YASKAWA MOTOMAN-MPX2600 Instructions Manual

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MOTOMAN-MPX2600

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INSTRUCTIONS

TYPE: YR-MPX2600-*00 (STANDARD SPECIFICATION)

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

MOTOMAN INSTRUCTIONS

MOTOMAN-MPX2600 INSTRUCTIONS MOTOMAN-MPX2600 MAINTENANCE MANUAL MOTOMAN-MPX2600 INSTRUCTIONS FOR MANIPULATOR OPTIONAL SPECIFICATIONS INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS DX200 INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL FOR PAINTING DX200 MAINTENACE MANUAL

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

Part Number: 180788-1CD Revision: 0

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, 2017

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-MPX2600 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-MPX2600.

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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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 on the front door of the DX200 and the programming pendant. 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.

The emergency stop buttons are located on the right of front door of the DX200 and the programming pendant.

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CAUTION

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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 brand names for each company or corporation. The indications of (R) and

are omitted.

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ಖㆤ࢞ࢫࡢ᭱ᑠᤲẼὶ㔞 :

᭱ᑠᤲẼ󰪍㛫 :

᭱ᑠෆᅽ :

ಖㆤ࢞ࢫࡢ᭱ᑠὶ㔞 :

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱ᑠ౪⤥ᅽຊ :

ಖㆤ࢞ࢫ ᗘ⠊ᅖ :

4 min

0Υ㹼+40Υ

320 L/min

15 NL/min

0.01㹼0.02 MPa

0.18㹼0.20 MPa

{஧◲໬㕲ࣜࢳ࣒࢘㟁ụ㸦ENERGIZER L91㸧}

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱኱౪⤥ᅽຊ :

ෆᅽಖㆤࢩࢫࢸ࣒

50 kPa

5 kPa

᭱኱ෆᅽ :

KVA

㠀ᮏᏳᅇ㊰

AC250V 50/60Hz,DC250V

チᐜ㟁ᅽ :

YR-MPX2600-A00

8.7

9.9

3.0

Ex ibpxIIB T4 Gb/Ex ibIIBT4Gb

[Ex ib]IIB

15 NL/min

᭱኱₃࠼࠸㔞 :

࣮ࣝࢳࣥヨ㦂 :

ᆺ ᘧ 㜵⇿グྕࠉ

ᐃ ᱁ࠉ

࣐ࢽࣆ࣮ࣗࣞࢱࠉ

ᮏᏳᅇ㊰

ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ :

DC4.5V 37.9mA

࿘ᅖ ᗘ

0Υ㹼+45Υࠉ

㆙ࠉࠉࠉ࿌

1.࣐ࢽࣆ࣮ࣗࣞࢱࠊ࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ሬ⿦ࣘࢽࢵࢺෆⶶ)ࡣ ᮏ㉁Ᏻ඲㜵⇿ᵓ㐀ཬࡧෆᅽ㜵⇿ᵓ㐀ࡢ⤌ྜࡏᶵჾ࡛ࡍ࠿ࡽࠊᵓᡂᶵჾࠊ㓄⥺➼ࢆኚ᭦ࡲࡓࡣ ᨵ㐀ࡋ࡞࠸࡛ୗࡉ࠸ࠋࠉ

3.ሬ⿦ࣘࢽࢵࢺࡢ᥋ᆅࡣD✀᥋ᆅᕤ஦࡟‽ࡌ࡚⾜ࡗ࡚ୗࡉ࠸ࠋࠉ

4.࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ሬ⿦ࣘࢽࢵࢺෆⶶ)ࡣ㠀༴㝤ሙᡤ࡟タ⨨ࠉ

2.ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ࡣࠊࣂࢵࢸࣜࣘࢽࢵࢺࠊ఩⨨᳨ฟჾࠊ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ࠿ࡽ

ᵓᡂࡉࢀࠊไᚚ⿦⨨ࡢ㟁※㐽᩿󰪍ࠊࡲࡓࡣᤲẼ୰࡟ᮏᏳᅇ㊰࡜࡞ࡾࡲࡍࠋ

᭱኱㟁ຊ :

᭱኱ᐜ㔞 :

᭱኱㟁ὶ :

᭱኱㟁ᅽ

ࢩࣜ࢔ࣝNo:

࣮࢜ࢲNo:

0Υ㹼+40Υࠉ

࣐ࢽࣆ࣮ࣗࣞࢱ㸸 ሬ⿦ࣘࢽࢵࢺࠉ㸸

୕┦ AC200V (-15%,+10%) 50/60Hz

0.35 MPa

࣐ࢽࣆ࣮ࣗࣞࢱࠉ ሬ⿦ࣘࢽࢵࢺ

AC220V (-15%,+10%) 60Hz

0.65 MPa

ྜ᱁

ᤲẼ󰪍ࡢタᐃᅽຊ⠊ᅖࠉ㸸

㐠㌿󰪍ࡢタᐃᅽຊ⠊ᅖ :

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Explosion-Proof Indication Label and Warning

Warning labels are attached on the manipulator body.

Always follow the warnings on the labels.

Also, identification labels with important information are placed on the body of the manipulator. Prior to operating the manipulator, thoroughly understand the contents of the label.

Fig. : Explosion-Proof Indication Label

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II2G

II(2)G

Ex ib pxb B T4 Gb/Ex ib B T4 Gb

Maximum Leakage :

50 kPa

5 kPaMinimum Over Pressure(input) :

Maximum Over Pressure(input) :

4 min

320 L/min

KVA

Minimum Purge Flow Time :

Maximum Power :

Minimum Dilution Flow Rate :

Year of Manufacture :

3Px200V (-15%,+10%)50/60Hz

Maximum Current :

Maximum Voltage :

Serial No:

Maximum Line Pressure : 0.65 MPa

0.35 MPaMinimum Line Pressure :

WARNINGS:

Pressurized enclosure, do not open when energized. Enclosure contains lithium battery.

Remove all dust from this enclosure before connecting

or restoring the electrical supply.

Do not open when an explosive atmosphere is present.

Refer to instructions in the manual before opening.

Ambient Temperature

0°C to +45°C

YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku Kitakyushu 806-0004 Japan

Pressurization System

Protective Gas Temperature :

0°C to +40°C

Manipulator

Intrinsically Safe Circuitry

Battery Back Up Circuitry :

DC4.5V 37.9mA

[Ex ib Gb]Painting Unit

Setting Pressure for Purging :

0.18 to 0.20 MPa

Setting Pressure for Operating :

0.01 to 0.02 MPa

｛Lithium/Iron Disulfide Battery (ENERGIZER L91)}

Battery backup circuit is consisted of battery unit, position detector and encoder separation board. The circuit is intrinsically safe circuit when the power supply of the Controller is shut down or air purging. The painting Unit combined shall be grounded at 100 ohms or less. Relay barrier, isolated barrier and encoder separation board (inside the painting Unit) shall be installed in a non-hazardous area.

3Px220V (-15%,+10%)60Hz

Maximum Capacity :

Do not make any changes of the equipments and wiring in the manipulator, relay barrier,isolated barrier and encoder separation board (inside the painting unit) and combination equipment of Internal pressure explosion-proof structure.

This is pressurized enclosure.

Non-Intrinsic safety circuit

Allowable Voltage : AC250V 50/60Hz,DC250V

Manipulator : Painting Unit :

0°C to +40°C

Minimum Flow Rate of Protective Gas:

Routine Test : Pass

CML 17ATEX1034X

2503

15 NL/min

8.7

3.0

9.9

YR-MPX2600-C00

15 NL/min

Note 1

DWG.No,

Notified Body Number

Certificate Number

The place of production may be replaced with the following address it is the ATEX-approved one.

Note 1

YASKAWA Europe GmbH Yaskawastr.1, D-85391 Allershausen Germany

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Explosion-Proof Indication Label and Warning

Fig. : Explosion-Proof Indication Label (ATEX)

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Warning label B

Warning label A

Pressure switch unit warning label

Battery warning label

Nameplate

NJ3878

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan

2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

PAYLOAD

TYPE

MASS

DATE

ORDER NO.

MOTOMAN-

MODEL

Battery unit type

Battery type

Manufucturere

ENERGIZER L91

YASKAWA Electric Corporation

HW1372692-A,-B,-C

This pressurized enclosure contains a battery which remains connected after

the external power has been isolated.

Refer to instructions in the manual before carrying out frequent inspection and exchanging periodically. Battery only to be replaced by Licensee when the area is known to be safe.

WARNING

Explosion-proof safety Device

WARNING

Do not change any Parameters.

NJ4036NJ4032

Crush hazard

Can cause severe injury.

Keep clear of all moving

parts.

はさまれ危険

重傷を負う恐れあり。

動作中は手や身体を

近づけるな。

NJ4037

警告

WARNING

NJ4036

NJ4033

Collision hazard

Can cause severe injury.

Keep away from the robot

during automatic operation.

衝突の危険

重傷を負う恐れあり。

自動運転中は近づくな。

警告

WARNING

NJ4032

PurgingPressure

OperationPressure

0.1 0.3

0.2

0.4

●SMC

MPa

○　○

0.05 0.15

0.1

0.2

●SMC

MPa

○　○

(バッテリーNP)

M6X12

M4X8M4X6M4X6

M4X8 M4X6

M4X8

M4X6

NJ3878

NJ1530

ORDER

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan

2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

PAYLOAD

TYPE

MASS

DATEORDER NO.

MOTOMAN-

MODEL

労（）検

第　　　号

SHOULD HAVE SAME NUMBER.

NO.

THE MANIPULATOR AND THE CONTROLLER

Pressure switch unit warning label

Pressure switch unit

HW1372692-A(For S-,L-axis）

-B(For U-,R-axis）

-C(For B-,T-axis） Battery pack type: ENERGIZER L91 Manufacturer: YASKAWA Electric Corporation

Warning label A

Warning label B

Nameplate

View A

Battery warning label The label is on the cover which the battery is mounted.

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Warning Labels

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Warning Labels

Fig. : Locations for the Name Plate and the Warning Label

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Safety Precautions for Painting Manipulator

Respect the law, local regulations, and safety codes for connecting the painting robot.

Standards

This manipulator meets the following requirements:

For the details of the standards, refer to "Standards" section in the instruction manual of each manipulator.

 MOTOMAN-MPX2600 meets the following requirements:

• IEC60079-0: for electrical apparatus for explosive gas atmospheres

- Part 0: General requirements

• IEC 60079-2: for electrical apparatus for explosive gas atmospheres

- Part 2: Pressurized enclosures “p”

• IEC60079-11: for electrical apparatus for explosive gas atmospheres

- Part 11: Intrinsic safety “ i ”

In special cases, such that the specification of areas which has a risk of explosion cannot be specified, contact the competent authorities or YASKAWA representative.

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PROHIBITED

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Explosion-Proof Structure

The explosion-proof structure of the MOTOMAN-MPX2600 consists of intrinsic safety and inner pressure explosion preventing system.

Following notations show the explosion-proof structure for each country’s explosion-proof standard.

Explosion-proof structure

Power ON Power OFF

TIIS Exibpx

ATEX / CAT.2

II2G ExibpxbIIBT4Gb II2G ExibIIBT4Gb

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IIBT4Gb ExibIIBT4Gb

DANGER

In case installing the MOTOMAN-MPX2600 in the hazardous area, classify the manipulator environment by following the local explosionproof standard and then, on the basis of the explosion-proof structure notation on the MOTOMAN-MPX2600, confirm that the manipulator is possible to install in that area.

• Any modification of the MOTOMAN-MPX2600, and the following is strictly prohibited:

1. Explosion-proof devices and system installation

2. Safeguarding and the safety devices mounted on these safeguards

3. Emergency stop button, and other safety devices

4. Robot control system such as the DX200 robot controller, the manipulator drive section and the power transmission section

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CAUTION

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MPX2600

Explosion-Proof Structure

• Take the following measures when teaching, correcting, inspecting, or adjusting the manipulator when the motor power supply is ON:

a) Appoint a personnel to stay beside the emergency stop

button of the DX200. And perform the operations holding the programming pendant with the emergency stop button.

b) Before the operation, verify the correct robot motion and

that the emergency stop works.

• Observe the following precautions during an automatic operation:

a) Do not enter inside the safeguarding during operation.

b) Confirm the following before starting the operation:

• No person is inside the manipulator working envelope.

• No obstacles such as unnecessary workpieces and tools are inside the manipulator working envelope.

• The manipulator is in its standby position.

c) When any abnormality occurs, immediately press the

emergency stop button to stop the manipulator.

d) Before entering inside the manipulator working envelope,

be sure to stop the manipulator and turn OFF the main power supply to the DX200.

• Brake release (Optional)

A braking system is provided on each axis of the manipulator to hold the arm in its position when a failure or fault occurs. When the brake is activated, the manipulator cannot be moved manually even if the power is OFF. To change the posture of the manipulator after a failure or fault, the brake can be released by the operation from the controller.

When the brake is released with the manipulator’s power OFF, each axis falls down because of the arm weight. Before releasing the brake, hold the arm with a lifting jig or a support, and then change the posture of the manipulator within the minimum motion range.

Use the brake release function only when absolutely necessary.

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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:

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Safeguarding Tips

• 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 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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MPX2600

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.

• 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 YASKAWA-trained, 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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NOTE

(937) 847-3200

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MPX2600

Customer Support Information

If you need assistance with any aspect of your MPX2600 system, please contact YASKAWA Customer Support at the following 24-hour telephone number:

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

When using e-mail to contact YASKAWA 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.

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 YASKAWA Customer Support at the telephone number shown above.

