YASKAWA Motoman-MPL300 II Instructions Manual

MOTOMAN-MPL300 II

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INSTRUCTIONS

TYPE: YR-MPL0300-J00 (DX200 STANDARD SPECIFICATION)

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

MOTOMAN INSTRUCTIONS

MOTOMAN-MPL300 II INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL

The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

Part Number: 173124-1CD Revision: 2

MANUAL NO.

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All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website, blog, cloud storage site or any other means of storing or distributing online content.

Printed in the United States of America

First Printing, 2014

Yaskawa America, Inc. Motoman Robotics Division 100 Automation Way Miamisburg, OH 45342 Phone: 937-847-6200

www.motoman.com

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MANDATORY

CAUTION

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• This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-MPL300 II 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 DX200 Instructions. To ensure correct and safe operation, carefully read the DX200 Instructions 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.

• 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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DANGER

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MPL300 II.

In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

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Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel.

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, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.

Always be sure to follow explicitly the items listed under this heading.

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.

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DANGER”, “WARNING” and “CAUTION” .

DANGER

• 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 YASKAWA representative.

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.

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TURN

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Notes for Safe Operation

WARNING

• Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons. 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.

Fig. : 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.

Fig. : Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:

– Be sure to use a lockout device to the safeguarding when going

inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.

– 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 person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX200.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– 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.

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Definition of Terms Used Often in This Manual

• 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 cabinet of the DX200 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 Warning Labels in the DX200 Instructions before operating the manipulator:

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:

Equipment Manual Designation

DX200 controller DX200

DX200 programming pendant Programming pendant

Cable between the manipulator and the controller

Manipulator cable

Registered Trademark

In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or bland names for each company or corporation. The indications of (R) and

are omitted.

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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.

Note: Taking the maintenance-relevant trainings offered by YASKAWA is

indispensable for replacing the L-axis of the balancer-equipped manipulator.

Fig. : Warning Label Locations

Nameplate

MODEL MOTOMANTYPE

PAYLOAD

ORDER NO.

SERIAL NO.

YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan MADE IN JAPAN

MASS

DATE

WARNING label A

WARNING Label A:

WARNING Label B:

WARNING Label C

WARNING

Moving parts may cause injury

WARNING

Do not enter robot work area.

WARNING Label B

WARNING Label C:

DANGER

Do not remove the motor,and do not

release the brake. Failure to observe this caution may result in injury from

unexpected turning of the manipulator arm.

Please contact your Yaskawa representive.

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Signal Output for Motor Protection

A cooling fan is equipped in order to protect the motor of S-axis of the

manipulator from overheating. If the cooling fan is aut of ordet, warning

message [COOLING FAN2 ERROR] will appear on the programming

pendant.

If operation is continued while this warning message remains displayed,

the component parts of the DX200 and robot components are liable to

become damaged, leading to a major breakdown.

During high speed continuous operation, the temperature may rise

abruptly depending upon the ambient temperature and the operation

pattern, so it is necessary to promptly detect a warning.

A warning message is output as a dedicated output signal, so it is

recommended that you monitor it on the system side as a warning signal

for the sake of safety.

Refer to “DX200 Concurrent I/O” for details on the signal output.

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Safeguarding Tips

All operators, programmers, maintenance personnel, supervisors, and

anyone working near the system must become familiar with the operation

of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. General

safeguarding tips are as follows:

Table: Dedicated output signal

80290

SOUT#0575

COOLING FAN2 ERROR

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this equipment, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this equipment.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

• The system must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).

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Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-2012 safety standards, and other local codes that may pertain to the installation and use of this equipment.

Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this equipment should be permitted to program, or maintain the system. All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the equipment to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Check the E-Stop button on the operator station for proper operation before programming. The equipment must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

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• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

• Any modifications to the controller unit can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to the controller unit. Making any changes without the written permission from Yaskawa will void the warranty.

• Some operations require a standard passwords and some require special passwords.

• The equipment allows modifications of the software for maximum performance. Care must be taken when making these modifications. All modifications made to the software will change the way the equipment operates and can cause severe personal injury or death, as well as damage parts of the system. Double check all modifications under every mode of operation to ensure that the changes have not created hazards or dangerous situations.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

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Maintenance Safety

Turn the power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by Yaskawatrained, qualified personnel.

Summary of Warning Information

This manual is provided to help users establish safe conditions for operating the equipment. Specific considerations and precautions are also described in the manual, but appear in the form of Dangers, Warnings, Cautions, and Notes.

It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by Yaskawa. Address any questions regarding the safe and proper operation of the equipment to Yaskawa Customer Support.

