MOTOMAN-MPL80 II
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INSTRUCTIONS
TYPE:
YR-MPL0080-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-MPL80 II INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
Part Number: 170904-1CD
Revision: 5
MANUAL NO.
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Copyright © 2018, 2015, 2014 Yaskawa America, Inc.
Terms of Use and Copyright Notice
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-MPL80 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 the 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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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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CAUTION
MANDATORY
PROHIBITED
NOTE
DANGER
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MPL80 II.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
DANGER
WARNING
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” .
• 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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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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• 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
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
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
® and
TM
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.
Fig. : Warning Label Locations
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WARNING label B
Nameplate
MODEL
MOTOMANTYPE
PAYLOAD
ORDERNO.
SERIALNO.
YASKAWAELECTRICCORPORATION
2-1Kurosakishiroishi,Yahatanishi-ku,
Kitakyushu806-0004Japan
MADEINJAPAN
kg
MASS
DATE
WARNING label A
kg
NJ3878
WARNING label A
WARNING Label A:
WARNING Label B:
Nameplate
WARNING
Moving parts
may cause
injury
WARNING
Do not enter
robot
work area.
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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:
• 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).
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 button
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 EMERGENCY STOP buttons for proper operation before
programming. The equipment must be placed in the 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 making
program changes. To avoid loss of information, programs, or jobs, a
backup must always be made before performing any service
procedures or making any changes to options, accessories, or
equipment.
• Any modifications to the Controller can cause severe personal injury
or death, as well as damage to the Manipulator! Do not make any
modifications to the Controller unit. Making any changes without
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. Use Care 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 changes do
not create a hazard or dangerous situation.
• 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 equipment. All connections must
be made within the standard voltage and current ratings of the
equipment.
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Maintenance Safety
Turn 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 Customer Support.
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NOTE
(937) 847-3200
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Customer Support Information
If you need assistance with any aspect of your MPL80 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 the issue, along with complete contact information.
Please allow approximately 24 to 36 hours for a response.
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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, contact Customer Support at the telephone
number shown above.
Please have the following information ready before you call Customer
Support:
• System MPL80
• Primary Application
• Controller DX200
• Software Version
Access this information on the Programming
Pendant’s LCD display screen by selecting {MAIN
MENU} - {SYSTEM INFO} - {VERSION}
• Manipulator Serial Number
Located on the Manipulator data plate
• Manipulator Sales Order
Number
II
• Positioner
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Located on the Controller data plate
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Table of Contents
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..............................................................................................2-3
3 Installation....................................................................................................................................... 3-1
3.1 Installation of the Safeguarding .........................................................................................3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.2.2 When the Manipulator is Mounted Directly on the Floor....................................... 3-4
3.3 Protection Class................................................................................................................. 3-5
3.4 Location ............................................................................................................................. 3-5
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 Baseplate Dimensions ....................................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 B-Axis Operating Range .................................................................................................... 5-4
5.6 Stopping Angle and Time at the Emergency Stop............................................................. 5-5
5.6.1 Stop Category 0: Emergency Stop ....................................................................... 5-5
5.6.1.1 Position 100% ......................................................................................... 5-5
5.6.1.2 Position 66% ........................................................................................... 5-6
5.6.1.3 Position 33% ........................................................................................... 5-7
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5.6.2 Stop Category 1: Emergency Stop ....................................................................... 5-8
5.7 Alterable Operating Range ................................................................................................5-9
5.7.1 Necessary Parts ................................................................................................... 5-9
5.7.2 Notes on the S-Axis Mechanical Stopper Installation ......................................... 5-10
5.7.3 Alteration of the S-Axis Pulse Soft Limit ............................................................. 5-11
6 Allowable Load for Wrist Axis and Wrist Flange .............................................................................6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
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
8.1.1 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
8.1.3.3 Setting Range of LU-Axes Interference Angle......................................... 8-3
8.2 Internal Connections .......................................................................................................... 8-4
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.............................. 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.......................................................................... 9-10
9.3.3.2 Grease Exchange.................................................................................. 9-11
9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12
9.3.4.1 Grease Replenishment.......................................................................... 9-12
9.3.4.2 Grease Exchange.................................................................................. 9-13
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10 Recommended Spare Parts....................................................................................................... 10-1
11 Parts List ..................................................................................................................................... 11-1
II
9.3.5 Grease Replenishment for B- and T-Axis Gears................................................ 9-14
9.3.5.1 Grease Replenishment.......................................................................... 9-14
9.3.5.2 Grease Exchange ................................................................................. 9-15
9.3.6 Grease Replenishment for B- and T-Axis Speed Reducers and Gears ............. 9-16
9.3.6.1 Grease Replenishment.......................................................................... 9-16
9.3.6.2 Grease Exchange ................................................................................. 9-17
9.4 Notes for Maintenance..................................................................................................... 9-18
9.4.1 Battery Pack Connection .................................................................................... 9-18
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-3
Table of Contents
11.3 U-Axis Unit..................................................................................................................... 11-5
11.4 B-,T-Axes Unit ............................................................................................................... 11-7
11.5 Wrist Unit ..................................................................................................................... 11-10
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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 is given separately):
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• Manipulator
• DX200
• Programing Pendant
• Manipulator Cable
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1 Product Confirmation
1.2 Order Number 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
• Check that the eyebolts are securely fastened.
