning Label B

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Table of Contents

1 Product Confirmation ...................................................................................................................... 1-1

1.1 Contents Confirmation ....................................................................................................... 1-1

1.2 Order Number Confirmation .............................................................................................. 1-2

2 Transport......................................................................................................................................... 2-1

2.1 Transport Method .............................................................................................................. 2-1

2.1.1 Using a Crane ...................................................................................................... 2-2

2.1.2 Using a Forklift...................................................................................................... 2-3

2.2 Shipping Bolts and Brackets.............................................................................................. 2-4

3 Installation....................................................................................................................................... 3-1

3.1 Installation of Safeguarding ............................................................................................... 3-2

3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2

3.2.1 Mounting the Manipulator on the Baseplate......................................................... 3-3

3.3 IP (International Protection)............................................................................................. 3-4

3.4 Location ............................................................................................................................. 3-4

4 Wiring.............................................................................................................................................. 4-1

4.1 Grounding .......................................................................................................................... 4-1

4.2 Cable Connection .............................................................................................................. 4-2

4.2.1 Connection to the Manipulator.............................................................................. 4-2

4.2.2 Connection to the DX100 ..................................................................................... 4-2

5 Basic Specifications ........................................................................................................................ 5-1

5.1 Basic Specifications........................................................................................................... 5-1

5.2 Part Names and Working Axes.......................................................................................... 5-2

5.3 Manipulator Base Dimensions ........................................................................................... 5-2

5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3

5.5 Alterable Operating Range ................................................................................................ 5-4

5.5.1 Necessary Parts ................................................................................................... 5-4

5.5.2 Notes on the S-Axis Mechanical Stopper Installation........................................... 5-5

5.5.3 Alteration of the S-Axis Pulse Soft Limit ............................................................... 5-6

6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................ 6-1

6.1 Allowable Wrist Load ......................................................................................................... 6-1

6.2 Wrist Flange....................................................................................................................... 6-2

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7 System Application.......................................................................................................................... 7-1

7.1 Peripheral Equipment Mounts............................................................................................ 7-1

7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications ............... 7-2

8 Electrical Equipment Specification .................................................................................................. 8-1

8.1 Position of Limit Switch ...................................................................................................... 8-1

8.1.1 Specification of Limit Switch ................................................................................. 8-1

8.1.2 Location of Limit Switch ........................................................................................ 8-1

8.1.3 Setting of Operation Range .................................................................................. 8-2

8.1.3.1 S-Axis Operation Range.......................................................................... 8-2

8.1.3.2 L-Axis Operation Range .......................................................................... 8-2

8.2 Internal Connections .......................................................................................................... 8-3

9 Maintenance and Inspection ........................................................................................................... 9-1

9.1 Inspection Schedule........................................................................................................... 9-1

9.2 Notes on Maintenance Procedures.................................................................................... 9-6

9.2.1 Battery Pack Replacement ................................................................................... 9-6

9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8

9.3.1.1 Grease Replenishment ........................................................................... 9-8

9.3.1.2 Grease Exchange ................................................................................... 9-9

9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10

9.3.2.1 Grease Replenishment ......................................................................... 9-10

9.3.2.2 Grease Exchange ) ............................................................................... 9-11

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.3.1 Grease Replenishment ......................................................................... 9-12

9.3.3.2 Grease Exchange ................................................................................. 9-13

9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer ........................... 9-14

9.3.4.1 Grease Replenishment ......................................................................... 9-14

9.3.4.2 Grease Exchange ) ............................................................................... 9-15

9.3.5 Grease Replenishment/Exchange for B- and

T-Axis Speed Reducers and Gears .................................................................... 9-16

9.3.5.1 Grease Replenishment ......................................................................... 9-16

9.3.5.2 Grease Exchange ................................................................................. 9-17

9.3.6 Notes for Maintenance........................................................................................ 9-18

9.3.6.1 Battery Pack Connection ....................................................................... 9-18

10 Recommended Spare Parts........................................................................................................ 10-1

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Table of Contents

11 Parts List ..................................................................................................................................... 11-1

11.1 S-Axis Unit ..................................................................................................................... 11-1

11.2 L-Axis Unit ..................................................................................................................... 11-3

11.3 U-Axis Unit..................................................................................................................... 11-5

11.4 R-, B-, T-Axis Unit.......................................................................................................... 11-7

11.5 Wrist Unit ..................................................................................................................... 11-10

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1 Product Confirmation

1.1 Contents Confirmation

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1 Product Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.

Standard delivery includes the following four items (Information for the

content of optional goods is given separately):

• Manipulator

• DX100

• Programming Pendant

• Manipulator cables (between the DX100 and the manipulator)

CAUTION

• Confirm that the manipulator and the DX100 have the same order

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.

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