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

• System MPX2600

• 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............................................................................................... 1-3

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

2.1 Transporting Method.......................................................................................................... 2-1

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

2.1.2 Using a Forklift...................................................................................................... 2-5

2.2 Shipping Bolts and Brackets .............................................................................................. 2-9

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 on the Baseplate ......................................................... 3-3

3.2.2 How to Install the Pressure Switch ....................................................................... 3-4

3.3 Mounting methods .............................................................................................................3-5

3.3.1 S-axis Operation Range ....................................................................................... 3-5

3.3.2 Installing Direction ................................................................................................ 3-5

3.3.3 Measures to Prevent the Manipulator from Falling ............................................... 3-6

3.4 Protection Class................................................................................................................. 3-7

3.5 Location ............................................................................................................................. 3-7

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

4.1 Grounding .......................................................................................................................... 4-3

4.2 Cable Connection .............................................................................................................. 4-5

4.2.1 Connecting Positions of Cables............................................................................ 4-8

4.2.2 Manipulator Cable Connection ........................................................................... 4-10

4.2.3 Changing the Battery Position ............................................................................ 4-12

4.2.4 Intrinsically Safe Cable Connection .................................................................... 4-13

4.3 Requirements................................................................................................................... 4-14

4.3.1 Pressure Switch Unit .......................................................................................... 4-15

4.4 Installation Site................................................................................................................. 4-16

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

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

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

5.3 Manipulator Base Dimensions ........................................................................................... 5-3

5.4 Dimensions and P-point Maximum Envelop ...................................................................... 5-4

5.5 Appearance and Dimensions of the Pressure Switch Unit ................................................ 5-5

5.6 Stopping Distance and Time for S-, L-, and U-Axes.......................................................... 5-6

5.6.1 General Information.............................................................................................. 5-6

5.6.2 Definition of Use ................................................................................................... 5-6

5.6.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes.................. 5-6

5.6.4 Stop Category 1: Stopping Distance and Time for Stop Category 1:

S-, L- and U-Axes................................................................................................. 5-7

5.6.4.1 Extension ................................................................................................ 5-7

5.6.5 Stopping Angles and Times for S-, L- and U-Axes............................................... 5-9

5.6.5.1 Position 100% ......................................................................................... 5-9

5.6.5.2 Stopping Distance and Time for Stop Category 1: S-Axis....................... 5-9

5.6.5.3 Stopping Distance and Time for Stop Category 1: L-Axis .................... 5-10

5.6.5.4 Stopping Distance and Time for Stop Category 1: U-Axis .................... 5-11

Table of Contents

5.7 Modification of S-Axis Movable Envelope........................................................................ 5-12

5.7.1 Changing the S-axis Mechanical Stopper .......................................................... 5-13

5.7.2 Adjustment to the Pulse Limitation of S-Axis...................................................... 5-13

6 Allowable Load for Wrist Axis 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

7.1.1 Allowable Load ..................................................................................................... 7-1

7.1.2 Installation Position .............................................................................................. 7-2

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

8.1 Internal Connections.......................................................................................................... 8-1

9 Frequent Inspections ...................................................................................................................... 9-1

9.1 Frequent Inspections ......................................................................................................... 9-1

9.2 Daily Inspections................................................................................................................ 9-3

9.2.1 Manipulator........................................................................................................... 9-3

9.2.1.1 Visual Inspection ..................................................................................... 9-3

9.2.1.2 Manipulator Motions and Noise/Vibration during Operation.................... 9-3

9.2.1.3 Air Tubes and Air Leakage...................................................................... 9-3

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9.2.1.4 Paint Removal and Cleaning ................................................................... 9-3

9.2.1.5 Emergency Stop Button Operation and Dried Paint ................................ 9-4

9.2.2 Pressure Switch Unit ............................................................................................ 9-4

9.2.2.1 Pressure .................................................................................................. 9-4

10 Maintenance and Inspection ....................................................................................................... 10-1

10.1 Inspection Schedule....................................................................................................... 10-1

10.2 Maintenance for Manipulator ......................................................................................... 10-5

10.2.1 Grease Replenishment/Replacement............................................................... 10-5

10.2.1.1 Grease Replacement Procedures for Wrist Gears .............................. 10-5

10.2.1.2 Grease Replacement Procedures for S-, L-, and

10.2.1.3 Grease Replenishment Procedures for S-,L-, and

10.2.2 Inspection of Air Sealing for Internal Air Pressure .......................................... 10-13

Table of Contents

U-Axis Speed Reducers ........................................................................ 10-6

U-axis Speed Reducer ........................................................................ 10-12

10.2.3 Battery Replacement ...................................................................................... 10-15

10.3 Inspection of the Explosion-Proof Device .................................................................... 10-17

10.3.1 Pressure Switch Unit Inspection ..................................................................... 10-17

10.3.1.1 Solenoid Valve .................................................................................. 10-17

10.3.1.2 Operation Method of Pressure Reducing Valve ................................ 10-17

10.3.1.3 Operation Check of Pressure Reducing Valve .................................. 10-18

10.3.1.4 Operation Check of Pressure Detection Function ............................. 10-20

10.3.1.5 Operation Check for Master Valve .................................................... 10-23

10.3.2 Enclosure Protection Sequence ..................................................................... 10-24

10.3.2.1 Operation Check for Enclosure Protection Sequence ....................... 10-27

10.4 Notes for Maintenance................................................................................................. 10-30

10.4.1 Encoder Connector (with CAUTION label) ..................................................... 10-30

10.4.1.1 S-, L-, and U-Axis Motors .................................................................. 10-30

11 Recommended Spare Parts........................................................................................................ 11-1

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CAUTION

21 of 116

MPX2600

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 six items (information for the content of optional goods are given separately):

• Manipulator

• DX200

• Programming pendant

• Manipulator cables (between the DX200 and the Manipulator)

• Pressure switch unit

• Complete Set of Manuals (supplied on the CD-ROM which is connected to the USB connector)

Fig. 1-1: Six Items for Standard Delivery

Programming pendant

DX200

SER NO.

DATE

TYPE

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN NJ2096-□

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

ᆺ ᘧ YR-MPX2600-A

㜵⇿グྕࠉ Exibpx ࠉBT4Gb/Exib BT4G㹠

ᐃ ᱁ࠉ

࣐ࢽࣆ࣮ࣗࣞࢱࠉ

᭱኱㟁ᅽ

A10.1

᭱኱㟁ὶ

KW10.3

᭱኱ᐜ㔞

KVA3.5

᭱኱㟁ຊ

࿘ᅖ ᗘࠉ 0㹼+40Υࠉ

ᮏᏳᅇ㊰

ᅽຊ᳨ฟჾ/ࣇ࣮ࣟࢫ࢖ࢵࢳᅇ㊰

㟁☢ᘚᅇ㊰ DC17.22V 220mA

ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ DC3.6V 81mA

㸦ሷ໬ࢳ࢜ࢽࣝࣜࢳ࣒࢘㟁ụ㸦ER17500VLY㸧)

ಖㆤ࢞ࢫࡢ᭱ᑠᤲẼὶ㔞

390L/min

᭱ᑠᤲẼ󰪍㛫

㸲min

ಖㆤ࢞ࢫࡢ᭱ᑠὶ㔞

50NL/min

᭱ᑠෆᅽ

5 kPa

50 kPa

᭱኱ෆᅽ

ෆᅽᐜჾධཱྀ࡛ࡢಖㆤ࢞ࢫࡢᣦᐃࡢ ᗘཪࡣ ᗘ⠊ᅖ

0Υ㹼+40Υ

206.2 l

ෆᐜ✚

ෆᅽಖㆤࢩࢫࢸ࣒

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱ᑠ౪⤥ᅽຊ

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱኱౪⤥ᅽຊ

㆙ࠉࠉࠉ࿌

1.࣐ࢽࣆ࣮ࣗࣞࢱࠊ࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ

ᮏ㉁Ᏻ඲㜵⇿ᵓ㐀ཬࡧෆᅽ㜵⇿ᵓ㐀ࡢ⤌ྜࡏᶵჾ࡛ࡍ࠿ࡽࠊᵓᡂᶵჾࠊ㓄⥺➼ࢆኚ᭦ࡲࡓࡣ

ᨵ㐀ࡋ࡞࠸࡛ୗࡉ࠸ࠋࠉ

2.ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ࡣࠊࣂࢵࢸࣜࠊ఩⨨᳨ฟჾࠊ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ࠿ࡽ

ᵓᡂࡉࢀࠊไᚚ⿦⨨ࡢ㟁※㐽᩿󰪍ࠊࡲࡓࡣᤲẼ୰࡟ᮏᏳᅇ㊰࡜࡞ࡿࠋ

3.ไᚚ⿦⨨ࡢ᥋ᆅࡣD✀᥋ᆅᕤ஦࡟‽ࡌ࡚⾜ࡗ࡚ୗࡉ࠸ࠋࠉ

4.࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ㠀༴㝤ሙᡤ࡟タ⨨ࠉ

ࡋ࡚ୗࡉ࠸ࠋࠉ

5.ࣂࢵࢸࣜࡢ஺᥮ࡣࠊ⇿Ⓨᛶ㞺ᅖẼࡢᜍࢀࡀ↓࠸≧ែࢆ☜ㄆࡋ࡚⾜࠺ࠋ

6.⇿Ⓨᛶ㞺ᅖẼࡀᏑᅾࡍࡿ࠾ࡑࢀࡢ࠶ࡿ࡜ࡁࡣ࢝ࣂࢆ㛤ࡅ࡞࠸࡛ୗࡉ࠸ࠋ

7.ࡇࢀࡣࠊෆᅽ㜵⇿ᵓ㐀ࡢᐜჾ࡛࠶ࡿࠋ

8.ྲྀᢅㄝ󰩣᭩ཧ↷ࡢࡇ࡜ࠋ

9.᥋⥆ࡲࡓࡣ㟁※౪⤥ࢆ෌㛤ࡍࡿ๓࡟ࠊࡇࡢ࢚ࣥࢡ࣮ࣟࢪ࣮ࣕ࠿ࡽ

ࡍ࡭࡚ࡢ࡯ࡇࡾࢆྲྀࡾ㝖࠸࡚ୗࡉ࠸ࠋ

ᰴᘧ఍♫ࠉᏳᕝ㟁ᶵࠉ

TYPE

ERER-

POWER SUPPLY

3PHASE

AVERAGE

kVA

FULL LOAD CURRENT

INTERRUPT CURRENT

APPROX MASS

DOCUMENT No.

SERIAL No.

DATE

MADE IN JAPAN

NJ3523-5

DX200 MPX2600

༴ࠉ㝤

ឤ㟁ࡢᜍࢀ࠶ࡾ

㏻㟁୰ࠊᡬࢆ㛤ࡅࡿ࡞

Motomanᮏయ࡜ࢥࣥࢺ࣮ࣟࣛࡣࠊୗグ

࣮࢜ࢲࡢྠ୍NO.࡜᥋⥆ࡋᚚ౑⏝㢪࠸ࡲࡍࠋ

ORDER NO.

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

ALARM

PROGRAMMING PENDANT

X 8 1

Manipulator

0.2

●SMC

0.1 0.3

MPa

0.4

○ࠉ○

Purging

Pressure

Operation

0.1

●SMC

0.05 0.15

MPa

0.2

○ࠉ○

Pressure

䠮

䡋䠾

䡋䡐䠩

䠽䡊䡑䠽䡈

A D

O NL

Y M

E M

O RY

(Data)

䠮䡋䠾䡋䡐䠩䠽䡊䡑䠽䡈

HW*******

READ ONLY MEMORY

CD memory

Manipulator cablesPressure switch unit Complete set of manuals (supplied on the CD-ROM which is connected to the USB connector)

1-1

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1 Product Confirmation

1.1 Contents Confirmation

Accessories of Manipulator Pcs Remarks

Hexagon socket head cap screw M20 (Length: 90 mm)

Washer M20 4

Conical spring washer M20 4

Grease zerk A-PT3/8 3

Grease zerk A-PT1/8 3

Hexagon socket head cap screw M4 (Length: 12 mm)

Conical spring washer M4 2

Hexagon socket head cap screw M5 (Length: 8 mm)

Conical spring washer M5 2

Cable tie T50L 4 For tying up the plastic cover for

Hexagon socket head cap screw M6 (Length: 25 mm)

Conical spring washer M6 14

Key 1 For positioning of the wrist axis

Hexagon socket head cap screw M5 (Length: 16 mm)

Washer M5 4

For mounting the manipulator

For grease replenishment

For mounting the bracket to the manipulator cable.

For mounting the grounding wire of the manipulator cable

the manipulator cable

For mounting the manipulator cable

For mounting the pressure switch unit

1-2

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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. 1-2: Location of Order Number Labels

THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.

ORDER. No.

SER NO.

TYPE

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN NJ2096-□

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

ᆺ ᘧ YR-MPX2600-A

㜵⇿グྕࠉ Exibpx ࠉBT4Gb/Exib BT4G㹠

ᐃ ᱁ࠉ

࣐ࢽࣆ࣮ࣗࣞࢱࠉ

᭱኱㟁ᅽ

᭱኱㟁ὶ

᭱኱ᐜ㔞

᭱኱㟁ຊ

࿘ᅖ ᗘࠉ 0㹼+40Υࠉ

ᮏᏳᅇ㊰

ᅽຊ᳨ฟჾ/ࣇ࣮ࣟࢫ࢖ࢵࢳᅇ㊰

㟁☢ᘚᅇ㊰ DC17.22V 220mA

ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ DC3.6V 81mA

㸦ሷ໬ࢳ࢜ࢽࣝࣜࢳ࣒࢘㟁ụ㸦ER17500VLY㸧)

ಖㆤ࢞ࢫࡢ᭱ᑠᤲẼὶ㔞

᭱ᑠᤲẼ󰪍㛫

ಖㆤ࢞ࢫࡢ᭱ᑠὶ㔞

᭱ᑠෆᅽ

᭱኱ෆᅽ

ෆᅽᐜჾධཱྀ࡛ࡢಖㆤ࢞ࢫࡢᣦᐃࡢ ᗘཪࡣ ᗘ⠊ᅖ

ෆᐜ✚

ෆᅽಖㆤࢩࢫࢸ࣒

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱ᑠ౪⤥ᅽຊ

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱኱౪⤥ᅽຊ

1.࣐ࢽࣆ࣮ࣗࣞࢱࠊ࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ

ᮏ㉁Ᏻ඲㜵⇿ᵓ㐀ཬࡧෆᅽ㜵⇿ᵓ㐀ࡢ⤌ྜࡏᶵჾ࡛ࡍ࠿ࡽࠊᵓᡂᶵჾࠊ㓄⥺➼ࢆኚ᭦ࡲࡓࡣ

ᨵ㐀ࡋ࡞࠸࡛ୗࡉ࠸ࠋࠉ

2.ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ࡣࠊࣂࢵࢸࣜࠊ఩⨨᳨ฟჾࠊ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ࠿ࡽ

ᵓᡂࡉࢀࠊไᚚ⿦⨨ࡢ㟁※㐽᩿󰪍ࠊࡲࡓࡣᤲẼ୰࡟ᮏᏳᅇ㊰࡜࡞ࡿࠋ

3.ไᚚ⿦⨨ࡢ᥋ᆅࡣD✀᥋ᆅᕤ஦࡟‽ࡌ࡚⾜ࡗ࡚ୗࡉ࠸ࠋࠉ

4.࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ㠀༴㝤ሙᡤ࡟タ⨨ࠉ

ࡋ࡚ୗࡉ࠸ࠋࠉ

5.ࣂࢵࢸࣜࡢ஺᥮ࡣࠊ⇿Ⓨᛶ㞺ᅖẼࡢᜍࢀࡀ↓࠸≧ែࢆ☜ㄆࡋ࡚⾜࠺ࠋ

6.⇿Ⓨᛶ㞺ᅖẼࡀᏑᅾࡍࡿ࠾ࡑࢀࡢ࠶ࡿ࡜ࡁࡣ࢝ࣂࢆ㛤ࡅ࡞࠸࡛ୗࡉ࠸ࠋ

7.ࡇࢀࡣࠊෆᅽ㜵⇿ᵓ㐀ࡢᐜჾ࡛࠶ࡿࠋ

8.ྲྀᢅㄝ󰩣᭩ཧ↷ࡢࡇ࡜ࠋ

9.᥋⥆ࡲࡓࡣ㟁※౪⤥ࢆ෌㛤ࡍࡿ๓࡟ࠊࡇࡢ࢚ࣥࢡ࣮ࣟࢪ࣮ࣕ࠿ࡽ

ࡍ࡭࡚ࡢ࡯ࡇࡾࢆྲྀࡾ㝖࠸࡚ୗࡉ࠸ࠋ

TYPE

ERER-

POWER SUPPLY

3PHASE

FULL LOAD CURRENT

INTERRUPT CURRENT

APPROX MASS

DOCUMENT No.

SERIAL No.

DATE

Motomanᮏయ࡜ࢥࣥࢺ࣮ࣟࣛࡣࠊୗグ

࣮࢜ࢲࡢྠ୍NO.࡜᥋⥆ࡋᚚ౑⏝㢪࠸ࡲࡍࠋ

ORDER NO.