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(937) 847-3200

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Customer Support Information

If you need assistance with any aspect of your MPL300 II system, please contact Customer Support at the following 24-hour telephone number:

For routine technical inquiries, you can also contact Customer Support at the following e-mail address:

When using e-mail to contact Customer Support, please provide a detailed description of your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a response to your inquiry.

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techsupport@motoman.com

Please use e-mail for routine inquiries only. If you have an urgent or emergency need for service, replacement parts, or information, you must contact Customer Support at the telephone number shown above.

Please have the following information ready before you call Customer Support:

• System MPL300

• Primary Application ___________________________

• Controller DX200

• Software Version Access this information on the Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} {VERSION}

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 controller data plate

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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

2.2 Shipping Bolts and Brackets.............................................................................................. 2-3

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

3.1 Installation of Safeguarding ............................................................................................... 3-1

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

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

3.3 Protection Class................................................................................................................. 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 DX200 ..................................................................................... 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 T-Point Maximum Envelope.................................................................... 5-3

5.5 Stopping Angle and Time at the Emergency Stop............................................................. 5-4

5.5.1 Stop Categiry 0: Emergency Stop ........................................................................ 5-4

5.5.1.1 Position 100% ......................................................................................... 5-4

5.5.1.2 Position 66% ........................................................................................... 5-5

5.5.1.3 Position 33% ........................................................................................... 5-5

5.5.2 Stop Category 1: Emergency Stop....................................................................... 5-6

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5.6 Alterable Operating Range ................................................................................................ 5-7

5.6.1 Components for Altering Operating Range........................................................... 5-8

5.6.2 Notes on the Mechanical Stopper Installation ...................................................... 5-9

5.6.3 Adjustment of the Soft Limit of the S-Axis Pulse ................................................ 5-10

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

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

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

6.3 Levelness of the Wrist Flange............................................................................................ 6-3

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

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

7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2

Table of Contents

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

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

8.2 Internal Connections .......................................................................................................... 8-2

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

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

9.2 Notes on Maintenance Procedures.................................................................................... 9-5

9.2.1 Battery Pack Replacement ................................................................................... 9-5

9.3 Grease Replenishment/Exchange ..................................................................................... 9-7

9.3.1 Notes on Grease Replenishment/Exchange Procedures .....................................9-7

9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear ............. 9-8

9.3.2.1 Grease Replenishment............................................................................ 9-8

9.3.2.2 Grease Exchange.................................................................................... 9-9

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

9.3.3.1 Grease Replenishment.......................................................................... 9-11

9.3.3.2 Grease Exchange.................................................................................. 9-12

9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-13

9.3.4.1 Grease Replenishment.......................................................................... 9-13

9.3.4.2 Grease Exchange.................................................................................. 9-14

9.3.5 Grease Replenishment/Exchange for T-Axis Speed Reducer............................ 9-15

9.3.5.1 Grease Replenishment.......................................................................... 9-15

9.3.5.2 Grease Exchange.................................................................................. 9-16

9.3.6 Grease Replenishment for U-axis Cross Roller Bearing .................................... 9-17

9.3.7 Grease Replenishment for Links ........................................................................ 9-18

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

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

9.3.8 Notes for Maintenance ....................................................................................... 9-20

9.3.8.1 Battery Pack Connection....................................................................... 9-20

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

11.2 L-Axis Unit ..................................................................................................................... 11-4

11.3 U-Axis Unit..................................................................................................................... 11-8

11.4 Wrist Unit ..................................................................................................................... 11-10

11.5 Balancer Unit ............................................................................................................... 11-13

Table of Contents

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1 Product Confirmation

1.1 Contents Confirmation

1 Product Confirmation

• Confirm that the manipulator and the DX200 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.

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 are given separately):

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• Manipulator

• DX200

• Programming pendant

• Manipulator cables

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1 Product Confirmation

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the DX200. The order number is located on a label as shown below.

Fig. 1-1: Location of Order Number Labels

Label (Enlarged View)

THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

Check that the manipulator and the DX200 have the same order number.

(a) DX200 (Front View)

(b) Manipulator (Side View)

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2 Transport

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2 Transport

2.1 Transport Method

• 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.

• Avoid excessive vibration or shock during transport.

The system consists of precision components. Failure to observe this caution may adversely affect performance.

2.1 Transport Method

• The weight of the manipulator is approximately 1865kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.

• Shipping bolts and brackets are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator.

• Mount the shipping bolts and brackets for transporting the manipulator.

• Avoid putting external force on the arm or motor unit when transporting by a crane or other equipment. Failure to observe this instruction may result in injury.