• The weight of the manipulator is approximately 580 kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
• Attached eyebolts 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, forklift, or other equipment.
Failure to observe this instruction may result in injury.
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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
Shipping bracket
Delivered with the manipulator
Hexagon socket head cap screw M12
(8 screws)
Factory setting for angle and pulse of each axis
Axis
Angle
Pulse
SLUBT
0
-90 +5
-144384 3826
0
-80 0
-159547
0
2-2
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Delivered with the manipulator
Shipping bracket
Forklift claw entry
Pallet
Bolt M20 (8 bolts)
NOTE
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2 Transport
2.2 Shipping Bolts and Brackets
2.1.2 Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet with bolts
as shown in Fig. 2-2 “Using a Forklift”. Insert claws under the pallet and lift
it. The pallet must be strong enough to support the manipulator. Transport
the manipulator slowly with due caution in order to avoid overturning or
slippage.
Fig. 2-2: Using a Forklift
2.2 Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and a shipping brackets.
(See Fig. 2-1 “Transporting Position”.)
• The shipping bolts and bracket are painted yellow.
Before turning ON the power, make 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.
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3 Installation
3 Installation
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 a 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 are removed.
Failure to observe this caution may result in damage to the driving
parts.
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3 Installation
3.1 Installation of the Safeguarding
3.1 Installation of the Safeguarding
To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguarding
is provided and used in accordance with Sections 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.
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 referring to Table 3-1
“Manipulator Repulsion Force and Torque” .
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in section
3.2.1 “Mounting Example” or section 3.2.2 “When the Manipulator is
Mounted Directly on the Floor”.
Table 3-1: Manipulator Repulsion Force and Torque
Horizontal rotation Vertical rotation
Repulsion force F
Emergency stop 23544 N
(2400kgf)
Acceleration/deceleration 5886 N
(600 kgf)
Torque M
H
24525 N•m
(2500 kgf•m)
6131 N•m
(625 kgf•m)
Fig. 3-1: Manipulator Repulsion Force and Torque
H
Repulsion force FVTorque M
27468 N
(2800 kgf)
5396 N
(550 kgf)
M
V
45126 N•m
(4600 kgf•m)
11282 N•m
(1150 kgf•m)
V
3-2
F
V
M
H
F
H
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50
30
Flatness:
0.5mm or less
Hexagon head screw
M20 (8 screws)
Manipulator base
Spring washer
Washer
Baseplate
Anchor bolt M20 or more
Baseplate
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3 Installation
3.2 Mounting Procedures for Manipulator Base
3.2.1 Mounting Example
For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate of 50 mm or more thick, and anchor bolts of M20 or larger size.
Next, fix the manipulator base to the baseplate. The manipulator base is
tapped for eight mounting holes; securely fix the manipulator base to the
baseplate with hexagon head screws M20 (70 mm long is recommended).
Tighten the hexagon head screws and anchor bolts firmly so that they will
not work loose during the operation.
Refer to Fig. 3-2 “Mounting the Manipulator Baseplate”.
Fig. 3-2: Mounting the Manipulator Baseplate
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900
800
720
385
320
300300
400
230
Bolt A
Tapped hole M20 (8 holes)
Bolt B
Tapped hole M24 (4holes) (Base B)
28dia. (4 holes) (Base A)
28dia. (4 holes) (Base B)
Base B
Base A
Bolt A: Bolt M20 X 70 mm (8 bolts),Spring Washer, Flat Washer
Tightening bolts or bases are prepared by the customer.
FL
Leveling is required
32
36250
350
200
100
100
200
JA Base bolt
M24 X315mm
Weld after adjusting
the installation
10
Manipulator base
Units: mm
Bolt B: Bolt M24 X 70 mm (4 bolts),Spring Washer, Flat Washer
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3 Installation
3.2 Mounting Procedures for Manipulator Base
3.2.2 When the Manipulator is Mounted Directly on the Floor
The floor should be strong enough to support the manipulator. Construct
a solid foundation with the appropriate thickness to withstand maximum
repulsion forces of the manipulator. As a rough standard, when there is a
concrete thickness (floor) is 200 mm or more, the manipulator base can
be fixed directly to the floor with M 20 anchor bolts. Before mounting the
manipulator, however, check that the floor is level and that all cracks, etc.
are repaired. Any thickness less than 200 mm is insufficient for mounting,
even if the floor is concrete.
Fig. 3-3: Direct Mounting on the Floor
170904-1CD
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3 Installation
3.3 Protection Class
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.
For the main part of environmental resistance, IP65 is also available as
optional.
3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
• Ambient Temperature: 0 to +45C
• Humidity: 20 to 80%RH (non-condensing)
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid.
• Free from excessive vibration (4.9 m/s
2
[0.5G] or less)
• Free from large electrical noise (plasma)
• The flatness for installation is 0.5 mm or less
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