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

DATE

A10.1

KW10.3

KVA3.5

390L/min

㸲min

50NL/min

5 kPa

50 kPa

0Υ㹼+40Υ

206.2 l

㆙ࠉࠉࠉ࿌

ᰴᘧ఍♫ࠉᏳᕝ㟁ᶵࠉ

kVA

AVERAGE

MADE IN JAPAN

NJ3523-5

༴ࠉ㝤

ឤ㟁ࡢᜍࢀ࠶ࡾ

㏻㟁୰ࠊᡬࢆ㛤ࡅࡿ࡞

DX200 MPX2600

ALARM

PROGRAMMING PENDANT

X 8 1

(a)DX200㸦Front View㸧

(b)Manipulator㸦Back View㸧

Label (Enlarged View)

ORDER.NO.

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.

NJ2513

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan

2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

NJ3878

NJ1530

NO.

ORDER

PAYLOADkgTYPE

MOTOMAN-

MODEL

MASS

DATEORDER NO.

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME NUMBER.

View A

1-3

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CAUTION

NOTE

24 of 116

2 Transport

180788-1CD

2 Transport

2.1 Transporting Method

• Sling 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 Transporting Method

• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 550 kg (including the shipping bolts and brackets for the floormounted model. For the wall-mounted model, the weight of the manipulator is approximately 600 kg. For the ceiling-mounted model, the weight of the manipulator is approximately 580 kg). Use a wire rope strong enough to withstand the mass.

• 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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2.1 Transporting 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

“Transport Using a Crane (Floor-mounted)”

as shown in Fig. 2-1(a)

Fig. 2-1(a): Transport Using a Crane

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Unit: [mm]

Wire Rope length: 2.5 m or more

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Shipping bolt and bracket (Fixed to the manipulator before shipment.)

Factory setting for angle and pulse of each axis

(Floor-mounted)

(916.3)

30°

U-axis

37.1

(2945)

(1833.4)

708.3

108.1

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Axis

Angle

Pulse

S-axis

0°

L-axis

0°

U-axis

-60°

R-axis

0°

B-axis

0°

0-144625 0

T-axis

0°

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MPX2600

(1190)

(1005)

703.3

(1828)

(1846.4)

(562.9)

108.1

0-144625 0

0°

T-axis

0°

B-axis

0°

R-axis

-60°

U-axis

0°

L-axis

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-10 (4 washers) Tightening torque: 24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-10 (4 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-10 (4 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M8 (4 screws, length: 30 mm) Conical spring washer 2L-8 (4 washers) Tightening torque: 24.5 N•m (2.5 kgf•m)

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Hexagon socket head cap screw M8 (4 screws, length: 30 mm) Conical spring washer 2L-8 (4 washers) Tightening torque:

24.5 N•m (2.5 kgf•m)

Wire Rope length: 1.0 m or more

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2.1 Transporting Method

Fig. 2-1(b): Transport Using a Crane (Wall-mounted) (Optional

)

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1190

(976)

(1833)

37.1

708.3

30°

1190

(1398)

(965)

(2983)

108.1

0-144625 0

0°

T-axis

0°

B-axis

0°

R-axis

-60°

U-axis

0°

L-axis

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-8 (4 washers) Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M8 (4 screws, length: 20 mm) Conical spring washer 2L-8 (4 washers) Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M8 (4 screws, length: 20 mm) Conical spring washer 2L-8 (4 washers) Tightening torque: 24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Wire Rope length: 1.5 m or more

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2.1 Transporting Method

Fig. 2-1(c): Transport Using a Crane (Ceiling-mounted) (Optional)

The manipulator is in the nailed wooden box when it is delivered.

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MPX2600

708.3

(1833)

Unit: [mm]

Fix the manipulator to the base for transportation by using 22 dia. tapped hole (4 holes).

Pallet

Manipulator base

Hexagon socket head cap screw M20 (4 screws) Nut M20 (4 nuts) Washer M20 (8 washers)

Forklift claw entries

Pallet

:Gravity center “G” : Manipulator and Shpping bolts and brackets

0-144625 0

0°

T-axis

0°

B-axis

0°

R-axis

-60°

U-axis

0°

L-axis

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

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2.1 Transporting Method

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and bracket as shown in Fig. 2-2(a) “Transport Using a Forklift (Floor-mounted)”.

Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. When this manipulator is mounted on the floor, it can be transported without a pallet by inserting the claws of the forklift into the entry of the shipping bolts and bracket.

Transport the manipulator slowly with due caution in order to avoid overturn or slippage.

Fig. 2-2(a): Transport Using a Forklift (Floor-mounted)

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2 Transport

2.1 Transporting Method

Fig. 2-2(b): Transport Using a Forklift (Floor-mounted)

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Unit: [mm]

1020

U-axis

r

(917.7)

1020

108.1

37.1

(1833.4)

708.3

Forklift claw entries

Axis

Angle

Pulse

Shipping bolt and bracket (Fixed to the manipulator before shipment.)

Factory setting for angle and pulse of each axis

S-axis

0°

L-axis

0°

U-axis

-60°

R-axis

0°

Forklift claw entries

B-axis

0°

0-144625 0

T-axis

0°

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MPX2600

562.9

(1005)

0-144625 0

0°

T-axis

0°

B-axis

0°

R-axis

-60°

U-axis

0°

L-axis

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

Pallet

Manipulator base

Hexagon socket head cap screw M16 (6 screws) Washer M16 (12 washers) Nut M16 (6 nuts)

Fix the manipulator to the base for transportation by using 17.5 dia. tapped hole (4 holes) (3 places).

Forklift claw entries

Pallet

Unit: [mm]

:Gravity center “G” : Manipulator and Shpping bolts and brackets

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2 Transport

2.1 Transporting Method

Fig. 2-2(c): Transport Using a Forklift (Wall-mounted)

(Optional)

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(1800)

(1310)

(435)

(750)(560)

(2235)

(1190)

(965)

(1500)

(1226.7)

0-144625 0

0°

T-axis

0°

B-axis

0°

R-axis

-60°

U-axis

0°

L-axis

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

Forklift claw entries

Pallet

Fix the jig with the wooden frame by using

17.5 dia. tapped hole (4 holes).

Unit: [mm]

:Gravity center “G” : Manipulator and Shpping bolts and brackets

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2 Transport

2.1 Transporting Method

Fig. 2-2(d): Transport Using a Forklift (Ceiling-mounted) (Optional)

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NOTE

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Shipping bolt and bracket (Fixed to the manipulator before shipment.)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Rubber

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2 Transport

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at positions as shown in Fig. 2-3(a) “Shipping Bolts and Brackets (Floor-mounted)”, to protect its driving units from various external forces during transport.

• The shipping brackets are painted yellow.

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

Fig. 2-3(a): Shipping Bolts and Brackets (Floor-mounted)

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Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-10 (4 washers) Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-10 (4 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-10 (4 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M8 (4 screws, length: 30 mm) Conical spring washer 2L-8 (4 washers) Tightening torque: 24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M8 (4 screws, length: 30 mm) Conical spring washer 2L-8 (4 washers) Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10 (4 screws, length: 35 mm) Conical spring washer 2L-8 (4 washers) Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M10 (2 screws, length: 35 mm) Conical spring washer 2L-10 (2 washers) Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M8 (4 screws, length: 20 mm) Conical spring washer 2L-8 (4 washers) Tightening torque: 24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M16 (4 screws, length: 50 mm) Conical spring washer 2H-16 (4 washers) Washer M16 (4 washers) Tightening torque: 206 N•m (21 kgf•m)

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2.2 Shipping Bolts and Brackets

Fig. 2-3(b): Shipping Bolts and Brackets (Wall-mounted)

(Optional)

Fig. 2-3(c): Shipping Bolts and Brackets (Ceiling-mounted) (Optional)

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WARNING

CAUTION

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3 Installation

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3 Installation

3.1 Installation of Safeguarding

• Install the safeguarding.

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

• Install the manipulator in a location where the manipulator’s tool or the workpiece held by the manipulator will not reach the wall, safeguarding, or DX200 when the arm is fully extended.

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.

• When mounting the manipulator on the ceiling or wall, the base section must have sufficient strength and rigidity to support the weight of the manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling.

Failure to observe this warning may result in 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.

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 your information and guidance.

Responsibility for Safeguarding (ISO 10218)

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.

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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 force of the manipulator. (Refer to Table 3-1 “Manipulator Repulsion Force”.)

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.

For installation, refer to section 3.2.1 “Mounting the Manipulator on the

Baseplate”.

Table 3-1: Manipulator Repulsion Force

Horizontal rotation Vertical rotation

Repulsion force F

Emergency stop 20580 N

(2100 kgf)

Acceleration/ deceleration

6370 N (650 kgf)

Torque M

25480 N•m (2600 kgf•m)

7670 N•m (780 kgf•m)

Repulsion force F

17640 N (1800 kgf)

6860 N (700 kgf)

Torque M

25480 N•m (2600 kgf•m)

9560 N•m (975 kgf•m)

Fig. 3-1: Manipulator Repulsion Force

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MPX2600

240240

240 240

205±0.1

240±0.1

275±0.1

205±0.1

275±0.1

275±0.1 275±0.1

41.9 mm or more

(Screw tightening depth)

12 dia. (2 places) (depth: 20 mm)

+0.018

hole

A part

Manipulator base

Baseplate

Anchor bolt (M20 or larger)

Spring washer (Delivered with the manipulator)

Washer (Delivered with the manipulator)

Manipulator base

ightening strength:1200N/mm or more) Hexagon socket head cap screw M20 (Length: 90 mm, 4 screws) (Tightening torque: 402 N•m (41 kgf•m)

Flatness

0.5mm or less

Unit: [mm]

45 mm or more

Enlarged View of B

View B

22 dia. (4 holes) (for mounting hole)

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3 Installation

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting the Manipulator on the Baseplate

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 45 mm or more thick, and anchor bolts of M20 or larger size.

The manipulator base is tapped for four mounting holes; securely fix the manipulator base to the baseplate with four hexagon head bolts M20 (90 mm long is recommended).

Next, fix the manipulator base to the baseplate. Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation.

Refer to Fig. 3-2 “Mounting the Manipulator on the Baseplate”. Note that there are holes in the manipulator base for positioning or the fitting surface. For reproducing the mounting position, set the knock pin (12 dia. is recommended) or the fitting surface.

Fig. 3-2: Mounting the Manipulator on the Baseplate

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Bracket (Installation position of the bracket is changed.)

Screws for installation (delivered with the manipulator) Hexagon socket head cap screw M5

(length: 16 mm, 4 scews) Washer M5 (4 washers) Tightening torque: 6.00 N•m (0.6 kgf•m)

Horizontal Installation

Enlarged View of C (Fixing part)

(113)

Vertical Installation (factory setting position)

(R)

C part (4 places)

408

(235)

220

201

113

242

(260)

(235)

220

434

113

(448)

201

399

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3.2 Mounting Procedures for Manipulator Base

3.2.2 How to Install the Pressure Switch

For mounting the pressure switch unit, two ways are available: the vertical installation (factory setting position) and the horizontal installation.

Fix the unit securely by using the hexagon socket head cap screw M5 (4 screws).

For the installation method, refer to Fig. 3-3 “Installing the Pressure Switch

Unit”.

Fig. 3-3: Installing the Pressure Switch Unit

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0-144625 0

0°

T-axis

0°

B-axis

0°

R-axis

-60°

U-axis

0°

L-axis

0°

S-axis

Angle and pulse of each axis

Direction of gravity

Axis

Angle

Pulse

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3 Installation

3.3 Mounting methods

The MOTOMAN-MPX2600 can be mounted in three different ways: floor mounting way, wall-mounted way, and ceiling-mounted way. For the wall-mounted and ceiling-mounted ways, the following points are different from the floor-mounted way.

• S-axis operation range

• Installing direction

• Measures to prevent the manipulator from falling

3.3.1 S-axis Operation Range

For the wall-mounted way, the S-axis operating range is ±90°. (For optional)

3.3.2 Installing Direction

For the installing direction of wall-mounted way, refer to the Fig. 3-4 “Installing Direction”.

(For optional)

Fig. 3-4: Installing Direction

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NOTE

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3.3 Mounting methods

3.3.3 Measures to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted ways, take appropriate measures to avoid the falling of the manipulator in case of emergency. Refer to Fig. 3-5 “Precaution Against Falling” for details.

Fig. 3-5: Precaution Against Falling

Support for fall prevention

Manipulator base

Hexagon socket head cap screw M20 (4 screws) (Tightening strength: 1200 N/mm or more)

In case of using the wall/ceiling-mounted way, inform YASKAWA of the matter when placing an order. Be sure to contact your YASKAWA representative (listed on the backcover of this instruction manual) to perform a wall/ceiling installation on site.

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NOTE

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3 Installation

3.4 Protection Class

For the standard type, environmental resistance for main for the part of the manipulator conforms to IP4X; the wrist part conforms to IP67

3.5 Location

When installing the manipulator, satisfy the following environmental conditions.

• Ambient temperature: 0° to + 40°C

• Humidity: 20 to 80%RH (no-condensing)

• Free from dust, soot, oil, or water

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

• Free from excessive vibration (Vibration acceleration: 4.9 m/s [0.5 G] or less)

• Free from large electrical noise (plasma)

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• Free from the strong magnetic field

• Altitude: 1000 m or less

• Flatness for installation: 0.5 mm or less

When the operation is started after the manipulator has been out of operation and left in the low temperature (almost 0°C) for a long period, the alarm may occur since the friction torque of the drive unit is large.

If the alarm occurs, perform the break-in for few minutes.

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DANGER

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4Wiring

4 Wiring

• For the manipulator main body, due to its explosion-proof structure, motors and connectors in the pressurized enclosure (arm) are protected from the explosive gases.

However, power cables that connect the manipulator's main body with the DX200 are not protected by the pressurized air.

In case the power cable, which is not protected, is split over large amount of solvent or the covering of the cable is damaged, fire may outbreak due to short-circuit or ground.

In this regard, whenever connecting the power cable, fixed type or movable type, please be sure to provide protection materials to it.

• For protecting the cable, use flexible tubes to the movable type cable and wire blade (optional) or hard covering materials, etc. to the fixed type cable.

• Please do not fail to check the surface of the power cable and its coverings. In case any abnormalities are found, immediately stop the operation and replace it with the new cable.

• For the movable type power cable, replace it in every 24,000 hours regardless of any damages.

• For the fixed type power cable, it is recommend to replace it in every 36,000 hours regardless of any damages.

• For the cable gland, it is required to use the specified one for the explosion-proof certification. It is highly recommend to use the cable gland prepared by YASKAWA which is the exclusively one. Also, please do not detach reassemble or remodel the cable gland since it is already an assembled parts. Contact your YASKAWA representatives when any abnormalities are found.

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 caution may result in electric shock or injury.

• 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.

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

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(PP)

AIR IN

AIR OUT

2BC

1BC

Air tube (outside 16 dia., inside 12 dia.) (prepared by the customer)

Certified terminal box (optional)

Air tube (outside 16 dia., inside 12 dia.)

Signal

Power

Air supply

(0.35MPa to 0.65MPa)

Pressure switch unit

Intrinsically safe

terminal box

(optional)

Programming pendant (explosion-proof, optional)

The pressure switch unit can be installed at a maximum of 20 m away from the manipulator.

(*) When programming pendant is in use.