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Axis Angle

Pulse

Factory setting for angle and pulse of each axis

SLUT

-94720 -52622

25

45

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2 Transport

2.1 Transport Method

2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with four wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig. 2-1 “Transporting Position”.

Fig. 2-1: Transporting Position

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2 Transport

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at positions A, B, and C. (See Fig. 2-1 “Transporting Position”.)

• The shipping bolts and brackets are painted yellow.

Position Screw Type Pcs

A Hexagon socket head cap screw M20 4

B and C Hexagon socket head cap screw M10 4

Before turning ON the power, check to be sure that the shipping bolts and brackets are removed. The shipping bolts and brackets then must be stored for future use, in the event that the manipulator must be moved again.

Fig. 2-2: Shipping Bolts and Brackets

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3 Installation

3.1 Installation of Safeguarding

WARNING

• Install the safeguarding.

Failure to observe this warning may result in injury or damage.

• Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

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 the manipulator that is damaged or lacks 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 brackets explained in Fig. 2-2 “Shipping Bolts and Brackets” are removed.

Failure to observe this caution may result in damage to the driving parts.

3.1 Installation of Safeguarding

To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for the information and guidance.

Responsibility for Safeguarding (ISO 10218)

The user of a manipulator or robot system shall ensure that the safeguarding is provided and used in accordance with Chapter 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

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3 Installation

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.

Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in Table 3-1 “Manipulator Repulsion Force and Torque”.

During installation, if the flatness is not right, the manipulator shape may be deformed and its functional ability may be compromised. The flatness for baseplate must be kept at 0.5 mm or less. Fix the manipulator base as described in section 3.2.1 “Mounting the Manipulator and Fixture on the

Baseplate”.

Table 3-1: Manipulator Repulsion Force and Torque

Horizontal rotation Vertical rotation

Repulsion force F

Emergency stop 20580 N

(2100 kgf)

Acceleration/deceleration 6370 N

(650 kgf)

Torque M

39200 N•m (4000 kgf•m)

11760 N•m (1200 kgf•m)

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Repulsion force FVTorque M

49980 N (5100 kgf)

21560 N (2200 kgf)

62720 N•m (6400 kgf•m)

15680 N•m (1600 kgf•m)

Fig. 3-1: Manipulator Repulsion Force and Torque

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Hexagon socket head cap screw M20 (8 screws)

Spring washer

Manipulator base

Baseplate

Washer

50 mm or more

200 mm or more

Flatness: 0.5 mm or less

Manipulator base

Baseplate

28 dia. (12 holes)

Baseplate (reference)

Units: mm

Anchor bolt (M24 or larger)

180

540

1000

180

540

180

1000

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3 Installation

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting the Manipulator and Fixture on the Baseplate

For the first process, anchor the baseplate firmly on the floor. The baseplate should have enough rigidity, which is 50 mm or more in thickness. The size of the anchor bolt recommended for the baseplate fixation is M24 or more.

Next, fix the manipulator base to the baseplate. There are eight mounting holes on the manipulator base: securely fix the manipulator to the baseplate using eight hexagon head screws M20 (Tensile strength: 1200 N/mm

or more) (80 mm long is recommended). Tighten the bolts with a tightening torque of 402 N•m (41 kgf•m). Tighten the hexagon head screws and anchor bolts firmly so that they will not be loosened during the operation.

Fig. 3-2: Mounting the Manipulator on Baseplate

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3 Installation

3.3 Protection Class

For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67.

3.4 Location

When installing a manipulator, it is necessary to satisfy the following environmental conditions:

• Ambient temperature: 0° to + 45°C

• Humidity: 20 to 80 %RH (non-condensing)

• Free from dust, soot, or water

• Free from corrosive gas or liquid, or explosive gas or liquid

• Free from excessive vibration (Vibration acceleration: 4.9 m/s

• Free from large electrical noise (plasma)

• Flatness for installation: 0.5 mm or less

[0.5 G] or less)

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CAUTION

NOTE

Bolt M8 (for grounding) Delivered with the manipulator

5.5 mm2 or more

Enlarged View A

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4Wiring

4 Wiring

4.1 Grounding

WARNING

• Ground resistance must be 100 Ω 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.

• DO NOT cover the cable with heat insulating material, and avoid multiple cabling when laying manipulator cables from the manipulator to the DX200.

Failure to observe this caution may result in burn caused by cable heat emission failure.

4.1 Grounding

Follow electrical installation standards and wiring regulations for grounding. A ground wire of 5.5 mm

Refer to Fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator.