Cable Air line

Ground resistance must be

100 Ω or less with independent

ground connection.

Relay connector

Power supply 3-phase AC200/220V 50/60Hz

Programming pendant (non-explosion-proof)

Painting unit

DX200

Ground resistance must be

10 Ω or less with independent

ground connection.

(*)

Intrinsically safe cable (1 or 2 cables)

Manipulator

Program selection device (optional)

Conveyor switch

(optional)

Hazardous AreaNon-hazardous Area

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Fig. 4-1: System Configuration

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4 Wiring

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MANDATORY

5.5 mm2 or more

Bolt M8 Washer (for grounding) (Delivered with the Manipulator)

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4 Wiring

4.1 Grounding

Follow the local regulations for ground line size. Use a line of 5.5 mm2 or more with round crimping terminal.

Refer to Fig. 4-2(a) “Grounding Method (Manipulator)”, Fig. 4-2(b) “Grounding Method (Pressure Switch Unit)”.

• Do not use this line 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 Electric Equipment Technical Standards.

Fig. 4-2(a): Grounding Method (Manipulator)

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Horizontal Installation

Vertical Installation

Cross recessed APS screw M5, Washer (for grounding) (Delivered with the Manipulator)

5.5 mm2 or more

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4.1 Grounding

Fig. 4-2(b): Grounding Method (Pressure Switch Unit)

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CAUTION

DANGER

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4.2 Cable Connection

Air tubes for purging are connected to the cover part of the power cables.

In case the tube is bent or foreign substances are stuck inside the tube, air may not be appropriately supplied which would result in malfunction.

For this reason, treat air tubes with great care when connecting.

The connection of the manipulator cable or the air tube to the manipulator, or the connection of the intrinsically safe cable to the pressure switch unit are performed by the authorized personnel who is trained by YASKAWA or your YASKAWA representative.

Refer to the DX200 Instruction Manual for the connection of the power cable and the intrinsically safe cable to the DX200. The air hose for the pressure switch, the intrinsically safe cable, and the crimped terminals should be prepared by the customer.

Furthermore, inside the painting booth, the power supply cables are required to be protected by the wire blade prepared by YASKAWA (length should be specified) or to be put either in the ditch on the floor and be covered with the metal plate or through the metal pipe.

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MPX2600

DX200 side

Gasket

Cover

Cable gland

(Wire blade)

(wire blade)

Encoder cable

Power cable

Manipulator side

Connect to the grounding tap

Cable for intrinsic safety (optional or prepared by the customer)

Pressure switch unit (mounted separately)

AIR SUP

(AIR)IN

(AIR)OUT

Air tube (16 dia.) (prepared by the customer)

Protective gas pressure feeding tube

In the manipulator (16 dia.)

1BC-1,2,3,4,5,6

2BC-1,2,3,4,5,6

Air supply

* Install the pressure switch unit outside of the motion range of the manipulator. * The maximum length of the air tube between the pressure switch unit and the manipulator is 20 m. Prepare an air tube which is made of nylon and has an outside diameter of 16 mm.

*1 For the connecting position to the DX200, refer to fig. 4-4: “Manipulator Cable Connection (DX200 side)”. *2 For mounting the pressure switch unit of the cable for intrinsic safety and the DX200, refer to chapter

4.2.4 "Intrinsically Safe Cable Connection". *3 For the position to connect the manipulator cable on the manipulator, refer to chapter 4.2.1 "Connecting Positions of Cables", chapter 4.2.2 "Manipulator Cable Connection", and chapter 4.2.3 "Changing the Battery Position".

P1N1P2N2P3 N3 1 2

X21

X11

X21

X11

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Fig. 4-3: Connection of the Manipulator Cable and the Air Tube

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4.2 Cable Connection

Tubes used for air are disposable item. Perform daily inspection for damages and replace them periodically.

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4.2 Cable Connection

Fig. 4-4: Manipulator Cable Connection (DX200 side)

Select one of four cables for intrinsic safety and connect it.

X11

INTRINSI-CALLY SAFE

X21

INTRINSI-CALLY SAFE

Back Side of the DX200

*1: Notation on the manipulator cable connection part varies depending on the DX200 specifications.

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

Standard type (C) Type

* Changeable (L) Type

* Changeable (R) Type

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4.2 Cable Connection

4.2.1 Connecting Positions of Cables

As shown in Table 4-1 “Manipulator Cable Connecting Position” and Table 4-2 “Battery Mounting Position”, the position for connecting the

power cable can be altered depending on how it is installed.

Table 4-1: Manipulator Cable Connecting Position

Type Connecting

position

Standard type (C) Type [Center Type]

Changeable (L) Type [Left Type]

Changeable (R) Type [Right Type]

Remarks

Connect to the back side of the manipulator. Refer to (C) type in Fig. 4-5 “Manipulator Cable Connecting Position”.

Viewing from the backside, connect to the left side of the manipulator. Refer to (L) type in Fig. 4-5 “Manipulator Cable Connecting Position”.

Viewing from the backside, connect to the right side of the manipulator. Refer to (R) type in Fig. 4-5 “Manipulator

Cable Connecting Position”.

Fig. 4-5: Manipulator Cable Connecting Position

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

* Changeable (C) Type

Standard type (L) Type

* Changeable (R) Type

Battery

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4.2 Cable Connection

Table 4-2: Battery Mounting Position

Type Connecting

position

Standard type (L) Type [Left Type]

Changeable (C) Type [Center Type]

Changeable (R) Type [Right Type]

Remarks

Viewing from the backside, connect to the left side of the manipulator. Refer to (L) type in Fig. 4-6 “Battery Mounting Position”.

Connect to the back side of the manipulator. Refer to (C) type in Fig. 4-6 “Battery Mounting Position”.

Viewing from the backside, connect to the right side of the manipulator. Refer to (R) type in Fig. 4-6 “Battery Mounting

Position”.

Fig. 4-6: Battery Mounting Position

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4 Wiring

4.2 Cable Connection

4.2.2 Manipulator Cable Connection

1. If connecting the manipulator cable to the manipulator of (L) Type or (R) Type specification, remove the cover which is mounted on the connector. For (L) type specification, the battery is installed, as the standard specification, to the place which the cover of the connector will be mounted. When (L) Type is chosen for the connection type of the manipulator cable, change the battery position beforehand in accordance with section 4.2.3 “Changing the Battery Position”".

2. Mount the bracket of the internal wiring harness side on the bracket of the manipulator cable by using the hexagon socket head cap screws.

3. Connect the manipulator cable to the connector of the internal wiring harness.

4. Connect the ground wires (2 wires) of the manipulator cable to the tapped hole for mounting the ground wires of the bracket on the internal wiring harness side.

5. Cover the unwound part of the internal wiring harness with the insulated plastic cover and fix it with cable ties. (For the encoder cable and the power cable)

6. Connect the purging tube to the joint on the IN side of the manipulator cable cover.

7. Mount the gasket pressure of the manipulator cable to the base so that the protective gas force feeding tube does not bend inside the manipulator, and then mount the cover by using the hexagon socket head cap screws M6.

Fig. 4-7(a): Manipulator Cable Connection Standard Specification (C) Type

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For fixing the bracket Hexagon socket head cap screw M4

(length: 12 mm) (fixed to the manipulator) Conical spring washer 2L-4 (fixed to the manipulator) Tightening torque:

4.8 N•m (0.49 kgf•m)

Bracket of the internal wiring harness side

Internal wiring harness

Insulated plastic cover Fix it with cable ties.

Hexagon socket head cap screw M6 (Trivalent chromium, 14 screws, length: 25 mm) (fixed to the manipulator) Conical spring washer 2H-6 (Trivalent chromium, 14 washers) (fixed to the manipulator) Tightening torque: 10 N•m (1.0 kgf•m)

Encoder cable

Bracket of the manipulator cable side

Standard type (C) Type

(AIR)IN

Tapped hole to connect the ground wire for the manipulator cable (2 places) Hexagon socket head cap screw M5 (length: 8 mm) (fixed to the manipulator) Use the conical spring washer 2L-5 (fixed to the manipulator). Tightening torque: 5 N•m (0.5 kgf•m)

Power cable

1BC cable

2BC cable

Insulated plastic cover Fix it with cable ties.

Manipulator cable

2BC-1 2BC-2 2BC-3 2BC-4 2BC-5 2BC-6

Base

1BC-CN1 1BC-CN2 1BC-CN3 1BC-CN4 1BC-CN5 1BC-CN6

View A

4-10

View B

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4.2 Cable Connection

Fig. 4-7(b): Manipulator Cable Connection (L) Type

(L) Type

Manipulator cable

Base

Back side of the base

View A

(AIR) IN

Fig. 4-7(c): Manipulator Cable Connection (R) Type

(R) Type

Manipulator cable

Back side of the base

2BC cable

1BC cable

Manipulator cable

Base

View A

4-11

(AIR) IN

2BC cable

1BC cable

Manipulator cable

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Battery cable

Battery plate

L TYPE

C TYPE

Cover

R TYPE

Hexagon socket head cap screw M3 (4 screws, length: 10 mm) (fixed to the manipulator) Conical spring washer 2L-3 (4 washers) (fixed to the manipulator) Tightening torque: 1.4 N•m (0.14 kgf•m)

Base

Cover

Battery cable

Base

Battery cable

Cover

Battery plate

Hexagon socket head cap screw M3 (4 screws, length: 10 mm) (fixed to the manipulator) Conical spring washer 2L-3 (4 washers) (fixed to the manipulator) Tightening torque: 1.4 N•m (0.14 kgf•m)

Battery plate

Hexagon socket head cap screw M3 (4 screws, length: 10 mm) (fixed to the manipulator) Conical spring washer 2L-3 (4 washers) (fixed to the manipulator) Tightening torque: 1.4 N•m (0.14 kgf•m)

Base

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4.2.3 Changing the Battery Position

Fig. 4-8: Battery Connection

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4 Wiring

4.2 Cable Connection

1. Turn OFF the DX200 power supply.

2. Refer to Table 4-2 “Battery Mounting Position” and Fig. 4-6 “Battery Mounting Position”, and confirm the battery position to change to.

3. Remove the cover where the battery is mounted or the cover of the place which will be mounted or the C base.

4. Loosen the hexagon socket head cap screws M3 (length: 10 mm) and separate the battery plate from the cover.

5. Move the battery to the desired mounting location in the base together with the battery plate. Be careful not to get caught up in the other internal wiring harness or to exert excessive stress to the air tube.

6. Mount the battery plate on the cover.

7. Mount the cover on the manipulator base.

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3) Controller side: Crimped terminals

For connecting the intrinsically safe cable to the relay barrier in the DX200

Intrinsically safe terminal block on the pressure switch unit side

DX200

The intrinsically safe device connected to the relay barrier must satisfy the following conditions.

Intrinsically safe circuit: Pressure detection / flow switch circuit

3.2 dia. min

5.3 min

6 max

4.4 max

3.5 min

7.8 max

4 max

3.7 dia. min

0.8

2.3

- For terminal block P1 to N3

For connecting the intrinsically safe cable to the insulation barrier in the DX200

- For terminal block 1 to 2

2 Cable connection

1) Intrinsically safe cable

1 Cable type (applied):

CVV-S, 1.25 mm² (2, 4, 6, 8, 10, 12 cores), CVV-SB, 1.25 mm² (2, 4, 6, 8, 10, 12 cores), or UL2586-SB, 1.25 mm² (2, 4, 6, 8, 10, 12 cores) (SUMIDEN HITACHI CABLE Ltd.)

Note) The barriers between P2 and N2 in the DX200 are short-circuited by the wire.

Do not remove the wire. On the manipulator side, however, since a short-circuit does not exist, there is no wire. Also, no wiring exists on each manipulator side and the DX200 side between P2 and between N2.

(Recommended terminal)

1.25AF2.3B(JST

Made)

For connecting the intrinsically safe cable to the intrinsically safe terminal block

2) Pressure switch unit side : Crimped terminals

- For terminal block P1 to 2

- The cable to be connected with terminal blocks P1 to N3, and 1 to 2 are dif

ferent.

- P1 to N3 and 1 to 2 are separated by the shield.

Allowable voltage: 13.2 V Allowable current: 14.2 mA Allowable electric power: 46.9 mW Internal inductance: 32.9 μH Internal capacitance: 32.6 nF

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4.2 Cable Connection

4.2.4 Intrinsically Safe Cable Connection

Fig. 4-9: Connection of Intrinsically Safe Terminal Block of the Pressure Switch Unit and Barrier

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CAUTION

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4 Wiring

4.3 Requirements

Prepare the power supply, the air supply, and the grounding according to the following specifications.

Table 4-3: Specifications

No. Item Specifications Remarks

1 Power supply 3-phase 200/220 VAC

(Voltage: +10 to -15%) 50/60 Hz (±2 Hz)

3.0 kVA (at peak)

2 Air supply

Pressurized explosion-proof construction

3 Grounding Grounding resistance: 100 Ω or less For the DX200

Required pressure: 0.35 MPa to 0.65 MPa Capacity: For pressurized type of explosion protected construction At operating: 15 NI/min or more At purging: 1000 Nl/min or more Dryness: Freezing at -18 °C

Use dry air for the pressurized explosion-proof construction.

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Use dry air for the pressurized explosion-proof enclosure. Moisture in the air supply may damage the electronic parts.

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Intrinsically safe

terminal block

320 L/min

20 kPa

50 kPa

5 kPa

Pressure switch unit

Mnipulator

AV1

SV1

Master Valve

Purge

pressure regulator

Operating pressure, purge pressure switch solenoid valve

Operating

pressure regulator

Pressure control solenoid valve

(0.18 to 0.20 MPa)

(0.01 to 0.02 MPa)

Industorial compressed air

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4.3 Requirements

4.3.1 Pressure Switch Unit

The pressure switch unit supplies protective air or gas to the manipulator to prevent explosive gas from entering the manipulator. Usually, the unit is installed on the side of the DX200.

The circuit diagram and dimensions are shown in

Circuit of the Pressure Switch Unit”

Fig. 4-10 “Electrical/Air

Set the air pressure so that the pressure shown on the pressure gauge of each pressure reducing valve to be within the pressure ranges shown in

fig. 4-10.

Fig. 4-10: Electrical/Air Circuit of the Pressure Switch Unit

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4.4 Installation Site

This section describes the conditions of the installation site for the robot system. Only devices that are approved as explosion-proof can be installed in hazardous locations. Refer to the local regulations and safety codes for the definition of a hazardous location. Install the controller and control panels in a location free from water drops, dust, and dirt.

System Components Hazardous

Location

(Inside Painting Booth)

Manipulator (explosion-proof)

DX200 (not explosion-proof)

Pressure Switch unit (explosion-proof)

Programming pendant (not explosion-proof)

Programming pendant (explosionproof) (Optional)

•

••

• In case installing the MOTOMAN-MPX2600 in the hazardous area, classify the manipulator environment by following the local explosion-proof standard and then, on the basis of the explosionproof structure notation on the MOTOMAN-MPX2600, confirm that the manipulator is possible to install in that area.

Non-hazardous location

(Outside Painting Booth)

•

× 0 to 40°C 85%RH

•

Ambient Temperature

0 to 40 °C 80%RH

0 to 45 °C 90%RH

0 to 40 °C 85%RH

Maximum Ambient Humidity

DANGER

WARNING

Devices that are not explosion-proof must not be installed in hazardous locations. Failure to observe this warning may result in a fire.

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5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications

Item Type YR-MPX2600-*0*

Configuration Vertically articulated Degree of Freedom 6 Payload Wrist part (T-axis): 15 kg

Repeatability Range of Motion S-axis (turning) - 150° − +150°

Maximum Speed

Each Axis Maximum Speed

Allowable Moment

Allowable Inertia (GD

Approx. Mass 485 kg

Protective Structure Basic axis: IP4X

Ambient Conditions Temperature 0 to + 40 °C

Power Capacity 3.0 kVA Applicable controller DX200

Noise

1 SI units are used in this table. However, gravitational unit is used in ( ).

24)4)

2 Conformed to ISO9283.

3 Differs depending on the motion pattern or the load of the wrist axis. 4 For details on the allowable moment and the allowable inertia, refer to section 6.1 “Allowable Wrist Load”. 5 Conformed to ISO6926 1, Measurement is carried out when the maximum load is mounted to the manipulator and operated in the maximum

speed.

2, Measurement is carried out:

- between 1.2 m and 1.5 m above the ground.

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

Arm part (U-axis): 20 kg ± 0.2 mm

<Wall-mounted> - 90° − +90°　 L-axis (lower arm) - 65° − +130° U-axis (upper arm) - 65° − +150°　 R-axis (wrist roll) - 720° - +720° B-axis (wrist pitch/yaw) - 720° - +720° T-axis (wrist twist) - 720° - +720°

2.0 m/s

S-axis 2.09 rad/s, 120 °/s L-axis 2.09 rad/s, 120 °/s U-axis 2.18 rad/s, 125 °/s R-axis 6.28 rad/s, 360 °/s B-axis 6.28 rad/s, 360 °/s T-axis 6.28 rad/s, 360 °/s R-axis 93.2 N•m (9.5 kgf•m) B-axis 58.8N•m (6.0 kgf•m) T-axis 19.6 N•m (2.0 kgf•m) R-Axis 3.75 kg•m B-Axis 2.225 kg•m T-Axi s 0.20 k g•m

Wrist axis only: IP67 or equivalent

Humidity 20 to 80%RH (non-condensing) Vibration Acceleration 4.91 m/s Altitude 1000 m or less Others Free from dust, soot, or water

Free from excessive electrical noise (plasma). Free from strong magnetic field

72 dB

(0.5 G) or less

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5 Basic Specifications

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

U+

U-

R-

L-

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R+

B+

T+

B-

T-

S-

L+

S+

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22 dia. hole (4 holes) (for installation)

S-axis rotation center

Unit: [mm]

240240

240 240

205±0.1

240±0.1 240±0.1

275±0.1

205±0.1

275±0.1

275±0.1 275±0.1

12 dia. (2 holes)

+0.018 0

(Fitting surface)

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5.3 Manipulator Base Dimensions

Fig. 5-2: Base Dimensions

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(When mounted on the wall)

767

2000

423

1409

1643

1423

846

P-Point

P-point maximum envelope

151

518

134

124

423

Unit: [mm]

1000328

90

65

1000600

150

30

31

130

150

R2000

180

90

1775

90

(755.6)

(550)

R522

993.5

30

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5 Basic Specifications

5.4 Dimensions and P-point Maximum Envelop

Fig. 5-3: Dimensions and P-point Maximum Envelope

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DANGER

Each part of the manipulator can extend within the range of the P-point maximum envelope shown in Fig. 5-3 “Dimensions and P-point Maximum Envelope” at maximum. Take special consideration for this area for the safety measures.

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Purging pressure:

0.18 to 0.20 [MPa]

Operating pressure:

0.01 to 0.02 [MPa]

Air inlet

0.35 to 0.65 [MPa] (tube: 16 dia.)

Air inlet

From the manipulator (tube: 16 dia.)

To the manipulator (tube: 16 dia.)

Exhaust port

210.8

407.5

398.9

200.8

207.9

256.6

ユニファイ並目

六角ボルト5/16-18X1

ユニファイ並目六角ナット5/16-18

KQ2L16-02S

M5X8

M5M5

M5X8M5X8M5X8M5X8

M3X6M3X6

ユニファイ並目

六角ボルト5/16-18X1

KQ2L16-02S

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5.5 Appearance and Dimensions of the Pressure Switch Unit

Fig. 5-4: Outline View of the Pressure Switch Unit

5-5

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5.6 Stopping Distance and Time for S-, L-, and U-Axes

5.6.1 General Information

• The stopping distance is an angle traveled by the manipulator from the moment when the stop signal is activated until the manipulator comes to a complete standstill.

• The stopping time is a time elapsed from the moment that the stop signal is activated until the manipulator comes to a complete standstill.

• The data that are given for the main axes S, L and U are the maximum displacement.

• Superposed axes motions may result in longer stopping distance.

• Stopping distance and stopping time are measured in accordance with ISO 10218-1, Annex B

• Stop categories: According to IEC60204-1

• Stop category 0

• Stop category 1

• The values specified for Stop category 0 are the reference values that are determined by tests and simulations. The actual stopping distance and stopping time may differ.

5.6.2 Definition of Use

Load: Rated load weight and load on an arm

Speed: Operating speed of the manipulator

Extension: Distance between the rotation center and the P-point of

each axis

5.6.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes

Measurement Conditions

• Load: Maximum load

• Speed: Maximum speed

• Posture: Maximum inertia generation posture

Axis Stopping distance (deg) Stopping Time (sec)

S-axis 17.1 0.230

L-axis 22.6 0.317

U-axis 14.7 0.189

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S-axis

L-axis

U-axis

R-axis

S-axis

L-axis

S-axis

L-axis

U-axis

R-axis

T-axis

T-axi s

U-axis

R-axis

B-axis

T-axis

66%

33%

100%=2000

B-axis

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5.6 Stopping Distance and Time for S-, L-, and U-Axes

5.6.4 Stop Category 1: Stopping Distance and Time for Stop Category 1: S-, L- and U-Axes

5.6.4.1 Extension

Refer to Fig. 5-5(a) “S-Axis Extension”,Fig. 5-5(b) “L-Axis Extension” and

Fig. 5-5(c) “U-Axis Extension” for each axis arm extension.

Fig. 5-5(a): S-Axis Extension

Fig. 5-5(b): L-Axis Extension

R-axis

T-axis

B-axis

R-axis

T-axis

B-axis

R-axis

T-axis

U-axis

100%=2000

U-axis

66%

U-axis

167°

B-axis

33%

L-axis

S-axis

L-axis S-axis

L-axis

S-axis

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S-axis

L-axis

U-axis

T-axis

R-axis

100%=1000

B-axis

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5.6 Stopping Distance and Time for S-, L-, and U-Axes

Fig. 5-5(c): U-Axis Extension

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NOTE

0 20 40 60 80 100 120 1 40

Stopping distance[deg]

Extension 100%

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0 20406080100120140

Stopping time[sec]

Extension 100%

Speed[deg/s]

Load100% Load66% Load33%

Speed[deg/s]

Load100% Load66% Load33%

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5.6 Stopping Distance and Time for S-, L-, and U-Axes

5.6.5 Stopping Angles and Times for S-, L- and U-Axes

Following data on stopping angle and time for each axis measured under the standard of ISO10218.

5.6.5.1 Position 100%

Stopping angles and times at Stop category 1 are not subjected to the load of the manipulator.

5.6.5.2 Stopping Distance and Time for Stop Category 1: S-Axis

Stopping distance[deg]

0 20406080100120140

Stopping distance[deg]

0 20406080100120140

Load100% Load66% Load33%

Extension 66%

Speed[deg/s]

Load100% Load66% Load33%

Extension 33%

Speed[deg/s]

5-9

0.6

0.5

0.4

0.3

0.2

Stopping time[sec]

0.1

0.0 0 20406080100120140

Extension 66%

Speed[deg/s]

Load100% Load66% Load33%

Extension 33%

0.6

0.5

0.4

0.3

0.2

Stopping time[sec]

0.1

0.0 0 20406080100120140

Load100% Load66% Load33%

Speed[deg/s]

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0 20406080100120140

Stopping distance[deg]

Extension 100%

0.0

0.1

0.2

0.3

0.4

0.5

0.6

020406080100120140

Stopping time[sec]

Extension 100%

Speed[deg/s]

Load100% Load66% Load33%

Speed[deg/s]

Load100% Load66% Load33%

020406080100120140

Stopping distance[deg]

Extension 66%

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0 20406080100120140

Stopping time[sec]

Extension 66%

Speed[deg/s]

Load100% Load66% Load33%

Speed[deg/s]

Load100% Load66% Load33%

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5.6 Stopping Distance and Time for S-, L-, and U-Axes

5.6.5.3 Stopping Distance and Time for Stop Category 1: L-Axis

Extension 33%

Stopping distance[deg]

020406080100120140

Load100% Load66% Load33%

Speed[deg/s]

5-10

0.6

0.5

0.4

0.3

0.2

Stopping time[sec]

0.1

0.0 0 20 40 60 80 100 120 140

Load100% Load66% Load33%

Speed[deg/s]

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5.6 Stopping Distance and Time for S-, L-, and U-Axes

5.6.5.4 Stopping Distance and Time for Stop Category 1: U-Axis

Stopping distance[deg]

020406080100120140

Load100% Load66% Load33%

Extension 100%

Speed[deg/s]

0.6

Extension 100%

0.5

0.4

0.3

0.2

Stopping time[sec]

0.1

0.0 0 20406080100120140

Load100% Load66% Load33%

Speed[deg/s]

5-11

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MPX2600

Base

Rotating head

Stopper for the fixing side

Stopper position (standard specification) Hexagon socket head cap screw M20 (length: 45 mm) Conical spring washer 2H-20 Tightening torque: 167 N•m (16.9 kgf•m)

Stopper

°

°

°

Section A-A

Tapped hole M20 (12 places)

68 of 116

5 Basic Specifications

5.7 Modification of S-Axis Movable Envelope

The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Table 5-2 “S-Axis Operating Range”. If alteration is necessary, contact your YASKAWA representative in advance.

Table 5-2: S-Axis Operating Range

Item Specifications

S-Axis Operating Range

Fig. 5-6: Components of the S-Axis Stopper and Stopper Mounting Position

-150° - +150°(standard)

-120° - +120°

-90° - +90°

-60° - +60°

-30° - +30°

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5-12

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NOTE

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MPX2600

5 Basic Specifications

5.7 Modification of S-Axis Movable Envelope

5.7.1 Changing the S-axis Mechanical Stopper

The mechanical stopper is not necessary when the operating range is set to ±150°(standard specification).

The S-axis mechanical stopper can be set at 30° pitch intervals.

1. Apply the specified components when mounting the S-Axis mechanical stopper.

2. TURN OFF the electric power supply before mounting.

1. Remove the mechanical stopper under the rotating head. If it is difficult to remove the mechanical stopper, turn ON the DX200 power supply. Move the rotating axis to a position where the stopper can be removed. Then turn OFF the DX200 power supply, and remove the mechanical stopper.

2. Mount the removed mechanical stopper in the desired position. (Mounting torque: 167 N•m (16.9 kgf•m) If it is difficult to mount the mechanical stopper, turn ON the DX200 power supply. Move the rotating axis to a position where the stopper can be mounted. Then turn OFF the DX200 power supply, and mount the mechanical stopper.

5.7.2 Adjustment to the Pulse Limitation of S-Axis

For altering the range of motion of the S-axis, refer to section 8.17 "Changing the Parameter" in "DX200 INSTRUCTIONS (165292-1CD)". Change the parameter as shown below by using the programming pendant.

Pulse limit (S-axis + direction): S1CxG400 Pulse limit (S-axis - direction): S1CxG408

Degree ± 150° ± 120° ± 90° ± 60° ± 30°

Number of Pulse

± 291431 ± 233145 ± 174859 ± 116573 ± 58287

Do not modify the motion range parameter with the software only, but in combination with the mechanical stopper. Adjust both of the pulse limitation and the angle of S-Axis mechanical stopper as modifying the range of motion for machinery.

5-13

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MPX2600

"Table 5-3 The Settable Angle for S-Axis Stopper" indicates the angle range which

allows S-axis to be set for + direction and - direction angles.

(Ex. -90° to +90° is settable, however 0° to +150° is not settable)

…Settable angle

…Non settable angle

The Angle of S-Axis Stopper for - Direction

-150°

-120°

-90°

-60°

-30°

0°

30°

60°

90°

120°

150°

-150°-120°-90°-60°-30°0°30°60°90°120°150°

The Angle of S-Axis Stopper for + Direction

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5 Basic Specifications

5.7 Modification of S-Axis Movable Envelope

The settable angles for S-axis stopper are shown in Table 5-3 “The

Settable Angle for S-Axis Stopper”.

Table 5-3: The Settable Angle for S-Axis Stopper

5-14

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MPX2600

6 Allowable Load for Wrist Axis Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis Flange

6.1 Allowable Wrist Load

The allowable wrist load is 15 kg maximum. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in Table 6-1 “Allowable Wrist Load”. Contact your YASKAWA representative for further information or assistance.

Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)

R-Axis 93.2 (9.5) 3.75

B-Axis 58.8 (6.0) 2.225

T-Axis 19.6 (2.0) 0.20

1 ( ): Gravitational unit

/4 Total Moment of Inertia

kg•m

When the volume load is small, refer to the moment arm rating shown in Fig. 6-1 “Moment of Arm Rating”.

The allowable total moment of inertia is calculated when the moment is at the maximum.

Contact your YASKAWA representative beforehand when the moment of inertia is the only load or the load moment is smaller than moment of inertia.

Also, when the load is combined as a force but a mass, contact your YASKAWA representative.

Fig. 6-1: Moment of Arm Rating

Moment of MPX2600 Wrist Part

Y(mm)

15 12 10 2

-300 -200 -100 0 100 200 300 X(mm)

6-1

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MPX2600

Unit: mm

140 dia.

±0.0251±0.0251

P.C.D.102

70 dia.

±0.1

21.5

dia.

-0.035

116

(Six holes, Depth:12, Pitch:1.0)

Tapped hole M6

dia.

+0.012

5.2

(Depth:10, 2 holes)

72 of 116

Fig. 6-2: Wrist Flange

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6 Allowable Load for Wrist Axis Flange

6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. Fitting depth of inside and outside fittings must be 21 mm or less.

6-2

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MPX2600

7 System Application

7.1 Peripheral Equipment Mounts

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ system applications. The following conditions shall be observed to attach or install peripheral equipment.

7.1.1 Allowable Load

The device required for the system application can be mounted on the upper arm (U-arm) and the lower arm (L-arm).

Observe the following restrictions.