Fig. 4-1: Grounding Method

or more is recommended.

• Never use this wire sharing 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 electrical installation standards.

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Power Cable

DX200 side

Encoder Cable

Manipulator side

DX200 side Manipulator side

1BC

2BC

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2BC

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4 Wiring

4.2 Cable Connection

Three manipulator cables are delivered with the manipulator: an encoder cable (1BC) and an power cable (2BC). (Refer to Fig. 4-2 “Manipulator Cables”.)

Connect these cables to the manipulator base connectors and to the DX200. Refer to Fig. 4-3(a) “Manipulator Cable Connectors (Manipulator Side)” .

4.2.1 Connection to the Manipulator

Before connecting two cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC then 1BC. After inserting the cables, depress the lever until it clicks.

DO NOT cover the cable with heat insulating material, and avoid multiple cabling.

4.2.2 Connection to the DX200

Before connecting cables to the DX200, verify the numbers on both manipulator cables and the connectors on the DX200. When connecting, insert the cables in the order of X21 then X11, and depress each lever until it clicks.

Fig. 4-2: Manipulator Cables

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Key positions

2BC

1BC

X21

X11

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4.2 Cable Connection

Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)

Fig. 4-3(b): Manipulator Cable Connection (DX200 Side)

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5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

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Table 5-1: Basic Specifications

Item Type MOTOMAN-MPL300II

Structure Vertically Articulated

Degree of Freedom 4

Payload 300 kg

Repeatability

Range of Motion S-Axis (turning) -180° − +180°

Maximum Speed S-Axis 1.57 rad/s, 90° /s

T-Axis Allowable Inertia (GD

Approx. Mass 1820 kg

Protective Structure Main part of the manipulator: IP54 or equivalent

Ambient Conditions Temperature 0 to 45°C

Power Requirements 8.0 kVA

Noise

1 SI units are used in this table. However, gravitational unit is used in ( ). 2 Conformed to ISO9283 3 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia. 4 Conformed to ISO6926

1, Measurement is carried out when the maximum load is mounted to the manipulator and operated

2, Measurement is carried out:

- between 1.2m and 1.5m above the ground.

- 400mm away from the P-point maximum envelope.

in the maximum speed.

YR-MPL0300-J00

±0.5 mm

L-Axis (lower arm) -45° − +90°

U-Axis (upper arm) -120° − +15.5°

T-Axis (wrist twist) -360° − +360°

L-Axis 1.75 rad/s, 100° /s

U-Axis 1.92 rad/s, 110° /s

T-Axis 3.40 rad/s, 195° /s

/4)

Humidity 20 to 80% RH (non-condensing)

Vibration 4.9 m/s

Others Free from corrosive gas or liquid, or explosive gas or

140 kg•m

Wrist axis only: IP67 or equivalent

liquid Free from exposure to dust, soot, or oil Free from excessive electrical noise (plasma)

70dB

(0.5G) or less

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S+

S-

Lower arm (L-arm)

Base

Upper arm (U-arm)

Wrist

Wrist flange

Rotary head (S-head)

T-

T+

U-

U+

L- L+

540

710

350

879

519

640

Units: mm

View A

360±0.1

320±0.1

360±0.1

+0.021 0

20 dia. hole (2 places)

12 dia. hole

+0.018 0

22 dia. hole (8 places)

220±0.1

300±0.1320±0.1

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5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

Fig. 5-2: Manipulator Base Dimensions

5.3 Manipulator Base Dimensions

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-point maximum envelope

Units: mm

-Point

P-point

625

616

16

2529

R1124

2776

614 2162

1300

1600

2363

2624

1241

45



R1037

R3159

2204

300

250

1400

820

31591037

R697

880 1250

270

120

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5.4 Dimensions and T-Point Maximum Envelope

Fig. 5-3:

Dimensions and T-Point Maximum Envelope

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+ 70 hidden pages

YASKAWA Motoman-MPL300 II Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Product Confirmation

1.1 Contents Confirmation

1.2 Order Number Confirmation

2 Transport

2.1 Transport Method

2.1.1 Using a Crane

2.2 Shipping Bolts and Brackets

3 Installation

3.1 Installation of Safeguarding

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting the Manipulator and Fixture on the Baseplate

3.3 Protection Class

3.4 Location

4 Wiring

4.1 Grounding

4.2 Cable Connection

4.2.1 Connection to the Manipulator

4.2.2 Connection to the DX200

5 Basic Specifications

5.1 Basic Specifications

5.2 Part Names and Working Axes

5.3 Manipulator Base Dimensions

5.4 Dimensions and T-Point Maximum Envelope