• Total payload for the upper arm (U-arm) and the lower arm (L-arm): 20 kg or less

7-1

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MPX2600

204

114

60 50

885

370 30

159 159

35 50

9070

345 50

538 50

70 320

33070

910 440

910

440

70320

330 70

907080

345

538 50

110

30 80

605

3853030

70 70

104

6060

275 15

290

85 85

614 20

114

204

35 50

Installing limitation (up to 10 kg)

580 mm or less

Installing limitation for the peripheral equipment

Installing limitation (up to 20 kg)

270 mm or less

Tapped holes M8 (4 holes) (2 places) (depth: 20 mm) (pitch: 1.25)

Tapped holes M8 (4 holes) (depth: 20 mm) (pitch: 1.25)

Tapped holes M16 (4 holes) (depth: 36 mm) (pitch: 2.0)

Tapped holes M8 (4 holes) (depth: 21 mm) (pitch: 1.25)

Tapped holes M16 (4 holes) (depth: 36 mm) (pitch: 2.0)

Tapped holes M8 (2 holes) (depth: 20 mm) (pitch: 1.25)

View C

Tapped holes M8 (8 holes) (depth: 21 mm) (pitch: 1.25)

Tapped holes M8 (4 holes) (depth: 20 mm) (pitch: 1.25)

Tapped holes M6 (4 holes) (depth: 16 mm) (pitch: 1.0)

Tapped holes M8 (8 holes) (depth: 21 mm) (pitch: 1.25)

Tapped holes M6 (4 holes) (depth: 16 mm) (pitch: 1.0)

Tapped holes M6 (12 holes) (depth: 16 mm) (pitch: 1.0)

Tapped holes M10 (4 holes) (depth: 20 mm) (pitch: 1.5)

Tapped holes M6 (2 holes) (2 places) (depth: 16 mm) (pitch: 1.0)

Tapped holes M10 (2 holes) (depth: 20 mm) (pitch: 1.5)

Tapped holes M8 (4 holes) (depth: 21 mm) (pitch: 1.25)

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7 System Application

7.1 Peripheral Equipment Mounts

7.1.2 Installation Position

There is a limitation on where to install the peripheral equipment as shown in fig. 7-1.

Fig. 7-1: Installing Peripheral Equipment

7-2

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MPX2600

8 Electrical Equipment Specification

8.1 Internal Connections

8 Electrical Equipment Specification

8.1 Internal Connections

The Fig. 8-1(a) “Internal Connection Diagram”, Fig. 8-1(b) “Internal Connection Diagram” show the internal connections.

8-1

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MPX2600

MANIPULATOR

Controller

CN6-2

CN6-1

CN6-5

CN6-4

CN6-3

DATA-6

DATA+6

0V-6

+5V-6

FG6

S-IRV,0.5XK

CN5-2

CN5-1

CN5-4

CN5-3

DATA+5 DATA-5

0V-5

+5V-5

CN3-3 CN3-4

CN4-2

CN4-3 CN4-4

CN4-1

0V-3

+5V-3

+5V-4

DATA-4

0V-4

DATA+4

CN2-2

CN2-5

CN2-3 CN2-4

CN3-2

CN3-1

DATA-2

+5V-2 0V-2 FG2

DATA-3

DATA+3

1BC(12X6)

CN1-1 CN1-2

CN1-4

CN2-1

CN1-3

DATA+1 DATA-1

0V-1

DATA+2

+5V-1

S-IRV,0.5XK

BAT-3

-4

+5V

OBT

FG3

No.2CN

B A

No.4CN

CN-

No.5CN

-2

CN-1

No.1CN

CN-

DATA-2

DATA-3

DATA+3

OBT

FG2

+5V

OBT BAT

BAT

DATA+1 DATA-1

DATA+2

OBT

BAT

0V FG1

OBT BAT

+5V

L-AXIS

PG S-AXIS

-6 BAT

No.17CN

No.18CN

-2

-3

CN-1

-3

-2

CN-1

-4

DATA -6

DATA+6

BAT

OBT

FG6

+5V

OBT

BAT

No.13CN

CN-1

No.14CN

No.15CN

No.16CN

-2

-3

-4

-3

-2

CN-1

-2

-3

CN-1

-5

-9

-4

-10

-3

-4

-2

CN-1

DATA+5 DATA -5

OBT BAT

FG4

BAT OBT

OBT

FG5

+5V

DATA -4

DATA+4

OBT +5V

FG3

BAT

OBT

+5V

OBT

BAT

T-AXIS

PG B-AXIS

U-AXIS

R-AXIS

No.12CN

-2

CN1-1

DATA-3

DATA+3

CN1-5 FG1

CN3-5 FG3

CN4-5 FG4

CN5-5 FG5

EEEEEE

S-IRV,0.5XK

CN6-2

CN6-1

CN6-5

CN6-4

CN6-3

DATA-6

DATA+6

0V-6

+5V-6

FG6

CN5-2

CN5-1

CN5-4

CN5-3

DATA+5 DATA-5

0V-5

+5V-5

CN3-3 CN3-4

CN4-2

CN4-3 CN4-4

CN4-1

0V-3

+5V-3

+5V-4

DATA-4

0V-4

DATA+4

CN2-2

CN2-5

CN2-3 CN2-4

CN3-2

CN3-1

DATA-2

+5V-2 0V-2 FG2

DATA-3

DATA+3

X11(6X6) CN1-1

CN1-2

CN1-4

CN2-1

CN1-3

DATA+1 DATA-1

0V-1

DATA+2

+5V-1

CN1-5 FG1

CN3-5 FG3

CN4-5 FG4

CN5-5 FG5

S-IRV,0.5XK

-3

-2

CN-1

No.6CN

S-IRV,0.3XK

KIVTW-3,0.75XG-Y

KIVTW

-3,0.75XG-Y

KIVTW

-3,0.75XG-Y

KIVTW-3,0.75XG-Y

KIVTW-6,1.25XG-Y

HRZEV-ESLALAB(2464)

(AWG23×8P)+AWG23×11P

BATTERY

No.27CN

OBT-BT BAT-BT

-2

-1

No.28CN

OBT-BT BAT-BT

-2

-1

BATTERY

No.29CN

OBT-UR BAT-UR

-2

-1

No.30CN

OBT-UR BAT-UR

-2

-1

BATTERY

No.31CN

OBT-SL BAT-SL

-2

-1

No.32CN

OBT-SL BAT-SL

-2

-1

K R

BASE

Internal cable ASSY (HW9470921-G)

1.25-3

A terminal

No.3CN

RMFEV-SEC(2517),0.2×3P(

ȭ6.0)

-2

-6

-5

-10

-9

-4

-1

-2

-6

-5

-10

-9

-4

-1

RMFEV-SEC(2517),0.2×3P(

ȭ6.0)

RMFEV-SEC(2517),0.2×3P(

ȭ6.0) RMFEV-SEC(2517),0.2×3P(ȭ6.0)

RMFEV-SEC(2517),0.2×3P(

ȭ6.0)

RMFEV-SEC(2517),0.2×3P(

ȭ6.0)

RMFEV-SEC(2517),0.2×3P(

ȭ6.0)

KIVTW-3,0.75XG-Y

KIVTW-6,1.25XG-Y

Drain wire

(The center layer)

(The first layer)

Drain wire

(The center layer)

(The first layer)

Drain wire

(The center layer)

(The first layer)

Drain wire

(The center layer)

(The first layer)

Drain wire

(The center layer)

(The first layer)

Drain wire

(The center layer)

(The first layer)

KIVTW-3,0.75XG-Y

RMFEV-SEC(2517),0.2×3P(ȭ6.0)

KIVTW-6,2.0XG-Y

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8 Electrical Equipment Specification

8.1 Internal Connections

Fig. 8-1(a): Internal Connection Diagram

8-2

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180788-1CD

MW1

MU1

MW1

MV1

MU1

ME1 ME1

CN2-8 CN2-7 CN2-2 CN2-1 CN2-6 CN2-5 CN2-4 CN2-3

MW1

MU1

MW1

MV1

MU1

ME1

E-8 E-7 E-2 E-1 E-6 E-5 E-4 E-3

CN1-8 CN1-7

CN1-5

CN1-1 CN1-6

CN1-2

CN1-4 CN1-3

MU2

MW2

MV2

ME2 ME2

F-8 F-7

F-5

F-1 F-6

F-2

F-4 F-3

MU2

MW2

MV2

ME2 ME2

MU3

MW3

MV3

ME3

CN3-8

CN3-6

CN3-4

CN3-2

MU3

MW3

MV3

ME3 ME3

D-8 D-7

D-5

D-3 D-6

D-4

D-2 D-1

MU4

MW4

MV4

ME4

AWG14

CN6-6

CN6-1

CN6-3

CN6-5

MU4

MW4

MV4

ME4

A-6

A-1

A-3

A-5

MU5 MV5 MW5 ME5

CN4-5

CN4-7

CN4-8

CN4-6

MU5 MV5 MW5 ME5

C-7

C-9

C-11

C-8

MU6 MV6 MW6 ME6

CN4-1

CN4-2

CN4-4

CN4-3

MU6 MV6 MW6 ME6

C-2

C-4

C-6

C-5

BB4

BB1

BA4

BA3

BA2

BA1

BA5 BA6

CN5-4 CN5-6 CN5-3 CN5-2 CN5-1 CN5-5 CN5-8 CN5-7

BB4

BB1

BA4

BA3

BA2

BA1

BA5

BA6

B-5 B-10 B-4 B-3 B-2 B-9 B-12 B-1

KIVTW-3,0.75XK

(AWG14×4)×10+(AWG19×6)×2+AWG19×1

HRZVV-SEC-N(2517)

ME4

BA4 BB4

-1

-4

-2

MV4 MW4

MU4

-3

-2

No.21CN

CN-1

ME5

BA5 BB5

-1

-2

MV5 MW5

MU5

No.23CN

ME6

BA6 BB6

-1

-2

MV6 MW6

MU6

No.25CN

-4 ME3

BB3

BA3-5

-6

MU3 MV3 MW3

CN-1

No.11CN

-2

-3

-B MV2

ME2

BA2

MW2

BB2

-D

-1

-C

-2

MU2

No.9CN

CN-A

BB1

ME1

BA1

-2

-D

-1

MV1

MU1

MW1

-B

CN-A

No.7CN

-C

L-AXIS

S-AXIS

No.8CN

No.10CN

No.22CN

No.24CN

No.26CN

-D ME3

BB3

BA3-1

-2

MU3 MV3 MW3

CN-A

No.19CN

-B

-C

U-AXIS

No.20CN

-4

-3

-2

CN-1

-4

-3

-2

CN-1

From "Fig. 8-1(a)"

MANIPULATOR

EEEEEE

BASE

Internal cable ASSY (HW9470921-G)

AWG14

13 10

15 12

14 11

A-5

A-4

A-2

A-3

AWG14

7 4

9 6

AWG14

A-7

AWG14

A-10

AWG14

29 28

A-9

AWG14

AWG14 AWG14

AWG14

AWG14 AWG14

A-8

AWG19

B-1

B-2

35 31 32

37 42 40

2BC(8PX6)

KIVTW-6,1.25XG-Y

AWG19

X21(8PX3+12PX3)

T-AXIS

B-AXIS

R-AXIS

RMFEV-SEC(2517)2.0/8C+0.75/2C(ȭ13.0)

RMFEV-SEC(2517)2.0/8C+0.75/2C(

ȭ13.0)

RMFEV-SEC(2517),2.0/4C+0.75/2C(

ȭ9.6)

RMFEV-SEC(2517),2.0/4C+0.75/2C(

ȭ9.6)

RMFEV-A(2517),0.75/6C(

ȭ7.0)

RMFEV-A(2517),0.75/6C(

ȭ7.0)

RMFEV-A(2517),0.75/6C(

ȭ7.0)

KIVTW-6,2.0XG-Y

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MPX2600

8 Electrical Equipment Specification

8.1 Internal Connections

Fig. 8-1(b): Internal Connection Diagram

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DANGER

CAUTION

78 of 116

9 Frequent Inspections

9.1 Frequent Inspections

9 Frequent Inspections

9.1 Frequent Inspections

The painting robot is a precision device using advanced technology. It is important to frequently inspect the robot and remove any dried paint.

Conduct the daily and weekly inspections listed in Table 9-1 “Frequent Inspections” to ensure the long life of the robot and its performance.

For more information about the inspection items, refer to section 9.2 “Daily

Inspections”.

Table 9-1: Frequent Inspections (Sheet 1 of 2)

180788-1CD

Item No. Items to be

Inspected

Manipulator 1 Exterior No deformations or

2 Motion Smooth tuning,

3 Noise and vibration

during operation

4 Tubes Off or no severe wear

5 Air leakage No excessive air

6 Dried paint Remove the dried paint

Inspection Daily Weekly Remarks

cracks to the pressurized explosionproof enclosure. Covers are appropriately mounted. No other exterior abnormality.

horizontal, and vertical motions of each arm. The robot’s home position does not change.

No abnormal noise and vibration during robot operation.

and tear on paint and air supply tubes.

leakage from the fitting of the motor case.

on the robot.

•

••

DANGER

If any deformations or cracks are found, immediately stop the operation and contact your YASKAWA representatives.

Do not enter the robot working envelope.

DANGER

Do not enter the robot working envelope.

Make sure that the air tube is firmly inserted in the joint. Accidental disconnection of the air tube may cause injury.

Replace the sheet.

7 Inspection of the

manipulator cable (For moving/fixing)

Check damage or any abnormal wear to the power cable

9-1

When removing the paint with a tool, be careful not to damage the robot.

••

DANGER

Replace the cable if any abnormalities are found.

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WARNING

CAUTION

WARNING

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MPX2600

Table 9-1: Frequent Inspections (Sheet 2 of 2)

9 Frequent Inspections

9.1 Frequent Inspections

Item No. Items to be

Inspected

Manipulator 8 Base mounting bolts Check for damage and

9 Cover mounting

screws

10 Battery alarm Check the battery alarm

11 Check the operation

of the emergency stop button. Remove any dried paint.

Pressure Switch Unit

1 Pressure set value The pressure of the

2 Air leakage

inspection

Inspection Daily Weekly Remarks

looseness, and then retighten loose bolts with a spanner or wrench.

by using the DX200.

1. The manipulator stops immediately when the emergency stop button is pressed.

2. Remove any dried paint from the emergency stop button.

pressure reducing valve is within the specified range

Check for any air leakage from the pressure switch unit.

•

Stop the manipulator when checking.

•

Inspect the manipulator while it is in its standby position and not in

•

motion.

•

Do not make any modifications to the

•

settings. The pressure switch unit is a safety related parts for explosion-Proof specification.

9-2

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DANGER

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180788-1CD

9 Frequent Inspections

9.2 Daily Inspections

Inspect the robot daily to ensure its high performance and early detection of any abnormalities.

9.2.1 Manipulator

9.2.1.1 Visual Inspection

Before turning ON the power to the manipulator, check if any abnormality are found on the manipulator. Remove the jacket if it is attached.

9.2.1.2 Manipulator Motions and Noise/Vibration during Operation

Check if the manipulator home posture does not change when turning ON the power supply using the eye mark.

Also, check for abnormal noise and vibration during operation.

Never enter inside the safeguarding and the manipulator working envelope after turning ON the power supply.

9.2.1.3 Air Tubes and Air Leakage

Check for excessive air leakage from the tubes (for air exhaust), the couplings, and the joint fittings of the motor on each axis when the air is supplied in the manipulator to form the anti-explosion barrier.

The actual amount of air leakage is not important if a fault in the internal air pressure does not occur. However, if internal air pressure faults occur frequently, check if the pressure of the air source and the pressure setting of the pressure reducing valve are correct and if excessive air is leaking.

9.2.1.4 Paint Removal and Cleaning

Remove any dried paint on the manipulator and other devices.

Replace the vinyl sheet if any.

Replace the jacket if it is dirty.

DANGER

When using a tool to remove the dried paint, be careful not to damage the manipulator.

9-3

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CAUTION

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MPX2600

9 Frequent Inspections

9.2 Daily Inspections

Paint stuck on the manipulator rotating parts prevents them from turning normally and smoothly. Periodically remove the paint on the manipulator.

• A cloth that is soaked in paint thinner can be used for cleaning the inside of the wrist, because an anti-thinner enclosure is provided. But, be careful not to remove the original coat of paint on the manipulator.

9.2.1.5 Emergency Stop Button Operation and Dried Paint

Before operating the manipulator, check the emergency stop button operates correctly. The manipulator stops immediately when the emergency stop button is pressed. Inspect the manipulator while it is in the standby posture and not in motion with the power supply turned ON. Repeat sudden stops while the manipulator is in motion will damage the braking system.

Remove any dried paint on the emergency stop button.

9.2.2 Pressure Switch Unit

9.2.2.1 Pressure

Before moving the manipulator, check if the gauge of the pressure reducing valves on the pressure switch unit show the pressure to be within the specified range.

• Pressure reducing valve for purging pressure : 0.18 to 0.20 [MPa]

• Pressure reducing valve for the operating pressure : 0.01 to 0.02 [MPa]

9-4

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CAUTION

NOTE

82 of 116

10 Maintenance and Inspection

10.1Inspection Schedule

10 Maintenance and Inspection

• 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.

180788-1CD

DANGER

WARNING

• Before maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)

Failure to observe this warning may result in electric shock or injury.

• The battery pack must be connected before removing detection connector when maintenance and inspection.

Failure to observe this caution may result in the loss of home position data.

10.1 Inspection Schedule

Conduct daily and periodic inspections to ensure the long life of the robot and its performance.

Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation.

Inspection intervals are given in the levels shown in Table 10-1 “Inspection Schedule”.

In Table 10-1, the inspection items are classified into three types of operation: operations which can be performed by personnel authorized of the user, operations which can be performed by personnel being trained, and operations which can be performed by service company personnel.

Only specified personnel are to do inspection work.

The inspection interval must be based on the servo power supply ON time.

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Table 10-1: Inspection Schedule

Item Schedule Method Operation Inspection

1 Manipulator exterior

2 Manipulator motion, noise,

and vibration

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3 Air tube, air leakage

4 Paint removal and cleaning

5 Pressure switch unit setting

6 Base mounting bolts

7 Cover mounting screws

8 S-, L-, and U-axis motors

9 Motor connectors

10 Motor part

11 Air seals for enclosure

12 Internal cables

13 Battery in manipulator

Daily

•

Charge

10 Maintenance and Inspection

10.1Inspection Schedule

1000HCycle

6000HCycle

12000HCycle

24000HCycle

36000HCycle

Visual Check for crack or damages.

Visual Noise

Visual Manual

Visual Check the value if it is within the proper value range.

Spanner Wrench

Wrench Tighten loose bolts. Replace if necessary.

•

Visual Check for grease leakage.

Manual Check for loose connectors.

Visual Check for filter clogging.

Visual Check for wear or tear. Replace if necessary.

Visual Multi-meter

•

Check for abnormality/

Check for come off, wear, or damages. Check for air leakage.

Remove adhered paint if any.

Tighten loose bolts. Replace if necessary.

Check for conduction between the main connector of the base and the terminal by manually shaking the wire. Check for wear on the protective spring.

Replace the cables.

Replace the battery pack when the battery alarm occurs or the manipulator drove for 36000H.

Specified personnel

(Customer)

Licensee

(Person who is

qualified by YASKAWA)

Service Company

(YASKAWA)

•• •

••

•

••

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Table 10-1: Inspection Schedule

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Item Schedule Method Operation Inspection

14 O-ring and X-ring in wrist

15 Power cable

(Movable type)

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16 Power cable

(Fixed type)

17 S-, L-, and U-axis speed

reducers

18 R-, B-, and T-axis speed

reducers

19 Wrist gear

20 Pressure switch unit

21 Overhaul

1 Inspection No. correspond to the numbers in Fig. 10-1 “Inspection Parts and Inspection Numbers”. 2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown.

Contact your YASKAWA representative.

3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors on detector

side for each axis from the motor. Otherwise, the home position data may be lost. Refer to section 10.4 “Notes for Maintenance”. 4 Internal cables to be replaced at 24000H inspection 5 For grease used in each parts, refer to Table 10-2 “Inspection Parts and Grease Used”.

Daily

•

1000HCycle

•

••

•

6000HCycle

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Charge

10 Maintenance and Inspection

10.1Inspection Schedule

12000HCycle

24000HCycle

36000HCycle

Visual Manual

Visual Check for damages (replace if any damages are found)

•

Visual Check for damages (replace if any damages are found)

•

Grease gun

Check for O-ring and X-ring. (3000 H cycle). Replace O-ring and X-ring. (6000 H cycle).

Replace

Replace (recommended)

Check for malfunction. (Replace if necessary.) Replenish grease5) (6000 H cycle). Refer to section 10.2.1. Replace grease

Check for malfunction. (Replace if necessary.) Replenish grease5) (6000 H cycle). Refer to section 10.2.1.

Confirm that the pressure switch, flow switch, solenoid valve and the pressure reducing valve operate correctly. Contact your YASKAWA representatives.

(6000 H cycle). Refer to section 10.2.1.

Specified personnel

(Customer)

Licensee

(Person who is

qualified by YASKAWA)

Service Company

(YASKAWA)

••

•• •

••

•• •

••

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10 18

14 19

152016

Pressure switch unit (mounted separately)

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Table 10-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts

VIGO Grease RE No. 0 S-, L-, U-, R-, B-, and T-axis

speed reducers

Alvania EP Grease 2 Wrist gear

Fig. 10-1: Inspection Parts and Inspection Numbers

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Hexagon socket head cap screw M4 (trivalent chromium , length: 12 mm, 6 screws) Conical spring washer 2H-4 (trivalent chromium , 6 washers) Tightening torque 2.4 N•m (0.24 kgf•m)

R- axis gear R1

B- axis gear B1

T- axis gear T1

Cover

Grease gun

Plug

Hexagon socket head plug PT1/2 Tightening torque 39 N•m (4 kgf•m)

Grease inlet

B-axis gear B2

Plug

Hexagon socket head plug PT1/2 Tightening torque 39 N•m (4 kgf•m)

T-axis gear T3

Grease inlet

T-axis gear T2

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10.2 Maintenance for Manipulator

10.2.1 Grease Replenishment/Replacement

Fig. 10-1 “Inspection Parts and Inspection Numbers” shows the location of the components of the manipulator.

Replenish or replace the grease for the following sections:

I) Wrist gears

II) S-, L-, and U-axis speed reducers

III) R-, B-, and T-axis speed reducers

10.2.1.1 Grease Replacement Procedures for Wrist Gears

Remove the plugs each plug and cover, apply Alvania EP grease 2 on the gear teeth of gears R1, B1, B2, T1, T2, and T3 by using a grease gun. Apply seal tape on the thread part of each plug, then reinstall the plugs. (Each plug must be tightened with the specified tightening torque.)

Fig. 10-2: Wrist Gears

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NOTE

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10.2.1.2

Grease

Make sure to follow the instructions listed below at grease replenishment/ replacement. Failure to observe the following notes may result in damage to motor and speed reducer.

Replacement

1. If grease is injected without removing the plug from the

2. Make sure to use a grease pump to inject grease. Set

3. When using extrusion air for discharging the grease, set

Procedures for

grease exhaust port, the grease will leak inside a motor, or an oil seal of a speed reducer will come off. Make sure to remove the plug and inject grease. Also, when using a tube, the length must be 150 mm or shorter and the inside diameter must be 6 mm or longer. If the tube is too long, the exhaust resistance at the tube part is increased, and the inner pressure of the grease bath is raised. It may result in coming off of an oil seal.

air supply pressure to the grease pump at 0.3 MPa or less, and the grease injection rate at 7 g/s or less.

air supply pressure at 0.025 MPa or less. If the air supply pressure is higher than above mentioned value, an oil seal of a speed reducer will come off, and it may result in a failure.

S-, L-, and U-Axis Speed Reducers

4. When using extrusion air for discharging grease, grease may be vigorously discharged from the exhaust port. Perform an operation such as using a tube at the grease exhaust port to pour into an appropriate container.

5. Make sure to fill the hose on the grease inlet with grease beforehand to prevent air from leaking into the speed reducer.

6. After injecting grease, discharge the specified amount of grease. If insufficient, the inner pressure is raised during the operation, and grease may leak. When discharged too much, the speed reducer is not lubricated sufficiently during the operation, and it may cause the early failure of the speed reducer.

7. When filling/replacing grease, the grease may flow out from the grease inlet or the grease exhaust port. Prepare a container to receive the grease and a waste cloth to wipe the grease in advance.

WARNING

When operating the manipulator, do not enter into the working area of the manipulator. Injury may result if anyone enter into the working area during operation.

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Fig. 10-3(a): S-, L-, U-Axis Speed Reducer Diagram (Floor-mounted)

Grease inlet (L-axis) Plug PT3/8 (Stainless) T 23 N•m (2.34 kgf•m)

Grease inlet (S-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Grease exhaust port (U-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

ightening torque:

Grease exhaust port (S-axis) Plug PT3/8 (Stainless) T

ightening torque:

23 N•m (2.34 kgf•m)

Grease inlet (U-axis) Plug PT3/8 (Stainless) Tightening torque: 23 N•m (2.34 kgf•m)

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Grease exhaust port (L-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Fig. 10-3(b): S-, L-, U-Axis Speed Reducer Diagram (Wall-mounted) (Optional)

Grease exhaust port (U-axis) Plug PT3/8 (Stainless) T

ightening torque:

23 N•m (2.34 kgf•m)

Grease inlet (U-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Grease exhaust port (L-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Grease exhaust port (S-axis) Plug PT3/8 (Stainless) T

ightening torque:

23 N•m (2.34 kgf•m)

Grease inlet (L-axis) Plug PT3/8 (Stainless) T

ightening torque:

23 N•m (2.34 kgf•m)

10-7

Grease inlet (S-axis) Plug PT3/8 (Stainless) Tightening torque: 23 N•m (2.34 kgf•m)

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Fig. 10-3(c): S-, L-, U-Axis Speed Reducer Diagram (Ceiling-mounted) (Optional)

Grease exhaust port (S-axis) Plug PT3/8 (Stainless) T 23 N•m (2.34 kgf•m)

Grease exhaust port (L-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Grease inlet (S-axis) Plug PT3/8 (Stainless) Tightening torque: 23 N•m (2.34 kgf•m)

ightening torque:

Grease exhaust port (U-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Grease inlet (U-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

Grease inlet (L-axis) Plug PT3/8 (Stainless)

ightening torque:

T 23 N•m (2.34 kgf•m)

View A

10-8

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NOTE

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10.2Maintenance for Manipulator

1. Before injecting grease, the posture of the manipulator must be set as indicated in Table 10-3 “Recommended Posture for Grease Injection”. If it is difficult to make the recommended posture because of external cabling or etc., adjust the posture as much as possible to make the position of grease inlet located in the lower part and the position of exhaust port located in the upper part. If the exhaust port is located in the lower part, grease may not be exchanged properly.

Table 10-3: Recommended Posture for Grease Injection

Mounting Condition

Floor-mounted

Wall-mounted

Ceiling-mounted

Axis to inject S-axis L-axis U-axis R-axis B-axis T-axis

S-axis 0° Any Any

L-axis Any 0° Any

U-axis Any 0° 0°

2. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port.

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Posture

Any Any Any

The positions of grease inlet and exhaust port are different depending on the mounting condition of the manipulator. Confirm the positions beforehand.

3. Install a grease zerk A-PT3/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)

4. Inject the grease through the grease inlet using a grease gun.

– Grease type: VIGO grease RE No.0

– Recommended grease lubricator: Powerlube P3C (made by

Macnaught)

– Amount of grease: 7 g/s or less

(For example, if grease is supplied from the lubricator at 2 times/s, set the amount to 3.5 g/time or less.)

– Air supply pressure of grease pump: Approximately 0.3 MPa or less

Table 10-4: Amount of Grease

Axis to exchange grease Amount of grease

S-axis Approx.4200 g

L-axis Approx.2300 g

U-axis Approx.1650 g

5. The old grease is discharged from the grease exhaust port. At this time, stop injection when the mixture of the old grease and the new grease in an equal ratio is seen.

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6. Discharge the specified amount of grease from the grease inlet or grease exhaust port. (Refer to Table 10-5 “Amount of Grease Discharged from Each Axis”.) In order to discharge the specified amount of grease, receive the discharged grease by using a container, and then measure the weight of the discharged grease by weighing the container till the amount reaches to the specified amount. Use one of the following methods to discharge grease.

Method 1: Extruding grease by air

(1) Connect the joint and the hose to the grease inlet.

(2) Connect the regulator to the grease exhaust port.

(3) Inject air from the grease exhaust port to extrude grease by air.

(Extrusion air pressure: 0.025 MPa or less)

(4) If the grease is not discharged enough by injecting air, operate the

manipulator about 5 times in the teach mode as shown in Table 10-6 “Grease Discharging Operation for Each Axis”.

Method 2: Suctioning grease out

(1) Keep the inlet open and insert the tube into the exhaust port.

(2) Discharge grease by suctioning grease out of the exhaust port.

(Suction pressure: 0.025 MPa or less)

(3) If grease is not discharged by suctioning, operate the manipulator

again about 5 times in the teach mode as shown in Table 10-6

“Grease Discharging Operation for Each Axis”.

Table 10-5: Amount of Grease Discharged from Each Axis

Posture Axis Amount of exhausted grease

[g] [cc]

Floor-mounted S-axis 384±5 427±4

L-axis 110±5 122±4

U-axis 0 0

Wall-mounted S-axis 11±5 13±4

L-axis 100±5 111±4

U-axis 49±5 54±4

Ceiling-mounted S-axis 0 0

L-axis 110±5 122±4

U-axis 0 0

Table 10-6: Grease Discharging Operation for Each Axis

Axis to exchange grease

S-, L-, U-axis ±45° User-specified

Angle for teaching operation

10-10

Speed for teaching operation

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10 Maintenance and Inspection

10.2Maintenance for Manipulator

7. For the axis where grease is exchanged, perform a playback operation indicated in Table 10-7 “Running- In Operation for Each Axis” for running-in the speed reducer with grease. At this time, grease may be discharged during the operation. Remove the grease zerk from the grease inlet, and clean and degrease the tap part and the thread part of the plug. Wrap the seal tape TB4501 around the plug. Tighten the plug on the grease inlet with the designated tightening torque. Also, discharge the excess grease in order not to increase the inner pressure of the speed reducer. Attach a bag to receive grease such as indicated in Fig. 10-4 “Grease Receiving Bag (Rough Standard)”, and then perform the running-in operation.

Table 10-7: Running- In Operation for Each Axis

Axis to exchange grease Running-in operation

Operation angle

S,L,U-axes ±45° MOVJ VJ=50.00 1.0 s 15 minutes

Operation speed Timer after each

Fig. 10-4: Grease Receiving Bag (Rough Standard)

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Operating time

operation

Cut one corner to remove air. To prevent grease from scattering from the cut corner, cover the receiving bag with a plastic bag etc. without being sealed.

Bond for fixing a grease receiving bag

Tube (inside dia.: 6 mm or more)

Union (inside dia.: 6 mm or more) PT3/8

Grease receiving bag

8. Wipe the discharged grease with a cloth, and reinstall the plug. Clean and degrease the tap part and the thread part of the plug. Wrap the seal tape TB4501 around the plug, attach it to the grease inlet, and then tighten the plug with the designated tightening toque.

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NOTE

Grease inlet (R-axis) Ri Hexagon socket head plug PT1/8 Tightening torque:

4.9 N•m (0.5 kgf•m)

Grease exhaust port (R-axis) Ro Hexagon socket head plug PT1/4 T

ightening torque:

12 N•m (1.2 kgf•m)

Grease inlet (B-axis) Bi Hexagon socket head plug PT1/8 Tightening torque:

4.9 N•m (0.5 kgf•m)

Grease inlet (T

-axis) Ti Hexagon socket head plug PT1/8 Tightening torque:

4.9 N•m (0.5 kgf•m)

Grease exhaust port (B-axis) Bo Hexagon socket head plug PT1/4 T

ightening torque:

12 N•m (1.2 kgf•m)

Grease exhaust port (T

-axis) To Hexagon socket head plug PT1/4 Tightening torque: 12 N•m (1.2 kgf•m)

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10.2.1.3 Grease Replenishment Procedures for S-,L-, and U-axis Speed Reducer

 Grease Replenishment

1. Remove the plug on the Ro (Bo, To) exhaust port.

If grease is injected with the plug (Ro, Bo, To) on, the grease will go inside the motor and may cause a damage. Make sure to remove the plug (Ro, Bo, To) before the grease injection. Note that grease replacement is not necessary for R-, B-, and T-axes.

2. Remove the plug on the Ri (Bi, Ti) grease inlet, and install the grease zerk PT1/8. Inject grease by using a grease gun.

– Grease type: VIGO grease RE No. 0

– Amount of grease: R-axis: 25 cc (22 g)

(35 cc (30 g) for the 1st supply)

B-axis: 25 cc (22 g)

(35 cc (30 g) for the 1st supply)

T-axis: 20 cc (17 g)

(30 cc (26 g) for the 1st supply)

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate: 8 g/s or less

3. Before re-installing a plug to Ro (Bo, To) exhaust port, move each axis for a few minutes to discharge excessive grease.

4. Wipe the discharged grease with the cloth when the grease is discharged completely, and reinstall the plug. (Apply seal tape on the thread part of each plug.)

Fig. 10-5: R-, B-, and T-axes Speed Reducer

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NOTE

Base

BaseGasket (Adhered to the cover)

Gasket (Adhered to the cover)

Cover

Hexagon socket head cap screw M6 (trivalent chromium, length: 25 mm, 14 screws) Conical spring washer 2H-6 (trivalent chromium, 14 washers) Tightening torque: 10 N•m (1.0 kgf•m)

Gasket (Adhered to the cover)

Cover

Hexagon socket head cap screw M6 (trivalent chromium, length: 25 mm, 14 screws) Conical spring washer 2H-6 (trivalent chromium, 14 washers) Tightening torque: 10 N•m (1.0 kgf•m)

Cover

Rotating head

Manipulator cable

Rotating head

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10.2.2 Inspection of Air Sealing for Internal Air Pressure

 Gasket in the Cover Part

Remove the covers from the back side of the base part, both side of the base (of these covers, one functions as a cover for the manipulator cable), and then check wear and tear of the gasket.

In case the oil contained in the air for keeping the internal pressure is too much, it can damage the gasket, which results in air leakage. Replace the whole set of the gasket, the screws, and the conical spring washers if significant air leakage is found.

Fig. 10-6: Gasket in Base Part Inspection

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Perform “3-(1) Checking of Purging Operations” in section

10.3.2 “Enclosure Protection Sequence”after gasket is replaced.

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Cover

Gasket (Adhered to the cover)

Cover

Gasket (Adhered to the cover)

Base

Rotating head

Casing

Lower arm

Gasket (Adhered to the cover)

Cover

Gasket (Adhered to the cover)

Cover

Hexagon socket button head screw M8 (length: 25 mm, 13 screws) Conical spring washer 2H-8 (trivalent chromium, 13 washers)

Cover

Hexagon socket button head screw M8 (length: 25 mm, 10 screws) Conical spring washer 2H-8 (trivalent chromium, 10 washers)

Hexagon socket button head screw M8 (length: 25 mm, 8 screws) Conical spring washer 2H-8 (trivalent chromium, 8 washers)

Hexagon socket head cap screw M6 (trivalent chromium, length: 25 mm, 16 screws) Conical spring washer 2H-6 (trivalent chromium, 16 washers) Tightening torque: 10 N•m (1.0 kgf•m)

Hexagon socket head cap screw M6 (trivalent chromium, length: 25 mm, 19 screws) Conical spring washer 2H-6 (trivalent chromium, 19 washers) Tightening torque: 10 N•m (1.0 kgf•m)

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Unscrew the cover fixing screws (five places). And then check the wear and tear of each gasket.

In case the oil contained in the air for keeping the internal pressure is too much, it can damage the gasket, which results in air leakage. Replace completely the gasket, the screws, and the conical spring washers if significant air leakage is found.

Fig. 10-7: Rotating Head, Lower-Arm, Casing Part Inspection

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10 Maintenance and Inspection

10.2Maintenance for Manipulator

10.2.3 Battery Replacement

Before replacing the battery pack, turn OFF the power supply to the DX200, and check that no explosive atmosphere exists around the battery pack.

Four batteries are installed in the locations shown in Fig. 10-8 “Battery Location”.

Battery pack type: HW1372692-A, -B, -C

If a battery alarm occurs in the DX200, replace the battery in the following procedures.

Fig. 10-8: Battery Location

Cover which the battery is mounted (with the battery warning label)

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WARNING

Gasket

Battery plate

WARNING

This pressurized enclosure contains a battery which remains connected after

the external power has been isolated.

Refer to instructions in the manual before carrying out frequent inspection and exchanging periodically. Battery only to be replaced by Licensee when the area is known to be safe.

Manufucturere

Battery unit type

Battery type

YASKAWA Electric Corporation

HW1372692-A,-B,-C

ENERGIZER L91

Cabletie (2 places)

Hexagon socket head cap screw M4 (length: 85 mm, 2 screws) Washer M4 (trivalent chromium, 2 washers) Tightening torque 1.2 N•m (0.12 kgf•m)

Battery for S-, L-axis HW1372692-A

Battery for U-, R-axis HW1372692-B

Battery for B-, T-axis HW1372692-C

1. Turn OFF the power to the DX200.

Base

Hexagon socket head cap screw M6 (trivalent chromium, length: 25 mm, 14 screws) Conical spring washer 2H-6 (trivalent chromium, 14 washers) Tightening torque 10 N•m (1.0 kgf•m)

2. Ventilate the environment around the manipulator to remove explosive gas.

3. Remove the cover (the battery warning label attached) on which the battery is mounted.

4. Unscrew the bolts fixing the battery and remove the cable ties.

5. Remove an vinyl tape (insulation tape) protecting connection part of the battery in the manipulator.

6. In accordance with Table 10-8 “Battery Type and Label”, connect the new battery.

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Fig. 10-9: Battery Connection

10 Maintenance and Inspection

10.2Maintenance for Manipulator

7. Remove the old batteries.

Be sure to connect the new batteries before disconnecting the old one so that the data does not disappear.

8. Protect the connection part of the battery in the manipulator with the vinyl tape (insulation tape).

9. Mount the battery to the bracket by using the bolt M4 (length: 85 mm) and the cable ties (T50L for two places and T18R for one place).

10. And then re-install the cover to the base part.

See step 7 below

See step 8 below

BAT 1 BAT 1

See step 5 below

See step 6 below

See step 7 below

BAT 3 BAT 3

See step 5 below

See step 6 below

See step 7 below

Battery for S-, L-axis bofore replacement

New battery board

See step 6 below

Battery for U-, R-axis bofore replacement

New battery board

See step 6 below

Battery for B-, T-axis bofore replacement

New battery board

BAT 5 BAT 5

See step 5 below

Table 10-8: Battery Type and Label

Battery pack type Label Axis

HW1372692-A BAT1 S-, L-axis

HW1372692-B BAT3 U-, R-axis

HW1372692-C BAT5 B-, T-axis

10-16

See step 6 below

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10.3Inspection of the Explosion-Proof Device

10.3 Inspection of the Explosion-Proof Device

WARNING

Before replacing the battery pack, turn OFF the power supply to the DX200, and check that no explosive atmosphere exists around the battery.

10.3.1 Pressure Switch Unit Inspection

10.3.1.1 Solenoid Valve

Check if the air purge starts immediately after turning ON the power to the DX200 and if it ends approximately 4 to 6 minutes later.

10.3.1.2 Operation Method of Pressure Reducing Valve

Purging air and operation air reducing valves are equipped with a locking nut to maintain the specified pressure value. To modify the value, follow the procedures below.

1. Turn OFF the power supply to the DX200.

2. Unscrew the hexagon socket head cap screws to remove the pressure unit cover. (Refer to Fig. 10-10 “Pressure Switch Unit Cover”.)

3. Loosen the locking nut equipped to the valves with a spanner (nominal size: 10 mm). (Refer to Fig. 10-11 “Operation Methods of Pressure Reducing Valve”.)

4. Adjust the dial on the valve to modify the value.

5. After modification is complete, tighten the locking nut with a spanner (nominal size: 10 mm).

Do not modify the value with the locking nut tightened. The valve may malfunction.

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10.3Inspection of the Explosion-Proof Device

10.3.1.3 Operation Check of Pressure Reducing Valve

Measure the air supply pressure of the air for the explosion-proof in the pressure switch unit by using a pressure gauge.

For the pressure gauge connection, refer to Fig. 10-12 “Operation Check of Pressure Reducing Valve”.

The pressure gauge, joints and air tubes used for this inspection are prepared by customer.

1. Turn OFF the power supply to the DX200.

2. Unscrew the hexagon socket head cap screws to remove the pressure unit cover. (Refer to Fig. 10-10 “Pressure Switch Unit Cover”.)

3. As shown in the Fig. 10-12, connect the pressure gauge between the pressure switch unit and the manipulator.

4. Set the pressure of both purging air and operation air reducing valves as shown in Table 10-9 “List of Setting Value for Pressure Reducing Valve for Purging Pressure and OperatingPressure”. Refer to section 10.3.1.2 “Operation Method of Pressure Reducing

Valve” for the reducing valve operation.

Table 10-9: List of Setting Value for Pressure Reducing Valve for Purging Pressure and OperatingPressure

Pressure [MPa]

Pressure reducing valve for purging pressure

Pressure reducing valve for the operating pressure

5. Turn ON the power supply to the DX200 and start purging. Check that the pressure is keeping between 0.18 MPa and 0.20 MPa while purging.

6. After purging is complete, wait for a few minutes and check that the pressure is declined between 0.01 MPa and 0.02 MPa. (Immediately after the purging operation, pressure may fluctuate. Therefore, wait for a few minutes after completing the purging to check the pressure.)

7. Turn OFF the power supply to the DX200 and then, re-install the cover with the hexagon socket head cap screws. (Refer to Fig. 10-10.)

0.18 to 0.20

0.01 to 0.02

10-18

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MPX2600

Cover

Pan-head sems screw M4 (trivalent chromium, length: 8 mm, 7 screws)

0.1 0.3

0.2

0.4

●SMC

MPa

○ࠉ○

0.05 0.15

0.1

0.2

●SMC

MPa

○ࠉ○

Pressure reducing valve for purging pressure

SV1

0.1 0.3

0.2

0.4

●SMC

MPa

○ࠉ○

0.05 0.15

0.1

0.2

●SMC

MPa

○ࠉ○

Pressure adjusting tit

Locking nut Tigntening tool: Spanner (nominal size: 10 mm)

Pressure reducing valve for operating pressure

100 of 116

180788-1CD

10 Maintenance and Inspection

10.3Inspection of the Explosion-Proof Device

Fig. 10-10: Pressure Switch Unit Cover

Fig. 10-11: Operation Methods of Pressure Reducing Valve

Fig. 10-12: Operation Check of Pressure Reducing Valve

Pressure reducing valve for purging pressure

0.18 to 0.20 [MPa]

Pressure reducing valve for operating pressure

0.01 to 0.02 [MPa]

10-19

(Air tube: 16 dia.)

Pressure

gauge

Industrial compressed air

0.35 to 0.65 [MPa]

From manipulator (Air tube: outside 16 dia., inside 12 dia.)

To manipulator (Air tube: outside 16 dia., inside 12 dia.)

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YASKAWA MOTOMAN-MPX2600 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 Transporting Method

2.1.1 Using a Crane

2.1.2 Using a Forklift

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 on the Baseplate

3.2.2 How to Install the Pressure Switch

3.3 Mounting methods

3.3.1 S-axis Operation Range

3.3.2 Installing Direction

3.3.3 Measures to Prevent the Manipulator from Falling

3.4 Protection Class

3.5 Location

4 Wiring

4.1 Grounding

4.2 Cable Connection

4.2.1 Connecting Positions of Cables

4.2.2 Manipulator Cable Connection

4.2.3 Changing the Battery Position

4.2.4 Intrinsically Safe Cable Connection

4.3 Requirements

4.3.1 Pressure Switch Unit

4.4 Installation Site

5 Basic Specifications

5.1 Basic Specifications

5.2 Part Names and Working Axes

5.3 Manipulator Base Dimensions

5.4 Dimensions and P-point Maximum Envelop

5.5 Appearance and Dimensions of the Pressure Switch Unit

5.6 Stopping Distance and Time for S-, L-, and U-Axes

5.6.1 General Information

5.6.2 Definition of Use

5.6.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes

5.6.4 Stop Category 1: Stopping Distance and Time for Stop Category 1: S-, L- and U-Axes

5.6.4.1 Extension

5.6.5 Stopping Angles and Times for S-, L- and U-Axes

5.6.5.1 Position 100%

5.6.5.2 Stopping Distance and Time for Stop Category 1: S-Axis

5.6.5.3 Stopping Distance and Time for Stop Category 1: L-Axis

5.6.5.4 Stopping Distance and Time for Stop Category 1: U-Axis

5.7 Modification of S-Axis Movable Envelope

5.7.1 Changing the S-axis Mechanical Stopper

5.7.2 Adjustment to the Pulse Limitation of S-Axis

6 Allowable Load for Wrist Axis Flange

6.1 Allowable Wrist Load

6.2 Wrist Flange

7 System Application

7.1 Peripheral Equipment Mounts

7.1.1 Allowable Load

7.1.2 Installation Position

8 Electrical Equipment Specification

8.1 Internal Connections

9 Frequent Inspections

9.1 Frequent Inspections

9.2 Daily Inspections

9.2.1 Manipulator

9.2.1.1 Visual Inspection

9.2.1.2 Manipulator Motions and Noise/Vibration during Operation

9.2.1.3 Air Tubes and Air Leakage

9.2.1.4 Paint Removal and Cleaning

9.2.1.5 Emergency Stop Button Operation and Dried Paint

9.2.2 Pressure Switch Unit

9.2.2.1 Pressure

10 Maintenance and Inspection

10.1Inspection Schedule

10.2Maintenance for Manipulator

10.2.1 Grease Replenishment/Replacement

10.2.1.1 Grease Replacement Procedures for Wrist Gears

10.2.1.3 Grease Replenishment Procedures for S-,L-, and U-axis Speed Reducer

10.2.2 Inspection of Air Sealing for Internal Air Pressure